+ python -m lidar_slam --no-model /working/910217d2-2dd4-4806-a3b7-a019c7e66750 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/910217d2-2dd4-4806-a3b7-a019c7e66750 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 0.028040942 Adjusted end_distance from 9.223372036854776e+18 to 199.178040942 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028040942 meters Centerline goodness [0,1] 0.9915298766262427 Centerline is valid? [0, True] SLAMing on 0.058040942 meters Centerline goodness [0,1] 0.9905963302752293 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99999980e-01 1.80499070e-04 -8.64348643e-05 3.08743592e-02] [-1.80498831e-04 9.99999984e-01 2.77550157e-06 3.94033586e-03] [ 8.64353639e-05 -2.75990012e-06 9.99999996e-01 5.02733897e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088040942 meters Centerline goodness [0,1] 0.9887044721069618 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:0.00 [[ 9.99999830e-01 -5.18069181e-04 -2.66045204e-04 6.09225003e-02] [ 5.18071483e-04 9.99999866e-01 8.58439095e-06 1.51034854e-02] [ 2.66040721e-04 -8.72221992e-06 9.99999965e-01 3.01845108e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.118040942 meters Centerline goodness [0,1] 0.988462508406187 Centerline is valid? [True, True] Translation: X:0.09, Y:0.02, Z:0.00 [[ 9.99999294e-01 -1.18729369e-03 -4.37586162e-05 9.10851430e-02] [ 1.18729375e-03 9.99999295e-01 1.45117230e-06 2.04968838e-02] [ 4.37568624e-05 -1.50312561e-06 9.99999999e-01 2.28851080e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148040942 meters Centerline goodness [0,1] 0.9866669457468185 Centerline is valid? [True, True] Translation: X:0.12, Y:0.02, Z:0.00 [[ 9.99999154e-01 -1.30014603e-03 -4.08377994e-05 1.20761249e-01] [ 1.30014609e-03 9.99999155e-01 1.30982464e-06 2.13016227e-02] [ 4.08360619e-05 -1.36291863e-06 9.99999999e-01 5.55997906e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17804094199999998 meters Centerline goodness [0,1] 0.9844579226686884 Centerline is valid? [True, True] Translation: X:0.15, Y:0.04, Z:-0.00 [[ 9.99998454e-01 -9.22177329e-04 1.49712667e-03 1.52131121e-01] [ 9.22250251e-04 9.99999574e-01 -4.80185865e-05 3.61529533e-02] [-1.49708175e-03 4.93992377e-05 9.99998878e-01 -3.00449930e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208040942 meters Centerline goodness [0,1] 0.982305550868905 Centerline is valid? [True, True] Translation: X:0.18, Y:0.04, Z:-0.00 [[ 9.99998603e-01 1.49034254e-04 1.66470575e-03 1.84034146e-01] [-1.48945326e-04 9.99999987e-01 -5.35434810e-05 4.06772203e-02] [-1.66471371e-03 5.32954561e-05 9.99998613e-01 -1.07718237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23804094199999998 meters Centerline goodness [0,1] 0.9797417067612054 Centerline is valid? [True, True] Translation: X:0.22, Y:0.04, Z:-0.00 [[ 9.99996796e-01 1.61411904e-03 1.95019069e-03 2.15601712e-01] [-1.61399967e-03 9.99998696e-01 -6.27788312e-05 4.40945630e-02] [-1.95028947e-03 5.96310229e-05 9.99998096e-01 -9.27483034e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268040942 meters Centerline goodness [0,1] 0.9764073716468662 Centerline is valid? [True, True] Translation: X:0.25, Y:0.05, Z:-0.00 [[ 9.99992839e-01 3.35595543e-03 1.74907885e-03 2.46963112e-01] [-3.35586195e-03 9.99994367e-01 -5.63759274e-05 4.80884916e-02] [-1.74925819e-03 5.05058565e-05 9.99998469e-01 -5.76613075e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29804094200000003 meters Centerline goodness [0,1] 0.9686728330473361 Centerline is valid? [True, True] Translation: X:0.28, Y:0.06, Z:-0.00 [[ 9.99980563e-01 5.95048094e-03 1.86145004e-03 2.77168226e-01] [-5.95037960e-03 9.99982295e-01 -5.99792760e-05 5.53583532e-02] [-1.86177399e-03 4.89017758e-05 9.99998266e-01 -7.54830890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328040942 meters Centerline goodness [0,1] 0.964678475486904 Centerline is valid? [True, True] Translation: X:0.31, Y:0.06, Z:-0.00 [[ 9.99970640e-01 7.10219245e-03 2.87721165e-03 3.08351410e-01] [-7.10195474e-03 9.99974776e-01 -9.28293437e-05 5.78815716e-02] [-2.87779837e-03 7.23927913e-05 9.99995857e-01 -8.45093909e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.358040942 meters Centerline goodness [0,1] 0.9557000652398089 Centerline is valid? [True, True] Translation: X:0.34, Y:0.06, Z:-0.00 [[ 9.99951175e-01 9.22181556e-03 3.55047501e-03 3.40902052e-01] [-9.22146198e-03 9.99957475e-01 -1.15946181e-04 6.49898773e-02] [-3.55139326e-03 8.31999493e-05 9.99993690e-01 -2.14374994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388040942 meters Centerline goodness [0,1] 0.9501110971366286 Centerline is valid? [True, True] Translation: X:0.37, Y:0.07, Z:-0.00 [[ 9.99936637e-01 1.04411091e-02 4.20780568e-03 3.71708658e-01] [-1.04406199e-02 9.99945486e-01 -1.38202362e-04 6.68452904e-02] [-4.20901928e-03 9.42615057e-05 9.99991138e-01 -2.24163310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.418040942 meters Centerline goodness [0,1] 0.9372107148093074 Centerline is valid? [True, False] Translation: X:0.38, Y:0.08, Z:-0.00 [[ 9.99973702e-01 7.24771335e-03 2.58754911e-04 3.81289910e-01] [-7.24756384e-03 9.99973571e-01 -5.74129017e-04 7.71119428e-02] [-2.62909195e-04 5.72238576e-04 9.99999802e-01 -1.10035099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448040942 meters Centerline goodness [0,1] 0.9320431099555481 Centerline is valid? [False, False] Translation: X:0.38, Y:0.08, Z:-0.00 [[ 9.99983254e-01 5.75588306e-03 -6.01490201e-04 3.83585973e-01] [-5.75729024e-03 9.99980631e-01 -2.36453376e-03 8.22704161e-02] [ 5.87868571e-04 2.36795712e-03 9.99997024e-01 -1.26648255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47804094199999997 meters Centerline goodness [0,1] 0.9250738575649003 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:-0.00 [[ 0.99998932 0.00435348 -0.00155163 0.38603355] [-0.0043595 0.9999829 -0.00389817 0.08680033] [ 0.00153463 0.0039049 0.9999912 -0.00133839] [ 0. 0. 0. 1. ]] SLAMing on 0.5080409419999999 meters Centerline goodness [0,1] 0.9126674401434448 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:-0.00 [[ 9.99991619e-01 2.63069328e-03 -3.13703033e-03 3.89548726e-01] [-2.64658627e-03 9.99983630e-01 -5.07291105e-03 9.55451497e-02] [ 3.12363370e-03 5.08117096e-03 9.99982212e-01 -1.00161045e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.538040942 meters Centerline goodness [0,1] 0.9046446534924343 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:-0.00 [[ 0.99998505 0.00298134 -0.00458439 0.39425253] [-0.00299879 0.99998827 -0.00380397 0.09923687] [ 0.004573 0.00381766 0.99998226 -0.00120358] [ 0. 0. 0. 1. ]] SLAMing on 0.568040942 meters Centerline goodness [0,1] 0.898522001307217 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:-0.00 [[ 0.99998292 0.0016657 -0.00560233 0.3968039 ] [-0.00169442 0.99998543 -0.00512605 0.10445527] [ 0.00559371 0.00513546 0.99997117 -0.0010721 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5980409419999999 meters Centerline goodness [0,1] 0.8850601392698881 Centerline is valid? [False, False] Translation: X:0.41, Y:0.11, Z:0.00 [[ 9.99952179e-01 -5.61536851e-04 -9.76340464e-03 4.07447232e-01] [ 5.34762968e-04 9.99996090e-01 -2.74466348e-03 1.11249982e-01] [ 9.76490770e-03 2.73931112e-03 9.99948570e-01 6.64801841e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6280409419999999 meters Centerline goodness [0,1] 0.8775112729428203 Centerline is valid? [False, False] Translation: X:0.41, Y:0.12, Z:0.00 [[ 0.99994074 -0.00198861 -0.01070373 0.40978498] [ 0.00194723 0.9999906 -0.00387425 0.11557505] [ 0.01071133 0.00385318 0.99993521 0.00104596] [ 0. 0. 0. 1. ]] SLAMing on 0.658040942 meters Centerline goodness [0,1] 0.8723052814366186 Centerline is valid? [False, False] Translation: X:0.41, Y:0.12, Z:0.00 [[ 0.99992297 -0.00357983 -0.01188466 0.41277393] [ 0.00352213 0.99998192 -0.00487282 0.11957285] [ 0.01190189 0.00483058 0.9999175 0.00137449] [ 0. 0. 0. 1. ]] SLAMing on 0.6880409419999999 meters Centerline goodness [0,1] 0.8605548138258419 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:0.01 [[ 0.9998178 -0.00961867 -0.01648777 0.42356438] [ 0.00953995 0.99994275 -0.00484684 0.1280438 ] [ 0.01653345 0.00468867 0.99985232 0.00549746] [ 0. 0. 0. 1. ]] SLAMing on 0.7180409419999999 meters Centerline goodness [0,1] 0.8570519483274293 Centerline is valid? [False, False] Translation: X:0.43, Y:0.13, Z:0.01 [[ 0.99977857 -0.0115033 -0.01762058 0.42666187] [ 0.01140146 0.99991778 -0.0058691 0.13198822] [ 0.01768665 0.0056669 0.99982752 0.00584463] [ 0. 0. 0. 1. ]] SLAMing on 0.7480409419999999 meters Centerline goodness [0,1] 0.85104356293129 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:0.00 [[ 0.99983454 -0.01380822 -0.01184142 0.43900948] [ 0.01383228 0.99990242 0.00195206 0.13186214] [ 0.01181331 -0.00211553 0.99992798 0.00184654] [ 0. 0. 0. 1. ]] SLAMing on 0.778040942 meters Centerline goodness [0,1] 0.8465260387929205 Centerline is valid? [False, False] Translation: X:0.45, Y:0.14, Z:0.00 [[ 0.99972076 -0.0181913 -0.01508258 0.44837042] [ 0.01821483 0.99983308 0.00142432 0.14009684] [ 0.01505415 -0.00169865 0.99988524 0.00256598] [ 0. 0. 0. 1. ]] SLAMing on 0.808040942 meters Centerline goodness [0,1] 0.8446266908083928 Centerline is valid? [False, False] Translation: X:0.45, Y:0.14, Z:0.00 [[ 9.99671056e-01 -2.00197977e-02 -1.60308010e-02 4.51438995e-01] [ 2.00251059e-02 9.99799463e-01 1.70657119e-04 1.44370858e-01] [ 1.60241697e-02 -4.91619470e-04 9.99871484e-01 2.40941415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8380409419999999 meters Centerline goodness [0,1] 0.8428072268621101 Centerline is valid? [False, False] Translation: X:0.47, Y:0.15, Z:0.00 [[ 0.99967663 -0.02224816 -0.01231492 0.47032947] [ 0.02219031 0.99974217 -0.00481472 0.15190621] [ 0.01241887 0.00453989 0.99991258 0.0010354 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8680409419999999 meters Centerline goodness [0,1] 0.8412285933373094 Centerline is valid? [False, False] Translation: X:0.49, Y:0.16, Z:0.00 [[ 9.99680904e-01 -2.37364294e-02 -8.64128606e-03 4.93026853e-01] [ 2.36935157e-02 9.99706590e-01 -5.03509042e-03 1.62207016e-01] [ 8.75826569e-03 4.82874130e-03 9.99949987e-01 9.69375336e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.898040942 meters Centerline goodness [0,1] 0.8414398334077049 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:0.00 [[ 9.99649418e-01 -2.41938396e-02 -1.07563315e-02 4.99112185e-01] [ 2.41575662e-02 9.99702073e-01 -3.48954049e-03 1.67369754e-01] [ 1.08375523e-02 3.22847033e-03 9.99936060e-01 9.77477335e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9280409419999999 meters Centerline goodness [0,1] 0.8434647214401502 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.00 [[ 9.99661661e-01 -2.50402056e-02 -7.03935927e-03 5.21248334e-01] [ 2.50062383e-02 9.99675420e-01 -4.87265989e-03 1.78610099e-01] [ 7.15908684e-03 4.69498338e-03 9.99963352e-01 -2.76533617e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9580409419999999 meters Centerline goodness [0,1] 0.8440343620744511 Centerline is valid? [False, False] Translation: X:0.54, Y:0.19, Z:-0.00 [[ 0.99964478 -0.02651296 -0.00271694 0.53918885] [ 0.02648491 0.9996003 -0.0098889 0.18645467] [ 0.00297804 0.00981343 0.99994741 -0.00186892] [ 0. 0. 0. 1. ]] SLAMing on 0.9880409419999999 meters Centerline goodness [0,1] 0.8443925729442971 Centerline is valid? [False, False] Translation: X:0.54, Y:0.19, Z:-0.00 [[ 0.99965153 -0.0261663 -0.00348463 0.54347189] [ 0.02613604 0.99962257 -0.00846359 0.18986633] [ 0.00370478 0.00836957 0.99995811 -0.00314574] [ 0. 0. 0. 1. ]] SLAMing on 1.018040942 meters Centerline goodness [0,1] 0.8471597090381621 Centerline is valid? [False, False] Translation: X:0.55, Y:0.19, Z:-0.00 [[ 0.99968363 -0.02479633 -0.00421594 0.5470425 ] [ 0.02477077 0.99967508 -0.00601121 0.1929308 ] [ 0.00436362 0.00590487 0.99997305 -0.00387287] [ 0. 0. 0. 1. ]] SLAMing on 1.048040942 meters Centerline goodness [0,1] 0.8518620924346513 Centerline is valid? [False, False] Translation: X:0.57, Y:0.20, Z:-0.01 [[ 9.99699647e-01 -2.45073703e-02 6.93139340e-05 5.70370399e-01] [ 2.45074538e-02 9.99691981e-01 -3.91500639e-03 2.02740201e-01] [ 2.66539273e-05 3.91552921e-03 9.99992334e-01 -5.25530611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0780409420000001 meters Centerline goodness [0,1] 0.8553275722617173 Centerline is valid? [False, False] Translation: X:0.57, Y:0.21, Z:-0.01 [[ 9.99735085e-01 -2.30126818e-02 -4.19215626e-04 5.73641432e-01] [ 2.30120787e-02 9.99734220e-01 -1.39073578e-03 2.06024477e-01] [ 4.51108767e-04 1.38072033e-03 9.99998945e-01 -6.19301586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1080409420000001 meters Centerline goodness [0,1] 0.8609870240374389 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.01 [[ 0.99965552 -0.02598406 -0.00369762 0.58511028] [ 0.02599086 0.99966055 0.00180466 0.21462931] [ 0.00364947 -0.00190014 0.99999154 -0.00510937] [ 0. 0. 0. 1. ]] SLAMing on 1.138040942 meters Centerline goodness [0,1] 0.8618490741917715 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.01 [[ 0.99965824 -0.0257889 -0.00428308 0.58947152] [ 0.02580243 0.99966214 0.00313656 0.21737489] [ 0.00420074 -0.003246 0.99998591 -0.00706138] [ 0. 0. 0. 1. ]] SLAMing on 1.168040942 meters Centerline goodness [0,1] 0.8618490741917715 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.01 [[ 0.99965824 -0.0257889 -0.00428308 0.58947152] [ 0.02580243 0.99966214 0.00313656 0.21737489] [ 0.00420074 -0.003246 0.99998591 -0.00706138] [ 0. 0. 0. 1. ]] SLAMing on 1.198040942 meters Centerline goodness [0,1] 0.8653325435775935 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.01 [[ 0.99965235 -0.02590476 -0.00491163 0.59403133] [ 0.02592492 0.99965554 0.00408717 0.21982308] [ 0.00480406 -0.00421308 0.99997959 -0.00915946] [ 0. 0. 0. 1. ]] SLAMing on 1.228040942 meters Centerline goodness [0,1] 0.8712694498767112 Centerline is valid? [False, False] Translation: X:0.61, Y:0.23, Z:-0.01 [[ 0.9995006 -0.03049997 -0.00826485 0.60654323] [ 0.03054694 0.99951755 0.00561783 0.226478 ] [ 0.00808952 -0.00586749 0.99995006 -0.00957282] [ 0. 0. 0. 1. ]] SLAMing on 1.258040942 meters Centerline goodness [0,1] 0.8735741646033056 Centerline is valid? [False, False] Translation: X:0.62, Y:0.23, Z:-0.01 [[ 0.99957824 -0.02870698 -0.004388 0.61967207] [ 0.02870163 0.99958721 -0.00127778 0.23158165] [ 0.00442287 0.00115129 0.99998956 -0.01224933] [ 0. 0. 0. 1. ]] SLAMing on 1.288040942 meters Centerline goodness [0,1] 0.8775562209339365 Centerline is valid? [False, False] Translation: X:0.62, Y:0.23, Z:-0.01 [[ 9.99590559e-01 -2.81952238e-02 -4.87270680e-03 6.23637036e-01] [ 2.81974858e-02 9.99602293e-01 3.96127181e-04 2.33327901e-01] [ 4.85960000e-03 -5.33363071e-04 9.99988050e-01 -1.42256278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.318040942 meters Centerline goodness [0,1] 0.8823218551165789 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.02 [[ 9.99548274e-01 -2.96931685e-02 -4.64373191e-03 6.49130315e-01] [ 2.96943424e-02 9.99559009e-01 1.84051198e-04 2.39375285e-01] [ 4.63621900e-03 -3.21860623e-04 9.99989201e-01 -1.68204434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.348040942 meters Centerline goodness [0,1] 0.8853916845299998 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.02 [[ 9.99534232e-01 -3.00861729e-02 -5.11281383e-03 6.52746625e-01] [ 3.00909584e-02 9.99546793e-01 8.61632247e-04 2.39788852e-01] [ 5.08457345e-03 -1.01508039e-03 9.99986558e-01 -1.85188891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.378040942 meters Centerline goodness [0,1] 0.8869303616448804 Centerline is valid? [False, False] Translation: X:0.66, Y:0.24, Z:-0.02 [[ 9.99497501e-01 -3.12303266e-02 -5.42329162e-03 6.56628453e-01] [ 3.12345973e-02 9.99511833e-01 7.04547959e-04 2.39857248e-01] [ 5.39864088e-03 -8.73588255e-04 9.99985046e-01 -2.06780400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.408040942 meters Centerline goodness [0,1] 0.8928116237573286 Centerline is valid? [False, False] Translation: X:0.66, Y:0.24, Z:-0.02 [[ 9.99407507e-01 -3.38458037e-02 -6.25269486e-03 6.64074756e-01] [ 3.38466392e-02 9.99427038e-01 2.78204415e-05 2.40358088e-01] [ 6.24817070e-03 -2.39436665e-04 9.99980451e-01 -2.46962156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.438040942 meters Centerline goodness [0,1] 0.8940296615540626 Centerline is valid? [False, False] Translation: X:0.67, Y:0.24, Z:-0.03 [[ 9.99359368e-01 -3.51824764e-02 -6.56106970e-03 6.68251658e-01] [ 3.51789029e-02 9.99380813e-01 -6.59307517e-04 2.41821376e-01] [ 6.58020324e-03 4.28073910e-04 9.99978259e-01 -2.72293622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.468040942 meters Centerline goodness [0,1] 0.8996999661933739 Centerline is valid? [False, False] Translation: X:0.68, Y:0.24, Z:-0.03 [[ 0.99913608 -0.04042566 -0.00963675 0.68233709] [ 0.04045914 0.99917573 0.0033056 0.24348802] [ 0.00949518 -0.00369264 0.9999481 -0.02744893] [ 0. 0. 0. 1. ]] SLAMing on 1.498040942 meters Centerline goodness [0,1] 0.9022461246440999 Centerline is valid? [False, False] Translation: X:0.69, Y:0.24, Z:-0.03 [[ 0.99907024 -0.041939 -0.00998887 0.68621752] [ 0.04196423 0.9991164 0.00233006 0.24442603] [ 0.00988232 -0.00274707 0.9999474 -0.02969759] [ 0. 0. 0. 1. ]] SLAMing on 1.528040942 meters Centerline goodness [0,1] 0.9044398086689003 Centerline is valid? [False, False] Translation: X:0.69, Y:0.24, Z:-0.03 [[ 0.99903809 -0.04257795 -0.01048914 0.6895514 ] [ 0.04260926 0.99908795 0.00277967 0.24345053] [ 0.01036122 -0.00322393 0.99994112 -0.03125686] [ 0. 0. 0. 1. ]] SLAMing on 1.558040942 meters Centerline goodness [0,1] 0.9097363513055273 Centerline is valid? [False, False] Translation: X:0.70, Y:0.24, Z:-0.03 [[ 0.99888195 -0.04596827 -0.0110349 0.69555993] [ 0.04598752 0.99894089 0.0014972 0.24060751] [ 0.01095439 -0.00200299 0.99993799 -0.03448681] [ 0. 0. 0. 1. ]] SLAMing on 1.5880409420000001 meters Centerline goodness [0,1] 0.9103001939455266 Centerline is valid? [False, False] Translation: X:0.70, Y:0.24, Z:-0.04 [[ 9.98760028e-01 -4.83883354e-02 -1.17036490e-02 7.00274400e-01] [ 4.83921949e-02 9.98828410e-01 4.66335100e-05 2.39166974e-01] [ 1.16876806e-02 -6.12940949e-04 9.99931509e-01 -3.72553137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.618040942 meters Centerline goodness [0,1] 0.9132654141867707 Centerline is valid? [False, False] Translation: X:0.70, Y:0.24, Z:-0.04 [[ 9.98679447e-01 -4.98534142e-02 -1.24096565e-02 7.04686067e-01] [ 4.98519035e-02 9.98756528e-01 -4.31237199e-04 2.37360916e-01] [ 1.24157241e-02 -1.87977269e-04 9.99922904e-01 -3.98755615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.648040942 meters Centerline goodness [0,1] 0.9180519039945721 Centerline is valid? [False, False] Translation: X:0.72, Y:0.24, Z:-0.05 [[ 0.99868839 -0.04963104 -0.01258021 0.724099 ] [ 0.04957807 0.99876017 -0.00448773 0.23551481] [ 0.01278734 0.00385814 0.9999108 -0.04605603] [ 0. 0. 0. 1. ]] SLAMing on 1.678040942 meters Centerline goodness [0,1] 0.9184445101601115 Centerline is valid? [False, False] Translation: X:0.73, Y:0.23, Z:-0.05 [[ 0.9986479 -0.05020483 -0.0134848 0.72924116] [ 0.05015078 0.99873233 -0.00431687 0.2336028 ] [ 0.01368444 0.00363476 0.99989976 -0.04939097] [ 0. 0. 0. 1. ]] SLAMing on 1.708040942 meters Centerline goodness [0,1] 0.924487709283006 Centerline is valid? [False, False] Translation: X:0.74, Y:0.23, Z:-0.05 [[ 0.99860138 -0.05093782 -0.01416449 0.73626223] [ 0.05090616 0.99870009 -0.00258668 0.22734763] [ 0.01427783 0.00186201 0.99989633 -0.05384739] [ 0. 0. 0. 1. ]] SLAMing on 1.738040942 meters Centerline goodness [0,1] 0.9258126195028681 Centerline is valid? [False, False] Translation: X:0.74, Y:0.22, Z:-0.06 [[ 9.98580096e-01 -5.10725340e-02 -1.51455683e-02 7.40401810e-01] [ 5.10554593e-02 9.98694675e-01 -1.51214453e-03 2.24295844e-01] [ 1.52030274e-02 7.36733488e-04 9.99884156e-01 -5.58810541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.768040942 meters Centerline goodness [0,1] 0.9280313518348917 Centerline is valid? [False, False] Translation: X:0.74, Y:0.22, Z:-0.06 [[ 9.98579237e-01 -5.07948292e-02 -1.61056768e-02 7.44128736e-01] [ 5.08006437e-02 9.98708813e-01 -4.81521356e-05 2.20929698e-01] [ 1.60873272e-02 -7.70095024e-04 9.99870294e-01 -5.76245011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.798040942 meters Centerline goodness [0,1] 0.9314173881597141 Centerline is valid? [False, False] Translation: X:0.76, Y:0.21, Z:-0.06 [[ 9.98731364e-01 -4.69474296e-02 -1.82099183e-02 7.59871226e-01] [ 4.69480413e-02 9.98897255e-01 -3.94140046e-04 2.14678152e-01] [ 1.82083413e-02 -4.61279970e-04 9.99834108e-01 -6.10751635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.828040942 meters Centerline goodness [0,1] 0.9330345765015716 Centerline is valid? [False, False] Translation: X:0.76, Y:0.21, Z:-0.06 [[ 0.99874116 -0.04628735 -0.0193281 0.76386479] [ 0.04631873 0.99892602 0.00117888 0.21162143] [ 0.01925278 -0.00207265 0.9998125 -0.06278403] [ 0. 0. 0. 1. ]] SLAMing on 1.858040942 meters Centerline goodness [0,1] 0.9365816097362736 Centerline is valid? [False, False] Translation: X:0.77, Y:0.21, Z:-0.06 [[ 0.99875714 -0.04553987 -0.02025568 0.76729595] [ 0.04560597 0.99895554 0.00281343 0.2082758 ] [ 0.02010641 -0.00373371 0.99979087 -0.06441782] [ 0. 0. 0. 1. ]] SLAMing on 1.888040942 meters Centerline goodness [0,1] 0.9370485691893838 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.07 [[ 0.9989779 -0.04112675 -0.01875498 0.78607513] [ 0.0412027 0.99914403 0.00368123 0.20132652] [ 0.01858753 -0.00445022 0.99981733 -0.07096327] [ 0. 0. 0. 1. ]] SLAMing on 1.918040942 meters Centerline goodness [0,1] 0.9394377271085234 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.07 [[ 0.99900048 -0.04013619 -0.01967544 0.78965003] [ 0.04025506 0.99917328 0.00568301 0.19727494] [ 0.01943108 -0.00646937 0.99979027 -0.07270012] [ 0. 0. 0. 1. ]] SLAMing on 1.948040942 meters Centerline goodness [0,1] 0.9424475732698115 Centerline is valid? [False, False] Translation: X:0.80, Y:0.19, Z:-0.07 [[ 0.99910118 -0.03605518 -0.02229041 0.80390367] [ 0.03617349 0.99933338 0.0049274 0.18999016] [ 0.0220979 -0.0057293 0.9997394 -0.07421835] [ 0. 0. 0. 1. ]] SLAMing on 1.978040942 meters Centerline goodness [0,1] 0.9458426726438254 Centerline is valid? [False, False] Translation: X:0.81, Y:0.19, Z:-0.08 [[ 0.99909961 -0.03571717 -0.02289668 0.80621437] [ 0.03586681 0.9993376 0.00615836 0.18676106] [ 0.02266156 -0.00697405 0.99971887 -0.07516951] [ 0. 0. 0. 1. ]] SLAMing on 2.008040942 meters Centerline goodness [0,1] 0.9466590008943401 Centerline is valid? [False, False] Translation: X:0.82, Y:0.19, Z:-0.08 [[ 9.99196247e-01 -3.28756210e-02 -2.29358521e-02 8.20012563e-01] [ 3.28761743e-02 9.99459370e-01 -3.53048500e-04 1.86147438e-01] [ 2.29350590e-02 -4.01278337e-04 9.99736876e-01 -7.66389928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.038040942 meters Centerline goodness [0,1] 0.9476619202690335 Centerline is valid? [False, False] Translation: X:0.82, Y:0.18, Z:-0.08 [[ 0.99919726 -0.03223868 -0.02378034 0.82278707] [ 0.03227704 0.9994782 0.00123095 0.18247152] [ 0.02372824 -0.00199752 0.99971645 -0.07756204] [ 0. 0. 0. 1. ]] SLAMing on 2.068040942 meters Centerline goodness [0,1] 0.9510266547634231 Centerline is valid? [False, True] Translation: X:0.84, Y:0.18, Z:-0.08 [[ 0.99941167 -0.02967569 -0.01719505 0.83575102] [ 0.0296286 0.99955651 -0.0029869 0.17927912] [ 0.01727606 0.00247567 0.99984769 -0.08177396] [ 0. 0. 0. 1. ]] SLAMing on 2.098040942 meters Centerline goodness [0,1] 0.9518428668709568 Centerline is valid? [True, True] Translation: X:0.86, Y:0.18, Z:-0.08 [[ 9.99450926e-01 -2.81448764e-02 -1.74846345e-02 8.64272353e-01] [ 2.81400295e-02 9.99603854e-01 -5.23223455e-04 1.76918399e-01] [ 1.74924341e-02 3.09180373e-05 9.99846995e-01 -8.13232859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128040942 meters Centerline goodness [0,1] 0.9541036026433596 Centerline is valid? [True, True] Translation: X:0.89, Y:0.18, Z:-0.08 [[ 9.99482993e-01 -2.72826374e-02 -1.70118707e-02 8.92512080e-01] [ 2.72778476e-02 9.99627758e-01 -5.13575551e-04 1.76351201e-01] [ 1.70195498e-02 4.92628133e-05 9.99855156e-01 -8.04269150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.158040942 meters Centerline goodness [0,1] 0.9562171255776315 Centerline is valid? [True, True] Translation: X:0.92, Y:0.17, Z:-0.08 [[ 9.99537774e-01 -2.46594218e-02 -1.77806177e-02 9.21456086e-01] [ 2.46536797e-02 9.99695905e-01 -5.42100942e-04 1.74791808e-01] [ 1.77885786e-02 1.03492716e-04 9.99841765e-01 -8.11353118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.188040942 meters Centerline goodness [0,1] 0.9566242538819381 Centerline is valid? [True, True] Translation: X:0.95, Y:0.17, Z:-0.08 [[ 9.99577742e-01 -2.38315844e-02 -1.66250855e-02 9.50527990e-01] [ 2.38263904e-02 9.99715981e-01 -5.10447227e-04 1.74623504e-01] [ 1.66325284e-02 1.14115908e-04 9.99861663e-01 -7.97927922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.218040942 meters Centerline goodness [0,1] 0.9587628865979382 Centerline is valid? [True, True] Translation: X:0.98, Y:0.17, Z:-0.08 [[ 9.99605766e-01 -2.33052418e-02 -1.56581616e-02 9.78564643e-01] [ 2.33004994e-02 9.99728389e-01 -4.85261294e-04 1.72824566e-01] [ 1.56652178e-02 1.20227004e-04 9.99877286e-01 -7.93252824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.248040942 meters Centerline goodness [0,1] 0.9600101722932164 Centerline is valid? [True, True] Translation: X:1.01, Y:0.17, Z:-0.08 [[ 9.99603278e-01 -2.34139082e-02 -1.56548592e-02 1.00628597e+00] [ 2.34091821e-02 9.99725850e-01 -4.85095872e-04 1.72033445e-01] [ 1.56619254e-02 1.18435974e-04 9.99877338e-01 -7.92852795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.278040942 meters Centerline goodness [0,1] 0.9616711464792905 Centerline is valid? [True, True] Translation: X:1.03, Y:0.17, Z:-0.08 [[ 9.99629990e-01 -2.29522864e-02 -1.45971313e-02 1.03369381e+00] [ 2.29480630e-02 9.99736554e-01 -4.56787780e-04 1.70172809e-01] [ 1.46037700e-02 1.21642877e-04 9.99893352e-01 -7.86196974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308040942 meters Centerline goodness [0,1] 0.964940897343558 Centerline is valid? [True, True] Translation: X:1.06, Y:0.17, Z:-0.08 [[ 9.99622790e-01 -2.41038718e-02 -1.31636496e-02 1.06151389e+00] [ 2.41005349e-02 9.99709455e-01 -4.12091584e-04 1.68368275e-01] [ 1.31697580e-02 9.46851429e-05 9.99913270e-01 -7.92013429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.338040942 meters Centerline goodness [0,1] 0.9647764865552634 Centerline is valid? [True, True] Translation: X:1.09, Y:0.17, Z:-0.08 [[ 9.99629664e-01 -2.47302378e-02 -1.13556670e-02 1.08913792e+00] [ 2.47277423e-02 9.99694158e-01 -3.60135862e-04 1.70279980e-01] [ 1.13611002e-02 7.92024835e-05 9.99935457e-01 -7.61194105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368040942 meters Centerline goodness [0,1] 0.967337268092488 Centerline is valid? [True, True] Translation: X:1.12, Y:0.17, Z:-0.08 [[ 9.99615679e-01 -2.51734064e-02 -1.16100469e-02 1.11764254e+00] [ 2.51708418e-02 9.99683097e-01 -3.66988469e-04 1.70141170e-01] [ 1.16156060e-02 7.46127740e-05 9.99932534e-01 -7.75337022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.398040942 meters Centerline goodness [0,1] 0.9667362737033053 Centerline is valid? [True, True] Translation: X:1.15, Y:0.17, Z:-0.08 [[ 9.99612981e-01 -2.57160898e-02 -1.06099611e-02 1.14586646e+00] [ 2.57139330e-02 9.99669284e-01 -3.39668367e-04 1.72101986e-01] [ 1.06151872e-02 6.67130795e-05 9.99943655e-01 -7.57400594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.428040942 meters Centerline goodness [0,1] 0.9703323620085308 Centerline is valid? [True, True] Translation: X:1.17, Y:0.17, Z:-0.08 [[ 9.99551794e-01 -2.92176871e-02 -6.52216242e-03 1.17465900e+00] [ 2.92169610e-02 9.99573072e-01 -2.06603451e-04 1.74002448e-01] [ 6.52541440e-03 1.59530851e-05 9.99978709e-01 -7.50255991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.458040942 meters Centerline goodness [0,1] 0.9717331644500738 Centerline is valid? [True, True] Translation: X:1.20, Y:0.18, Z:-0.07 [[ 9.99512497e-01 -3.07839043e-02 -5.20773299e-03 1.20313507e+00] [ 3.07834619e-02 9.99526063e-01 -1.65104609e-04 1.76456013e-01] [ 5.21034742e-03 4.71206985e-06 9.99986426e-01 -7.35403809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488040942 meters Centerline goodness [0,1] 0.9732801889577798 Centerline is valid? [True, True] Translation: X:1.23, Y:0.18, Z:-0.07 [[ 9.99504237e-01 -3.12184143e-02 -4.08550803e-03 1.23079306e+00] [ 3.12181340e-02 9.99512587e-01 -1.32381919e-04 1.81604615e-01] [ 4.08764945e-03 4.77435222e-06 9.99991646e-01 -7.21379381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.518040942 meters Centerline goodness [0,1] 0.9741531850353893 Centerline is valid? [True, True] Translation: X:1.26, Y:0.18, Z:-0.07 [[ 9.99509907e-01 -3.10614179e-02 -3.89016742e-03 1.25907790e+00] [ 3.10611759e-02 9.99517478e-01 -1.22610799e-04 1.84904517e-01] [ 3.89209879e-03 1.71753334e-06 9.99992426e-01 -7.20767764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548040942 meters Centerline goodness [0,1] 0.9764752959016049 Centerline is valid? [True, True] Translation: X:1.29, Y:0.19, Z:-0.07 [[ 9.99502888e-01 -3.14225091e-02 -2.56961688e-03 1.28769034e+00] [ 3.14224066e-02 9.99506191e-01 -8.02659699e-05 1.90538931e-01] [ 2.57087014e-03 -5.17477712e-07 9.99996695e-01 -7.12789833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.578040942 meters Centerline goodness [0,1] 0.9774133793626069 Centerline is valid? [True, True] Translation: X:1.32, Y:0.19, Z:-0.07 [[ 9.99500335e-01 -3.15074418e-02 -2.52232387e-03 1.31678196e+00] [ 3.15073312e-02 9.99503517e-01 -8.35800607e-05 1.94003266e-01] [ 2.52370497e-03 4.06660504e-06 9.99996815e-01 -7.14366374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608040942 meters Centerline goodness [0,1] 0.9782974782132783 Centerline is valid? [True, True] Translation: X:1.35, Y:0.20, Z:-0.07 [[ 9.99488808e-01 -3.18908341e-02 -2.25772598e-03 1.34569012e+00] [ 3.18907481e-02 9.99491358e-01 -7.40902234e-05 1.97432661e-01] [ 2.25894041e-03 2.05177849e-06 9.99997449e-01 -6.99006839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.638040942 meters Centerline goodness [0,1] 0.9798241184885972 Centerline is valid? [True, True] Translation: X:1.37, Y:0.20, Z:-0.07 [[ 9.99450961e-01 -3.31306740e-02 -3.66184368e-04 1.37486760e+00] [ 3.31306720e-02 9.99451029e-01 -1.14795510e-05 2.00346657e-01] [ 3.66363668e-04 -6.58685852e-07 9.99999933e-01 -6.79108621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6680409419999997 meters Centerline goodness [0,1] 0.9797880361930295 Centerline is valid? [True, True] Translation: X:1.40, Y:0.21, Z:-0.06 [[ 9.99457246e-01 -3.29120018e-02 -1.41931166e-03 1.40391316e+00] [ 3.29119670e-02 9.99458253e-01 -4.78081295e-05 2.05367886e-01] [ 1.42011621e-03 1.06984299e-06 9.99998992e-01 -6.49120395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.698040942 meters Centerline goodness [0,1] 0.9810878170356253 Centerline is valid? [True, True] Translation: X:1.43, Y:0.21, Z:-0.06 [[ 9.99438640e-01 -3.34704751e-02 -1.46033630e-03 1.43326395e+00] [ 3.34704403e-02 9.99439707e-01 -4.82613465e-05 2.08322025e-01] [ 1.46113342e-03 -6.43844511e-07 9.99998933e-01 -6.48757527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728040942 meters Centerline goodness [0,1] 0.9828845228380725 Centerline is valid? [True, True] Translation: X:1.46, Y:0.21, Z:-0.06 [[ 9.99404457e-01 -3.44279198e-02 -2.33433853e-03 1.46289071e+00] [ 3.44278314e-02 9.99407183e-01 -7.80647655e-05 2.13095026e-01] [ 2.33564230e-03 -2.34793852e-06 9.99997272e-01 -6.44403148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.758040942 meters Centerline goodness [0,1] 0.9840429981596118 Centerline is valid? [True, True] Translation: X:1.49, Y:0.22, Z:-0.06 [[ 9.99343076e-01 -3.61963286e-02 -1.80085451e-03 1.49270085e+00] [ 3.61962796e-02 9.99344698e-01 -5.98014698e-05 2.15047660e-01] [ 1.80183900e-03 -5.42204876e-06 9.99998377e-01 -6.25735890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788040942 meters Centerline goodness [0,1] 0.9846988832063459 Centerline is valid? [True, True] Translation: X:1.52, Y:0.22, Z:-0.06 [[ 9.99306587e-01 -3.71900682e-02 -1.80125014e-03 1.52205289e+00] [ 3.71900206e-02 9.99308210e-01 -5.98770858e-05 2.17439936e-01] [ 1.80223089e-03 -7.15296378e-06 9.99998376e-01 -6.12498211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.818040942 meters Centerline goodness [0,1] 0.98702630312415 Centerline is valid? [True, True] Translation: X:1.55, Y:0.22, Z:-0.06 [[ 9.99116192e-01 -4.19823776e-02 -2.07738686e-03 1.55179767e+00] [ 4.19823237e-02 9.99118351e-01 -6.96084021e-05 2.20083889e-01] [ 2.07847766e-03 -1.76666457e-05 9.99997840e-01 -6.04037069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848040942 meters Centerline goodness [0,1] 0.9880497231797765 Centerline is valid? [True, True] Translation: X:1.58, Y:0.22, Z:-0.06 [[ 9.98997179e-01 -4.47003685e-02 -2.55227689e-03 1.58143250e+00] [ 4.47002964e-02 9.99000439e-01 -8.53219816e-05 2.21269284e-01] [ 2.55353966e-03 -2.88511146e-05 9.99996739e-01 -6.01165515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878040942 meters Centerline goodness [0,1] 0.9885271253030177 Centerline is valid? [True, True] Translation: X:1.61, Y:0.22, Z:-0.06 [[ 9.98855882e-01 -4.77152540e-02 -3.19074978e-03 1.61089750e+00] [ 4.77151557e-02 9.98860978e-01 -1.06966585e-04 2.22104391e-01] [ 3.19221938e-03 -4.54029192e-05 9.99994904e-01 -5.97881480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908040942 meters Centerline goodness [0,1] 0.990101485819076 Centerline is valid? [True, True] Translation: X:1.64, Y:0.22, Z:-0.06 [[ 9.98545578e-01 -5.37847293e-02 -3.73247165e-03 1.64055541e+00] [ 5.37846362e-02 9.98552551e-01 -1.25374610e-04 2.24092589e-01] [ 3.73381233e-03 -7.55573673e-05 9.99993026e-01 -5.97183136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9380409419999998 meters Centerline goodness [0,1] 0.9913515771882181 Centerline is valid? [True, True] Translation: X:1.67, Y:0.23, Z:-0.06 [[ 9.98353884e-01 -5.72678872e-02 -3.14839418e-03 1.66998398e+00] [ 5.72678383e-02 9.98358845e-01 -1.05743777e-04 2.25386025e-01] [ 3.14928290e-03 -7.47320181e-05 9.99995038e-01 -5.90485572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968040942 meters Centerline goodness [0,1] 0.9913617251571541 Centerline is valid? [True, True] Translation: X:1.70, Y:0.23, Z:-0.06 [[ 9.98207354e-01 -5.94734962e-02 -6.70689397e-03 1.69830411e+00] [ 5.94733188e-02 9.98229870e-01 -2.26072457e-04 2.29470986e-01] [ 6.70846722e-03 -1.73214054e-04 9.99977483e-01 -6.05810667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.998040942 meters Centerline goodness [0,1] 0.9920337003670338 Centerline is valid? [True, True] Translation: X:1.73, Y:0.23, Z:-0.06 [[ 9.98069945e-01 -6.16036492e-02 -7.83427391e-03 1.72684795e+00] [ 6.16034897e-02 9.98100667e-01 -2.61896569e-04 2.32386699e-01] [ 7.83552780e-03 -2.21227518e-04 9.99969277e-01 -6.09127767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028040942 meters Centerline goodness [0,1] 0.992459590068322 Centerline is valid? [True, True] Translation: X:1.76, Y:0.24, Z:-0.06 [[ 9.98002173e-01 -6.25952865e-02 -8.57282586e-03 1.75561895e+00] [ 6.25951109e-02 9.98038961e-01 -2.89062091e-04 2.35302999e-01] [ 8.57410814e-03 -2.48132391e-04 9.99963211e-01 -6.11635885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.058040942 meters Centerline goodness [0,1] 0.9930998649069936 Centerline is valid? [True, True] Translation: X:1.78, Y:0.24, Z:-0.06 [[ 9.98052057e-01 -6.13466406e-02 -1.13437455e-02 1.78292103e+00] [ 6.13461844e-02 9.98116474e-01 -3.88496734e-04 2.41845797e-01] [ 1.13462122e-02 -3.08155537e-04 9.99935582e-01 -6.29590105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088040942 meters Centerline goodness [0,1] 0.9930998649069936 Centerline is valid? [True, True] Translation: X:1.81, Y:0.24, Z:-0.06 [[ 9.98036552e-01 -6.15983647e-02 -1.13437848e-02 1.81037921e+00] [ 6.15979376e-02 9.98100969e-01 -3.87365735e-04 2.42907169e-01] [ 1.13461037e-02 -3.12148585e-04 9.99935582e-01 -6.23209488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.118040942 meters Centerline goodness [0,1] 0.9931210773515109 Centerline is valid? [True, True] Translation: X:1.84, Y:0.25, Z:-0.06 [[ 9.98123716e-01 -6.00218043e-02 -1.21008849e-02 1.83869926e+00] [ 6.00211564e-02 9.98197018e-01 -4.17026547e-04 2.47332857e-01] [ 1.21040979e-02 -3.10065021e-04 9.99926695e-01 -6.18068461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.148040942 meters Centerline goodness [0,1] 0.9941972113216999 Centerline is valid? [True, True] Translation: X:1.87, Y:0.25, Z:-0.06 [[ 9.98255937e-01 -5.78232969e-02 -1.18975221e-02 1.86779639e+00] [ 5.78224703e-02 9.98326796e-01 -4.13738518e-04 2.52738563e-01] [ 1.19015388e-02 -2.74927184e-04 9.99929136e-01 -6.06965130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.178040942 meters Centerline goodness [0,1] 0.994780294050367 Centerline is valid? [True, True] Translation: X:1.90, Y:0.26, Z:-0.06 [[ 9.98604375e-01 -5.12317536e-02 -1.28300537e-02 1.89591047e+00] [ 5.12302176e-02 9.98686770e-01 -4.48563364e-04 2.63371886e-01] [ 1.28361855e-02 -2.09349104e-04 9.99917591e-01 -5.96813744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208040942 meters Centerline goodness [0,1] 0.9943373443810634 Centerline is valid? [True, True] Translation: X:1.92, Y:0.27, Z:-0.06 [[ 9.98719120e-01 -4.91218658e-02 -1.21310590e-02 1.92415526e+00] [ 4.91203538e-02 9.98792777e-01 -4.22736463e-04 2.68745035e-01] [ 1.21371797e-02 -1.73686923e-04 9.99926327e-01 -5.91335946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.238040942 meters Centerline goodness [0,1] 0.9945940326437259 Centerline is valid? [True, True] Translation: X:1.95, Y:0.27, Z:-0.06 [[ 9.98824276e-01 -4.67833058e-02 -1.27038873e-02 1.95312210e+00] [ 4.67814201e-02 9.98905051e-01 -4.45723119e-04 2.73408959e-01] [ 1.27108296e-02 -1.49106816e-04 9.99919203e-01 -5.88840438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268040942 meters Centerline goodness [0,1] 0.9946458588415963 Centerline is valid? [True, True] Translation: X:1.98, Y:0.28, Z:-0.06 [[ 9.98957792e-01 -4.37089684e-02 -1.31475037e-02 1.98052500e+00] [ 4.37066242e-02 9.99044300e-01 -4.65714838e-04 2.79775953e-01] [ 1.31552946e-02 -1.09403540e-04 9.99913459e-01 -5.82762472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.298040942 meters Centerline goodness [0,1] 0.9947092151308116 Centerline is valid? [True, True] Translation: X:2.01, Y:0.28, Z:-0.06 [[ 9.98940983e-01 -4.40020191e-02 -1.34437693e-02 2.00803973e+00] [ 4.39996021e-02 9.99031435e-01 -4.75649734e-04 2.82338971e-01] [ 1.34516777e-02 -1.16374487e-04 9.99909515e-01 -5.75610052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328040942 meters Centerline goodness [0,1] 0.9955269837307036 Centerline is valid? [True, True] Translation: X:2.04, Y:0.28, Z:-0.06 [[ 9.98930244e-01 -4.44496844e-02 -1.27511644e-02 2.03595541e+00] [ 4.44474880e-02 9.99011618e-01 -4.55725320e-04 2.84378702e-01] [ 1.27588182e-02 -1.11519422e-04 9.99918597e-01 -5.66169015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.358040942 meters Centerline goodness [0,1] 0.9957015274184124 Centerline is valid? [True, True] Translation: X:2.06, Y:0.29, Z:-0.06 [[ 9.98853233e-01 -4.59901599e-02 -1.33088111e-02 2.06361226e+00] [ 4.59879139e-02 9.98941883e-01 -4.74908839e-04 2.86468513e-01] [ 1.33165699e-02 -1.37680229e-04 9.99911321e-01 -5.79161019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388040942 meters Centerline goodness [0,1] 0.9961974803083802 Centerline is valid? [True, True] Translation: X:2.09, Y:0.29, Z:-0.06 [[ 9.98802404e-01 -4.69083365e-02 -1.39056277e-02 2.09122970e+00] [ 4.69059196e-02 9.98899186e-01 -5.00081971e-04 2.87612310e-01] [ 1.39137782e-02 -1.52773179e-04 9.99903187e-01 -5.74540720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4180409419999997 meters Centerline goodness [0,1] 0.9960704805300671 Centerline is valid? [True, True] Translation: X:2.12, Y:0.29, Z:-0.06 [[ 9.98672491e-01 -4.91002725e-02 -1.55698324e-02 2.11963902e+00] [ 4.90974291e-02 9.98793834e-01 -5.65042939e-04 2.87964959e-01] [ 1.55787964e-02 -2.00145904e-04 9.99878623e-01 -5.81554572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448040942 meters Centerline goodness [0,1] 0.9967379030571704 Centerline is valid? [True, True] Translation: X:2.15, Y:0.29, Z:-0.06 [[ 9.98467779e-01 -5.21034031e-02 -1.86368094e-02 2.14815203e+00] [ 5.20997521e-02 9.98641653e-01 -6.81711488e-04 2.87770252e-01] [ 1.86470136e-02 -2.90306193e-04 9.99826087e-01 -6.03064369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.478040942 meters Centerline goodness [0,1] 0.9966465319725057 Centerline is valid? [True, True] Translation: X:2.18, Y:0.29, Z:-0.06 [[ 9.98409737e-01 -5.32331372e-02 -1.85534376e-02 2.17627944e+00] [ 5.32296199e-02 9.98582065e-01 -6.83714964e-04 2.87548445e-01] [ 1.85635263e-02 -3.04964754e-04 9.99827636e-01 -5.96639841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508040942 meters Centerline goodness [0,1] 0.997039014116813 Centerline is valid? [True, True] Translation: X:2.20, Y:0.29, Z:-0.06 [[ 9.98342085e-01 -5.47015706e-02 -1.79114603e-02 2.20425212e+00] [ 5.46985029e-02 9.98502697e-01 -6.61496174e-04 2.86356699e-01] [ 1.79208263e-02 -3.19330595e-04 9.99839358e-01 -5.73667820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.538040942 meters Centerline goodness [0,1] 0.9971362277639583 Centerline is valid? [True, True] Translation: X:2.23, Y:0.29, Z:-0.06 [[ 9.98364071e-01 -5.42330650e-02 -1.81095907e-02 2.23333932e+00] [ 5.42298387e-02 9.98528255e-01 -6.69548816e-04 2.88918657e-01] [ 1.81192496e-02 -3.13626699e-04 9.99835784e-01 -5.69675994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568040942 meters Centerline goodness [0,1] 0.9975073835906244 Centerline is valid? [True, True] Translation: X:2.26, Y:0.29, Z:-0.05 [[ 9.98307560e-01 -5.57042237e-02 -1.67049698e-02 2.26252053e+00] [ 5.57016270e-02 9.98447266e-01 -6.21047067e-04 2.89247391e-01] [ 1.67136264e-02 -3.10498017e-04 9.99860269e-01 -5.48442686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.598040942 meters Centerline goodness [0,1] 0.9976906766317469 Centerline is valid? [True, True] Translation: X:2.29, Y:0.29, Z:-0.05 [[ 9.98260127e-01 -5.67871395e-02 -1.58725945e-02 2.29058791e+00] [ 5.67848601e-02 9.98386261e-01 -5.94621721e-04 2.90654102e-01] [ 1.58807471e-02 -3.07735903e-04 9.99873846e-01 -5.34288045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6280409419999997 meters Centerline goodness [0,1] 0.9975632614807872 Centerline is valid? [True, True] Translation: X:2.32, Y:0.29, Z:-0.05 [[ 9.98225399e-01 -5.75403426e-02 -1.53349703e-02 2.31880878e+00] [ 5.75382903e-02 9.98343134e-01 -5.75368133e-04 2.90548747e-01] [ 1.53426692e-02 -3.08000891e-04 9.99882247e-01 -5.15622461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.658040942 meters Centerline goodness [0,1] 0.9980563044704998 Centerline is valid? [True, True] Translation: X:2.35, Y:0.29, Z:-0.05 [[ 9.98210167e-01 -5.76119671e-02 -1.60412897e-02 2.34698215e+00] [ 5.76097122e-02 9.98338999e-01 -6.03018687e-04 2.92867839e-01] [ 1.60493862e-02 -3.22194696e-04 9.99871148e-01 -5.08029801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6880409419999998 meters Centerline goodness [0,1] 0.998246090242833 Centerline is valid? [True, True] Translation: X:2.38, Y:0.29, Z:-0.05 [[ 9.98242413e-01 -5.68777479e-02 -1.66435085e-02 2.37525137e+00] [ 5.68751238e-02 9.98381100e-01 -6.31341312e-04 2.92798636e-01] [ 1.66524736e-02 -3.16369930e-04 9.99861288e-01 -5.09900805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.718040942 meters Centerline goodness [0,1] 0.9981885566752727 Centerline is valid? [True, True] Translation: X:2.40, Y:0.29, Z:-0.05 [[ 9.98300439e-01 -5.56361086e-02 -1.73452048e-02 2.40331645e+00] [ 5.56330458e-02 9.98451065e-01 -6.59427062e-04 2.93829246e-01] [ 1.73550262e-02 -3.06660246e-04 9.99849343e-01 -5.10029125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748040942 meters Centerline goodness [0,1] 0.998509280255312 Centerline is valid? [True, True] Translation: X:2.43, Y:0.30, Z:-0.05 [[ 9.98554788e-01 -5.06255954e-02 -1.80383993e-02 2.43246241e+00] [ 5.06214500e-02 9.98717676e-01 -6.86632197e-04 2.97619444e-01] [ 1.80500294e-02 -2.27490062e-04 9.99837059e-01 -5.12744572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.778040942 meters Centerline goodness [0,1] 0.9987589920491355 Centerline is valid? [True, True] Translation: X:2.46, Y:0.30, Z:-0.05 [[ 9.98678554e-01 -4.78614562e-02 -1.87196669e-02 2.46077860e+00] [ 4.78564324e-02 9.98853968e-01 -7.16505083e-04 3.01181285e-01] [ 1.87325065e-02 -1.80298210e-04 9.99824515e-01 -5.09117754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.808040942 meters Centerline goodness [0,1] 0.9988181165843569 Centerline is valid? [True, True] Translation: X:2.49, Y:0.31, Z:-0.05 [[ 9.98791544e-01 -4.53191832e-02 -1.90163724e-02 2.48877922e+00] [ 4.53134488e-02 9.98972550e-01 -7.32550948e-04 3.05012930e-01] [ 1.90300326e-02 -1.30031723e-04 9.99818904e-01 -4.97399759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.838040942 meters Centerline goodness [0,1] 0.9989479000084168 Centerline is valid? [True, True] Translation: X:2.52, Y:0.31, Z:-0.05 [[ 9.98913288e-01 -4.28715697e-02 -1.82830876e-02 2.51596127e+00] [ 4.28658240e-02 9.99080589e-01 -7.06224881e-04 3.08678850e-01] [ 1.82965549e-02 -7.82621965e-05 9.99832601e-01 -4.77023363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868040942 meters Centerline goodness [0,1] 0.9990097132382377 Centerline is valid? [True, True] Translation: X:2.54, Y:0.31, Z:-0.05 [[ 9.98926753e-01 -4.23700172e-02 -1.87115896e-02 2.54297999e+00] [ 4.23638679e-02 9.99101985e-01 -7.25077786e-04 3.08696626e-01] [ 1.87255078e-02 -6.83957092e-05 9.99824660e-01 -4.72695881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8980409419999997 meters Centerline goodness [0,1] 0.9991552627132961 Centerline is valid? [True, True] Translation: X:2.57, Y:0.31, Z:-0.05 [[ 9.98944779e-01 -4.15984250e-02 -1.94653546e-02 2.57070067e+00] [ 4.15915912e-02 9.99134409e-01 -7.55953638e-04 3.05401107e-01] [ 1.94799520e-02 -5.44391295e-05 9.99810246e-01 -4.76574286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928040942 meters Centerline goodness [0,1] 0.9990353967455124 Centerline is valid? [True, True] Translation: X:2.60, Y:0.30, Z:-0.05 [[ 9.98914937e-01 -4.25026099e-02 -1.90388227e-02 2.59836623e+00] [ 4.24961511e-02 9.99096354e-01 -7.43875135e-04 3.03435586e-01] [ 1.90532350e-02 -6.60087023e-05 9.99818468e-01 -4.67594327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958040942 meters Centerline goodness [0,1] 0.9992630027374184 Centerline is valid? [True, True] Translation: X:2.63, Y:0.30, Z:-0.05 [[ 9.98874660e-01 -4.29946683e-02 -2.00217792e-02 2.62647510e+00] [ 4.29875216e-02 9.99075299e-01 -7.87392572e-04 3.02336119e-01] [ 2.00371187e-02 -7.41801790e-05 9.99799234e-01 -4.65670626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988040942 meters Centerline goodness [0,1] 0.999346694484837 Centerline is valid? [True, True] Translation: X:2.65, Y:0.30, Z:-0.05 [[ 9.98787027e-01 -4.45389702e-02 -2.09941817e-02 2.65435468e+00] [ 4.45313422e-02 9.99007642e-01 -8.30931458e-04 3.02116194e-01] [ 2.10103568e-02 -1.04975529e-04 9.99779253e-01 -4.66966476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018040942 meters Centerline goodness [0,1] 0.9981269072924339 Centerline is valid? [True, True] Translation: X:2.68, Y:0.30, Z:-0.05 [[ 9.98687794e-01 -4.62584025e-02 -2.19738348e-02 2.68169375e+00] [ 4.62503364e-02 9.98929497e-01 -8.75415997e-04 3.02480670e-01] [ 2.19908071e-02 -1.42029980e-04 9.99758163e-01 -4.71001657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048040941999999 meters Centerline goodness [0,1] 0.9959011224618489 Centerline is valid? [True, True] Translation: X:2.71, Y:0.30, Z:-0.05 [[ 9.98586276e-01 -4.75744326e-02 -2.37091182e-02 2.70970828e+00] [ 4.75653398e-02 9.98867679e-01 -9.47630722e-04 3.02531513e-01] [ 2.37273549e-02 -1.81441231e-04 9.99718450e-01 -4.73838921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0780409419999994 meters Centerline goodness [0,1] 0.9937771984779363 Centerline is valid? [True, True] Translation: X:2.74, Y:0.30, Z:-0.05 [[ 9.98454648e-01 -4.92872698e-02 -2.56725804e-02 2.73837662e+00] [ 4.92771134e-02 9.98784616e-01 -1.02848792e-03 2.99489067e-01] [ 2.56920697e-02 -2.38172109e-04 9.99669876e-01 -4.84860157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108040942 meters Centerline goodness [0,1] 0.9916426330968571 Centerline is valid? [True, True] Translation: X:2.77, Y:0.30, Z:-0.05 [[ 9.98361681e-01 -5.08715300e-02 -2.61924063e-02 2.76752666e+00] [ 5.08613581e-02 9.98705166e-01 -1.05484358e-03 2.97254045e-01] [ 2.62121530e-02 -2.79065943e-04 9.99656364e-01 -4.82182139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138040941999999 meters Centerline goodness [0,1] 0.990962019463186 Centerline is valid? [True, True] Translation: X:2.80, Y:0.29, Z:-0.05 [[ 9.98294498e-01 -5.29153043e-02 -2.46590020e-02 2.79517878e+00] [ 5.29067966e-02 9.98598956e-01 -9.97757490e-04 2.92568444e-01] [ 2.46772503e-02 -3.08572992e-04 9.99695423e-01 -4.58313629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168040941999999 meters Centerline goodness [0,1] 0.9911692352978281 Centerline is valid? [True, True] Translation: X:2.82, Y:0.29, Z:-0.04 [[ 9.98260961e-01 -5.41197781e-02 -2.33688566e-02 2.82358614e+00] [ 5.41124099e-02 9.98534400e-01 -9.48005812e-04 2.92644509e-01] [ 2.33859131e-02 -3.18187957e-04 9.99726462e-01 -4.41966095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1980409419999996 meters Centerline goodness [0,1] 0.9906431762623282 Centerline is valid? [True, True] Translation: X:2.85, Y:0.29, Z:-0.04 [[ 9.98193894e-01 -5.54745790e-02 -2.30547422e-02 2.85218685e+00] [ 5.54676620e-02 9.98460042e-01 -9.39892444e-04 2.92739218e-01] [ 2.30713790e-02 -3.40597747e-04 9.99733762e-01 -4.34437055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228040942 meters Centerline goodness [0,1] 0.9909403114004594 Centerline is valid? [True, True] Translation: X:2.88, Y:0.29, Z:-0.04 [[ 9.98062937e-01 -5.81490445e-02 -2.21147449e-02 2.88101001e+00] [ 5.81432416e-02 9.98307840e-01 -9.05845311e-04 2.90612920e-01] [ 2.21299972e-02 -3.81732321e-04 9.99755029e-01 -4.21053020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.258040941999999 meters Centerline goodness [0,1] 0.9905422446406053 Centerline is valid? [True, True] Translation: X:2.91, Y:0.29, Z:-0.04 [[ 9.97954828e-01 -6.01001749e-02 -2.17745539e-02 2.90883683e+00] [ 6.00949145e-02 9.98192265e-01 -8.96444778e-04 2.88495430e-01] [ 2.17890677e-02 -4.13928559e-04 9.99762504e-01 -4.18244102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288040941999999 meters Centerline goodness [0,1] 0.9900810782352322 Centerline is valid? [True, True] Translation: X:2.94, Y:0.29, Z:-0.04 [[ 9.97798707e-01 -6.22458148e-02 -2.28735215e-02 2.93786733e+00] [ 6.22405348e-02 9.98060733e-01 -9.43376884e-04 2.87212998e-01] [ 2.28878849e-02 -4.82359975e-04 9.99737922e-01 -4.26705407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318040942 meters Centerline goodness [0,1] 0.9904697930223771 Centerline is valid? [True, True] Translation: X:2.97, Y:0.28, Z:-0.05 [[ 9.97456151e-01 -6.64692416e-02 -2.57500698e-02 2.96681381e+00] [ 6.64638192e-02 9.97788265e-01 -1.06733535e-03 2.81051978e-01] [ 2.57640624e-02 -6.46827770e-04 9.99667842e-01 -4.65071507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348040942 meters Centerline goodness [0,1] 0.9906374921102462 Centerline is valid? [True, True] Translation: X:3.00, Y:0.28, Z:-0.05 [[ 9.97360345e-01 -6.77845006e-02 -2.60308318e-02 2.99524554e+00] [ 6.77793842e-02 9.97699749e-01 -1.07984421e-03 2.80810367e-01] [ 2.60441511e-02 -6.87359959e-04 9.99660557e-01 -4.62369799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378040941999999 meters Centerline goodness [0,1] 0.9905553456743483 Centerline is valid? [True, True] Translation: X:3.02, Y:0.28, Z:-0.04 [[ 9.97309609e-01 -6.87395319e-02 -2.54640996e-02 3.02312781e+00] [ 6.87349015e-02 9.97634399e-01 -1.05811354e-03 2.80319418e-01] [ 2.54765959e-02 -6.95005577e-04 9.99675177e-01 -4.48142728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4080409419999995 meters Centerline goodness [0,1] 0.9904186104893203 Centerline is valid? [True, True] Translation: X:3.05, Y:0.28, Z:-0.04 [[ 9.97380135e-01 -6.79228418e-02 -2.48868139e-02 3.05096524e+00] [ 6.79181218e-02 9.97690361e-01 -1.03585150e-03 2.82359544e-01] [ 2.48996923e-02 -6.57127947e-04 9.99689739e-01 -4.32690257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438040942 meters Centerline goodness [0,1] 0.99051078034136 Centerline is valid? [True, True] Translation: X:3.08, Y:0.29, Z:-0.04 [[ 9.97506976e-01 -6.62475336e-02 -2.43124972e-02 3.07960006e+00] [ 6.62424874e-02 9.97803039e-01 -1.01376205e-03 2.86370237e-01] [ 2.43262428e-02 -5.99285572e-04 9.99703894e-01 -4.12166684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468040941999999 meters Centerline goodness [0,1] 0.9904555042710051 Centerline is valid? [True, True] Translation: X:3.11, Y:0.29, Z:-0.04 [[ 9.97631120e-01 -6.46740246e-02 -2.34396691e-02 3.10859228e+00] [ 6.46687957e-02 9.97906300e-01 -9.81819135e-04 2.90687714e-01] [ 2.34540916e-02 -5.36321846e-04 9.99724771e-01 -3.86779627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498040941999999 meters Centerline goodness [0,1] 0.9917751017567539 Centerline is valid? [True, True] Translation: X:3.14, Y:0.30, Z:-0.04 [[ 9.97867774e-01 -6.14053734e-02 -2.21197985e-02 3.13667557e+00] [ 6.13998271e-02 9.98112817e-01 -9.30452549e-04 2.96262570e-01] [ 2.21351892e-02 -4.29683192e-04 9.99754894e-01 -3.59358343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528040942 meters Centerline goodness [0,1] 0.9922496946211196 Centerline is valid? [True, True] Translation: X:3.17, Y:0.30, Z:-0.04 [[ 9.97899491e-01 -6.06929059e-02 -2.26490125e-02 3.16589303e+00] [ 6.06868802e-02 9.98156397e-01 -9.53926877e-04 2.97959620e-01] [ 2.26651533e-02 -4.22574764e-04 9.99743023e-01 -3.60706905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558040942 meters Centerline goodness [0,1] 0.9921531503102977 Centerline is valid? [True, True] Translation: X:3.19, Y:0.30, Z:-0.04 [[ 9.97876762e-01 -6.07602929e-02 -2.34553676e-02 3.19283672e+00] [ 6.07537394e-02 9.98152292e-01 -9.92556084e-04 2.97301078e-01] [ 2.34723369e-02 -4.34552640e-04 9.99724392e-01 -3.69899480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588040941999999 meters Centerline goodness [0,1] 0.9923636747178568 Centerline is valid? [True, True] Translation: X:3.22, Y:0.31, Z:-0.04 [[ 9.97837353e-01 -6.11005589e-02 -2.42350513e-02 3.22064286e+00] [ 6.10936002e-02 9.98131512e-01 -1.02813563e-03 3.07704346e-01] [ 2.42525881e-02 -4.54694403e-04 9.99705759e-01 -3.70959423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6180409419999995 meters Centerline goodness [0,1] 0.9923000444228206 Centerline is valid? [True, True] Translation: X:3.25, Y:0.30, Z:-0.04 [[ 9.97852897e-01 -6.06794190e-02 -2.46496443e-02 3.24840977e+00] [ 6.06719274e-02 9.98157207e-01 -1.05238404e-03 2.99815779e-01] [ 2.46680782e-02 -4.45416963e-04 9.99695597e-01 -3.80846277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648040942 meters Centerline goodness [0,1] 0.9929108030896201 Centerline is valid? [True, True] Translation: X:3.28, Y:0.31, Z:-0.04 [[ 9.97931273e-01 -5.90452163e-02 -2.54329810e-02 3.27706445e+00] [ 5.90366446e-02 9.98255223e-01 -1.08841309e-03 3.12218915e-01] [ 2.54528717e-02 -4.15316395e-04 9.99675937e-01 -3.69742563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678040941999999 meters Centerline goodness [0,1] 0.9930378129790496 Centerline is valid? [True, True] Translation: X:3.31, Y:0.32, Z:-0.04 [[ 9.97957799e-01 -5.82768312e-02 -2.61542129e-02 3.30535319e+00] [ 5.82673356e-02 9.98300381e-01 -1.12566464e-03 3.15395900e-01] [ 2.61753609e-02 -4.00570496e-04 9.99657286e-01 -3.64696155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708040941999999 meters Centerline goodness [0,1] 0.9921020138800187 Centerline is valid? [True, True] Translation: X:3.33, Y:0.32, Z:-0.04 [[ 9.98060893e-01 -5.61302634e-02 -2.69044292e-02 3.33388709e+00] [ 5.61192579e-02 9.98423394e-01 -1.16454518e-03 3.20175368e-01] [ 2.69273777e-02 -3.47569599e-04 9.99637332e-01 -3.62199470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738040942 meters Centerline goodness [0,1] 0.9923568235043645 Centerline is valid? [True, True] Translation: X:3.36, Y:0.32, Z:-0.04 [[ 9.98104900e-01 -5.53419777e-02 -2.69049182e-02 3.36143379e+00] [ 5.53305191e-02 9.98467407e-01 -1.17074058e-03 3.21243179e-01] [ 2.69284750e-02 -3.20141183e-04 9.99637312e-01 -3.54770969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768040942 meters Centerline goodness [0,1] 0.992178509014961 Centerline is valid? [True, True] Translation: X:3.39, Y:0.32, Z:-0.03 [[ 9.98135930e-01 -5.46668397e-02 -2.71330419e-02 3.38912164e+00] [ 5.46548704e-02 9.98504605e-01 -1.18310464e-03 3.21103364e-01] [ 2.71571439e-02 -3.02053642e-04 9.99631131e-01 -3.44964699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.798040941999999 meters Centerline goodness [0,1] 0.9923888085721575 Centerline is valid? [True, True] Translation: X:3.42, Y:0.32, Z:-0.03 [[ 9.98163915e-01 -5.44354125e-02 -2.65628362e-02 3.41730366e+00] [ 5.44237808e-02 9.98517253e-01 -1.16118764e-03 3.23515340e-01] [ 2.65866599e-02 -2.86594370e-04 9.99646471e-01 -3.25493053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8280409419999994 meters Centerline goodness [0,1] 0.9925358892258106 Centerline is valid? [True, True] Translation: X:3.45, Y:0.32, Z:-0.03 [[ 9.98206313e-01 -5.38480579e-02 -2.61637620e-02 3.44501507e+00] [ 5.38363923e-02 9.98549107e-01 -1.15057859e-03 3.22817809e-01] [ 2.61877576e-02 -2.60047743e-04 9.99657008e-01 -3.13022646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858040942 meters Centerline goodness [0,1] 0.9924576933640378 Centerline is valid? [True, True] Translation: X:3.47, Y:0.32, Z:-0.03 [[ 9.98227215e-01 -5.34285240e-02 -2.62263151e-02 3.47318374e+00] [ 5.34165812e-02 9.98571646e-01 -1.15624385e-03 3.23873745e-01] [ 2.62506311e-02 -2.46726013e-04 9.99655362e-01 -3.05382770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888040941999999 meters Centerline goodness [0,1] 0.9927247973792253 Centerline is valid? [True, True] Translation: X:3.50, Y:0.32, Z:-0.03 [[ 9.98303832e-01 -5.25924121e-02 -2.49699122e-02 3.50140564e+00] [ 5.25811673e-02 9.98616040e-01 -1.10715338e-03 3.23797772e-01] [ 2.49935827e-02 -2.07671671e-04 9.99687590e-01 -2.89649488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918040941999999 meters Centerline goodness [0,1] 0.993091867533903 Centerline is valid? [True, True] Translation: X:3.53, Y:0.32, Z:-0.03 [[ 9.98306061e-01 -5.26008070e-02 -2.48629113e-02 3.52927094e+00] [ 5.25895998e-02 9.98615598e-01 -1.10486495e-03 3.24895773e-01] [ 2.48866079e-02 -2.04537184e-04 9.99690259e-01 -2.76838380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9480409419999996 meters Centerline goodness [0,1] 0.9929652299583439 Centerline is valid? [True, True] Translation: X:3.56, Y:0.32, Z:-0.03 [[ 9.98286200e-01 -5.32406101e-02 -2.42919996e-02 3.55724890e+00] [ 5.32299429e-02 9.98581691e-01 -1.08600056e-03 3.24588458e-01] [ 2.43153653e-02 -2.08922373e-04 9.99704316e-01 -2.68132173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978040942 meters Centerline goodness [0,1] 0.9929652299583439 Centerline is valid? [True, True] Translation: X:3.58, Y:0.33, Z:-0.03 [[ 9.98271232e-01 -5.35205587e-02 -2.42918951e-02 3.58468224e+00] [ 5.35099176e-02 9.98566725e-01 -1.08833216e-03 3.25907082e-01] [ 2.43153263e-02 -2.13406616e-04 9.99704316e-01 -2.61754514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008040941999999 meters Centerline goodness [0,1] 0.9930656857148897 Centerline is valid? [True, True] Translation: X:3.61, Y:0.33, Z:-0.02 [[ 9.98268993e-01 -5.39448924e-02 -2.34300098e-02 3.61193233e+00] [ 5.39349617e-02 9.98543892e-01 -1.05603236e-03 3.25272951e-01] [ 2.34528608e-02 -2.09492317e-04 9.99724922e-01 -2.48240905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038040941999999 meters Centerline goodness [0,1] 0.9935546792180808 Centerline is valid? [True, True] Translation: X:3.64, Y:0.32, Z:-0.02 [[ 9.98189219e-01 -5.60726114e-02 -2.17748797e-02 3.64137940e+00] [ 5.60644906e-02 9.98426665e-01 -9.83717568e-04 3.21360662e-01] [ 2.17957801e-02 -2.38861265e-04 9.99762415e-01 -2.31709993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068040942 meters Centerline goodness [0,1] 0.9933805745321849 Centerline is valid? [True, True] Translation: X:3.67, Y:0.32, Z:-0.02 [[ 9.98161161e-01 -5.64539332e-02 -2.20737378e-02 3.66965725e+00] [ 5.64455632e-02 9.98405175e-01 -1.00255776e-03 3.20362963e-01] [ 2.20951324e-02 -2.45250349e-04 9.99755843e-01 -2.28773993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098040941999999 meters Centerline goodness [0,1] 0.9935368421052632 Centerline is valid? [True, True] Translation: X:3.70, Y:0.32, Z:-0.02 [[ 9.98114900e-01 -5.68883050e-02 -2.30296889e-02 3.69763520e+00] [ 5.68791546e-02 9.98380515e-01 -1.05270916e-03 3.17080068e-01] [ 2.30522795e-02 -2.59184535e-04 9.99734227e-01 -2.23024231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128040941999999 meters Centerline goodness [0,1] 0.993807198867119 Centerline is valid? [True, True] Translation: X:3.73, Y:0.32, Z:-0.02 [[ 9.98092696e-01 -5.72212645e-02 -2.31667376e-02 3.72605526e+00] [ 5.72119443e-02 9.98361487e-01 -1.06544930e-03 3.17181970e-01] [ 2.31897449e-02 -2.61996933e-04 9.99731047e-01 -2.20840394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1580409419999995 meters Centerline goodness [0,1] 0.9940258808131557 Centerline is valid? [True, True] Translation: X:3.75, Y:0.32, Z:-0.02 [[ 9.98077855e-01 -5.71502659e-02 -2.39675114e-02 3.75359672e+00] [ 5.71401060e-02 9.98365553e-01 -1.10910009e-03 3.15192567e-01] [ 2.39917231e-02 -2.62537899e-04 9.99712123e-01 -2.18422183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188040942 meters Centerline goodness [0,1] 0.9941924311539111 Centerline is valid? [True, True] Translation: X:3.78, Y:0.31, Z:-0.02 [[ 9.98039077e-01 -5.77480113e-02 -2.41488687e-02 3.78179181e+00] [ 5.77377970e-02 9.98331153e-01 -1.12059082e-03 3.14607372e-01] [ 2.41732799e-02 -2.75909051e-04 9.99707746e-01 -2.08833926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218040941999999 meters Centerline goodness [0,1] 0.9941662615459407 Centerline is valid? [True, True] Translation: X:3.81, Y:0.31, Z:-0.02 [[ 9.98018122e-01 -5.83232235e-02 -2.36268950e-02 3.81017118e+00] [ 5.83134585e-02 9.98297713e-01 -1.10265796e-03 3.14428166e-01] [ 2.36509858e-02 -2.77293338e-04 9.99720238e-01 -1.93964786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248040941999999 meters Centerline goodness [0,1] 0.9945002844680447 Centerline is valid? [True, True] Translation: X:3.84, Y:0.31, Z:-0.02 [[ 9.97942151e-01 -5.96097562e-02 -2.36250078e-02 3.83777778e+00] [ 5.96001985e-02 9.98221712e-01 -1.10910378e-03 3.10275588e-01] [ 2.36491092e-02 -3.01233747e-04 9.99720275e-01 -1.85742541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278040942 meters Centerline goodness [0,1] 0.9946003865871081 Centerline is valid? [True, True] Translation: X:3.87, Y:0.31, Z:-0.02 [[ 9.97874257e-01 -6.06075689e-02 -2.39518351e-02 3.86705606e+00] [ 6.05979789e-02 9.98161618e-01 -1.12667472e-03 3.08956626e-01] [ 2.39760875e-02 -3.27153094e-04 9.99712479e-01 -1.77708237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308040941999999 meters Centerline goodness [0,1] 0.9947235120303926 Centerline is valid? [True, True] Translation: X:3.90, Y:0.31, Z:-0.02 [[ 9.97729637e-01 -6.29198521e-02 -2.40138213e-02 3.89628399e+00] [ 6.29107391e-02 9.98018512e-01 -1.13552388e-03 3.05246108e-01] [ 2.40376852e-02 -3.77781418e-04 9.99710982e-01 -1.71973301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.338040941999999 meters Centerline goodness [0,1] 0.9949860490486081 Centerline is valid? [True, True] Translation: X:3.92, Y:0.30, Z:-0.02 [[ 9.97700795e-01 -6.32919466e-02 -2.42332957e-02 3.92421646e+00] [ 6.32826328e-02 9.97994981e-01 -1.15179982e-03 3.04048548e-01] [ 2.42576071e-02 -3.84395154e-04 9.99705667e-01 -1.69456516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3680409419999995 meters Centerline goodness [0,1] 0.9950882643101531 Centerline is valid? [True, True] Translation: X:3.95, Y:0.30, Z:-0.02 [[ 9.97643914e-01 -6.41165382e-02 -2.44067686e-02 3.95345481e+00] [ 6.41072795e-02 9.97942336e-01 -1.16240882e-03 3.04439422e-01] [ 2.44310773e-02 -4.04981447e-04 9.99701435e-01 -1.64043570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398040942 meters Centerline goodness [0,1] 0.9950138853824791 Centerline is valid? [True, True] Translation: X:3.98, Y:0.30, Z:-0.02 [[ 9.97610710e-01 -6.44481978e-02 -2.48857707e-02 3.98115937e+00] [ 6.44385223e-02 9.97920968e-01 -1.19136029e-03 3.03347584e-01] [ 2.49108134e-02 -4.15088500e-04 9.99689591e-01 -1.61050690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428040941999999 meters Centerline goodness [0,1] 0.9953426620585012 Centerline is valid? [True, True] Translation: X:4.01, Y:0.30, Z:-0.02 [[ 9.97505217e-01 -6.54836390e-02 -2.63673190e-02 4.01002686e+00] [ 6.54730598e-02 9.97853535e-01 -1.26527714e-03 3.02781395e-01] [ 2.63935774e-02 -4.64228509e-04 9.99651521e-01 -1.58209033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458040941999999 meters Centerline goodness [0,1] 0.9953083250930972 Centerline is valid? [True, True] Translation: X:4.04, Y:0.30, Z:-0.02 [[ 9.97463773e-01 -6.59709921e-02 -2.67179720e-02 4.03814765e+00] [ 6.59601399e-02 9.97821427e-01 -1.28825014e-03 3.00402117e-01] [ 2.67447521e-02 -4.77338326e-04 9.99642181e-01 -1.57247159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488040942 meters Centerline goodness [0,1] 0.9957612892395501 Centerline is valid? [True, True] Translation: X:4.07, Y:0.30, Z:-0.01 [[ 9.97387534e-01 -6.68186872e-02 -2.74475933e-02 4.06713020e+00] [ 6.68074699e-02 9.97765004e-01 -1.32653101e-03 2.96120960e-01] [ 2.74748851e-02 -5.10638768e-04 9.99622364e-01 -1.47258927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518040942 meters Centerline goodness [0,1] 0.9957468311786752 Centerline is valid? [True, True] Translation: X:4.09, Y:0.30, Z:-0.01 [[ 9.97376868e-01 -6.71250245e-02 -2.70853205e-02 4.09476136e+00] [ 6.71140376e-02 9.97744444e-01 -1.31553242e-03 2.96538205e-01] [ 2.71125332e-02 -5.05723616e-04 9.99632260e-01 -1.30944460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548040941999999 meters Centerline goodness [0,1] 0.9960612507108705 Centerline is valid? [True, True] Translation: X:4.12, Y:0.30, Z:-0.01 [[ 9.97449562e-01 -6.60242221e-02 -2.71140771e-02 4.12378080e+00] [ 6.60126043e-02 9.97817910e-01 -1.32433231e-03 2.95808320e-01] [ 2.71423498e-02 -4.68916164e-04 9.99631469e-01 -1.17426941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5780409419999994 meters Centerline goodness [0,1] 0.9960350100179268 Centerline is valid? [True, True] Translation: X:4.15, Y:0.30, Z:-0.01 [[ 9.97481552e-01 -6.55728863e-02 -2.70323823e-02 4.15245100e+00] [ 6.55609968e-02 9.97847681e-01 -1.32684113e-03 2.96321996e-01] [ 2.70612048e-02 -4.48770386e-04 9.99633678e-01 -1.06564653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608040942 meters Centerline goodness [0,1] 0.9961893132342414 Centerline is valid? [True, True] Translation: X:4.18, Y:0.30, Z:-0.01 [[ 9.97538008e-01 -6.48533944e-02 -2.66825829e-02 4.18158140e+00] [ 6.48413824e-02 9.97894715e-01 -1.31606875e-03 2.97236259e-01] [ 2.67117600e-02 -4.17306969e-04 9.99643090e-01 -9.13996091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638040941999999 meters Centerline goodness [0,1] 0.995948597835032 Centerline is valid? [True, True] Translation: X:4.21, Y:0.30, Z:-0.01 [[ 9.97584825e-01 -6.41169935e-02 -2.67119332e-02 4.21039351e+00] [ 6.41045176e-02 9.97942312e-01 -1.32400564e-03 2.97937606e-01] [ 2.67418596e-02 -3.91547657e-04 9.99642296e-01 -8.33939108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668040941999999 meters Centerline goodness [0,1] 0.9963539800628043 Centerline is valid? [True, True] Translation: X:4.24, Y:0.30, Z:-0.01 [[ 9.97731044e-01 -6.15366732e-02 -2.73130223e-02 4.23869998e+00] [ 6.15224938e-02 9.98104771e-01 -1.35997684e-03 2.95391683e-01] [ 2.73449463e-02 -3.23474136e-04 9.99626005e-01 -7.90940598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6980409419999996 meters Centerline goodness [0,1] 0.9964441264965178 Centerline is valid? [True, True] Translation: X:4.27, Y:0.30, Z:-0.01 [[ 9.97838928e-01 -5.96075693e-02 -2.76479829e-02 4.26622328e+00] [ 5.95922327e-02 9.98221851e-01 -1.37907231e-03 2.95507832e-01] [ 2.76810238e-02 -2.71512996e-04 9.99616770e-01 -7.60200977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728040942 meters Centerline goodness [0,1] 0.9966835656949725 Centerline is valid? [True, True] Translation: X:4.29, Y:0.30, Z:-0.01 [[ 9.97954479e-01 -5.75612572e-02 -2.78129223e-02 4.29497335e+00] [ 5.75448572e-02 9.98341954e-01 -1.39035922e-03 2.97543002e-01] [ 2.78468381e-02 -2.12975437e-04 9.99612179e-01 -6.30301942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.758040941999999 meters Centerline goodness [0,1] 0.996583287636563 Centerline is valid? [True, True] Translation: X:4.32, Y:0.30, Z:-0.01 [[ 9.98212305e-01 -5.29345871e-02 -2.77511131e-02 4.32378980e+00] [ 5.29162860e-02 9.98597979e-01 -1.39395763e-03 3.00028951e-01] [ 2.77859940e-02 -7.70201769e-05 9.99613892e-01 -5.47377964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788040941999999 meters Centerline goodness [0,1] 0.9968945411526111 Centerline is valid? [True, True] Translation: X:4.35, Y:0.30, Z:-0.00 [[ 9.98306170e-01 -5.08553237e-02 -2.82582068e-02 4.35127023e+00] [ 5.08353127e-02 9.98706031e-01 -1.42656125e-03 3.01562475e-01] [ 2.82941898e-02 -1.23698790e-05 9.99599639e-01 -4.85818996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818040942 meters Centerline goodness [0,1] 0.9968525559780312 Centerline is valid? [True, True] Translation: X:4.38, Y:0.30, Z:-0.00 [[ 9.98475156e-01 -4.74818714e-02 -2.81573388e-02 4.37892258e+00] [ 4.74604429e-02 9.98872096e-01 -1.42923163e-03 3.00641322e-01] [ 2.81934426e-02 9.06925064e-05 9.99602482e-01 -3.65087330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848040941999999 meters Centerline goodness [0,1] 0.9968628937173657 Centerline is valid? [True, True] Translation: X:4.41, Y:0.30, Z:-0.00 [[ 9.98504039e-01 -4.71329207e-02 -2.77159236e-02 4.40621111e+00] [ 4.71118325e-02 9.98888621e-01 -1.41374257e-03 2.99626831e-01] [ 2.77517545e-02 1.05879721e-04 9.99614840e-01 -2.88468375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878040941999999 meters Centerline goodness [0,1] 0.9967873341172518 Centerline is valid? [True, True] Translation: X:4.43, Y:0.30, Z:-0.00 [[ 9.98486606e-01 -4.77771875e-02 -2.72367058e-02 4.43411620e+00] [ 4.77569567e-02 9.98858014e-01 -1.39315696e-03 2.97379408e-01] [ 2.72721630e-02 9.03063874e-05 9.99628041e-01 -1.31452373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9080409419999995 meters Centerline goodness [0,1] 0.9971065542835577 Centerline is valid? [True, True] Translation: X:4.46, Y:0.29, Z:-0.00 [[ 9.98375537e-01 -5.02441886e-02 -2.68664856e-02 4.46253520e+00] [ 5.02252211e-02 9.98736963e-01 -1.38076443e-03 2.91396735e-01] [ 2.69019276e-02 2.91462546e-05 9.99638077e-01 -2.59291936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938040942 meters Centerline goodness [0,1] 0.9973777507394743 Centerline is valid? [True, True] Translation: X:4.49, Y:0.29, Z:0.00 [[ 9.98298343e-01 -5.17526170e-02 -2.68716522e-02 4.49042263e+00] [ 5.17341092e-02 9.98659935e-01 -1.38397669e-03 2.89923499e-01] [ 2.69072669e-02 -8.55935040e-06 9.99637934e-01 1.08690413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968040941999999 meters Centerline goodness [0,1] 0.9971184564949573 Centerline is valid? [True, True] Translation: X:4.52, Y:0.29, Z:0.00 [[ 9.98228341e-01 -5.27560910e-02 -2.75131662e-02 4.51870632e+00] [ 5.27368626e-02 9.98607427e-01 -1.42453687e-03 2.89323338e-01] [ 2.75500051e-02 -2.89449913e-05 9.99620426e-01 8.91885557e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998040941999999 meters Centerline goodness [0,1] 0.9977480321589426 Centerline is valid? [True, True] Translation: X:4.55, Y:0.29, Z:0.00 [[ 9.98037384e-01 -5.56341547e-02 -2.87440745e-02 4.54754333e+00] [ 5.56141372e-02 9.98451215e-01 -1.49601136e-03 2.85791583e-01] [ 2.87827855e-02 -1.05501643e-04 9.99585684e-01 3.61848901e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028040942 meters Centerline goodness [0,1] 0.9973364093959731 Centerline is valid? [True, True] Translation: X:4.58, Y:0.28, Z:-0.00 [[ 9.97919151e-01 -5.72594388e-02 -2.96432839e-02 4.57591358e+00] [ 5.72386855e-02 9.98359321e-01 -1.54888121e-03 2.84277941e-01] [ 2.96833369e-02 -1.51084383e-04 9.99559341e-01 -6.57894602e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058040941999999 meters Centerline goodness [0,1] 0.9972306143001007 Centerline is valid? [True, True] Translation: X:4.60, Y:0.28, Z:-0.00 [[ 9.97766154e-01 -5.94359712e-02 -3.04969962e-02 4.60438923e+00] [ 5.94149434e-02 9.98232096e-01 -1.59604422e-03 2.82475435e-01] [ 3.05379429e-02 -2.19498400e-04 9.99533584e-01 -8.57919156e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088040941999999 meters Centerline goodness [0,1] 0.9973999832256982 Centerline is valid? [True, True] Translation: X:4.63, Y:0.28, Z:-0.00 [[ 9.97492540e-01 -6.26592798e-02 -3.29005805e-02 4.63390378e+00] [ 6.26364170e-02 9.98034919e-01 -1.72612509e-03 2.75839865e-01] [ 3.29440860e-02 -3.38977587e-04 9.99457139e-01 -2.15966374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1180409419999995 meters Centerline goodness [0,1] 0.9975940919266093 Centerline is valid? [True, True] Translation: X:4.66, Y:0.27, Z:-0.00 [[ 9.97355567e-01 -6.44183934e-02 -3.36473264e-02 4.66307171e+00] [ 6.43952177e-02 9.97922899e-01 -1.77312819e-03 2.73927286e-01] [ 3.36916595e-02 -3.98287638e-04 9.99432196e-01 -1.72597686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148040942 meters Centerline goodness [0,1] 0.9976830591967939 Centerline is valid? [True, True] Translation: X:4.69, Y:0.27, Z:-0.00 [[ 9.97271979e-01 -6.58113958e-02 -3.34284464e-02 4.69076994e+00] [ 6.57890994e-02 9.97831985e-01 -1.76766604e-03 2.73326614e-01] [ 3.34723056e-02 -4.36383578e-04 9.99439550e-01 -1.04909800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178040941999999 meters Centerline goodness [0,1] 0.9977791745233606 Centerline is valid? [True, True] Translation: X:4.72, Y:0.27, Z:0.00 [[ 9.97183790e-01 -6.75578720e-02 -3.25641281e-02 4.71960339e+00] [ 6.75375103e-02 9.97715243e-01 -1.72607498e-03 2.74592044e-01] [ 3.26063370e-02 -4.78086150e-04 9.99468158e-01 2.89664409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208040941999999 meters Centerline goodness [0,1] 0.9977385514165462 Centerline is valid? [True, True] Translation: X:4.75, Y:0.27, Z:0.00 [[ 9.97209627e-01 -6.77192830e-02 -3.14174975e-02 4.74766917e+00] [ 6.77002158e-02 9.97704308e-01 -1.67147169e-03 2.71902999e-01] [ 3.14585635e-02 -4.60163698e-04 9.99504951e-01 2.85152217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238040942 meters Centerline goodness [0,1] 0.9978640980002094 Centerline is valid? [True, True] Translation: X:4.78, Y:0.27, Z:0.00 [[ 9.97195940e-01 -6.82309328e-02 -3.07375520e-02 4.77529735e+00] [ 6.82128057e-02 9.97669447e-01 -1.63917114e-03 2.71720229e-01] [ 3.07777587e-02 -4.62119859e-04 9.99526146e-01 4.70312107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268040942 meters Centerline goodness [0,1] 0.9979067674209281 Centerline is valid? [True, True] Translation: X:4.80, Y:0.27, Z:0.01 [[ 9.97182485e-01 -6.89770900e-02 -2.94830992e-02 4.80325240e+00] [ 6.89605226e-02 9.97618139e-01 -1.57957847e-03 2.71334417e-01] [ 2.95218293e-02 -4.58041951e-04 9.99564031e-01 8.20077581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.298040941999999 meters Centerline goodness [0,1] 0.9978576829370747 Centerline is valid? [True, True] Translation: X:4.83, Y:0.27, Z:0.01 [[ 9.97128919e-01 -6.98412967e-02 -2.92593859e-02 4.83185671e+00] [ 6.98251301e-02 9.97558003e-01 -1.57515139e-03 2.72184123e-01] [ 2.92979451e-02 -4.72411418e-04 9.99570611e-01 8.64020850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3280409419999994 meters Centerline goodness [0,1] 0.9981475634143774 Centerline is valid? [True, True] Translation: X:4.86, Y:0.27, Z:0.01 [[ 9.97174223e-01 -6.93854435e-02 -2.87963533e-02 4.86073057e+00] [ 6.93694006e-02 9.97589827e-01 -1.55694782e-03 2.73019471e-01] [ 2.88349786e-02 -4.45037536e-04 9.99584086e-01 9.99686332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358040942 meters Centerline goodness [0,1] 0.998427870708087 Centerline is valid? [True, True] Translation: X:4.89, Y:0.28, Z:0.01 [[ 9.97225525e-01 -6.85541322e-02 -2.90100578e-02 4.88934719e+00] [ 6.85372969e-02 9.97647311e-01 -1.57544473e-03 2.76404432e-01] [ 2.90498094e-02 -4.17197244e-04 9.99577878e-01 1.11897010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388040941999999 meters Centerline goodness [0,1] 0.9984503591397399 Centerline is valid? [True, True] Translation: X:4.92, Y:0.28, Z:0.01 [[ 9.97286629e-01 -6.75357593e-02 -2.92967667e-02 4.91750659e+00] [ 6.75179647e-02 9.97716780e-01 -1.59734174e-03 2.77092477e-01] [ 2.93377535e-02 -3.85050501e-04 9.99569481e-01 1.10862248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418040941999999 meters Centerline goodness [0,1] 0.9981607657902437 Centerline is valid? [True, True] Translation: X:4.94, Y:0.28, Z:0.01 [[ 9.97483457e-01 -6.43662761e-02 -2.97276862e-02 4.94495072e+00] [ 6.43464693e-02 9.97926298e-01 -1.62343364e-03 2.80256291e-01] [ 2.97705342e-02 -2.93523452e-04 9.99556716e-01 1.05943268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4480409419999996 meters Centerline goodness [0,1] 0.9984307982006486 Centerline is valid? [True, True] Translation: X:4.97, Y:0.28, Z:0.01 [[ 9.97527209e-01 -6.38542986e-02 -2.93614611e-02 4.97266562e+00] [ 6.38346522e-02 9.97959195e-01 -1.60693558e-03 2.82930973e-01] [ 2.94041498e-02 -2.71316692e-04 9.99567568e-01 1.18288592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478040942 meters Centerline goodness [0,1] 0.998696904096345 Centerline is valid? [True, True] Translation: X:5.00, Y:0.29, Z:0.01 [[ 9.97698706e-01 -6.15816371e-02 -2.83724319e-02 5.00004592e+00] [ 6.15621945e-02 9.98102032e-01 -1.55909609e-03 2.86415179e-01] [ 2.84145936e-02 -1.91161014e-04 9.99596206e-01 1.36622268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508040941999999 meters Centerline goodness [0,1] 0.9987574238658861 Centerline is valid? [True, True] Translation: X:5.03, Y:0.29, Z:0.01 [[ 9.97798113e-01 -6.01104272e-02 -2.80296543e-02 5.02897698e+00] [ 6.00907882e-02 9.98191723e-01 -1.54321637e-03 2.88439809e-01] [ 2.80717323e-02 -1.44505633e-04 9.99605901e-01 1.45214787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538040941999999 meters Centerline goodness [0,1] 0.9986737958908724 Centerline is valid? [True, True] Translation: X:5.06, Y:0.29, Z:0.02 [[ 9.97885880e-01 -5.86054577e-02 -2.80921696e-02 5.05665244e+00] [ 5.85849464e-02 9.98281218e-01 -1.55334547e-03 2.90388522e-01] [ 2.81349198e-02 -9.57167408e-05 9.99604130e-01 1.55301408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568040942 meters Centerline goodness [0,1] 0.9986931961891915 Centerline is valid? [True, True] Translation: X:5.08, Y:0.29, Z:0.02 [[ 9.98127258e-01 -5.45831362e-02 -2.76162608e-02 5.08448623e+00] [ 5.45615551e-02 9.98509229e-01 -1.53496181e-03 2.91164350e-01] [ 2.76588743e-02 2.53010900e-05 9.99617420e-01 1.70468190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598040941999999 meters Centerline goodness [0,1] 0.9988897268309033 Centerline is valid? [True, True] Translation: X:5.11, Y:0.29, Z:0.02 [[ 9.98181117e-01 -5.37092366e-02 -2.73820335e-02 5.11138470e+00] [ 5.36874932e-02 9.98556616e-01 -1.52916505e-03 2.92833074e-01] [ 2.74246410e-02 5.63109432e-05 9.99623872e-01 1.78547205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628040941999999 meters Centerline goodness [0,1] 0.9988452898322521 Centerline is valid? [True, True] Translation: X:5.14, Y:0.30, Z:0.02 [[ 9.98224663e-01 -5.31141199e-02 -2.69520375e-02 5.13822448e+00] [ 5.30927394e-02 9.98588446e-01 -1.50877611e-03 2.95514585e-01] [ 2.69941306e-02 7.51400185e-05 9.99635589e-01 1.69598916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6580409419999995 meters Centerline goodness [0,1] 0.9992449822780562 Centerline is valid? [True, True] Translation: X:5.17, Y:0.30, Z:0.02 [[ 9.98207926e-01 -5.33891296e-02 -2.70284479e-02 5.16580436e+00] [ 5.33675756e-02 9.98573781e-01 -1.51869558e-03 2.95733906e-01] [ 2.70709813e-02 7.35312318e-05 9.99633511e-01 1.89768676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688040942 meters Centerline goodness [0,1] 0.9992007571774109 Centerline is valid? [True, True] Translation: X:5.19, Y:0.30, Z:0.02 [[ 9.98165497e-01 -5.40270737e-02 -2.73261098e-02 5.19412519e+00] [ 5.40050679e-02 9.98539469e-01 -1.54321397e-03 2.96140413e-01] [ 2.73695745e-02 6.46345200e-05 9.99625381e-01 1.92910795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718040941999999 meters Centerline goodness [0,1] 0.9991177767975298 Centerline is valid? [True, True] Translation: X:5.22, Y:0.29, Z:0.02 [[ 9.97999607e-01 -5.61726733e-02 -2.90071420e-02 5.22187987e+00] [ 5.61485653e-02 9.98421069e-01 -1.64560947e-03 2.92909578e-01] [ 2.90537800e-02 1.36081963e-05 9.99577850e-01 1.77009818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748040941999999 meters Centerline goodness [0,1] 0.9991395051105001 Centerline is valid? [True, True] Translation: X:5.25, Y:0.29, Z:0.02 [[ 9.97899083e-01 -5.79270440e-02 -2.90151256e-02 5.24999548e+00] [ 5.79035579e-02 9.98320818e-01 -1.64971497e-03 2.91920389e-01] [ 2.90619670e-02 -3.38299441e-05 9.99577611e-01 1.95657626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778040942 meters Centerline goodness [0,1] 0.9993284365162645 Centerline is valid? [True, True] Translation: X:5.28, Y:0.29, Z:0.02 [[ 9.97765326e-01 -6.03842561e-02 -2.86023736e-02 5.27771127e+00] [ 6.03622175e-02 9.98175201e-01 -1.63410793e-03 2.90803716e-01] [ 2.86488544e-02 -9.60464617e-05 9.99589533e-01 2.07908325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808040941999999 meters Centerline goodness [0,1] 0.9994332136784432 Centerline is valid? [True, True] Translation: X:5.31, Y:0.29, Z:0.02 [[ 9.97550430e-01 -6.46697094e-02 -2.66640026e-02 5.30686758e+00] [ 6.46519050e-02 9.97906704e-01 -1.53019064e-03 2.86756939e-01] [ 2.67071440e-02 -1.97436230e-04 9.99643281e-01 2.38671810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.838040941999999 meters Centerline goodness [0,1] 0.9994963062458025 Centerline is valid? [True, True] Translation: X:5.33, Y:0.29, Z:0.03 [[ 9.97439485e-01 -6.66252966e-02 -2.59912374e-02 5.33463036e+00] [ 6.66088944e-02 9.97778038e-01 -1.49728861e-03 2.86008343e-01] [ 2.60332431e-02 -2.37792802e-04 9.99661049e-01 2.52437816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8680409419999995 meters Centerline goodness [0,1] 0.999663377585155 Centerline is valid? [True, True] Translation: X:5.36, Y:0.29, Z:0.03 [[ 9.97350701e-01 -6.79886995e-02 -2.58672796e-02 5.36376914e+00] [ 6.79728441e-02 9.97686055e-01 -1.49276201e-03 2.85947576e-01] [ 2.59089151e-02 -2.69465329e-04 9.99664271e-01 2.64538334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898040942 meters Centerline goodness [0,1] 0.999663377585155 Centerline is valid? [True, True] Translation: X:5.39, Y:0.29, Z:0.03 [[ 9.97332184e-01 -6.82599301e-02 -2.58669179e-02 5.39121989e+00] [ 6.82440040e-02 9.97667534e-01 -1.49900566e-03 2.87635515e-01] [ 2.59089062e-02 -2.70255454e-04 9.99664271e-01 2.70918731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928040941999999 meters Centerline goodness [0,1] 0.999455303458823 Centerline is valid? [True, True] Translation: X:5.42, Y:0.29, Z:0.03 [[ 9.97239902e-01 -6.93782480e-02 -2.64430836e-02 5.41904571e+00] [ 6.93618189e-02 9.97590381e-01 -1.53913325e-03 2.86242021e-01] [ 2.64861482e-02 -2.99255281e-04 9.99649136e-01 2.63452066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958040941999999 meters Centerline goodness [0,1] 0.9996842371168744 Centerline is valid? [True, True] Translation: X:5.45, Y:0.29, Z:0.03 [[ 9.97117155e-01 -7.06780389e-02 -2.76042303e-02 5.44749937e+00] [ 7.06605662e-02 9.97499120e-01 -1.60913090e-03 2.86036377e-01] [ 2.76489257e-02 -3.46038515e-04 9.99617635e-01 2.58767939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988040942 meters Centerline goodness [0,1] 0.9995592217114792 Centerline is valid? [True, True] Translation: X:5.48, Y:0.29, Z:0.03 [[ 9.97073824e-01 -7.13101781e-02 -2.75435791e-02 5.47550723e+00] [ 7.12929378e-02 9.97454124e-01 -1.60869232e-03 2.86172295e-01] [ 2.75881727e-02 -3.59677665e-04 9.99619309e-01 2.66630463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018040941999999 meters Centerline goodness [0,1] 0.9996226810606854 Centerline is valid? [True, True] Translation: X:5.50, Y:0.28, Z:0.03 [[ 9.96958904e-01 -7.30835496e-02 -2.70506617e-02 5.50328539e+00] [ 7.30674002e-02 9.97325744e-01 -1.58629110e-03 2.84449676e-01] [ 2.70942531e-02 -3.95054489e-04 9.99632805e-01 2.80086785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048040941999999 meters Centerline goodness [0,1] 0.9996843434343434 Centerline is valid? [True, True] Translation: X:5.53, Y:0.28, Z:0.03 [[ 9.96868486e-01 -7.43450776e-02 -2.69449467e-02 5.53242047e+00] [ 7.43294401e-02 9.97232485e-01 -1.58286058e-03 2.84834746e-01] [ 2.69880540e-02 -4.24898967e-04 9.99635666e-01 2.88360272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0780409419999994 meters Centerline goodness [0,1] 0.9997263215511253 Centerline is valid? [True, True] Translation: X:5.56, Y:0.28, Z:0.03 [[ 9.96774386e-01 -7.51924934e-02 -2.80519557e-02 5.56066408e+00] [ 7.51757130e-02 9.97168931e-01 -1.65382824e-03 2.83974708e-01] [ 2.80968942e-02 -4.60332145e-04 9.99605098e-01 2.87041182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108040942 meters Centerline goodness [0,1] 0.99972652305621 Centerline is valid? [True, True] Translation: X:5.59, Y:0.28, Z:0.03 [[ 9.96705717e-01 -7.59007578e-02 -2.85795201e-02 5.58964361e+00] [ 7.58835411e-02 9.97115258e-01 -1.68807788e-03 2.83886755e-01] [ 2.86252019e-02 -4.86198314e-04 9.99590097e-01 2.91328370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138040941999999 meters Centerline goodness [0,1] 0.9997280277830081 Centerline is valid? [True, True] Translation: X:5.62, Y:0.28, Z:0.03 [[ 9.96682018e-01 -7.61336073e-02 -2.87859031e-02 5.61742017e+00] [ 7.61160724e-02 9.97097504e-01 -1.70601217e-03 2.84027870e-01] [ 2.88322370e-02 -4.90718228e-04 9.99584144e-01 2.98243483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168040941999999 meters Centerline goodness [0,1] 0.9996045456437581 Centerline is valid? [True, True] Translation: X:5.64, Y:0.29, Z:0.03 [[ 9.96702336e-01 -7.60231864e-02 -2.83712681e-02 5.64497859e+00] [ 7.60060182e-02 9.97105936e-01 -1.68460834e-03 2.85152900e-01] [ 2.84172291e-02 -4.77334053e-04 9.99596035e-01 3.11084192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1980409419999996 meters Centerline goodness [0,1] 0.9998739283913263 Centerline is valid? [True, True] Translation: X:5.67, Y:0.29, Z:0.03 [[ 9.96667038e-01 -7.70046643e-02 -2.69276247e-02 5.67296923e+00] [ 7.69893786e-02 9.97030620e-01 -1.60550020e-03 2.86234146e-01] [ 2.69712973e-02 -4.72991961e-04 9.99636096e-01 3.32470108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228040941999999 meters Centerline goodness [0,1] 0.9998740765614507 Centerline is valid? [True, True] Translation: X:5.70, Y:0.29, Z:0.03 [[ 9.96640096e-01 -7.73593843e-02 -2.69080887e-02 5.70041731e+00] [ 7.73440814e-02 9.97003159e-01 -1.61058732e-03 2.86994185e-01] [ 2.69520435e-02 -4.76005501e-04 9.99636614e-01 3.40207763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.258040941999999 meters Centerline goodness [0,1] 0.999895230911072 Centerline is valid? [True, True] Translation: X:5.73, Y:0.29, Z:0.03 [[ 9.96553775e-01 -7.81984694e-02 -2.76689720e-02 5.72888880e+00] [ 7.81825318e-02 9.96937681e-01 -1.65902211e-03 2.86963100e-01] [ 2.77139738e-02 -5.09925537e-04 9.99615764e-01 3.36701699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288040941999999 meters Centerline goodness [0,1] 0.9999790026246719 Centerline is valid? [True, True] Translation: X:5.76, Y:0.29, Z:0.03 [[ 9.96496168e-01 -7.86095490e-02 -2.85644126e-02 5.75750691e+00] [ 7.85925466e-02 9.96905340e-01 -1.71918799e-03 2.87404746e-01] [ 2.86111600e-02 -5.31785686e-04 9.99590476e-01 3.42287105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318040942 meters Centerline goodness [0,1] 0.999957945202599 Centerline is valid? [True, True] Translation: X:5.79, Y:0.29, Z:0.04 [[ 9.96471893e-01 -7.89902844e-02 -2.83601993e-02 5.78539145e+00] [ 7.89734977e-02 9.96875244e-01 -1.71325645e-03 2.87878066e-01] [ 2.84069112e-02 -5.32492234e-04 9.99596300e-01 3.50664253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.81, Y:0.29, Z:0.04 [[ 9.96420623e-01 -7.96582802e-02 -2.82931045e-02 5.81368700e+00] [ 7.96416445e-02 9.96822082e-01 -1.71616393e-03 2.89535622e-01] [ 2.83398980e-02 -5.43288241e-04 9.99598197e-01 3.71079825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.84, Y:0.29, Z:0.04 [[ 9.96399853e-01 -8.01522811e-02 -2.76214630e-02 5.84138623e+00] [ 8.01364387e-02 9.96782485e-01 -1.68181921e-03 2.91081790e-01] [ 2.76673922e-02 -5.37721261e-04 9.99617040e-01 3.84612017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4080409419999995 meters Centerline goodness [0,1] 0.9999790904338735 Centerline is valid? [True, True] Translation: X:5.87, Y:0.29, Z:0.04 [[ 9.96425697e-01 -7.98524232e-02 -2.75575969e-02 5.86964252e+00] [ 7.98363613e-02 9.96806560e-01 -1.68437644e-03 2.90429123e-01] [ 2.76040949e-02 -5.21742294e-04 9.99618798e-01 3.88785687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.90, Y:0.29, Z:0.04 [[ 9.96471101e-01 -7.95769705e-02 -2.66992452e-02 5.89798898e+00] [ 7.95617244e-02 9.96828601e-01 -1.63454286e-03 2.94862724e-01] [ 2.67446432e-02 -4.95463263e-04 9.99642175e-01 4.05493043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468040941999999 meters Centerline goodness [0,1] 0.9999581966013837 Centerline is valid? [True, True] Translation: X:5.93, Y:0.29, Z:0.04 [[ 9.96497666e-01 -7.91997355e-02 -2.68291708e-02 5.92602164e+00] [ 7.91840501e-02 9.96858651e-01 -1.64822051e-03 2.93214454e-01] [ 2.68754296e-02 -4.81994510e-04 9.99638674e-01 4.04871110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.95, Y:0.30, Z:0.04 [[ 9.96507896e-01 -7.91381812e-02 -2.66300991e-02 5.95345120e+00] [ 7.91226075e-02 9.96863544e-01 -1.63967161e-03 2.96589024e-01] [ 2.66763356e-02 -4.73097175e-04 9.99644011e-01 4.21444542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.98, Y:0.30, Z:0.04 [[ 9.96532873e-01 -7.90959520e-02 -2.58082196e-02 5.98162293e+00] [ 7.90811427e-02 9.96866905e-01 -1.59556258e-03 2.99363859e-01] [ 2.58535625e-02 -4.50912932e-04 9.99665639e-01 4.47230541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558040941999999 meters Centerline goodness [0,1] 0.9999790343208168 Centerline is valid? [True, True] Translation: X:6.01, Y:0.30, Z:0.04 [[ 9.96562708e-01 -7.87379560e-02 -2.57508049e-02 6.00990515e+00] [ 7.87229230e-02 9.96895253e-01 -1.59860143e-03 2.96055611e-01] [ 2.57967258e-02 -4.34072063e-04 9.99667115e-01 4.47481170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.04, Y:0.30, Z:0.05 [[ 9.96549355e-01 -7.87424133e-02 -2.62490864e-02 6.03719233e+00] [ 7.87267210e-02 9.96894899e-01 -1.63232790e-03 3.00951989e-01] [ 2.62961138e-02 -4.39809189e-04 9.99654101e-01 4.55783804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6180409419999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.06, Y:0.30, Z:0.05 [[ 9.96617153e-01 -7.76399130e-02 -2.69498468e-02 6.06462578e+00] [ 7.76227980e-02 9.96981380e-01 -1.68222497e-03 3.02721543e-01] [ 2.69991032e-02 -4.15388251e-04 9.99635371e-01 4.57419427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.09, Y:0.30, Z:0.05 [[ 9.96665687e-01 -7.69533476e-02 -2.71236135e-02 6.09363244e+00] [ 7.69356839e-02 9.97034616e-01 -1.69575743e-03 3.04530301e-01] [ 2.71736758e-02 -3.96670512e-04 9.99630649e-01 4.66160348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.12, Y:0.31, Z:0.05 [[ 9.96692871e-01 -7.66239634e-02 -2.70571549e-02 6.12195988e+00] [ 7.66061030e-02 9.97059990e-01 -1.69757078e-03 3.06258686e-01] [ 2.71076812e-02 -3.80786506e-04 9.99632447e-01 4.78576069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.15, Y:0.31, Z:0.05 [[ 9.96704578e-01 -7.67906562e-02 -2.61377090e-02 6.15022909e+00] [ 7.67738824e-02 9.97047171e-01 -1.64614640e-03 3.07430447e-01] [ 2.61869374e-02 -3.65971745e-04 9.99656996e-01 4.92492637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.18, Y:0.31, Z:0.05 [[ 9.96715390e-01 -7.68092131e-02 -2.56666513e-02 6.17828526e+00] [ 7.67928827e-02 9.97045746e-01 -1.62277394e-03 3.12111660e-01] [ 2.57154695e-02 -3.53572381e-04 9.99669240e-01 5.12955296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.21, Y:0.31, Z:0.05 [[ 9.96733484e-01 -7.66988323e-02 -2.52913309e-02 6.20524703e+00] [ 7.66827721e-02 9.97054248e-01 -1.60568849e-03 3.13754507e-01] [ 2.53399833e-02 -3.38965883e-04 9.99678834e-01 5.18002661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.798040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.23, Y:0.32, Z:0.05 [[ 9.96736413e-01 -7.64181501e-02 -2.60151709e-02 6.23254009e+00] [ 7.64009725e-02 9.97075801e-01 -1.65506935e-03 3.15311318e-01] [ 2.60655747e-02 -3.37916472e-04 9.99660178e-01 5.16073274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8280409419999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.26, Y:0.32, Z:0.05 [[ 9.96741709e-01 -7.57754149e-02 -2.76415080e-02 6.26058007e+00] [ 7.57556126e-02 9.97124854e-01 -1.76440354e-03 3.16769159e-01] [ 2.76957330e-02 -3.35344767e-04 9.99616343e-01 5.09111321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.29, Y:0.32, Z:0.05 [[ 9.96744829e-01 -7.55126632e-02 -2.82415217e-02 6.28858510e+00] [ 7.54916588e-02 9.97144789e-01 -1.81074174e-03 3.18982304e-01] [ 2.82976201e-02 -3.27151858e-04 9.99599489e-01 5.15815552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.32, Y:0.32, Z:0.05 [[ 9.96764722e-01 -7.51131339e-02 -2.86025625e-02 6.31547204e+00] [ 7.50912089e-02 9.97174969e-01 -1.84141050e-03 3.20474503e-01] [ 2.86600735e-02 -3.12347974e-04 9.99589167e-01 5.20719863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.34, Y:0.32, Z:0.05 [[ 9.96928686e-01 -7.31711038e-02 -2.79138957e-02 6.34435539e+00] [ 7.31493475e-02 9.97319372e-01 -1.80112543e-03 3.22595184e-01] [ 2.79708592e-02 -2.46289650e-04 9.99608709e-01 5.29559388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9480409419999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.37, Y:0.32, Z:0.05 [[ 9.97018462e-01 -7.21055540e-02 -2.74768334e-02 6.37267570e+00] [ 7.20838809e-02 9.97396985e-01 -1.77976041e-03 3.24495980e-01] [ 2.75336414e-02 -2.06182803e-04 9.99620856e-01 5.42467780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978040941999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.40, Y:0.33, Z:0.06 [[ 9.97271069e-01 -6.86886027e-02 -2.70608747e-02 6.40014739e+00] [ 6.86661571e-02 9.97638143e-01 -1.75893115e-03 3.27234821e-01] [ 2.71177793e-02 -1.04035121e-04 9.99632240e-01 5.54728668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.43, Y:0.33, Z:0.06 [[ 9.97345932e-01 -6.76634938e-02 -2.68839026e-02 6.42808766e+00] [ 6.76408842e-02 9.97708197e-01 -1.75055478e-03 3.29576561e-01] [ 2.69407387e-02 -7.25422564e-05 9.99637030e-01 5.63287843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.45, Y:0.33, Z:0.06 [[ 9.97404857e-01 -6.68510553e-02 -2.67299116e-02 6.45484157e+00] [ 6.68282234e-02 9.97762965e-01 -1.74757760e-03 3.31154529e-01] [ 2.67869432e-02 -4.32701130e-05 9.99641165e-01 5.69731770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.48, Y:0.33, Z:0.06 [[ 9.97407954e-01 -6.70968758e-02 -2.59881171e-02 6.48308251e+00] [ 6.70752835e-02 9.97746464e-01 -1.70267410e-03 3.31500746e-01] [ 2.60437960e-02 -4.48996316e-05 9.99660802e-01 5.82614325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.51, Y:0.33, Z:0.06 [[ 9.97375759e-01 -6.78756608e-02 -2.51890935e-02 6.51001214e+00] [ 6.78554582e-02 9.97693786e-01 -1.65690378e-03 3.32379508e-01] [ 2.52434655e-02 -5.66618103e-05 9.99681331e-01 5.92044540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.54, Y:0.33, Z:0.06 [[ 9.97295187e-01 -6.95232108e-02 -2.38502052e-02 6.53838158e+00] [ 6.95055013e-02 9.97580330e-01 -1.57171265e-03 3.31821971e-01] [ 2.39017661e-02 -9.02590116e-05 9.99714308e-01 6.06745440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.57, Y:0.33, Z:0.06 [[ 9.97226898e-01 -7.04431218e-02 -2.40058598e-02 6.56671274e+00] [ 7.04252844e-02 9.97515792e-01 -1.58871706e-03 3.32022021e-01] [ 2.40581385e-02 -1.06308115e-04 9.99710555e-01 6.12595952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.59, Y:0.33, Z:0.06 [[ 9.97153530e-01 -7.15240715e-02 -2.38567687e-02 6.59468821e+00] [ 7.15067110e-02 9.97438866e-01 -1.58108336e-03 3.32841887e-01] [ 2.39087538e-02 -1.29336206e-04 9.99714137e-01 6.13747007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.62, Y:0.33, Z:0.06 [[ 9.97059826e-01 -7.25534534e-02 -2.46515710e-02 6.62233817e+00] [ 7.25350540e-02 9.97364514e-01 -1.64092803e-03 3.34156200e-01] [ 2.47056571e-02 -1.51999621e-04 9.99694757e-01 6.14708819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.65, Y:0.34, Z:0.06 [[ 9.96953531e-01 -7.38886822e-02 -2.49823843e-02 6.64998172e+00] [ 7.38700361e-02 9.97266479e-01 -1.66968157e-03 3.35039926e-01] [ 2.50374650e-02 -1.80854695e-04 9.99686497e-01 6.13086578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.68, Y:0.34, Z:0.06 [[ 9.96863075e-01 -7.51944744e-02 -2.46941319e-02 6.67900039e+00] [ 7.51765983e-02 9.97168866e-01 -1.65277172e-03 3.36903057e-01] [ 2.47484988e-02 -2.08833735e-04 9.99693687e-01 6.21998787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.71, Y:0.34, Z:0.06 [[ 9.96775790e-01 -7.64628059e-02 -2.43200409e-02 6.70774199e+00] [ 7.64457037e-02 9.97072408e-01 -1.63351880e-03 3.38349530e-01] [ 2.43737452e-02 -2.30910655e-04 9.99702889e-01 6.26128551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338040942000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.74, Y:0.34, Z:0.06 [[ 9.96678453e-01 -7.75594569e-02 -2.48312581e-02 6.73689303e+00] [ 7.75418167e-02 9.96987695e-01 -1.67394939e-03 3.40249040e-01] [ 2.48862894e-02 -2.57071574e-04 9.99690255e-01 6.33360682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.77, Y:0.34, Z:0.06 [[ 9.96636231e-01 -7.83127504e-02 -2.41523463e-02 6.76500819e+00] [ 7.82961454e-02 9.96928806e-01 -1.63385494e-03 3.41020129e-01] [ 2.42061215e-02 -2.62676592e-04 9.99706954e-01 6.38400155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398040942 meters Centerline goodness [0,1] 0.9999790681123624 Centerline is valid? [True, True] Translation: X:6.79, Y:0.34, Z:0.06 [[ 9.96630092e-01 -7.83966128e-02 -2.41335867e-02 6.79309245e+00] [ 7.83800026e-02 9.96922215e-01 -1.63488646e-03 3.43932912e-01] [ 2.41874783e-02 -2.62213545e-04 9.99707406e-01 6.41152400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.82, Y:0.35, Z:0.06 [[ 9.96667482e-01 -7.79719556e-02 -2.39646536e-02 6.82066500e+00] [ 7.79552954e-02 9.96955523e-01 -1.63005735e-03 3.46429300e-01] [ 2.40187926e-02 -2.43546500e-04 9.99711478e-01 6.42760622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458040942 meters Centerline goodness [0,1] 0.9999374178609425 Centerline is valid? [True, True] Translation: X:6.85, Y:0.35, Z:0.06 [[ 9.96675957e-01 -7.76897337e-02 -2.45222662e-02 6.84808814e+00] [ 7.76720325e-02 9.96977557e-01 -1.67495461e-03 3.46792179e-01] [ 2.45782759e-02 -2.35307271e-04 9.99697881e-01 6.47592643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.88, Y:0.35, Z:0.07 [[ 9.96707620e-01 -7.72406385e-02 -2.46536661e-02 6.87594624e+00] [ 7.72225276e-02 9.97012455e-01 -1.68724703e-03 3.49768836e-01] [ 2.47103362e-02 -2.22126443e-04 9.99694628e-01 6.52733020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.90, Y:0.35, Z:0.06 [[ 9.96722313e-01 -7.69611963e-02 -2.49320050e-02 6.90245129e+00] [ 7.69424163e-02 9.97034067e-01 -1.71311567e-03 3.52089773e-01] [ 2.49899017e-02 -2.10828096e-04 9.99687681e-01 6.48378930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:0.36, Z:0.07 [[ 9.96726056e-01 -7.68945221e-02 -2.49880519e-02 6.93058683e+00] [ 7.68755527e-02 9.97039212e-01 -1.72031344e-03 3.55642676e-01] [ 2.50463503e-02 -2.06289079e-04 9.99686270e-01 6.50428039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.96, Y:0.36, Z:0.07 [[ 9.96695330e-01 -7.74836971e-02 -2.43863815e-02 6.95827557e+00] [ 7.74656442e-02 9.96993597e-01 -1.68553695e-03 3.58142613e-01] [ 2.44436678e-02 -2.09139940e-04 9.99701187e-01 6.62220175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608040942 meters Centerline goodness [0,1] 0.9999791358050449 Centerline is valid? [True, True] Translation: X:6.99, Y:0.36, Z:0.07 [[ 9.96672777e-01 -7.79000990e-02 -2.39781226e-02 6.98500471e+00] [ 7.78826048e-02 9.96961148e-01 -1.66402202e-03 3.59431833e-01] [ 2.40348841e-02 -2.08993194e-04 9.99711099e-01 6.68695300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:0.36, Z:0.07 [[ 9.96647262e-01 -7.87674947e-02 -2.21340742e-02 7.01282213e+00] [ 7.87527158e-02 9.96892992e-01 -1.53993049e-03 3.62148164e-01] [ 2.21865999e-02 -2.08350952e-04 9.99753825e-01 6.86863445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668040942000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.04, Y:0.36, Z:0.07 [[ 9.96645445e-01 -7.88237651e-02 -2.20152639e-02 7.04043013e+00] [ 7.88090220e-02 9.96888546e-01 -1.53783393e-03 3.64760408e-01] [ 2.20679822e-02 -2.02326235e-04 9.99756452e-01 6.94236974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698040942 meters Centerline goodness [0,1] 0.999979056275787 Centerline is valid? [True, True] Translation: X:7.07, Y:0.37, Z:0.07 [[ 9.96630194e-01 -7.90085004e-02 -2.20434390e-02 7.06830480e+00] [ 7.89936242e-02 9.96873922e-01 -1.54616147e-03 3.67028311e-01] [ 2.20966894e-02 -2.00339937e-04 9.99755818e-01 6.99321467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.10, Y:0.37, Z:0.07 [[ 9.96649699e-01 -7.88801993e-02 -2.16169413e-02 7.09634212e+00] [ 7.88657318e-02 9.96884085e-01 -1.52229961e-03 3.70158917e-01] [ 2.16696641e-02 -1.87636446e-04 9.99765168e-01 7.00631100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758040942000001 meters Centerline goodness [0,1] 0.9999582097037067 Centerline is valid? [True, True] Translation: X:7.12, Y:0.37, Z:0.07 [[ 9.96665396e-01 -7.86849135e-02 -2.16049171e-02 7.12336850e+00] [ 7.86702773e-02 9.96899520e-01 -1.52786491e-03 3.71920586e-01] [ 2.16581514e-02 -1.76894733e-04 9.99765419e-01 7.07718498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788040942 meters Centerline goodness [0,1] 0.9999582097037067 Centerline is valid? [True, True] Translation: X:7.15, Y:0.37, Z:0.07 [[ 9.96643707e-01 -7.89592017e-02 -2.16047455e-02 7.15080427e+00] [ 7.89445775e-02 9.96877832e-01 -1.53028704e-03 3.73957027e-01] [ 2.16581221e-02 -1.80426552e-04 9.99765419e-01 7.14102440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818040942 meters Centerline goodness [0,1] 0.9999790409121395 Centerline is valid? [True, True] Translation: X:7.18, Y:0.38, Z:0.07 [[ 9.96671606e-01 -7.86489310e-02 -2.14489051e-02 7.17828152e+00] [ 7.86343185e-02 9.96902361e-01 -1.52513431e-03 3.76255846e-01] [ 2.15024143e-02 -1.66561972e-04 9.99768782e-01 7.13254964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848040942 meters Centerline goodness [0,1] 0.9999791922428681 Centerline is valid? [True, True] Translation: X:7.21, Y:0.38, Z:0.07 [[ 9.96631117e-01 -7.88466259e-02 -2.25748846e-02 7.20620325e+00] [ 7.88303402e-02 9.96886744e-01 -1.61179635e-03 3.78804856e-01] [ 2.26316879e-02 -1.73219435e-04 9.99743856e-01 7.09035502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878040942 meters Centerline goodness [0,1] 0.9999581318428269 Centerline is valid? [True, True] Translation: X:7.23, Y:0.38, Z:0.07 [[ 9.96599381e-01 -7.92508397e-02 -2.25605338e-02 7.23389072e+00] [ 7.92345356e-02 9.96854690e-01 -1.61707661e-03 3.81433619e-01] [ 2.26177286e-02 -1.75995871e-04 9.99744171e-01 7.05114808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.26, Y:0.38, Z:0.07 [[ 9.96572764e-01 -7.93530441e-02 -2.33628152e-02 7.26042246e+00] [ 7.93354297e-02 9.96846559e-01 -1.68132684e-03 3.83383897e-01] [ 2.34225604e-02 -1.77934448e-04 9.99725638e-01 7.06413255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.29, Y:0.38, Z:0.07 [[ 9.96504263e-01 -8.06833202e-02 -2.16669228e-02 7.28958719e+00] [ 8.06684039e-02 9.96739768e-01 -1.56300386e-03 3.83901493e-01] [ 2.17223920e-02 -1.90296071e-04 9.99764023e-01 7.19302678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.32, Y:0.38, Z:0.07 [[ 9.96432525e-01 -8.20247398e-02 -1.98535767e-02 7.31862119e+00] [ 8.20123969e-02 9.96630274e-01 -1.43647570e-03 3.84289572e-01] [ 1.99045022e-02 -1.96888303e-04 9.99801866e-01 7.39267876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998040942 meters Centerline goodness [0,1] 0.9999580668833211 Centerline is valid? [True, True] Translation: X:7.35, Y:0.39, Z:0.07 [[ 9.96420101e-01 -8.23963405e-02 -1.89162707e-02 7.34674399e+00] [ 8.23851237e-02 9.96599622e-01 -1.37281242e-03 3.86235242e-01] [ 1.89650630e-02 -1.90521416e-04 9.99820129e-01 7.40985691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.37, Y:0.39, Z:0.07 [[ 9.96424692e-01 -8.22835264e-02 -1.91638668e-02 7.37410287e+00] [ 8.22718737e-02 9.96608944e-01 -1.39700226e-03 3.87285187e-01] [ 1.92138314e-02 -1.84639681e-04 9.99815380e-01 7.46840736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058040942 meters Centerline goodness [0,1] 0.9999790171639599 Centerline is valid? [True, True] Translation: X:7.40, Y:0.39, Z:0.07 [[ 9.96445220e-01 -8.20252202e-02 -1.92038105e-02 7.40245245e+00] [ 8.20134362e-02 9.96630238e-01 -1.40171486e-03 3.89809815e-01] [ 1.92540742e-02 -1.78238410e-04 9.99814607e-01 7.47870757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088040942000001 meters Centerline goodness [0,1] 0.9999791004848687 Centerline is valid? [True, True] Translation: X:7.43, Y:0.39, Z:0.07 [[ 9.96549194e-01 -8.05809208e-02 -1.99102922e-02 7.43151726e+00] [ 8.05678508e-02 9.96748059e-01 -1.45902480e-03 3.93281675e-01] [ 1.99631147e-02 -1.50139471e-04 9.99800706e-01 7.40139538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118040942 meters Centerline goodness [0,1] 0.9999581327192799 Centerline is valid? [True, True] Translation: X:7.46, Y:0.39, Z:0.07 [[ 9.96583278e-01 -8.01453394e-02 -1.99623429e-02 7.45826617e+00] [ 8.01320064e-02 9.96783179e-01 -1.46819678e-03 3.94556457e-01] [ 2.00157967e-02 -1.36442233e-04 9.99799655e-01 7.46823108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148040942 meters Centerline goodness [0,1] 0.9999373459755232 Centerline is valid? [True, True] Translation: X:7.49, Y:0.40, Z:0.07 [[ 9.96702766e-01 -7.85010251e-02 -2.05228049e-02 7.48558087e+00] [ 7.84865287e-02 9.96914028e-01 -1.51211825e-03 3.96485853e-01] [ 2.05781749e-02 -1.03631277e-04 9.99788242e-01 7.49294003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178040942 meters Centerline goodness [0,1] 0.999958041371208 Centerline is valid? [True, True] Translation: X:7.51, Y:0.40, Z:0.07 [[ 9.96726587e-01 -7.79843004e-02 -2.13204050e-02 7.51371364e+00] [ 7.79685053e-02 9.96954583e-01 -1.57236668e-03 3.99911528e-01] [ 2.13780953e-02 -9.51004329e-05 9.99771458e-01 7.41403925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.54, Y:0.40, Z:0.08 [[ 9.96848412e-01 -7.65402359e-02 -2.08527311e-02 7.54191062e+00] [ 7.65246873e-02 9.97066492e-01 -1.54375692e-03 4.02606409e-01] [ 2.09097190e-02 -5.68570970e-05 9.99781366e-01 7.51215809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238040942 meters Centerline goodness [0,1] 0.9999790417906694 Centerline is valid? [True, True] Translation: X:7.57, Y:0.41, Z:0.08 [[ 9.97035978e-01 -7.41204195e-02 -2.06257395e-02 7.56860589e+00] [ 7.41045601e-02 9.97249299e-01 -1.53321668e-03 4.05239890e-01] [ 2.06826469e-02 2.10845793e-07 9.99786091e-01 7.51488235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.60, Y:0.41, Z:0.08 [[ 9.97117072e-01 -7.30326911e-02 -2.05856811e-02 7.59625802e+00] [ 7.30166171e-02 9.97329547e-01 -1.53238595e-03 4.07721135e-01] [ 2.06426223e-02 2.48713969e-05 9.99786918e-01 7.56179608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.62, Y:0.41, Z:0.08 [[ 9.97303783e-01 -7.03581036e-02 -2.08543104e-02 7.62412235e+00] [ 7.03408870e-02 9.97521794e-01 -1.55886162e-03 4.10211358e-01] [ 2.09123077e-02 8.77478963e-05 9.99781310e-01 7.58118399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.65, Y:0.41, Z:0.08 [[ 9.97355248e-01 -6.96330822e-02 -2.08265042e-02 7.65205614e+00] [ 6.96157246e-02 9.97572666e-01 -1.55816604e-03 4.12251141e-01] [ 2.08844512e-02 1.04192894e-04 9.99781891e-01 7.64929105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.68, Y:0.41, Z:0.08 [[ 9.97414624e-01 -6.87615288e-02 -2.08786880e-02 7.68036120e+00] [ 6.87437694e-02 9.97633117e-01 -1.56797738e-03 4.13482641e-01] [ 2.09370871e-02 1.28643854e-04 9.99780787e-01 7.69384232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.71, Y:0.41, Z:0.08 [[ 9.97477328e-01 -6.74446448e-02 -2.21404467e-02 7.70930856e+00] [ 6.74241963e-02 9.97723003e-01 -1.66962856e-03 4.13637412e-01] [ 2.22026405e-02 1.72614814e-04 9.99753476e-01 7.68208681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418040942 meters Centerline goodness [0,1] 0.9999369549227698 Centerline is valid? [True, True] Translation: X:7.74, Y:0.41, Z:0.08 [[ 9.97484544e-01 -6.73156929e-02 -2.22077042e-02 7.73603469e+00] [ 6.72949594e-02 9.97731710e-01 -1.68047308e-03 4.14976510e-01] [ 2.22704529e-02 1.81779371e-04 9.99751966e-01 7.75918624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.76, Y:0.41, Z:0.08 [[ 9.97436910e-01 -6.80470903e-02 -2.21179372e-02 7.76328302e+00] [ 6.80266423e-02 9.97682096e-01 -1.67645841e-03 4.13163362e-01] [ 2.21807481e-02 1.67552497e-04 9.99753963e-01 7.90618445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.79, Y:0.41, Z:0.08 [[ 9.97364243e-01 -6.90743512e-02 -2.22103768e-02 7.79190717e+00] [ 6.90539310e-02 9.97611504e-01 -1.68595454e-03 4.11956855e-01] [ 2.22737836e-02 1.47796941e-04 9.99751898e-01 7.97923920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508040942000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.82, Y:0.41, Z:0.08 [[ 9.97144197e-01 -7.17333005e-02 -2.36174343e-02 7.82042468e+00] [ 7.17107862e-02 9.97423843e-01 -1.79994209e-03 4.09308275e-01] [ 2.36857079e-02 1.01177032e-04 9.99719449e-01 7.93685905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.85, Y:0.41, Z:0.08 [[ 9.96999704e-01 -7.35482664e-02 -2.41296928e-02 7.84882471e+00] [ 7.35252378e-02 9.97291657e-01 -1.84138416e-03 4.07657533e-01] [ 2.41997719e-02 6.17180636e-05 9.99707141e-01 7.92346086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.88, Y:0.41, Z:0.08 [[ 9.96844573e-01 -7.56023079e-02 -2.41906649e-02 7.87661265e+00] [ 7.55795999e-02 9.97138050e-01 -1.85294241e-03 4.06212716e-01] [ 2.42615192e-02 1.87748057e-05 9.99705646e-01 7.95847388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.90, Y:0.40, Z:0.08 [[ 9.96540288e-01 -7.95112116e-02 -2.41954984e-02 7.90460852e+00] [ 7.94894838e-02 9.96833969e-01 -1.85999736e-03 4.00922425e-01] [ 2.42667853e-02 -6.97253677e-05 9.99705516e-01 8.03325499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.93, Y:0.40, Z:0.08 [[ 9.96361715e-01 -8.17447643e-02 -2.41065474e-02 7.93271977e+00] [ 8.17237936e-02 9.96653289e-01 -1.85547369e-03 4.00896028e-01] [ 2.41775450e-02 -1.21355552e-04 9.99707673e-01 8.12467367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.96, Y:0.40, Z:0.08 [[ 9.96167246e-01 -8.39428281e-02 -2.45849553e-02 7.96216450e+00] [ 8.39215059e-02 9.96470558e-01 -1.89959061e-03 4.00103708e-01] [ 2.46576412e-02 -1.70896529e-04 9.99695940e-01 8.17857281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688040942 meters Centerline goodness [0,1] 0.9999578929639142 Centerline is valid? [True, True] Translation: X:7.99, Y:0.40, Z:0.08 [[ 9.95794637e-01 -8.82400644e-02 -2.46319246e-02 7.99088611e+00] [ 8.82198250e-02 9.96099200e-01 -1.90927153e-03 3.95305763e-01] [ 2.47043146e-02 -2.71781729e-04 9.99694765e-01 8.22836408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.02, Y:0.39, Z:0.08 [[ 9.95633420e-01 -9.01834693e-02 -2.41046528e-02 8.01967592e+00] [ 9.01646011e-02 9.95925120e-01 -1.87068970e-03 3.94503313e-01] [ 2.41751345e-02 -3.10865217e-04 9.99707690e-01 8.34739611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.05, Y:0.39, Z:0.08 [[ 9.95439919e-01 -9.21660601e-02 -2.45923962e-02 8.04777489e+00] [ 9.21468743e-02 9.95743585e-01 -1.91466049e-03 3.91161347e-01] [ 2.46641874e-02 -3.60182953e-04 9.99695728e-01 8.43650846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778040942 meters Centerline goodness [0,1] 0.9999157593243898 Centerline is valid? [True, True] Translation: X:8.08, Y:0.39, Z:0.08 [[ 9.95353961e-01 -9.27888185e-02 -2.57046057e-02 8.07686251e+00] [ 9.27679933e-02 9.95685735e-01 -2.00405395e-03 3.91892848e-01] [ 2.57796630e-02 -3.89821650e-04 9.99667573e-01 8.37956675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.10, Y:0.39, Z:0.09 [[ 9.95420892e-01 -9.21619514e-02 -2.53657669e-02 8.10442966e+00] [ 9.21413172e-02 9.95743965e-01 -1.98356987e-03 3.92490072e-01] [ 2.54406190e-02 -3.62748290e-04 9.99676269e-01 8.51832157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838040942000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.13, Y:0.39, Z:0.09 [[ 9.95475357e-01 -9.14073068e-02 -2.59522353e-02 8.13339021e+00] [ 9.13853520e-02 9.95813528e-01 -2.03322704e-03 3.94422016e-01] [ 2.60294388e-02 -3.47626740e-04 9.99661116e-01 8.54759248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.16, Y:0.40, Z:0.09 [[ 9.95696554e-01 -8.86506949e-02 -2.70079138e-02 8.16089066e+00] [ 8.86257353e-02 9.96062737e-01 -2.12213984e-03 3.95359469e-01] [ 2.70897057e-02 -2.80588889e-04 9.99632967e-01 8.53829815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.19, Y:0.40, Z:0.09 [[ 9.95783550e-01 -8.75307718e-02 -2.74497028e-02 8.18928402e+00] [ 8.75044774e-02 9.96161785e-01 -2.15997992e-03 3.98041016e-01] [ 2.75334097e-02 -2.51099428e-04 9.99620852e-01 8.63823462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:0.40, Z:0.09 [[ 9.96091552e-01 -8.38343224e-02 -2.78105553e-02 8.21736622e+00] [ 8.38057129e-02 9.96479696e-01 -2.19475888e-03 3.98405618e-01] [ 2.78966498e-02 -1.44502635e-04 9.99610802e-01 8.68968450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.25, Y:0.40, Z:0.09 [[ 9.96219410e-01 -8.23159222e-02 -2.77664713e-02 8.24566529e+00] [ 8.22867183e-02 9.96606281e-01 -2.19470223e-03 3.99995862e-01] [ 2.78528986e-02 -9.84068455e-05 9.99612028e-01 8.79090054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.27, Y:0.40, Z:0.09 [[ 9.96505785e-01 -7.88222439e-02 -2.76274091e-02 8.27316271e+00] [ 7.87917925e-02 9.96888687e-01 -2.19079925e-03 4.01746360e-01] [ 2.77141353e-02 6.33104347e-06 9.99615890e-01 8.89429031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.30, Y:0.40, Z:0.09 [[ 9.96584687e-01 -7.78893221e-02 -2.74265386e-02 8.30115515e+00] [ 7.78588675e-02 9.96962011e-01 -2.17818764e-03 4.03111836e-01] [ 2.75128746e-02 3.53492137e-05 9.99621449e-01 8.97015133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.33, Y:0.40, Z:0.09 [[ 9.96620109e-01 -7.73517013e-02 -2.76599543e-02 8.32805017e+00] [ 7.73203138e-02 9.97003867e-01 -2.20411632e-03 4.03728050e-01] [ 2.77475736e-02 5.79902966e-05 9.99614960e-01 9.02493612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.36, Y:0.40, Z:0.09 [[ 9.96665666e-01 -7.68523882e-02 -2.74091432e-02 8.35635852e+00] [ 7.68212648e-02 9.97042479e-01 -2.18827084e-03 4.03807875e-01] [ 2.74962539e-02 7.53693664e-05 9.99621904e-01 9.08013277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.38, Y:0.40, Z:0.09 [[ 9.96749291e-01 -7.59208966e-02 -2.69604971e-02 8.38423555e+00] [ 7.58902347e-02 9.97113838e-01 -2.16015906e-03 4.01216974e-01] [ 2.70466860e-02 1.07098554e-04 9.99634166e-01 9.26775690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:0.40, Z:0.09 [[ 9.96805746e-01 -7.53582035e-02 -2.64470248e-02 8.41154007e+00] [ 7.53283129e-02 9.97156520e-01 -2.12609083e-03 4.01320161e-01] [ 2.65320416e-02 1.27089802e-04 9.99647955e-01 9.42004780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.44, Y:0.40, Z:0.10 [[ 9.96914387e-01 -7.41800234e-02 -2.56715587e-02 8.43990812e+00] [ 7.41513905e-02 9.97244854e-01 -2.06682761e-03 4.00924958e-01] [ 2.57541472e-02 1.56868408e-04 9.99668295e-01 9.51140954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.47, Y:0.40, Z:0.10 [[ 9.96943511e-01 -7.36387154e-02 -2.60955082e-02 8.46760812e+00] [ 7.36088819e-02 9.97284969e-01 -2.10330397e-03 4.02434983e-01] [ 2.61795426e-02 1.76014062e-04 9.99657242e-01 9.56065669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.50, Y:0.40, Z:0.10 [[ 9.96996673e-01 -7.29417828e-02 -2.60217356e-02 8.49545815e+00] [ 7.29118070e-02 9.97336181e-01 -2.10016914e-03 4.01323708e-01] [ 2.61056085e-02 1.96569880e-04 9.99659171e-01 9.59609676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258040942000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.52, Y:0.40, Z:0.10 [[ 9.96998736e-01 -7.28881143e-02 -2.60929912e-02 8.52224730e+00] [ 7.28577773e-02 9.97340103e-01 -2.11273479e-03 4.00885048e-01] [ 2.61775798e-02 2.05316568e-04 9.99657287e-01 9.66099262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.55, Y:0.40, Z:0.10 [[ 9.96979618e-01 -7.31160798e-02 -2.61855106e-02 8.55029472e+00] [ 7.30855101e-02 9.97323417e-01 -2.12386807e-03 4.00239845e-01] [ 2.62707118e-02 2.03671784e-04 9.99654845e-01 9.73830220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318040942 meters Centerline goodness [0,1] 0.9999579911361297 Centerline is valid? [True, True] Translation: X:8.58, Y:0.40, Z:0.10 [[ 9.96909457e-01 -7.38579956e-02 -2.67680879e-02 8.57834869e+00] [ 7.38261161e-02 9.97268749e-01 -2.17862272e-03 3.99079473e-01] [ 2.68558862e-02 1.95705633e-04 9.99639296e-01 9.67814507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.61, Y:0.39, Z:0.10 [[ 9.96729041e-01 -7.62731871e-02 -2.67136478e-02 8.60766201e+00] [ 7.62421098e-02 9.97086948e-01 -2.18144708e-03 3.93357436e-01] [ 2.68022155e-02 1.37606791e-04 9.99640747e-01 9.88040362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.64, Y:0.39, Z:0.10 [[ 9.96601583e-01 -7.79763793e-02 -2.65512687e-02 8.63522822e+00] [ 7.79461192e-02 9.96955202e-01 -2.17433107e-03 3.92224066e-01] [ 2.66399719e-02 9.73734316e-05 9.99645088e-01 9.93515564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.66, Y:0.39, Z:0.10 [[ 9.96257399e-01 -8.22336056e-02 -2.66238273e-02 8.66397369e+00] [ 8.22046170e-02 9.96613081e-01 -2.18335053e-03 3.88793347e-01] [ 2.67131993e-02 -1.34223989e-05 9.99643139e-01 9.94974137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.69, Y:0.39, Z:0.10 [[ 9.96059331e-01 -8.45822756e-02 -2.66767101e-02 8.69197250e+00] [ 8.45538096e-02 9.96416496e-01 -2.19531099e-03 3.87690246e-01] [ 2.67667984e-02 -6.89574705e-05 9.99641703e-01 1.00099736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.72, Y:0.39, Z:0.10 [[ 9.95880594e-01 -8.67190273e-02 -2.64887430e-02 8.72029751e+00] [ 8.66915152e-02 9.96232802e-01 -2.18741702e-03 3.86077918e-01] [ 2.65786453e-02 -1.17943106e-04 9.99646718e-01 1.01158623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.75, Y:0.38, Z:0.10 [[ 9.95697348e-01 -8.88435456e-02 -2.63365769e-02 8.74848435e+00] [ 8.88169042e-02 9.96045580e-01 -2.18194058e-03 3.83702945e-01] [ 2.64262823e-02 -1.66580770e-04 9.99650751e-01 1.02680896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.78, Y:0.38, Z:0.10 [[ 9.95300929e-01 -9.33592365e-02 -2.56926686e-02 8.77782676e+00] [ 9.33353157e-02 9.95632450e-01 -2.13130314e-03 3.78689095e-01] [ 2.57794315e-02 -2.76745343e-04 9.99667617e-01 1.04468298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.81, Y:0.38, Z:0.10 [[ 9.95124676e-01 -9.52323961e-02 -2.56450933e-02 8.80632437e+00] [ 9.52090298e-02 9.95455016e-01 -2.13341018e-03 3.76852432e-01] [ 2.57317066e-02 -3.18635345e-04 9.99668834e-01 1.04371450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.84, Y:0.38, Z:0.10 [[ 9.94769433e-01 -9.88180626e-02 -2.58604905e-02 8.83525684e+00] [ 9.87954412e-02 9.95105432e-01 -2.15408881e-03 3.76273878e-01] [ 2.59467774e-02 -4.12076867e-04 9.99663241e-01 1.04838000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.86, Y:0.38, Z:0.10 [[ 9.94691460e-01 -9.95194649e-02 -2.61682141e-02 8.86309383e+00] [ 9.94963849e-02 9.95035523e-01 -2.18579834e-03 3.76790988e-01] [ 2.62558321e-02 -4.29447760e-04 9.99655164e-01 1.04946510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.89, Y:0.38, Z:0.11 [[ 9.94632772e-01 -1.00034746e-01 -2.64329093e-02 8.89136936e+00] [ 1.00011299e-01 9.94983845e-01 -2.21090435e-03 3.78135174e-01] [ 2.65214850e-02 -4.44551679e-04 9.99648145e-01 1.05482274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.92, Y:0.38, Z:0.11 [[ 9.94608373e-01 -1.00221592e-01 -2.66424053e-02 8.91865068e+00] [ 1.00197649e-01 9.94965041e-01 -2.23551864e-03 3.75978323e-01] [ 2.67323092e-02 -4.46040828e-04 9.99642528e-01 1.06449014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.95, Y:0.38, Z:0.11 [[ 9.94580254e-01 -1.00500339e-01 -2.66420839e-02 8.94610055e+00] [ 1.00476394e-01 9.94936922e-01 -2.23934316e-03 3.78369168e-01] [ 2.67322477e-02 -4.49694020e-04 9.99642528e-01 1.07087998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.97, Y:0.38, Z:0.11 [[ 9.94560666e-01 -1.00667133e-01 -2.67434064e-02 8.97392901e+00] [ 1.00642862e-01 9.94920061e-01 -2.25543958e-03 3.79688032e-01] [ 2.68346002e-02 -4.48361475e-04 9.99639787e-01 1.08177301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.00, Y:0.38, Z:0.11 [[ 9.94543777e-01 -1.00777358e-01 -2.69555175e-02 9.00216282e+00] [ 1.00752532e-01 9.94908902e-01 -2.28104083e-03 3.81051000e-01] [ 2.70481616e-02 -4.47241677e-04 9.99634031e-01 1.08176264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.03, Y:0.38, Z:0.11 [[ 9.94559539e-01 -1.00577907e-01 -2.71184224e-02 9.03025996e+00] [ 1.00552495e-01 9.94929090e-01 -2.30256561e-03 3.83227583e-01] [ 2.72124946e-02 -4.36786452e-04 9.99629576e-01 1.08733488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.06, Y:0.39, Z:0.11 [[ 9.94592397e-01 -1.00306030e-01 -2.69196067e-02 9.05828607e+00] [ 1.00280685e-01 9.94956544e-01 -2.29327027e-03 3.85269069e-01] [ 2.70138677e-02 -4.18647421e-04 9.99634971e-01 1.09527106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.09, Y:0.39, Z:0.11 [[ 9.94831928e-01 -9.81884114e-02 -2.58548129e-02 9.08570562e+00] [ 9.81641474e-02 9.95167785e-01 -2.20910234e-03 3.86721505e-01] [ 2.59467851e-02 -3.40330120e-04 9.99663268e-01 1.10944691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.11, Y:0.39, Z:0.11 [[ 9.94959664e-01 -9.68887149e-02 -2.58426820e-02 9.11431772e+00] [ 9.68639654e-02 9.95295175e-01 -2.21076139e-03 3.89239180e-01] [ 2.59352945e-02 -3.03606248e-04 9.99663578e-01 1.11660818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.14, Y:0.39, Z:0.11 [[ 9.95269224e-01 -9.37203448e-02 -2.56060277e-02 9.14299820e+00] [ 9.36948378e-02 9.95598539e-01 -2.19674416e-03 3.92075306e-01] [ 2.56992034e-02 -2.12800755e-04 9.99669698e-01 1.13179788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.17, Y:0.40, Z:0.11 [[ 9.95394842e-01 -9.24559222e-02 -2.53182075e-02 9.17173435e+00] [ 9.24304181e-02 9.95716763e-01 -2.17828260e-03 3.95276763e-01] [ 2.54111588e-02 -1.71921249e-04 9.99677070e-01 1.13875953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978040942 meters Centerline goodness [0,1] 0.9999152255001695 Centerline is valid? [True, True] Translation: X:9.20, Y:0.40, Z:0.11 [[ 9.95461353e-01 -9.14556720e-02 -2.63164337e-02 9.19967813e+00] [ 9.14275858e-02 9.95809138e-01 -2.27103597e-03 3.98408767e-01] [ 2.64138443e-02 -1.45319468e-04 9.99651083e-01 1.12563756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008040942000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.23, Y:0.40, Z:0.11 [[ 9.95650316e-01 -8.93139537e-02 -2.65229354e-02 9.22740161e+00] [ 8.92844819e-02 9.96003520e-01 -2.29573726e-03 4.02007563e-01] [ 2.66219784e-02 -8.23350211e-05 9.99645569e-01 1.14022320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.26, Y:0.40, Z:0.12 [[ 9.95693252e-01 -8.90978931e-02 -2.56225136e-02 9.25578449e+00] [ 8.90702489e-02 9.96022871e-01 -2.22045189e-03 4.04337760e-01] [ 2.57184472e-02 -7.13147030e-05 9.99669223e-01 1.15284942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.28, Y:0.40, Z:0.12 [[ 9.95781357e-01 -8.85171918e-02 -2.41701520e-02 9.28274739e+00] [ 8.84922708e-02 9.96074648e-01 -2.10082185e-03 4.04937270e-01] [ 2.42612345e-02 -4.69124056e-05 9.99705652e-01 1.17819437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.31, Y:0.41, Z:0.12 [[ 9.95762137e-01 -8.88033303e-02 -2.39109708e-02 9.31020641e+00] [ 8.87789546e-02 9.96049178e-01 -2.08116006e-03 4.06594911e-01] [ 2.40013168e-02 -5.04506015e-05 9.99711926e-01 1.19035169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.34, Y:0.41, Z:0.12 [[ 9.95736487e-01 -8.90567143e-02 -2.40364413e-02 9.33801683e+00] [ 8.90320835e-02 9.96026555e-01 -2.09508621e-03 4.08187195e-01] [ 2.41275153e-02 -5.38606663e-05 9.99708888e-01 1.19848086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.37, Y:0.41, Z:0.12 [[ 9.95675162e-01 -8.97046848e-02 -2.41669603e-02 9.36556960e+00] [ 8.96798174e-02 9.95968406e-01 -2.11301800e-03 4.09876290e-01] [ 2.42590766e-02 -6.34090464e-05 9.99705703e-01 1.20410686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.39, Y:0.41, Z:0.12 [[ 9.95473709e-01 -9.19799882e-02 -2.39118399e-02 9.39370493e+00] [ 9.19561460e-02 9.95760849e-01 -2.09709846e-03 4.11496752e-01] [ 2.40033651e-02 -1.11234256e-04 9.99711872e-01 1.21100866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:0.41, Z:0.12 [[ 9.95339174e-01 -9.35806001e-02 -2.32937863e-02 9.42132356e+00] [ 9.35582595e-02 9.95611697e-01 -2.04944761e-03 4.11916212e-01] [ 2.33833546e-02 -1.39430615e-04 9.99726562e-01 1.21661961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:0.41, Z:0.12 [[ 9.95183380e-01 -9.51886371e-02 -2.34342502e-02 9.45039114e+00] [ 9.51664209e-02 9.95459237e-01 -2.06397251e-03 4.13929602e-01] [ 2.35243075e-02 -1.76122578e-04 9.99723250e-01 1.22755636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.48, Y:0.41, Z:0.12 [[ 9.94879080e-01 -9.81966797e-02 -2.39380101e-02 9.47909771e+00] [ 9.81742235e-02 9.95166997e-01 -2.11436621e-03 4.14673352e-01] [ 2.40299413e-02 -2.46556839e-04 9.99711209e-01 1.22442697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308040942 meters Centerline goodness [0,1] 0.9999149804455024 Centerline is valid? [True, True] Translation: X:9.51, Y:0.41, Z:0.12 [[ 9.94721009e-01 -9.96278236e-02 -2.45847922e-02 9.50732315e+00] [ 9.96044225e-02 9.95024732e-01 -2.17763829e-03 4.14687887e-01] [ 2.46794296e-02 -2.82611471e-04 9.99695377e-01 1.20596869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338040942 meters Centerline goodness [0,1] 0.9999147285169158 Centerline is valid? [True, True] Translation: X:9.54, Y:0.41, Z:0.12 [[ 9.94451680e-01 -1.02132926e-01 -2.51936635e-02 9.53594521e+00] [ 1.02109088e-01 9.94770698e-01 -2.23422946e-03 4.14802404e-01] [ 2.52901066e-02 -3.50668749e-04 9.99680093e-01 1.21284725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.56, Y:0.42, Z:0.12 [[ 9.94367509e-01 -1.03016929e-01 -2.49152652e-02 9.56412190e+00] [ 1.02993739e-01 9.94679537e-01 -2.21564346e-03 4.15587046e-01] [ 2.50109532e-02 -3.62952451e-04 9.99687111e-01 1.23308131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398040942 meters Centerline goodness [0,1] 0.9999360940695297 Centerline is valid? [True, True] Translation: X:9.59, Y:0.42, Z:0.12 [[ 9.94279050e-01 -1.03713490e-01 -2.55476436e-02 9.59187237e+00] [ 1.03689263e-01 9.94607140e-01 -2.27476761e-03 4.17238224e-01] [ 2.56457928e-02 -3.87262569e-04 9.99671018e-01 1.22753066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.62, Y:0.42, Z:0.12 [[ 9.94259407e-01 -1.04007168e-01 -2.51145574e-02 9.61915896e+00] [ 1.03983675e-01 9.94576475e-01 -2.24310732e-03 4.18581084e-01] [ 2.52116472e-02 -3.81273434e-04 9.99682063e-01 1.24933054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:0.42, Z:0.13 [[ 9.94283120e-01 -1.03806821e-01 -2.50044098e-02 9.64743042e+00] [ 1.03783384e-01 9.94597409e-01 -2.23673580e-03 4.21160510e-01] [ 2.51015097e-02 -3.71093615e-04 9.99684839e-01 1.25407798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.68, Y:0.42, Z:0.13 [[ 9.94348104e-01 -1.02999834e-01 -2.57465049e-02 9.67588442e+00] [ 1.02974518e-01 9.94681310e-01 -2.31072663e-03 4.23466923e-01] [ 2.58475717e-02 -3.53567293e-04 9.99665833e-01 1.25850762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:0.43, Z:0.13 [[ 9.94677144e-01 -9.92901671e-02 -2.75470845e-02 9.70390074e+00] [ 9.92595783e-02 9.95058486e-01 -2.47900922e-03 4.25892510e-01] [ 2.76571015e-02 -2.68498186e-04 9.99617433e-01 1.25513487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.73, Y:0.43, Z:0.13 [[ 9.94882507e-01 -9.70383804e-02 -2.81487095e-02 9.73305424e+00] [ 9.70054437e-02 9.95280619e-01 -2.53653840e-03 4.29138313e-01] [ 2.82620065e-02 -2.07020373e-04 9.99600528e-01 1.25346031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:0.43, Z:0.13 [[ 9.95360518e-01 -9.14956866e-02 -2.97653788e-02 9.76193054e+00] [ 9.14561435e-02 9.95805472e-01 -2.69007023e-03 4.34056211e-01] [ 2.98866569e-02 -4.46370491e-05 9.99553293e-01 1.25385221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.79, Y:0.44, Z:0.13 [[ 9.95567362e-01 -8.91892889e-02 -2.98479059e-02 9.78981597e+00] [ 8.91482508e-02 9.96014694e-01 -2.70549436e-03 4.37548980e-01] [ 2.99702540e-02 3.26132864e-05 9.99550791e-01 1.25646576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.82, Y:0.44, Z:0.13 [[ 9.95763899e-01 -8.68704078e-02 -3.01295517e-02 9.81705710e+00] [ 8.68273031e-02 9.96219614e-01 -2.73851620e-03 4.40866602e-01] [ 3.02535464e-02 1.10847851e-04 9.99542251e-01 1.26166022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.85, Y:0.44, Z:0.13 [[ 9.95879318e-01 -8.54096367e-02 -3.04889685e-02 9.84585291e+00] [ 8.53646896e-02 9.96345908e-01 -2.77520507e-03 4.43476370e-01] [ 3.06145882e-02 1.61088003e-04 9.99531251e-01 1.26936052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.87, Y:0.45, Z:0.13 [[ 9.96034537e-01 -8.32997611e-02 -3.12466259e-02 9.87325650e+00] [ 8.32512994e-02 9.96524507e-01 -2.85099473e-03 4.45254832e-01] [ 3.13755157e-02 2.38367002e-04 9.99507639e-01 1.26908174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.90, Y:0.45, Z:0.13 [[ 9.96053964e-01 -8.29642751e-02 -3.15187297e-02 9.90066784e+00] [ 8.29147071e-02 9.96552490e-01 -2.87867708e-03 4.46774620e-01] [ 3.16488959e-02 2.53951470e-04 9.99499016e-01 1.26918470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758040942000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.93, Y:0.45, Z:0.13 [[ 9.95944641e-01 -8.40357957e-02 -3.21287715e-02 9.92927137e+00] [ 8.39846972e-02 9.96462710e-01 -2.93903908e-03 4.45830871e-01] [ 3.22621073e-02 2.28795071e-04 9.99479417e-01 1.27300746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.96, Y:0.45, Z:0.13 [[ 9.95843290e-01 -8.49298524e-02 -3.29098938e-02 9.95599996e+00] [ 8.48764390e-02 9.96386910e-01 -3.01918092e-03 4.46935149e-01] [ 3.30474060e-02 2.13356462e-04 9.99453763e-01 1.26814410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.98, Y:0.45, Z:0.13 [[ 9.95718834e-01 -8.62278944e-02 -3.32979635e-02 9.98460292e+00] [ 8.61736888e-02 9.96275423e-01 -3.06226018e-03 4.47048970e-01] [ 3.34379949e-02 1.79741796e-04 9.99440778e-01 1.27913227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.01, Y:0.45, Z:0.13 [[ 9.95458539e-01 -8.85066671e-02 -3.50552051e-02 1.00127529e+01] [ 8.84476974e-02 9.96075578e-01 -3.23244239e-03 4.45315850e-01] [ 3.52037264e-02 1.17210207e-04 9.99380150e-01 1.26500820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.04, Y:0.44, Z:0.13 [[ 9.95303246e-01 -8.98985670e-02 -3.59123514e-02 1.00407984e+01] [ 8.98373380e-02 9.95950923e-01 -3.31826575e-03 4.44950946e-01] [ 3.60652468e-02 7.64106199e-05 9.99349434e-01 1.26596905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.07, Y:0.44, Z:0.13 [[ 9.95035469e-01 -9.21915496e-02 -3.74851004e-02 1.00688951e+01] [ 9.21261598e-02 9.95741291e-01 -3.47167069e-03 4.42035267e-01] [ 3.76455209e-02 1.07713492e-06 9.99291156e-01 1.25750960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.10, Y:0.44, Z:0.13 [[ 9.94923328e-01 -9.31681920e-02 -3.80428500e-02 1.00977301e+01] [ 9.31013394e-02 9.95650384e-01 -3.52895886e-03 4.42539689e-01] [ 3.82061649e-02 -3.07967904e-05 9.99269877e-01 1.25474141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.13, Y:0.44, Z:0.13 [[ 9.94753300e-01 -9.47025914e-02 -3.86948550e-02 1.01264041e+01] [ 9.46342150e-02 9.95505606e-01 -3.59900620e-03 4.43304278e-01] [ 3.88617803e-02 -8.17339310e-05 9.99244592e-01 1.26965539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998040942 meters Centerline goodness [0,1] 0.9998483502675535 Centerline is valid? [True, True] Translation: X:10.15, Y:0.44, Z:0.12 [[ 9.94458110e-01 -9.71394693e-02 -4.02118254e-02 1.01548962e+01] [ 9.70673091e-02 9.95270763e-01 -3.74767776e-03 4.39975703e-01] [ 4.03857016e-02 -1.76345150e-04 9.99184149e-01 1.22214113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.18, Y:0.44, Z:0.13 [[ 9.94363150e-01 -9.80899841e-02 -4.02527168e-02 1.01827594e+01] [ 9.80181755e-02 9.95177528e-01 -3.75840855e-03 4.40120626e-01] [ 4.04272614e-02 -2.08274902e-04 9.99182462e-01 1.27113423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.21, Y:0.44, Z:0.13 [[ 9.94315928e-01 -9.84735778e-02 -4.04819629e-02 1.02097498e+01] [ 9.84008624e-02 9.95139643e-01 -3.78974126e-03 4.40348015e-01] [ 4.06583955e-02 -2.15259965e-04 9.99173082e-01 1.27315267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.24, Y:0.44, Z:0.13 [[ 9.94322009e-01 -9.79454569e-02 -4.15984458e-02 1.02388621e+01] [ 9.78678324e-02 9.95191766e-01 -3.90333327e-03 4.39480239e-01] [ 4.17807445e-02 -1.89979551e-04 9.99126785e-01 1.26768288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.27, Y:0.44, Z:0.13 [[ 9.94501601e-01 -9.60129286e-02 -4.18100946e-02 1.02659899e+01] [ 9.59324720e-02 9.95380082e-01 -3.93110321e-03 4.42991069e-01] [ 4.19943722e-02 -1.01457300e-04 9.99117842e-01 1.26013420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148040942 meters Centerline goodness [0,1] 0.99991265231253 Centerline is valid? [True, True] Translation: X:10.29, Y:0.45, Z:0.13 [[ 9.95033750e-01 -9.08650511e-02 -4.06371717e-02 1.02944341e+01] [ 9.07844676e-02 9.95863208e-01 -3.82782596e-03 4.51908186e-01] [ 4.08168798e-02 1.19592016e-04 9.99166637e-01 1.26369814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.32, Y:0.46, Z:0.13 [[ 9.95298909e-01 -8.79007102e-02 -4.06638306e-02 1.03222835e+01] [ 8.78172535e-02 9.96129210e-01 -3.83752376e-03 4.56857518e-01] [ 4.08437505e-02 2.48497287e-04 9.99165515e-01 1.27395942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208040942 meters Centerline goodness [0,1] 0.9999563604625791 Centerline is valid? [True, True] Translation: X:10.35, Y:0.46, Z:0.13 [[ 9.95689125e-01 -8.31479666e-02 -4.11045186e-02 1.03504103e+01] [ 8.30583795e-02 9.96537109e-01 -3.88543612e-03 4.64886811e-01] [ 4.12852442e-02 4.54611788e-04 9.99147297e-01 1.26320063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.38, Y:0.47, Z:0.13 [[ 9.95828336e-01 -8.15667070e-02 -4.08998570e-02 1.03794331e+01] [ 8.14762716e-02 9.96667745e-01 -3.87595466e-03 4.68884647e-01] [ 4.10797171e-02 5.27417621e-04 9.99155733e-01 1.29144549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.41, Y:0.47, Z:0.13 [[ 9.95921261e-01 -8.03875229e-02 -4.09718033e-02 1.04084207e+01] [ 8.02953555e-02 9.96763513e-01 -3.89287463e-03 4.72198504e-01] [ 4.11521371e-02 5.87151106e-04 9.99152719e-01 1.30227379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.44, Y:0.48, Z:0.13 [[ 9.96013588e-01 -7.87195816e-02 -4.19542545e-02 1.04373662e+01] [ 7.86210146e-02 9.96896565e-01 -3.99677236e-03 4.75139662e-01] [ 4.21386764e-02 6.82353523e-04 9.99111538e-01 1.30477659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.46, Y:0.48, Z:0.13 [[ 9.96003643e-01 -7.83255815e-02 -4.29167359e-02 1.04646889e+01] [ 7.82217037e-02 9.96927570e-01 -4.09699617e-03 4.79533371e-01] [ 4.31057769e-02 7.23602909e-04 9.99070252e-01 1.29144240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358040942 meters Centerline goodness [0,1] 0.9999564004185559 Centerline is valid? [True, True] Translation: X:10.49, Y:0.48, Z:0.13 [[ 9.95969619e-01 -7.87982779e-02 -4.28409843e-02 1.04928431e+01] [ 7.86948273e-02 9.96890328e-01 -4.09850385e-03 4.81830202e-01] [ 4.30307179e-02 7.10621459e-04 9.99073497e-01 1.30048063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.52, Y:0.48, Z:0.13 [[ 9.95893717e-01 -7.99392652e-02 -4.24902185e-02 1.05212486e+01] [ 7.98380479e-02 9.96799513e-01 -4.07647573e-03 4.83310702e-01] [ 4.26800996e-02 6.67400465e-04 9.99088566e-01 1.32115633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418040942 meters Centerline goodness [0,1] 0.9998907175485761 Centerline is valid? [True, True] Translation: X:10.55, Y:0.48, Z:0.13 [[ 9.95851771e-01 -8.08874701e-02 -4.16709422e-02 1.05501748e+01] [ 8.07905085e-02 9.96723044e-01 -4.00841445e-03 4.84640050e-01] [ 4.18586189e-02 6.25170015e-04 9.99123348e-01 1.34625162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448040942 meters Centerline goodness [0,1] 0.9998688524590164 Centerline is valid? [True, True] Translation: X:10.58, Y:0.49, Z:0.13 [[ 9.95791406e-01 -8.20341229e-02 -4.08641393e-02 1.05778702e+01] [ 8.19415405e-02 9.96629356e-01 -3.93825132e-03 4.87305336e-01] [ 4.10494718e-02 5.73206297e-04 9.99156951e-01 1.34709794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478040942 meters Centerline goodness [0,1] 0.99993440472286 Centerline is valid? [True, True] Translation: X:10.61, Y:0.49, Z:0.14 [[ 9.95514316e-01 -8.56307257e-02 -4.02321443e-02 1.06069849e+01] [ 8.55436660e-02 9.96326853e-01 -3.88364244e-03 4.87317703e-01] [ 4.04169249e-02 4.24616530e-04 9.99182812e-01 1.36471091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508040942000001 meters Centerline goodness [0,1] 0.9999124515747773 Centerline is valid? [True, True] Translation: X:10.64, Y:0.49, Z:0.14 [[ 9.95277566e-01 -8.81110026e-02 -4.07310486e-02 1.06358746e+01] [ 8.80234299e-02 9.96110605e-01 -3.94193177e-03 4.87772613e-01] [ 4.09199570e-02 3.38029655e-04 9.99162371e-01 1.37041338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538040942 meters Centerline goodness [0,1] 0.9999123882950762 Centerline is valid? [True, True] Translation: X:10.66, Y:0.48, Z:0.14 [[ 9.94773312e-01 -9.31936942e-02 -4.17252204e-02 1.06642172e+01] [ 9.31057915e-02 9.95647987e-01 -4.04929005e-03 4.84907440e-01] [ 4.19210000e-02 1.43265997e-04 9.99120918e-01 1.37115474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568040942 meters Centerline goodness [0,1] 0.9998902738764045 Centerline is valid? [True, True] Translation: X:10.69, Y:0.48, Z:0.14 [[ 9.94494045e-01 -9.58747396e-02 -4.23040158e-02 1.06920041e+01] [ 9.57862900e-02 9.95393406e-01 -4.11754384e-03 4.84874955e-01] [ 4.25039068e-02 4.27281011e-05 9.99096300e-01 1.37059022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598040942 meters Centerline goodness [0,1] 0.9998903989478299 Centerline is valid? [True, True] Translation: X:10.72, Y:0.48, Z:0.14 [[ 9.94268098e-01 -9.84214162e-02 -4.17633009e-02 1.07198157e+01] [ 9.83369678e-02 9.95144825e-01 -4.07661591e-03 4.84530962e-01] [ 4.19617591e-02 -5.36272283e-05 9.99119216e-01 1.38272600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628040942 meters Centerline goodness [0,1] 0.9998903989478299 Centerline is valid? [True, True] Translation: X:10.75, Y:0.49, Z:0.14 [[ 9.94240628e-01 -9.86990167e-02 -4.17621607e-02 1.07472471e+01] [ 9.86143235e-02 9.95117330e-01 -4.08827134e-03 4.87305166e-01] [ 4.19617582e-02 -5.36217623e-05 9.99119216e-01 1.38910648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.78, Y:0.48, Z:0.14 [[ 9.93822360e-01 -1.03401960e-01 -4.03131597e-02 1.07758366e+01] [ 1.03326595e-01 9.94639623e-01 -3.95420284e-03 4.84669263e-01] [ 4.05059383e-02 -2.35646323e-04 9.99179270e-01 1.41092268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.80, Y:0.49, Z:0.14 [[ 9.93573026e-01 -1.05903016e-01 -3.99649107e-02 1.08047601e+01] [ 1.05830724e-01 9.94376409e-01 -3.92613239e-03 4.85860789e-01] [ 4.01559537e-02 -3.28616213e-04 9.99193370e-01 1.41993636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.83, Y:0.49, Z:0.14 [[ 9.93404439e-01 -1.07608156e-01 -3.95993096e-02 1.08330023e+01] [ 1.07538124e-01 9.94193310e-01 -3.90054858e-03 4.88195605e-01] [ 3.97890995e-02 -3.83613203e-04 9.99208027e-01 1.44110220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.86, Y:0.49, Z:0.15 [[ 9.93314862e-01 -1.08955606e-01 -3.81347613e-02 1.08609082e+01] [ 1.08891354e-01 9.94046531e-01 -3.76407923e-03 4.85378359e-01] [ 3.83178447e-02 -4.13629935e-04 9.99265516e-01 1.45930159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778040942 meters Centerline goodness [0,1] 0.9998458455372283 Centerline is valid? [True, True] Translation: X:10.89, Y:0.49, Z:0.15 [[ 9.93279537e-01 -1.09350151e-01 -3.79250102e-02 1.08894103e+01] [ 1.09286651e-01 9.94003203e-01 -3.74966249e-03 4.86719012e-01] [ 3.81076077e-02 -4.20234343e-04 9.99273553e-01 1.47027976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:0.49, Z:0.15 [[ 9.93359120e-01 -1.09005494e-01 -3.68165848e-02 1.09177259e+01] [ 1.08945135e-01 9.94041072e-01 -3.64768135e-03 4.87342583e-01] [ 3.69948147e-02 -3.87530261e-04 9.99315382e-01 1.50147412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:0.49, Z:0.15 [[ 9.93438696e-01 -1.08289843e-01 -3.67813494e-02 1.09450593e+01] [ 1.08228891e-01 9.94119301e-01 -3.65007171e-03 4.92140635e-01] [ 3.69603150e-02 -3.54682169e-04 9.99316671e-01 1.51864121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868040942 meters Centerline goodness [0,1] 0.9999119543923752 Centerline is valid? [True, True] Translation: X:10.97, Y:0.50, Z:0.15 [[ 9.93747405e-01 -1.05591276e-01 -3.62846618e-02 1.09734275e+01] [ 1.05529809e-01 9.94409586e-01 -3.61042390e-03 4.97001564e-01] [ 3.64630447e-02 -2.41264035e-04 9.99334973e-01 1.52683533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898040942 meters Centerline goodness [0,1] 0.9998020629439838 Centerline is valid? [True, True] Translation: X:11.00, Y:0.50, Z:0.15 [[ 9.93928812e-01 -1.03858494e-01 -3.63170866e-02 1.10009150e+01] [ 1.03795511e-01 9.94592069e-01 -3.62048339e-03 5.01025969e-01] [ 3.64967043e-02 -1.71047812e-04 9.99333759e-01 1.53218678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928040942 meters Centerline goodness [0,1] 0.9999341715489435 Centerline is valid? [True, True] Translation: X:11.03, Y:0.50, Z:0.15 [[ 9.94072787e-01 -1.02256363e-01 -3.69178840e-02 1.10279057e+01] [ 1.02190036e-01 9.94758073e-01 -3.68408000e-03 5.04850452e-01] [ 3.71010838e-02 -1.10396221e-04 9.99311512e-01 1.52157180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958040942 meters Centerline goodness [0,1] 0.9999341498748847 Centerline is valid? [True, True] Translation: X:11.06, Y:0.51, Z:0.16 [[ 9.94256766e-01 -1.00327674e-01 -3.72537307e-02 1.10559044e+01] [ 1.00258525e-01 9.94954450e-01 -3.72442555e-03 5.09270446e-01] [ 3.74394280e-02 -3.19687970e-05 9.99298898e-01 1.56323006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988040942 meters Centerline goodness [0,1] 0.9992528457785786 Centerline is valid? [True, True] Translation: X:11.08, Y:0.51, Z:0.16 [[ 9.94335521e-01 -9.93964550e-02 -3.76459296e-02 1.10841422e+01] [ 9.93247672e-02 9.95047911e-01 -3.77439698e-03 5.12470394e-01] [ 3.78346653e-02 1.38437950e-05 9.99284013e-01 1.58067973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018040942 meters Centerline goodness [0,1] 0.9988591487494515 Centerline is valid? [True, True] Translation: X:11.11, Y:0.52, Z:0.16 [[ 9.94435571e-01 -9.84631781e-02 -3.74552887e-02 1.11117428e+01] [ 9.83911515e-02 9.95140693e-01 -3.76594083e-03 5.17717812e-01] [ 3.76440884e-02 5.97165379e-05 9.99291208e-01 1.61101340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048040942 meters Centerline goodness [0,1] 0.9981140350877193 Centerline is valid? [True, True] Translation: X:11.14, Y:0.52, Z:0.16 [[ 9.94522562e-01 -9.75539693e-02 -3.75246191e-02 1.11394833e+01] [ 9.74807268e-02 9.95230231e-01 -3.78091044e-03 5.21943824e-01] [ 3.77144781e-02 1.02273595e-04 9.99288551e-01 1.60388048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078040942 meters Centerline goodness [0,1] 0.9977174962689843 Centerline is valid? [True, True] Translation: X:11.17, Y:0.53, Z:0.16 [[ 9.94604509e-01 -9.69090667e-02 -3.70203173e-02 1.11671956e+01] [ 9.68371088e-02 9.95293231e-01 -3.73613868e-03 5.25252660e-01] [ 3.72081369e-02 1.31039887e-04 9.99307529e-01 1.63918573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108040942 meters Centerline goodness [0,1] 0.9978728070175439 Centerline is valid? [True, True] Translation: X:11.19, Y:0.53, Z:0.16 [[ 9.94684968e-01 -9.62516662e-02 -3.65709000e-02 1.11939669e+01] [ 9.61806987e-02 9.95357017e-01 -3.69900842e-03 5.28840651e-01] [ 3.67571376e-02 1.61933361e-04 9.99324215e-01 1.64727217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138040942 meters Centerline goodness [0,1] 0.9979196321033614 Centerline is valid? [True, True] Translation: X:11.22, Y:0.54, Z:0.17 [[ 9.94777512e-01 -9.54219333e-02 -3.62264623e-02 1.12214840e+01] [ 9.53515082e-02 9.95436897e-01 -3.67071681e-03 5.35218985e-01] [ 3.64114241e-02 1.97298720e-04 9.99336865e-01 1.65282946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168040942 meters Centerline goodness [0,1] 0.9980050859347598 Centerline is valid? [True, True] Translation: X:11.25, Y:0.54, Z:0.16 [[ 9.94809671e-01 -9.49813197e-02 -3.65002418e-02 1.12495137e+01] [ 9.49092456e-02 9.95479030e-01 -3.70618548e-03 5.39283967e-01] [ 3.66872437e-02 2.22738749e-04 9.99326772e-01 1.64855562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198040942 meters Centerline goodness [0,1] 0.9981847210375522 Centerline is valid? [True, True] Translation: X:11.28, Y:0.54, Z:0.17 [[ 9.94908056e-01 -9.41141594e-02 -3.60622356e-02 1.12762908e+01] [ 9.40431068e-02 9.95561379e-01 -3.66526833e-03 5.43194981e-01] [ 3.62471226e-02 2.55200323e-04 9.99342825e-01 1.66506342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228040942 meters Centerline goodness [0,1] 0.998164616426683 Centerline is valid? [True, True] Translation: X:11.30, Y:0.55, Z:0.17 [[ 9.94966892e-01 -9.36347016e-02 -3.56850980e-02 1.13045347e+01] [ 9.35645962e-02 9.95606582e-01 -3.63316070e-03 5.45251306e-01] [ 3.58685083e-02 2.76012832e-04 9.99356480e-01 1.69544118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258040942 meters Centerline goodness [0,1] 0.9985519964896885 Centerline is valid? [True, True] Translation: X:11.33, Y:0.55, Z:0.17 [[ 9.95053234e-01 -9.31343230e-02 -3.45696288e-02 1.13323880e+01] [ 9.30679836e-02 9.95653510e-01 -3.52672426e-03 5.49000492e-01] [ 3.47478313e-02 2.91952739e-04 9.99396069e-01 1.71328565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288040942 meters Centerline goodness [0,1] 0.9985786446830378 Centerline is valid? [True, True] Translation: X:11.36, Y:0.55, Z:0.17 [[ 9.95173622e-01 -9.25323842e-02 -3.26683461e-02 1.13604930e+01] [ 9.24726833e-02 9.95709630e-01 -3.33689575e-03 5.53888930e-01] [ 3.28369577e-02 2.99861003e-04 9.99460677e-01 1.74147487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318040942 meters Centerline goodness [0,1] 0.9987292406117173 Centerline is valid? [True, True] Translation: X:11.39, Y:0.56, Z:0.18 [[ 9.95238921e-01 -9.21983703e-02 -3.16061894e-02 1.13886078e+01] [ 9.21420787e-02 9.95740612e-01 -3.23603261e-03 5.58506208e-01] [ 3.17699233e-02 3.08365607e-04 9.99495161e-01 1.75444084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348040942 meters Centerline goodness [0,1] 0.9988628908812596 Centerline is valid? [True, True] Translation: X:11.42, Y:0.56, Z:0.18 [[ 9.95265123e-01 -9.19307430e-02 -3.15606384e-02 1.14164639e+01] [ 9.18742075e-02 9.95765350e-01 -3.23992305e-03 5.63533292e-01] [ 3.17248387e-02 3.24973773e-04 9.99496588e-01 1.75092953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378040942 meters Centerline goodness [0,1] 0.9987990217486243 Centerline is valid? [True, True] Translation: X:11.44, Y:0.57, Z:0.18 [[ 9.95328664e-01 -9.12024120e-02 -3.16697015e-02 1.14441662e+01] [ 9.11448944e-02 9.95832312e-01 -3.25809153e-03 5.68849576e-01] [ 3.18348578e-02 3.56340293e-04 9.99493079e-01 1.75366316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408040942 meters Centerline goodness [0,1] 0.9989513468638718 Centerline is valid? [True, True] Translation: X:11.47, Y:0.57, Z:0.18 [[ 9.95306092e-01 -9.14236099e-02 -3.17412471e-02 1.14720381e+01] [ 9.13658036e-02 9.95812029e-01 -3.26986481e-03 5.70195662e-01] [ 3.19072586e-02 3.54451816e-04 9.99490771e-01 1.76888132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438040942 meters Centerline goodness [0,1] 0.9988421121621917 Centerline is valid? [True, True] Translation: X:11.50, Y:0.57, Z:0.18 [[ 9.95177564e-01 -9.28376231e-02 -3.16668823e-02 1.15007687e+01] [ 9.27805224e-02 9.95681212e-01 -3.27101210e-03 5.72418099e-01] [ 3.18337927e-02 3.17167966e-04 9.99493126e-01 1.77578032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468040942 meters Centerline goodness [0,1] 0.9987567614726923 Centerline is valid? [True, True] Translation: X:11.53, Y:0.58, Z:0.18 [[ 9.95076670e-01 -9.38524230e-02 -3.18456194e-02 1.15285798e+01] [ 9.37949780e-02 9.95586077e-01 -3.29625483e-03 5.76658983e-01] [ 3.20144168e-02 2.93067111e-04 9.99487364e-01 1.77755290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498040942 meters Centerline goodness [0,1] 0.998826699113506 Centerline is valid? [True, True] Translation: X:11.56, Y:0.58, Z:0.18 [[ 9.94981886e-01 -9.48776930e-02 -3.17690080e-02 1.15563888e+01] [ 9.48209551e-02 9.95488902e-01 -3.29118619e-03 5.80449280e-01] [ 3.19379550e-02 2.62302958e-04 9.99489819e-01 1.77522077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528040942 meters Centerline goodness [0,1] 0.9986965305989441 Centerline is valid? [True, True] Translation: X:11.58, Y:0.58, Z:0.18 [[ 9.94669221e-01 -9.80039664e-02 -3.20681043e-02 1.15847446e+01] [ 9.79476399e-02 9.95186010e-01 -3.32647275e-03 5.83193979e-01] [ 3.22397363e-02 1.67744926e-04 9.99480151e-01 1.77869936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558040942 meters Centerline goodness [0,1] 0.9986501197474418 Centerline is valid? [True, True] Translation: X:11.61, Y:0.59, Z:0.18 [[ 9.94417640e-01 -1.00323791e-01 -3.26908779e-02 1.16132109e+01] [ 1.00266223e-01 9.94954836e-01 -3.39972392e-03 5.85246920e-01] [ 3.28670203e-02 1.02954589e-04 9.99459728e-01 1.77394472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588040942 meters Centerline goodness [0,1] 0.9987594132242197 Centerline is valid? [True, True] Translation: X:11.64, Y:0.59, Z:0.18 [[ 9.94069864e-01 -1.03927248e-01 -3.20036463e-02 1.16408952e+01] [ 1.03873709e-01 9.94584902e-01 -3.33549002e-03 5.85973477e-01] [ 3.21769917e-02 -8.62732291e-06 9.99482187e-01 1.79736239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618040942 meters Centerline goodness [0,1] 0.9987419473786955 Centerline is valid? [True, True] Translation: X:11.67, Y:0.59, Z:0.18 [[ 9.93816808e-01 -1.06269839e-01 -3.21694397e-02 1.16685915e+01] [ 1.06216822e-01 9.94337324e-01 -3.35736223e-03 5.88827945e-01] [ 3.23440609e-02 -8.03326466e-05 9.99476791e-01 1.79528442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648040942 meters Centerline goodness [0,1] 0.9988908462190905 Centerline is valid? [True, True] Translation: X:11.70, Y:0.59, Z:0.18 [[ 9.93667022e-01 -1.08053757e-01 -3.08258946e-02 1.16962517e+01] [ 1.08005722e-01 9.94145045e-01 -3.22401298e-03 5.92000068e-01] [ 3.09937771e-02 -1.25777631e-04 9.99519570e-01 1.81214076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678040942 meters Centerline goodness [0,1] 0.998677162622254 Centerline is valid? [True, True] Translation: X:11.72, Y:0.60, Z:0.18 [[ 9.93385134e-01 -1.10381219e-01 -3.16537768e-02 1.17246912e+01] [ 1.10331618e-01 9.93889303e-01 -3.31472817e-03 5.95530247e-01] [ 3.18262339e-02 -1.99610732e-04 9.99493397e-01 1.80489899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708040942 meters Centerline goodness [0,1] 0.9988649014428849 Centerline is valid? [True, True] Translation: X:11.75, Y:0.60, Z:0.18 [[ 9.93134234e-01 -1.13156835e-01 -2.96635155e-02 1.17525998e+01] [ 1.13114304e-01 9.93577104e-01 -3.11335165e-03 5.99462611e-01] [ 2.98252868e-02 -2.63391807e-04 9.99555092e-01 1.83167582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738040942 meters Centerline goodness [0,1] 0.9989106991133091 Centerline is valid? [True, True] Translation: X:11.78, Y:0.60, Z:0.18 [[ 9.92990622e-01 -1.14404176e-01 -2.96868353e-02 1.17816167e+01] [ 1.14361898e-01 9.93434245e-01 -3.12375239e-03 6.03180458e-01] [ 2.98492891e-02 -2.93185992e-04 9.99554368e-01 1.83803324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768040942 meters Centerline goodness [0,1] 0.9987846430974239 Centerline is valid? [True, True] Translation: X:11.81, Y:0.61, Z:0.19 [[ 9.92890236e-01 -1.15776101e-01 -2.76563648e-02 1.18087155e+01] [ 1.15739780e-01 9.93275290e-01 -2.91588738e-03 6.07199959e-01] [ 2.78079739e-02 -3.05785472e-04 9.99613237e-01 1.85749346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798040942 meters Centerline goodness [0,1] 0.9988901945423685 Centerline is valid? [True, True] Translation: X:11.84, Y:0.61, Z:0.19 [[ 9.92889412e-01 -1.16038065e-01 -2.65665617e-02 1.18361160e+01] [ 1.16004546e-01 9.93244723e-01 -2.80466308e-03 6.13785389e-01] [ 2.67125449e-02 -2.97121638e-04 9.99643112e-01 1.87661876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828040942 meters Centerline goodness [0,1] 0.9987641740563277 Centerline is valid? [True, True] Translation: X:11.86, Y:0.62, Z:0.19 [[ 9.92899217e-01 -1.16064671e-01 -2.60794258e-02 1.18624982e+01] [ 1.16032198e-01 9.93241617e-01 -2.76013752e-03 6.19105818e-01] [ 2.62235255e-02 -2.85514706e-04 9.99656063e-01 1.88306491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858040942 meters Centerline goodness [0,1] 0.9988040098288646 Centerline is valid? [True, True] Translation: X:11.89, Y:0.63, Z:0.19 [[ 9.93061298e-01 -1.14846063e-01 -2.52911205e-02 1.18907651e+01] [ 1.14815044e-01 9.93383271e-01 -2.68004240e-03 6.28744701e-01] [ 2.54315684e-02 -2.42354736e-04 9.99676536e-01 1.88628993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888040942 meters Centerline goodness [0,1] 0.9987477329648502 Centerline is valid? [True, True] Translation: X:11.92, Y:0.63, Z:0.19 [[ 9.93109728e-01 -1.14379274e-01 -2.55039188e-02 1.19173932e+01] [ 1.14347423e-01 9.93437130e-01 -2.70857740e-03 6.33555984e-01] [ 2.56463450e-02 -2.26392836e-04 9.99671053e-01 1.88684330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918040942 meters Centerline goodness [0,1] 0.9988736055453266 Centerline is valid? [True, True] Translation: X:11.94, Y:0.64, Z:0.19 [[ 9.93147900e-01 -1.14203034e-01 -2.47974780e-02 1.19447801e+01] [ 1.14172788e-01 9.93457408e-01 -2.63675102e-03 6.40231444e-01] [ 2.49363632e-02 -2.12513466e-04 9.99689018e-01 1.89371571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948040942 meters Centerline goodness [0,1] 0.9987071473205629 Centerline is valid? [True, True] Translation: X:11.97, Y:0.65, Z:0.19 [[ 9.93168179e-01 -1.14210202e-01 -2.39373846e-02 1.19708252e+01] [ 1.14181867e-01 9.93456587e-01 -2.55167977e-03 6.46881878e-01] [ 2.40721803e-02 -1.98968131e-04 9.99710203e-01 1.89945986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978040942 meters Centerline goodness [0,1] 0.9986878051928496 Centerline is valid? [True, True] Translation: X:12.00, Y:0.65, Z:0.19 [[ 9.93094603e-01 -1.14904626e-01 -2.36650719e-02 1.19983006e+01] [ 1.14877022e-01 9.93376506e-01 -2.52714634e-03 6.52155693e-01] [ 2.37987072e-02 -2.08877595e-04 9.99716749e-01 1.90841149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008040942 meters Centerline goodness [0,1] 0.9985662008602795 Centerline is valid? [True, True] Translation: X:12.03, Y:0.66, Z:0.19 [[ 9.92983961e-01 -1.15876328e-01 -2.35696931e-02 1.20260717e+01] [ 1.15849066e-01 9.93263624e-01 -2.52343623e-03 6.57073152e-01] [ 2.37033253e-02 -2.24795237e-04 9.99719011e-01 1.91312274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038040942 meters Centerline goodness [0,1] 0.9987668232942828 Centerline is valid? [True, True] Translation: X:12.05, Y:0.66, Z:0.19 [[ 9.92880663e-01 -1.16808547e-01 -2.33185135e-02 1.20528590e+01] [ 1.16782073e-01 9.93154421e-01 -2.49855191e-03 6.64211290e-01] [ 2.34507370e-02 -2.42420471e-04 9.99724964e-01 1.90943478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068040942 meters Centerline goodness [0,1] 0.9987687343438203 Centerline is valid? [True, True] Translation: X:12.08, Y:0.67, Z:0.19 [[ 9.92880440e-01 -1.16886902e-01 -2.29321437e-02 1.20799784e+01] [ 1.16861247e-01 9.93145204e-01 -2.46027738e-03 6.69204342e-01] [ 2.30625227e-02 -2.37117628e-04 9.99733997e-01 1.91665120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098040942 meters Centerline goodness [0,1] 0.9987964781149047 Centerline is valid? [True, True] Translation: X:12.11, Y:0.68, Z:0.19 [[ 9.92907101e-01 -1.16807343e-01 -2.21705462e-02 1.21075121e+01] [ 1.16783292e-01 9.93154567e-01 -2.38090517e-03 6.77938292e-01] [ 2.22968864e-02 -2.25131723e-04 9.99751368e-01 1.93868551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128040942 meters Centerline goodness [0,1] 0.9987776091721463 Centerline is valid? [True, True] Translation: X:12.14, Y:0.68, Z:0.19 [[ 9.92939595e-01 -1.16464544e-01 -2.25160123e-02 1.21352937e+01] [ 1.16439503e-01 9.93194827e-01 -2.42448431e-03 6.83509992e-01] [ 2.26451534e-02 -2.14386806e-04 9.99743543e-01 1.94434109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158040942 meters Centerline goodness [0,1] 0.9988620079237966 Centerline is valid? [True, True] Translation: X:12.16, Y:0.69, Z:0.20 [[ 9.92995724e-01 -1.15919233e-01 -2.28522242e-02 1.21617114e+01] [ 1.15893141e-01 9.93258623e-01 -2.46735706e-03 6.88641086e-01] [ 2.29841829e-02 -1.98341039e-04 9.99735809e-01 1.95067932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188040942 meters Centerline goodness [0,1] 0.9988218711211159 Centerline is valid? [True, True] Translation: X:12.19, Y:0.70, Z:0.20 [[ 9.93177543e-01 -1.14117575e-01 -2.39905726e-02 1.21884767e+01] [ 1.14088177e-01 9.93467238e-01 -2.59506766e-03 6.95956610e-01] [ 2.41299907e-02 -1.59677763e-04 9.99708817e-01 1.95559855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218040942 meters Centerline goodness [0,1] 0.9986957802179309 Centerline is valid? [True, True] Translation: X:12.22, Y:0.70, Z:0.20 [[ 9.93286648e-01 -1.13218796e-01 -2.37305353e-02 1.22165498e+01] [ 1.13189723e-01 9.93570071e-01 -2.56913317e-03 7.01637851e-01] [ 2.38688238e-02 -1.34167036e-04 9.99715090e-01 1.96641806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248040942 meters Centerline goodness [0,1] 0.9988841870355165 Centerline is valid? [True, True] Translation: X:12.24, Y:0.71, Z:0.20 [[ 9.93449324e-01 -1.11937754e-01 -2.29865151e-02 1.22440894e+01] [ 1.11909984e-01 9.93715216e-01 -2.49502888e-03 7.06436750e-01] [ 2.31213377e-02 -9.37357728e-05 9.99732662e-01 1.98329412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278040942 meters Centerline goodness [0,1] 0.9987567168896849 Centerline is valid? [True, True] Translation: X:12.27, Y:0.71, Z:0.20 [[ 9.93494435e-01 -1.11646149e-01 -2.24487268e-02 1.22720861e+01] [ 1.11619547e-01 9.93748022e-01 -2.43848518e-03 7.11721284e-01] [ 2.25806253e-02 -8.30952634e-05 9.99745022e-01 1.99709999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308040942 meters Centerline goodness [0,1] 0.9988432984920819 Centerline is valid? [True, True] Translation: X:12.30, Y:0.72, Z:0.20 [[ 9.93634190e-01 -1.10546144e-01 -2.16943979e-02 1.22997275e+01] [ 1.10520904e-01 9.93870991e-01 -2.36268262e-03 7.18164648e-01] [ 2.18226182e-02 -5.00422447e-05 9.99761857e-01 2.01712007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338040942 meters Centerline goodness [0,1] 0.9988025461649965 Centerline is valid? [True, True] Translation: X:12.33, Y:0.72, Z:0.20 [[ 9.93653444e-01 -1.10308689e-01 -2.20187772e-02 1.23269710e+01] [ 1.10282485e-01 9.93897375e-01 -2.40452384e-03 7.23109298e-01] [ 2.21496447e-02 -3.90220773e-05 9.99754666e-01 2.02244763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368040942 meters Centerline goodness [0,1] 0.9989098532494759 Centerline is valid? [True, True] Translation: X:12.35, Y:0.73, Z:0.20 [[ 9.93702607e-01 -1.09682719e-01 -2.29091585e-02 1.23544303e+01] [ 1.09654027e-01 9.93966650e-01 -2.50870621e-03 7.29526284e-01] [ 2.30461013e-02 -1.91735982e-05 9.99734403e-01 2.02201531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398040942 meters Centerline goodness [0,1] 0.9988905170609169 Centerline is valid? [True, True] Translation: X:12.38, Y:0.73, Z:0.20 [[ 9.93716512e-01 -1.09498851e-01 -2.31839670e-02 1.23811915e+01] [ 1.09469258e-01 9.93986922e-01 -2.54557674e-03 7.33622201e-01] [ 2.33232977e-02 -8.35003304e-06 9.99727975e-01 2.02714484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428040941999999 meters Centerline goodness [0,1] 0.9989892396133842 Centerline is valid? [True, True] Translation: X:12.41, Y:0.74, Z:0.20 [[ 9.93791801e-01 -1.08825408e-01 -2.31276219e-02 1.24085266e+01] [ 1.08795709e-01 9.94060879e-01 -2.54229612e-03 7.38931771e-01] [ 2.32669305e-02 1.03270154e-05 9.99729288e-01 2.03605874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458040942 meters Centerline goodness [0,1] 0.9992433636688455 Centerline is valid? [True, True] Translation: X:12.44, Y:0.74, Z:0.20 [[ 9.93918461e-01 -1.07370470e-01 -2.44473998e-02 1.24359768e+01] [ 1.07336669e-01 9.94219080e-01 -2.69448083e-03 7.43979178e-01] [ 2.45953790e-02 5.39917827e-05 9.99697486e-01 2.04013352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488040942 meters Centerline goodness [0,1] 0.9992846472679837 Centerline is valid? [True, True] Translation: X:12.46, Y:0.75, Z:0.20 [[ 9.93936720e-01 -1.07020021e-01 -2.52291811e-02 1.24636542e+01] [ 1.06983841e-01 9.94256864e-01 -2.78336675e-03 7.48953310e-01] [ 2.53821625e-02 6.73757235e-05 9.99677819e-01 2.03963176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518040942 meters Centerline goodness [0,1] 0.9990108803165183 Centerline is valid? [True, True] Translation: X:12.49, Y:0.75, Z:0.20 [[ 9.93968134e-01 -1.06666734e-01 -2.54863880e-02 1.24914393e+01] [ 1.06629510e-01 9.94294826e-01 -2.81903068e-03 7.53407952e-01] [ 2.56416805e-02 8.44256221e-05 9.99671194e-01 2.03825180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548040942 meters Centerline goodness [0,1] 0.9990108803165183 Centerline is valid? [True, True] Translation: X:12.52, Y:0.76, Z:0.20 [[ 9.93937970e-01 -1.06947632e-01 -2.54855893e-02 1.25188070e+01] [ 1.06910315e-01 9.94264651e-01 -2.82623395e-03 7.56530197e-01] [ 2.56416795e-02 8.44288616e-05 9.99671195e-01 2.04463114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578040942 meters Centerline goodness [0,1] 0.9989710853999119 Centerline is valid? [True, True] Translation: X:12.55, Y:0.76, Z:0.21 [[ 9.93945294e-01 -1.06886442e-01 -2.54566369e-02 1.25468463e+01] [ 1.06849004e-01 9.94271230e-01 -2.83029153e-03 7.61392218e-01] [ 2.56133215e-02 9.31386434e-05 9.99671921e-01 2.05445756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608040942 meters Centerline goodness [0,1] 0.9990955175532699 Centerline is valid? [True, True] Translation: X:12.57, Y:0.76, Z:0.21 [[ 9.93926453e-01 -1.07089782e-01 -2.53374090e-02 1.25734394e+01] [ 1.07052586e-01 9.94249350e-01 -2.82383416e-03 7.64501640e-01] [ 2.54941062e-02 9.42483089e-05 9.99674968e-01 2.06633664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638040942 meters Centerline goodness [0,1] 0.9991185914251537 Centerline is valid? [True, True] Translation: X:12.60, Y:0.77, Z:0.21 [[ 9.93768804e-01 -1.08624716e-01 -2.49846800e-02 1.26012661e+01] [ 1.08588950e-01 9.94082827e-01 -2.78785921e-03 7.65626390e-01] [ 2.51396717e-02 5.74273422e-05 9.99683947e-01 2.08334136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668040942 meters Centerline goodness [0,1] 0.9992841954567464 Centerline is valid? [True, True] Translation: X:12.63, Y:0.77, Z:0.21 [[ 9.93654976e-01 -1.09755410e-01 -2.45670289e-02 1.26277554e+01] [ 1.09721013e-01 9.93958625e-01 -2.74779816e-03 7.67859671e-01] [ 2.47201960e-02 3.48440185e-05 9.99694409e-01 2.09146595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698040942 meters Centerline goodness [0,1] 0.9992643813447109 Centerline is valid? [True, True] Translation: X:12.66, Y:0.77, Z:0.21 [[ 9.93537875e-01 -1.10715877e-01 -2.49897097e-02 1.26560564e+01] [ 1.10680505e-01 9.93852099e-01 -2.79847051e-03 7.70206748e-01] [ 2.51459106e-02 1.45127578e-05 9.99683791e-01 2.10257586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728040942 meters Centerline goodness [0,1] 0.9993071157116762 Centerline is valid? [True, True] Translation: X:12.68, Y:0.77, Z:0.21 [[ 9.93309016e-01 -1.12825442e-01 -2.46499099e-02 1.26835332e+01] [ 1.12791510e-01 9.93614824e-01 -2.76707269e-03 7.71428047e-01] [ 2.48047121e-02 -3.17423101e-05 9.99692315e-01 2.11540174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758040942 meters Centerline goodness [0,1] 0.9993289857199773 Centerline is valid? [True, True] Translation: X:12.71, Y:0.77, Z:0.21 [[ 9.93214435e-01 -1.13714269e-01 -2.43752298e-02 1.27107646e+01] [ 1.13681284e-01 9.93513494e-01 -2.73920284e-03 7.73827796e-01] [ 2.45286061e-02 -5.03916212e-05 9.99699127e-01 2.12556516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788040942 meters Centerline goodness [0,1] 0.9994956075826993 Centerline is valid? [True, True] Translation: X:12.74, Y:0.78, Z:0.21 [[ 9.93123528e-01 -1.14443586e-01 -2.46642293e-02 1.27389006e+01] [ 1.14409957e-01 9.93429747e-01 -2.77495910e-03 7.76510204e-01] [ 2.48197553e-02 -6.59562450e-05 9.99691940e-01 2.13348642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818040942 meters Centerline goodness [0,1] 0.9993912039466779 Centerline is valid? [True, True] Translation: X:12.77, Y:0.78, Z:0.21 [[ 9.92956113e-01 -1.15950131e-01 -2.43664507e-02 1.27671225e+01] [ 1.15917601e-01 9.93255032e-01 -2.74806297e-03 7.78297997e-01] [ 2.45207381e-02 -9.57945771e-05 9.99699317e-01 2.13940722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848040942 meters Centerline goodness [0,1] 0.9994537470849003 Centerline is valid? [True, True] Translation: X:12.80, Y:0.78, Z:0.21 [[ 9.92913765e-01 -1.16236357e-01 -2.47257995e-02 1.27951578e+01] [ 1.16202776e-01 9.93221576e-01 -2.79551148e-03 7.81169921e-01] [ 2.48831377e-02 -9.75047233e-05 9.99690362e-01 2.14265604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878040942 meters Centerline goodness [0,1] 0.9994327135203278 Centerline is valid? [True, True] Translation: X:12.82, Y:0.78, Z:0.21 [[ 9.92738937e-01 -1.17634893e-01 -2.51283540e-02 1.28229819e+01] [ 1.17600479e-01 9.93056905e-01 -2.84809132e-03 7.84625360e-01] [ 2.52889204e-02 -1.27695323e-04 9.99680176e-01 2.13857204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908040942 meters Centerline goodness [0,1] 0.9995799025373887 Centerline is valid? [True, True] Translation: X:12.85, Y:0.79, Z:0.21 [[ 9.92650700e-01 -1.18181473e-01 -2.60332043e-02 1.28505013e+01] [ 1.18144540e-01 9.92992004e-01 -2.95764868e-03 7.87651511e-01] [ 2.62003029e-02 -1.39768915e-04 9.99656703e-01 2.14133742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938040942 meters Centerline goodness [0,1] 0.9994341164881688 Centerline is valid? [True, True] Translation: X:12.88, Y:0.79, Z:0.22 [[ 9.92356784e-01 -1.20633746e-01 -2.59906320e-02 1.28784119e+01] [ 1.20597712e-01 9.92697063e-01 -2.95520111e-03 7.88893621e-01] [ 2.61573210e-02 -2.01796881e-04 9.99657818e-01 2.15203864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968040942 meters Centerline goodness [0,1] 0.9995790891489182 Centerline is valid? [True, True] Translation: X:12.91, Y:0.79, Z:0.22 [[ 9.92147968e-01 -1.22330956e-01 -2.60297391e-02 1.29068115e+01] [ 1.22295299e-01 9.92489334e-01 -2.96337700e-03 7.91170798e-01] [ 2.61967511e-02 -2.43206267e-04 9.99656777e-01 2.17210835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998040942 meters Centerline goodness [0,1] 0.9996216818344228 Centerline is valid? [True, True] Translation: X:12.93, Y:0.79, Z:0.22 [[ 9.91954013e-01 -1.23881961e-01 -2.60863149e-02 1.29344952e+01] [ 1.23846523e-01 9.92296922e-01 -2.97600630e-03 7.92844909e-01] [ 2.62540435e-02 -2.78638017e-04 9.99655264e-01 2.18395940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028040942 meters Centerline goodness [0,1] 0.99955848033135 Centerline is valid? [True, True] Translation: X:12.96, Y:0.79, Z:0.22 [[ 9.91771553e-01 -1.25445789e-01 -2.55448915e-02 1.29623800e+01] [ 1.25412240e-01 9.92100427e-01 -2.91755224e-03 7.94896985e-01] [ 2.57090925e-02 -3.10096758e-04 9.99669419e-01 2.19176582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058040942 meters Centerline goodness [0,1] 0.9996419167983149 Centerline is valid? [True, True] Translation: X:12.99, Y:0.80, Z:0.22 [[ 9.91477718e-01 -1.27769773e-01 -2.54326662e-02 1.29913233e+01] [ 1.27737193e-01 9.91803787e-01 -2.90825630e-03 7.99219472e-01] [ 2.55958019e-02 -3.65226063e-04 9.99672307e-01 2.20538877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088040942 meters Centerline goodness [0,1] 0.999581388534232 Centerline is valid? [True, True] Translation: X:13.02, Y:0.80, Z:0.22 [[ 9.91433263e-01 -1.28233942e-01 -2.48222068e-02 1.30191721e+01] [ 1.28202902e-01 9.91743881e-01 -2.84447757e-03 8.02874234e-01] [ 2.49820303e-02 -3.62169272e-04 9.99687835e-01 2.21470569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118040942 meters Centerline goodness [0,1] 0.9998108528435122 Centerline is valid? [True, True] Translation: X:13.05, Y:0.81, Z:0.22 [[ 9.91397788e-01 -1.28268487e-01 -2.60311619e-02 1.30465806e+01] [ 1.28234162e-01 9.91739409e-01 -2.99061067e-03 8.07507190e-01] [ 2.61997303e-02 -3.73199436e-04 9.99656658e-01 2.22384820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148040942 meters Centerline goodness [0,1] 0.999728425494579 Centerline is valid? [True, True] Translation: X:13.07, Y:0.81, Z:0.22 [[ 9.91314815e-01 -1.28816326e-01 -2.64819032e-02 1.30748331e+01] [ 1.28780796e-01 9.91668394e-01 -3.04993913e-03 8.11340704e-01] [ 2.66541484e-02 -3.86910732e-04 9.99644640e-01 2.22711533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178040941999999 meters Centerline goodness [0,1] 0.9996648723373059 Centerline is valid? [True, True] Translation: X:13.10, Y:0.81, Z:0.22 [[ 9.91247188e-01 -1.29288254e-01 -2.67125544e-02 1.31025373e+01] [ 1.29252071e-01 9.91606974e-01 -3.08403324e-03 8.14948595e-01] [ 2.68870846e-02 -3.95613719e-04 9.99638399e-01 2.23270663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208040942 meters Centerline goodness [0,1] 0.9997064497190304 Centerline is valid? [True, True] Translation: X:13.13, Y:0.82, Z:0.22 [[ 9.91098761e-01 -1.30270972e-01 -2.74357588e-02 1.31307846e+01] [ 1.30232966e-01 9.91478337e-01 -3.17522451e-03 8.19847658e-01] [ 2.76156001e-02 -4.26079179e-04 9.99618526e-01 2.24965537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238040942 meters Centerline goodness [0,1] 0.9997900130191928 Centerline is valid? [True, True] Translation: X:13.16, Y:0.82, Z:0.23 [[ 9.90978894e-01 -1.31059105e-01 -2.80061137e-02 1.31588569e+01] [ 1.31019619e-01 9.91374454e-01 -3.24828602e-03 8.24227133e-01] [ 2.81902632e-02 -4.50367452e-04 9.99602474e-01 2.26407614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268040942 meters Centerline goodness [0,1] 0.9997694935143857 Centerline is valid? [True, True] Translation: X:13.19, Y:0.83, Z:0.23 [[ 9.90888296e-01 -1.31660463e-01 -2.83884950e-02 1.31868647e+01] [ 1.31619927e-01 9.91294762e-01 -3.30000812e-03 8.27822252e-01] [ 2.85758470e-02 -4.66552221e-04 9.99591518e-01 2.27424055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298040942 meters Centerline goodness [0,1] 0.9997692759459686 Centerline is valid? [True, True] Translation: X:13.22, Y:0.83, Z:0.23 [[ 9.90794882e-01 -1.32303918e-01 -2.86561585e-02 1.32151734e+01] [ 1.32262650e-01 9.91209081e-01 -3.33918555e-03 8.31142118e-01] [ 2.88460319e-02 -4.81691501e-04 9.99583751e-01 2.28728245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328040942 meters Centerline goodness [0,1] 0.9999162093091457 Centerline is valid? [True, True] Translation: X:13.24, Y:0.84, Z:0.23 [[ 9.90739641e-01 -1.32508731e-01 -2.96040610e-02 1.32434040e+01] [ 1.32464545e-01 9.91181714e-01 -3.45745639e-03 8.35012048e-01] [ 2.98011471e-02 -4.96049376e-04 9.99555724e-01 2.31200449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358040942 meters Centerline goodness [0,1] 0.9998119593832268 Centerline is valid? [True, True] Translation: X:13.27, Y:0.84, Z:0.23 [[ 9.90745853e-01 -1.32412938e-01 -2.98239749e-02 1.32704408e+01] [ 1.32367825e-01 9.91194519e-01 -3.49062226e-03 8.38656053e-01] [ 3.00235640e-02 -4.89415170e-04 9.99549071e-01 2.32109984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388040942 meters Centerline goodness [0,1] 0.9998739839959675 Centerline is valid? [True, True] Translation: X:13.30, Y:0.85, Z:0.23 [[ 9.90798187e-01 -1.31967085e-01 -3.00606104e-02 1.32976177e+01] [ 1.31920902e-01 9.91253985e-01 -3.52317334e-03 8.45540564e-01] [ 3.02626428e-02 -4.74869084e-04 9.99541869e-01 2.33546768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418040942 meters Centerline goodness [0,1] 0.9999581335956962 Centerline is valid? [True, True] Translation: X:13.33, Y:0.85, Z:0.23 [[ 9.90899646e-01 -1.31037083e-01 -3.07761923e-02 1.33255762e+01] [ 1.30987998e-01 9.91377365e-01 -3.61437748e-03 8.48801488e-01] [ 3.09844380e-02 -4.49826472e-04 9.99519766e-01 2.33082689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448040942 meters Centerline goodness [0,1] 0.9998951562172363 Centerline is valid? [True, True] Translation: X:13.35, Y:0.86, Z:0.23 [[ 9.90969549e-01 -1.30365173e-01 -3.13731480e-02 1.33532377e+01] [ 1.30313691e-01 9.91465952e-01 -3.68884927e-03 8.55796985e-01] [ 3.15863055e-02 -4.32813411e-04 9.99500934e-01 2.34276178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478040942 meters Centerline goodness [0,1] 0.9998530152864102 Centerline is valid? [True, True] Translation: X:13.38, Y:0.86, Z:0.23 [[ 9.91225658e-01 -1.27895261e-01 -3.33840960e-02 1.33806555e+01] [ 1.27835307e-01 9.91787611e-01 -3.93300914e-03 8.61526620e-01] [ 3.36129461e-02 -3.69166578e-04 9.99434857e-01 2.34017467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508040942 meters Centerline goodness [0,1] 0.9998950065095964 Centerline is valid? [True, True] Translation: X:13.41, Y:0.87, Z:0.23 [[ 9.91269943e-01 -1.27358278e-01 -3.41140470e-02 1.34085809e+01] [ 1.27295181e-01 9.91856715e-01 -4.02405758e-03 8.65966543e-01] [ 3.43487437e-02 -3.53626457e-04 9.99409845e-01 2.34104888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.538040942 meters Centerline goodness [0,1] 0.9998954084300805 Centerline is valid? [True, True] Translation: X:13.44, Y:0.87, Z:0.23 [[ 9.91312980e-01 -1.26928689e-01 -3.44627968e-02 1.34365013e+01] [ 1.26863706e-01 9.91911789e-01 -4.07466273e-03 8.70706294e-01] [ 3.47012460e-02 -3.32812074e-04 9.99397675e-01 2.34708154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568040942 meters Centerline goodness [0,1] 0.9999369522728706 Centerline is valid? [True, True] Translation: X:13.46, Y:0.88, Z:0.23 [[ 9.91144016e-01 -1.27986860e-01 -3.53963779e-02 1.34642821e+01] [ 1.27918716e-01 9.91775794e-01 -4.19251429e-03 8.76667436e-01] [ 3.56418575e-02 -3.72473752e-04 9.99364558e-01 2.34609099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:0.88, Z:0.23 [[ 9.90975985e-01 -1.28992065e-01 -3.64368689e-02 1.34926780e+01] [ 1.28920345e-01 9.91645539e-01 -4.32088104e-03 8.81178032e-01] [ 3.66898178e-02 -4.15564366e-04 9.99326616e-01 2.34494547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628040942 meters Centerline goodness [0,1] 0.9999579646482692 Centerline is valid? [True, True] Translation: X:13.52, Y:0.88, Z:0.23 [[ 9.90618088e-01 -1.31494339e-01 -3.72161680e-02 1.35217185e+01] [ 1.31420950e-01 9.91316790e-01 -4.42214240e-03 8.84768691e-01] [ 3.74744989e-02 -5.10329929e-04 9.99297454e-01 2.34140523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658040942 meters Centerline goodness [0,1] 0.9999789915966386 Centerline is valid? [True, True] Translation: X:13.55, Y:0.89, Z:0.24 [[ 9.90434631e-01 -1.33058867e-01 -3.65318966e-02 1.35505336e+01] [ 1.32988903e-01 9.91107983e-01 -4.34935384e-03 8.87740408e-01] [ 3.67857744e-02 -5.50586177e-04 9.99323023e-01 2.36068912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688040942 meters Centerline goodness [0,1] 0.9999790096765391 Centerline is valid? [True, True] Translation: X:13.58, Y:0.89, Z:0.24 [[ 9.90315754e-01 -1.34046145e-01 -3.61433001e-02 1.35780438e+01] [ 1.33978083e-01 9.90974924e-01 -4.30956149e-03 8.91096781e-01] [ 3.63947842e-02 -5.74583420e-04 9.99337325e-01 2.37006258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718040942 meters Centerline goodness [0,1] 0.9999790030655524 Centerline is valid? [True, True] Translation: X:13.61, Y:0.89, Z:0.24 [[ 9.90217043e-01 -1.34858312e-01 -3.58251809e-02 1.36056315e+01] [ 1.34791867e-01 9.90864713e-01 -4.27459461e-03 8.94909320e-01] [ 3.60743722e-02 -5.96166597e-04 9.99348930e-01 2.36923647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748040942 meters Centerline goodness [0,1] 0.9999580070128289 Centerline is valid? [True, True] Translation: X:13.63, Y:0.90, Z:0.24 [[ 9.89948298e-01 -1.36790982e-01 -3.59248416e-02 1.36335791e+01] [ 1.36725262e-01 9.90599711e-01 -4.29136794e-03 9.02102018e-01] [ 3.61741582e-02 -6.63600999e-04 9.99345281e-01 2.37262744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778040942 meters Centerline goodness [0,1] 0.9999789792314807 Centerline is valid? [True, True] Translation: X:13.66, Y:0.91, Z:0.24 [[ 9.89785663e-01 -1.37863793e-01 -3.63031064e-02 1.36624272e+01] [ 1.37797094e-01 9.90450949e-01 -4.34499602e-03 9.06813653e-01] [ 3.65554638e-02 -7.01847803e-04 9.99331379e-01 2.37492640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808040942 meters Centerline goodness [0,1] 0.9999580264013935 Centerline is valid? [True, True] Translation: X:13.69, Y:0.91, Z:0.24 [[ 9.89599612e-01 -1.39021008e-01 -3.69562933e-02 1.36902697e+01] [ 1.38952447e-01 9.90289147e-01 -4.42974777e-03 9.10471217e-01] [ 3.72132442e-02 -7.51490731e-04 9.99307065e-01 2.37090349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838040942 meters Centerline goodness [0,1] 0.9999581011438388 Centerline is valid? [True, True] Translation: X:13.72, Y:0.91, Z:0.24 [[ 9.89506448e-01 -1.39843857e-01 -3.63412350e-02 1.37179236e+01] [ 1.39777919e-01 9.90173274e-01 -4.36135556e-03 9.14053365e-01] [ 3.65940284e-02 -7.64112773e-04 9.99329922e-01 2.38366398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868040942 meters Centerline goodness [0,1] 0.9999165205776775 Centerline is valid? [True, True] Translation: X:13.75, Y:0.92, Z:0.24 [[ 9.89468573e-01 -1.40440680e-01 -3.50479559e-02 1.37459327e+01] [ 1.40379488e-01 9.90088809e-01 -4.21292160e-03 9.16525804e-01] [ 3.52922545e-02 -7.51460584e-04 9.99376752e-01 2.39570333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.77, Y:0.92, Z:0.24 [[ 9.89465097e-01 -1.40735943e-01 -3.39443147e-02 1.37730437e+01] [ 1.40678627e-01 9.90046895e-01 -4.08292861e-03 9.20855076e-01] [ 3.41810782e-02 -7.35324229e-04 9.99415386e-01 2.41132508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928040941999999 meters Centerline goodness [0,1] 0.9999579611140305 Centerline is valid? [True, True] Translation: X:13.80, Y:0.93, Z:0.24 [[ 9.89472068e-01 -1.40746379e-01 -3.36969301e-02 1.38008070e+01] [ 1.40689749e-01 9.90045418e-01 -4.05765956e-03 9.28754627e-01] [ 3.39325921e-02 -7.25871849e-04 9.99423860e-01 2.42150732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.83, Y:0.93, Z:0.24 [[ 9.89701764e-01 -1.39080440e-01 -3.38681276e-02 1.38285829e+01] [ 1.39022030e-01 9.90280863e-01 -4.08497816e-03 9.33695489e-01] [ 3.41070992e-02 -6.65505750e-04 9.99417962e-01 2.40932716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.86, Y:0.94, Z:0.24 [[ 9.89890145e-01 -1.37840093e-01 -3.34306659e-02 1.38569887e+01] [ 1.37782335e-01 9.90454308e-01 -4.03636196e-03 9.38694062e-01] [ 3.36679195e-02 -6.10600287e-04 9.99432888e-01 2.41378067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.88, Y:0.95, Z:0.24 [[ 9.90093876e-01 -1.36471487e-01 -3.30098614e-02 1.38848553e+01] [ 1.36414169e-01 9.90643847e-01 -3.99290825e-03 9.46410706e-01] [ 3.32459343e-02 -5.49658809e-04 9.99447050e-01 2.44083856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.91, Y:0.95, Z:0.25 [[ 9.90564523e-01 -1.33507936e-01 -3.09444078e-02 1.39129233e+01] [ 1.33455899e-01 9.91047657e-01 -3.75022943e-03 9.52483698e-01] [ 3.11680682e-02 -4.14869525e-04 9.99514072e-01 2.46964310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.94, Y:0.96, Z:0.25 [[ 9.90842752e-01 -1.31698211e-01 -2.97694986e-02 1.39409786e+01] [ 1.31649049e-01 9.91289800e-01 -3.61399189e-03 9.55789555e-01] [ 2.99861566e-02 -3.38228508e-04 9.99550257e-01 2.47808900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.97, Y:0.96, Z:0.25 [[ 9.91296769e-01 -1.28758486e-01 -2.74220377e-02 1.39694779e+01] [ 1.28715568e-01 9.91675956e-01 -3.33190507e-03 9.63905429e-01] [ 2.76227865e-02 -2.26736432e-04 9.99618392e-01 2.49385460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.00, Y:0.97, Z:0.25 [[ 9.91465617e-01 -1.27556619e-01 -2.69302737e-02 1.39969054e+01] [ 1.27514628e-01 9.91831274e-01 -3.27789432e-03 9.68962818e-01] [ 2.71284048e-02 -1.84084318e-04 9.99631940e-01 2.49079109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.02, Y:0.97, Z:0.25 [[ 9.91569845e-01 -1.26818916e-01 -2.65745100e-02 1.40241006e+01] [ 1.26777654e-01 9.91925873e-01 -3.23862484e-03 9.74038464e-01] [ 2.67706630e-02 -1.57731317e-04 9.99641589e-01 2.48907545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.05, Y:0.98, Z:0.25 [[ 9.91687799e-01 -1.25872319e-01 -2.66733529e-02 1.40505606e+01] [ 1.25830209e-01 9.92046442e-01 -3.25806140e-03 9.77732509e-01] [ 2.68713046e-02 -1.25333838e-04 9.99638893e-01 2.48241254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.08, Y:0.98, Z:0.25 [[ 9.91977809e-01 -1.23857317e-01 -2.52861767e-02 1.40794087e+01] [ 1.23818695e-01 9.92300036e-01 -3.09347387e-03 9.80841742e-01] [ 2.54746235e-02 -6.22439701e-05 9.99675467e-01 2.49080487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.11, Y:0.98, Z:0.25 [[ 9.92109807e-01 -1.23019628e-01 -2.41723610e-02 1.41072196e+01] [ 1.22983943e-01 9.92404237e-01 -2.96306758e-03 9.83422498e-01] [ 2.43532689e-02 -3.31238526e-05 9.99703415e-01 2.50146783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.14, Y:0.99, Z:0.25 [[ 9.92238790e-01 -1.22373190e-01 -2.20677527e-02 1.41351546e+01] [ 1.22343161e-01 9.92484157e-01 -2.71082047e-03 9.86022763e-01] [ 2.22336266e-02 -1.00573983e-05 9.99752802e-01 2.51557114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.318040942 meters Centerline goodness [0,1] 0.9999790444258173 Centerline is valid? [True, True] Translation: X:14.16, Y:0.99, Z:0.25 [[ 9.92236704e-01 -1.22374439e-01 -2.21544597e-02 1.41617554e+01] [ 1.22344027e-01 9.92484003e-01 -2.72805470e-03 9.89865079e-01] [ 2.23217911e-02 -3.58982270e-06 9.99750838e-01 2.51444695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348040942 meters Centerline goodness [0,1] 0.9999789968915399 Centerline is valid? [True, True] Translation: X:14.19, Y:0.99, Z:0.25 [[ 9.92211036e-01 -1.22611209e-01 -2.19943457e-02 1.41894766e+01] [ 1.22581237e-01 9.92454781e-01 -2.71090285e-03 9.93760473e-01] [ 2.21607806e-02 -6.30637209e-06 9.99754420e-01 2.50939760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.22, Y:1.00, Z:0.25 [[ 9.92067970e-01 -1.23756054e-01 -2.20359267e-02 1.42161955e+01] [ 1.23726104e-01 9.92312672e-01 -2.72264850e-03 9.96271058e-01] [ 2.22034735e-02 -2.53669789e-05 9.99753472e-01 2.49456333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.24, Y:1.00, Z:0.25 [[ 9.92033526e-01 -1.24031912e-01 -2.20356057e-02 1.42435102e+01] [ 1.24001972e-01 9.92278229e-01 -2.72524403e-03 9.99740510e-01] [ 2.22034690e-02 -2.89251080e-05 9.99753472e-01 2.50095006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:1.00, Z:0.25 [[ 9.91911874e-01 -1.24997997e-01 -2.20530221e-02 1.42709186e+01] [ 1.24968106e-01 9.92156993e-01 -2.73378709e-03 1.00106782e+00] [ 2.22217780e-02 -4.42485279e-05 9.99753065e-01 2.50528167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:1.00, Z:0.25 [[ 9.91692041e-01 -1.26853527e-01 -2.13325639e-02 1.42992783e+01] [ 1.26825938e-01 9.91921457e-01 -2.64672619e-03 1.00148465e+00] [ 2.14959744e-02 -8.07851387e-05 9.99768932e-01 2.51344851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.33, Y:1.00, Z:0.25 [[ 9.91424264e-01 -1.29109678e-01 -2.02143220e-02 1.43279713e+01] [ 1.29085265e-01 9.91630313e-01 -2.51337942e-03 1.00192305e+00] [ 2.03696361e-02 -1.17545781e-04 9.99792511e-01 2.52754400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.36, Y:1.00, Z:0.25 [[ 9.90955320e-01 -1.32964899e-01 -1.81077306e-02 1.43559859e+01] [ 1.32945866e-01 9.91120732e-01 -2.25619911e-03 1.00006831e+00] [ 1.82469425e-02 -1.71555419e-04 9.99833496e-01 2.54650623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.38, Y:1.00, Z:0.25 [[ 9.90701926e-01 -1.34924853e-01 -1.74635901e-02 1.43848394e+01] [ 1.34907445e-01 9.90855814e-01 -2.17651019e-03 1.00370799e+00] [ 1.75975651e-02 -1.99695479e-04 9.99845131e-01 2.54335823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.41, Y:1.00, Z:0.25 [[ 9.90243154e-01 -1.38101894e-01 -1.86108445e-02 1.44137762e+01] [ 1.38082588e-01 9.90417990e-01 -2.32456521e-03 1.00422214e+00] [ 1.87535420e-02 -2.67948794e-04 9.99824101e-01 2.52584610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.44, Y:1.00, Z:0.25 [[ 9.90012829e-01 -1.39710957e-01 -1.88533164e-02 1.44419896e+01] [ 1.39691332e-01 9.90192285e-01 -2.36039360e-03 1.00458534e+00] [ 1.89981813e-02 -2.96824940e-04 9.99819474e-01 2.52948083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.47, Y:1.01, Z:0.25 [[ 9.89824217e-01 -1.41041539e-01 -1.88494821e-02 1.44710438e+01] [ 1.41022144e-01 9.90003627e-01 -2.36093091e-03 1.00554456e+00] [ 1.89940450e-02 -3.21287788e-04 9.99819545e-01 2.54044149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678040942 meters Centerline goodness [0,1] 0.9999790444258173 Centerline is valid? [True, True] Translation: X:14.50, Y:1.01, Z:0.26 [[ 9.89689133e-01 -1.42097691e-01 -1.79907426e-02 1.44985495e+01] [ 1.42080105e-01 9.89852587e-01 -2.25843340e-03 1.00645525e+00] [ 1.81291012e-02 -3.20979597e-04 9.99835603e-01 2.55387019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.53, Y:1.01, Z:0.26 [[ 9.89746813e-01 -1.41766087e-01 -1.74247934e-02 1.45261944e+01] [ 1.41749531e-01 9.89900138e-01 -2.18779353e-03 1.01033128e+00] [ 1.75589603e-02 -3.04594623e-04 9.99845783e-01 2.56818322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:1.02, Z:0.26 [[ 9.90059252e-01 -1.39547177e-01 -1.75859003e-02 1.45536572e+01] [ 1.39529857e-01 9.90215389e-01 -2.21406750e-03 1.01546488e+00] [ 1.77227960e-02 -2.61700142e-04 9.99842905e-01 2.56696937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:1.02, Z:0.26 [[ 9.90246910e-01 -1.38099767e-01 -1.84258478e-02 1.45822473e+01] [ 1.38080485e-01 9.90418292e-01 -2.32076721e-03 1.02002854e+00] [ 1.85697941e-02 -2.46117431e-04 9.99827536e-01 2.56404324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.61, Y:1.02, Z:0.26 [[ 9.90435051e-01 -1.36662441e-01 -1.90207179e-02 1.46100863e+01] [ 1.36641525e-01 9.90617650e-01 -2.40107727e-03 1.02274047e+00] [ 1.91703960e-02 -2.20908808e-04 9.99816207e-01 2.56752955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.64, Y:1.03, Z:0.26 [[ 9.90686452e-01 -1.34834833e-01 -1.89716099e-02 1.46388876e+01] [ 1.34813652e-01 9.90868071e-01 -2.39689050e-03 1.02609019e+00] [ 1.91215469e-02 -1.83065075e-04 9.99817150e-01 2.57440222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.67, Y:1.03, Z:0.26 [[ 9.90967240e-01 -1.32810946e-01 -1.85790797e-02 1.46678695e+01] [ 1.32790193e-01 9.91141379e-01 -2.35175756e-03 1.02920059e+00] [ 1.87268338e-02 -1.36604876e-04 9.99824628e-01 2.58699179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.70, Y:1.03, Z:0.26 [[ 9.91089675e-01 -1.31928305e-01 -1.83351484e-02 1.46959748e+01] [ 1.31907862e-01 9.91259254e-01 -2.32522792e-03 1.03300406e+00] [ 1.84816490e-02 -1.14040851e-04 9.99829193e-01 2.59639427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.72, Y:1.04, Z:0.26 [[ 9.91208985e-01 -1.31073397e-01 -1.80142110e-02 1.47241613e+01] [ 1.31053430e-01 9.91372663e-01 -2.28959766e-03 1.03651175e+00] [ 1.81589017e-02 -9.13543746e-05 9.99835109e-01 2.60369906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.75, Y:1.04, Z:0.26 [[ 9.91228735e-01 -1.30953990e-01 -1.77945929e-02 1.47506300e+01] [ 1.30934383e-01 9.91388443e-01 -2.26754010e-03 1.03888123e+00] [ 1.79382971e-02 -8.22731281e-05 9.99839092e-01 2.61242021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.78, Y:1.04, Z:0.26 [[ 9.91169696e-01 -1.31388835e-01 -1.78775709e-02 1.47784149e+01] [ 1.31369090e-01 9.91330906e-01 -2.27951894e-03 1.04069151e+00] [ 1.80220919e-02 -8.91701245e-05 9.99837585e-01 2.62387196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.81, Y:1.04, Z:0.26 [[ 9.91142219e-01 -1.31734909e-01 -1.68230441e-02 1.48064551e+01] [ 1.31717380e-01 9.91284977e-01 -2.15066200e-03 1.04026711e+00] [ 1.69597481e-02 -8.42753689e-05 9.99856170e-01 2.64529767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.83, Y:1.04, Z:0.27 [[ 9.91036152e-01 -1.32529752e-01 -1.68288361e-02 1.48340363e+01] [ 1.32512321e-01 9.91179023e-01 -2.15166911e-03 1.04267919e+00] [ 1.69655495e-02 -9.76462584e-05 9.99856070e-01 2.65529478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.86, Y:1.05, Z:0.27 [[ 9.91065031e-01 -1.32290374e-01 -1.70106129e-02 1.48611540e+01] [ 1.32272428e-01 9.91211001e-01 -2.18075603e-03 1.04542399e+00] [ 1.71495997e-02 -8.87640260e-05 9.99852931e-01 2.66329665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.89, Y:1.05, Z:0.27 [[ 9.91167786e-01 -1.31369822e-01 -1.81215107e-02 1.48890993e+01] [ 1.31349254e-01 9.91333427e-01 -2.32576050e-03 1.04960872e+00] [ 1.82699941e-02 -7.50280366e-05 9.99833087e-01 2.65455490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.92, Y:1.05, Z:0.26 [[ 9.91224032e-01 -1.30878374e-01 -1.85949060e-02 1.49164122e+01] [ 1.30856617e-01 9.91398430e-01 -2.38729039e-03 1.05345130e+00] [ 1.87474053e-02 -6.69268890e-05 9.99824250e-01 2.64950253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:1.06, Z:0.27 [[ 9.91375135e-01 -1.29613645e-01 -1.93815590e-02 1.49435168e+01] [ 1.29589647e-01 9.91564573e-01 -2.49433064e-03 1.05582548e+00] [ 1.95413666e-02 -3.88320224e-05 9.99809049e-01 2.65725798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.97, Y:1.06, Z:0.27 [[ 9.91441345e-01 -1.29097407e-01 -1.94401483e-02 1.49709592e+01] [ 1.29073098e-01 9.91631917e-01 -2.50525797e-03 1.05934738e+00] [ 1.96008939e-02 -2.53838417e-05 9.99807884e-01 2.66802497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.00, Y:1.06, Z:0.27 [[ 9.91508527e-01 -1.28677321e-01 -1.87879579e-02 1.49974246e+01] [ 1.28654431e-01 9.91686516e-01 -2.42704490e-03 1.06251038e+00] [ 1.89440702e-02 -1.07183199e-05 9.99820545e-01 2.68494373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.02, Y:1.07, Z:0.27 [[ 9.91564242e-01 -1.28301963e-01 -1.84108991e-02 1.50239763e+01] [ 1.28279876e-01 9.91735149e-01 -2.38059511e-03 1.06611276e+00] [ 1.85641708e-02 -1.23486113e-06 9.99827671e-01 2.69730904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.05, Y:1.07, Z:0.27 [[ 9.91610940e-01 -1.27748346e-01 -1.97003688e-02 1.50516205e+01] [ 1.27722908e-01 9.91806614e-01 -2.54926509e-03 1.06960321e+00] [ 1.98646205e-02 1.16907509e-05 9.99802679e-01 2.68471223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.08, Y:1.07, Z:0.27 [[ 9.91522748e-01 -1.28141221e-01 -2.15050494e-02 1.50782004e+01] [ 1.28110854e-01 9.91755931e-01 -2.78958888e-03 1.07224026e+00] [ 2.16852216e-02 1.09105796e-05 9.99764848e-01 2.68223496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.11, Y:1.07, Z:0.27 [[ 9.91389179e-01 -1.28861853e-01 -2.32834535e-02 1.51065743e+01] [ 1.28826381e-01 9.91662555e-01 -3.02335641e-03 1.07370649e+00] [ 2.34789243e-02 -2.20021879e-06 9.99724332e-01 2.67817327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.13, Y:1.08, Z:0.27 [[ 9.91264323e-01 -1.29855447e-01 -2.30782371e-02 1.51341877e+01] [ 1.29820717e-01 9.91532936e-01 -3.00315746e-03 1.07608061e+00] [ 2.32728086e-02 -1.91104529e-05 9.99729151e-01 2.68838613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.16, Y:1.08, Z:0.27 [[ 9.91131603e-01 -1.30926346e-01 -2.27252720e-02 1.51621715e+01] [ 1.30892803e-01 9.91392097e-01 -2.96368388e-03 1.07915513e+00] [ 2.29176793e-02 -3.71737936e-05 9.99737355e-01 2.70430787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.19, Y:1.08, Z:0.27 [[ 9.91108001e-01 -1.31101334e-01 -2.27457827e-02 1.51889749e+01] [ 1.31067625e-01 9.91368972e-01 -2.97297448e-03 1.08298412e+00] [ 2.29392241e-02 -3.46969253e-05 9.99736861e-01 2.71256002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.22, Y:1.09, Z:0.27 [[ 9.91060793e-01 -1.31424579e-01 -2.29365434e-02 1.52168311e+01] [ 1.31390323e-01 9.91326172e-01 -3.00079000e-03 1.08695920e+00] [ 2.31319734e-02 -3.96745239e-05 9.99732419e-01 2.72055801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.24, Y:1.09, Z:0.27 [[ 9.91031023e-01 -1.31599847e-01 -2.32161735e-02 1.52446955e+01] [ 1.31564646e-01 9.91302920e-01 -3.04387070e-03 1.09055319e+00] [ 2.34148335e-02 -3.78573485e-05 9.99725834e-01 2.72650523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.27, Y:1.09, Z:0.27 [[ 9.91063887e-01 -1.31195195e-01 -2.40871897e-02 1.52726170e+01] [ 1.31157009e-01 9.91356556e-01 -3.16525550e-03 1.09290203e+00] [ 2.42942597e-02 -2.22333325e-05 9.99704851e-01 2.73275169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.30, Y:1.10, Z:0.27 [[ 9.91056961e-01 -1.31279395e-01 -2.39127533e-02 1.52997187e+01] [ 1.31241624e-01 9.91345409e-01 -3.14899515e-03 1.09591578e+00] [ 2.41191963e-02 -1.75150012e-05 9.99709090e-01 2.73838359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.33, Y:1.10, Z:0.27 [[ 9.90979000e-01 -1.31641702e-01 -2.51213618e-02 1.53266387e+01] [ 1.31600049e-01 9.91297363e-01 -3.31141550e-03 1.09912097e+00] [ 2.53386600e-02 -2.44292154e-05 9.99678924e-01 2.73932983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.35, Y:1.10, Z:0.27 [[ 9.90889519e-01 -1.32282604e-01 -2.52838519e-02 1.53547380e+01] [ 1.32240530e-01 9.91212042e-01 -3.33630955e-03 1.10292166e+00] [ 2.55029942e-02 -3.76358112e-05 9.99674745e-01 2.74162433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.38, Y:1.11, Z:0.27 [[ 9.90788626e-01 -1.32966711e-01 -2.56466773e-02 1.53830114e+01] [ 1.32923461e-01 9.91120503e-01 -3.39147447e-03 1.10601629e+00] [ 2.58699009e-02 -4.88107854e-05 9.99665317e-01 2.74950108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.41, Y:1.11, Z:0.28 [[ 9.90625465e-01 -1.34255605e-01 -2.52313200e-02 1.54111555e+01] [ 1.34213985e-01 9.90946733e-01 -3.34355479e-03 1.10693817e+00] [ 2.54517851e-02 -7.41854802e-05 9.99676048e-01 2.76639170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.44, Y:1.11, Z:0.28 [[ 9.90488114e-01 -1.35232014e-01 -2.54086111e-02 1.54392070e+01] [ 1.35189941e-01 9.90813955e-01 -3.37433662e-03 1.10925050e+00] [ 2.56315248e-02 -9.27483188e-05 9.99671454e-01 2.77657408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.47, Y:1.11, Z:0.28 [[ 9.90400514e-01 -1.35825229e-01 -2.56579279e-02 1.54663018e+01] [ 1.35782346e-01 9.90732808e-01 -3.41437917e-03 1.11152244e+00] [ 2.58839098e-02 -1.02290756e-04 9.99664950e-01 2.78580249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.49, Y:1.11, Z:0.28 [[ 9.90089893e-01 -1.37950877e-01 -2.62975165e-02 1.54948767e+01] [ 1.37906479e-01 9.90439060e-01 -3.50320286e-03 1.11392502e+00] [ 2.65293575e-02 -1.58112169e-04 9.99648022e-01 2.78281038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.52, Y:1.12, Z:0.28 [[ 9.89898469e-01 -1.39146582e-01 -2.71891600e-02 1.55234327e+01] [ 1.39099383e-01 9.90271777e-01 -3.62887435e-03 1.11695830e+00] [ 2.74296033e-02 -1.89778228e-04 9.99623720e-01 2.77961903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.55, Y:1.12, Z:0.28 [[ 9.89626516e-01 -1.40784122e-01 -2.86214935e-02 1.55512225e+01] [ 1.40732317e-01 9.90040288e-01 -3.82652334e-03 1.11754811e+00] [ 2.88751454e-02 -2.41140126e-04 9.99582997e-01 2.77583075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.58, Y:1.12, Z:0.28 [[ 9.89456960e-01 -1.42051280e-01 -2.82198257e-02 1.55793717e+01] [ 1.42001336e-01 9.89859263e-01 -3.77626076e-03 1.11916918e+00] [ 2.84700785e-02 -2.70805451e-04 9.99594608e-01 2.78773621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.61, Y:1.12, Z:0.28 [[ 9.89323782e-01 -1.43064755e-01 -2.77656450e-02 1.56070681e+01] [ 1.43016616e-01 9.89713288e-01 -3.72219784e-03 1.12071263e+00] [ 2.80125431e-02 -2.88489749e-04 9.99607530e-01 2.79866796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:1.12, Z:0.28 [[ 9.88982323e-01 -1.45518353e-01 -2.71730222e-02 1.56351181e+01] [ 1.45473106e-01 9.89355491e-01 -3.64521815e-03 1.12073099e+00] [ 2.74142249e-02 -3.47887628e-04 9.99624099e-01 2.80900816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.66, Y:1.12, Z:0.28 [[ 9.88795421e-01 -1.46783962e-01 -2.71677163e-02 1.56642676e+01] [ 1.46739103e-01 9.89168502e-01 -3.64839457e-03 1.12259389e+00] [ 2.74089751e-02 -3.79050481e-04 9.99624232e-01 2.81761785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.69, Y:1.12, Z:0.28 [[ 9.88635199e-01 -1.47842843e-01 -2.72568842e-02 1.56923800e+01] [ 1.47797931e-01 9.89010784e-01 -3.66621567e-03 1.12384546e+00] [ 2.74993762e-02 -4.03961232e-04 9.99621739e-01 2.82534025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.72, Y:1.12, Z:0.28 [[ 9.88323350e-01 -1.49828463e-01 -2.77197961e-02 1.57206173e+01] [ 1.49782726e-01 9.88711897e-01 -3.73084313e-03 1.12365874e+00] [ 2.79658787e-02 -4.64667247e-04 9.99608770e-01 2.82518300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.75, Y:1.13, Z:0.28 [[ 9.88156004e-01 -1.50844563e-01 -2.81714399e-02 1.57499001e+01] [ 1.50797646e-01 9.88557368e-01 -3.79478338e-03 1.12615177e+00] [ 2.84215069e-02 -4.98348857e-04 9.99595903e-01 2.82781452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.78, Y:1.13, Z:0.28 [[ 9.88175517e-01 -1.50459488e-01 -2.95142354e-02 1.57768259e+01] [ 1.50407631e-01 9.88616047e-01 -3.98201818e-03 1.12806934e+00] [ 2.97773791e-02 -5.04233339e-04 9.99556428e-01 2.82603869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.81, Y:1.13, Z:0.28 [[ 9.88270573e-01 -1.49867289e-01 -2.93439813e-02 1.58060097e+01] [ 1.49815649e-01 9.88706006e-01 -3.96303252e-03 1.13144186e+00] [ 2.96064995e-02 -4.79639197e-04 9.99561516e-01 2.83614071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.83, Y:1.14, Z:0.29 [[ 9.88403717e-01 -1.49106985e-01 -2.87262999e-02 1.58339806e+01] [ 1.49056996e-01 9.88820971e-01 -3.88578150e-03 1.13641771e+00] [ 2.89845650e-02 -4.41135111e-04 9.99579762e-01 2.86079886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.86, Y:1.14, Z:0.29 [[ 9.88602078e-01 -1.47902246e-01 -2.81221745e-02 1.58624606e+01] [ 1.47853662e-01 9.89001908e-01 -3.81072095e-03 1.14020059e+00] [ 2.83764984e-02 -3.90679818e-04 9.99597230e-01 2.87966272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.89, Y:1.14, Z:0.29 [[ 9.89073065e-01 -1.44903043e-01 -2.71584272e-02 1.58900592e+01] [ 1.44856441e-01 9.89445817e-01 -3.68599000e-03 1.14412888e+00] [ 2.74059033e-02 -2.88359673e-04 9.99624346e-01 2.89962197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.92, Y:1.15, Z:0.29 [[ 9.89290203e-01 -1.43358381e-01 -2.74457593e-02 1.59188228e+01] [ 1.43310083e-01 9.89670811e-01 -3.72895769e-03 1.14859730e+00] [ 2.76968442e-02 -2.44232713e-04 9.99616339e-01 2.90420413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.95, Y:1.15, Z:0.29 [[ 9.89499463e-01 -1.41758509e-01 -2.82017527e-02 1.59470288e+01] [ 1.41706669e-01 9.89901251e-01 -3.83850038e-03 1.15298032e+00] [ 2.84610904e-02 -1.98182367e-04 9.99594881e-01 2.90262133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.98, Y:1.16, Z:0.29 [[ 9.89971974e-01 -1.38039161e-01 -3.00113411e-02 1.59750307e+01] [ 1.37978551e-01 9.90426768e-01 -4.09116740e-03 1.15639067e+00] [ 3.02887769e-02 -9.07802904e-05 9.99541186e-01 2.89418452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.00, Y:1.16, Z:0.29 [[ 9.90215321e-01 -1.36202688e-01 -3.03717850e-02 1.60019108e+01] [ 1.36139663e-01 9.90680991e-01 -4.14310481e-03 1.15990020e+00] [ 3.06530521e-02 -3.22387085e-05 9.99530084e-01 2.89883684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.03, Y:1.16, Z:0.29 [[ 9.90179835e-01 -1.36460568e-01 -3.03711652e-02 1.60291924e+01] [ 1.36397526e-01 9.90645503e-01 -4.14764321e-03 1.16373872e+00] [ 3.06530480e-02 -3.56391281e-05 9.99530084e-01 2.90522585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.06, Y:1.17, Z:0.29 [[ 9.90631315e-01 -1.33254258e-01 -2.98814497e-02 1.60571450e+01] [ 1.33191537e-01 9.91081883e-01 -4.08858272e-03 1.16813689e+00] [ 3.01597845e-02 7.03218580e-05 9.99545088e-01 2.92052738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388040942 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:16.08, Y:1.17, Z:0.29 [[ 9.90823392e-01 -1.31924711e-01 -2.94087986e-02 1.60841112e+01] [ 1.31863175e-01 9.91259733e-01 -4.03061496e-03 1.17233461e+00] [ 2.96834956e-02 1.15690034e-04 9.99559341e-01 2.93067604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.11, Y:1.18, Z:0.29 [[ 9.90960183e-01 -1.31153038e-01 -2.82275700e-02 1.61119713e+01] [ 1.31095923e-01 9.91362125e-01 -3.87260851e-03 1.17664750e+00] [ 2.84916482e-02 1.37081495e-04 9.99594021e-01 2.94626691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.14, Y:1.18, Z:0.30 [[ 9.91147078e-01 -1.30051513e-01 -2.67221740e-02 1.61399530e+01] [ 1.29999748e-01 9.91507225e-01 -3.67276451e-03 1.17875446e+00] [ 2.69728772e-02 1.66373927e-04 9.99636152e-01 2.97221989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.17, Y:1.18, Z:0.30 [[ 9.91122902e-01 -1.30259139e-01 -2.66073088e-02 1.61670610e+01] [ 1.30207706e-01 9.91479969e-01 -3.66396002e-03 1.18217420e+00] [ 2.68578780e-02 1.66958055e-04 9.99639248e-01 2.97473228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.19, Y:1.18, Z:0.30 [[ 9.91073106e-01 -1.30367846e-01 -2.78984519e-02 1.61948372e+01] [ 1.30311204e-01 9.91465679e-01 -3.84666774e-03 1.18386216e+00] [ 2.81618393e-02 1.76848105e-04 9.99603361e-01 2.96326720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.22, Y:1.19, Z:0.30 [[ 9.91019506e-01 -1.30645228e-01 -2.84984649e-02 1.62216636e+01] [ 1.30586164e-01 9.91429167e-01 -3.93191247e-03 1.18745354e+00] [ 2.87678950e-02 1.75096726e-04 9.99586103e-01 2.95410420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.25, Y:1.19, Z:0.30 [[ 9.90905539e-01 -1.31475469e-01 -2.86428793e-02 1.62497079e+01] [ 1.31416035e-01 9.91319412e-01 -3.95586252e-03 1.18922649e+00] [ 2.89143411e-02 1.55752459e-04 9.99581881e-01 2.96504235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.28, Y:1.19, Z:0.30 [[ 9.90784657e-01 -1.32557498e-01 -2.78257637e-02 1.62770919e+01] [ 1.32501658e-01 9.91175309e-01 -3.84928985e-03 1.19108813e+00] [ 2.80904622e-02 1.26857499e-04 9.99605377e-01 2.97381960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.31, Y:1.19, Z:0.30 [[ 9.90662338e-01 -1.33507728e-01 -2.76372799e-02 1.63050662e+01] [ 1.33452900e-01 9.91047767e-01 -3.82724165e-03 1.19290764e+00] [ 2.79008309e-02 1.03229014e-04 9.99610691e-01 2.99603914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.658040942 meters Centerline goodness [0,1] 0.999978467302599 Centerline is valid? [True, True] Translation: X:16.33, Y:1.20, Z:0.30 [[ 9.90544857e-01 -1.34354926e-01 -2.77423747e-02 1.63322152e+01] [ 1.34299813e-01 9.90933270e-01 -3.84885802e-03 1.19533041e+00] [ 2.80079551e-02 8.66707751e-05 9.99607697e-01 3.00392532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.36, Y:1.20, Z:0.30 [[ 9.90265682e-01 -1.36368692e-01 -2.78829408e-02 1.63602355e+01] [ 1.36313701e-01 9.90658154e-01 -3.87252455e-03 1.19536000e+00] [ 2.81505538e-02 3.40013171e-05 9.99603694e-01 3.02186668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.39, Y:1.20, Z:0.30 [[ 9.89770432e-01 -1.40052072e-01 -2.72012573e-02 1.63884994e+01] [ 1.40000925e-01 9.90144138e-01 -3.78519941e-03 1.19676251e+00] [ 2.74632904e-02 -6.17227161e-05 9.99622811e-01 3.03010792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.42, Y:1.20, Z:0.30 [[ 9.89448851e-01 -1.42379881e-01 -2.68130563e-02 1.64166487e+01] [ 1.42330839e-01 9.89812081e-01 -3.73851515e-03 1.19992894e+00] [ 2.70721764e-02 -1.17255284e-04 9.99633475e-01 3.03798830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.45, Y:1.20, Z:0.30 [[ 9.89088176e-01 -1.44769329e-01 -2.73207083e-02 1.64458287e+01] [ 1.44719106e-01 9.89465416e-01 -3.81718822e-03 1.20257548e+00] [ 2.75855078e-02 -1.78292749e-04 9.99619432e-01 3.04133062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.47, Y:1.20, Z:0.30 [[ 9.88711783e-01 -1.47162855e-01 -2.81443319e-02 1.64738841e+01] [ 1.47110341e-01 9.89112245e-01 -3.93878907e-03 1.20406101e+00] [ 2.84175467e-02 -2.45995086e-04 9.99596110e-01 3.03961186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.50, Y:1.20, Z:0.30 [[ 9.87953023e-01 -1.51804962e-01 -3.00679002e-02 1.65029109e+01] [ 1.51747083e-01 9.88410386e-01 -4.21084881e-03 1.20204160e+00] [ 3.03586526e-02 -4.02595341e-04 9.99538989e-01 3.04728579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.53, Y:1.20, Z:0.31 [[ 9.87571699e-01 -1.54302706e-01 -2.98799881e-02 1.65313379e+01] [ 1.54246611e-01 9.88023507e-01 -4.18719285e-03 1.20365730e+00] [ 3.01682258e-02 -4.73733736e-04 9.99544723e-01 3.05623974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.56, Y:1.20, Z:0.31 [[ 9.86939407e-01 -1.58334591e-01 -2.96776646e-02 1.65593462e+01] [ 1.58280986e-01 9.87385340e-01 -4.16176617e-03 1.20450563e+00] [ 2.99622425e-02 -5.89998998e-04 9.99550857e-01 3.05930525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.59, Y:1.21, Z:0.31 [[ 9.86678263e-01 -1.59954937e-01 -2.96719446e-02 1.65870489e+01] [ 1.59901976e-01 9.87124113e-01 -4.16459948e-03 1.20706680e+00] [ 2.99560403e-02 -6.35482790e-04 9.99551015e-01 3.06585749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.62, Y:1.21, Z:0.31 [[ 9.86502622e-01 -1.61040195e-01 -2.96417194e-02 1.66160657e+01] [ 1.60987723e-01 9.86947625e-01 -4.16396831e-03 1.21026753e+00] [ 2.99253908e-02 -6.64187250e-04 9.99551915e-01 3.07319070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.64, Y:1.21, Z:0.31 [[ 9.86419961e-01 -1.61746092e-01 -2.85282646e-02 1.66436445e+01] [ 1.61697581e-01 9.86832192e-01 -4.01456611e-03 1.21413633e+00] [ 2.88019503e-02 -6.52903235e-04 9.99584925e-01 3.09947536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.67, Y:1.22, Z:0.31 [[ 9.86462336e-01 -1.61574162e-01 -2.80330014e-02 1.66717107e+01] [ 1.61527053e-01 9.86860372e-01 -3.95188336e-03 1.21729597e+00] [ 2.83031804e-02 -6.29703998e-04 9.99599186e-01 3.11085642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.70, Y:1.22, Z:0.31 [[ 9.86479726e-01 -1.61659668e-01 -2.69054358e-02 1.66994410e+01] [ 1.61616221e-01 9.86846385e-01 -3.79603693e-03 1.22171401e+00] [ 2.71651981e-02 -6.03641385e-04 9.99630776e-01 3.11787660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.73, Y:1.23, Z:0.31 [[ 9.86763093e-01 -1.59947974e-01 -2.67440514e-02 1.67282206e+01] [ 1.59904217e-01 9.87125295e-01 -3.78070685e-03 1.22765005e+00] [ 2.70044460e-02 -5.45824608e-04 9.99635164e-01 3.12295443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.76, Y:1.23, Z:0.31 [[ 9.86958543e-01 -1.58768032e-01 -2.65621152e-02 1.67558664e+01] [ 1.58724290e-01 9.87315784e-01 -3.76063497e-03 1.23174044e+00] [ 2.68222642e-02 -5.04462055e-04 9.99640091e-01 3.12723492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:1.24, Z:0.31 [[ 9.87314678e-01 -1.56458448e-01 -2.70274134e-02 1.67847422e+01] [ 1.56412210e-01 9.87684441e-01 -3.82959974e-03 1.23658382e+00] [ 2.72937289e-02 -4.46397423e-04 9.99627357e-01 3.13506355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.81, Y:1.24, Z:0.32 [[ 9.87491283e-01 -1.55311046e-01 -2.71927344e-02 1.68130197e+01] [ 1.55263618e-01 9.87865533e-01 -3.85982382e-03 1.24064867e+00] [ 2.74622384e-02 -4.10499957e-04 9.99622757e-01 3.15051703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.84, Y:1.25, Z:0.32 [[ 9.87711978e-01 -1.54093681e-01 -2.60803789e-02 1.68416203e+01] [ 1.54049466e-01 9.88056178e-01 -3.70819773e-03 1.24594017e+00] [ 2.63402893e-02 -3.55037117e-04 9.99652971e-01 3.16808641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.87, Y:1.25, Z:0.32 [[ 9.88171263e-01 -1.51207790e-01 -2.55687160e-02 1.68686001e+01] [ 1.51164174e-01 9.88501964e-01 -3.64136431e-03 1.25167757e+00] [ 2.58253286e-02 -2.66782267e-04 9.99666435e-01 3.17930149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.90, Y:1.26, Z:0.32 [[ 9.88262964e-01 -1.50486194e-01 -2.62720180e-02 1.68959350e+01] [ 1.50439809e-01 9.88612079e-01 -3.74458729e-03 1.25770670e+00] [ 2.65363430e-02 -2.51720428e-04 9.99647818e-01 3.17555714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.92, Y:1.26, Z:0.32 [[ 9.88289610e-01 -1.50161919e-01 -2.71117071e-02 1.69237838e+01] [ 1.50112177e-01 9.88661387e-01 -3.87235357e-03 1.26260048e+00] [ 2.73857780e-02 -2.42790588e-04 9.99624910e-01 3.17412662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.95, Y:1.27, Z:0.32 [[ 9.88269190e-01 -1.50221431e-01 -2.75232731e-02 1.69518788e+01] [ 1.50169964e-01 9.88652347e-01 -3.93927079e-03 1.26677973e+00] [ 2.78027115e-02 -2.40108994e-04 9.99613401e-01 3.17390708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348040942 meters Centerline goodness [0,1] 0.9999783441973277 Centerline is valid? [True, True] Translation: X:16.98, Y:1.27, Z:0.32 [[ 9.88207099e-01 -1.50617976e-01 -2.75854001e-02 1.69783213e+01] [ 1.50566228e-01 9.88592012e-01 -3.95546219e-03 1.26952379e+00] [ 2.78664699e-02 -2.44613813e-04 9.99611625e-01 3.18408028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:1.27, Z:0.32 [[ 9.87854808e-01 -1.52960397e-01 -2.73129046e-02 1.70072437e+01] [ 1.52910452e-01 9.88232273e-01 -3.92034761e-03 1.27145311e+00] [ 2.75911517e-02 -3.03694338e-04 9.99619246e-01 3.19802040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.04, Y:1.28, Z:0.32 [[ 9.87611626e-01 -1.54555796e-01 -2.71253153e-02 1.70354403e+01] [ 1.54506951e-01 9.87984003e-01 -3.90015764e-03 1.27520113e+00] [ 2.74021696e-02 -3.39208733e-04 9.99624432e-01 3.20594558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.06, Y:1.28, Z:0.32 [[ 9.87353168e-01 -1.56178102e-01 -2.72419157e-02 1.70631727e+01] [ 1.56129284e-01 9.87728837e-01 -3.92306289e-03 1.27753993e+00] [ 2.75203222e-02 -3.79812219e-04 9.99621172e-01 3.20032728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.09, Y:1.28, Z:0.32 [[ 9.86797312e-01 -1.59701160e-01 -2.69555988e-02 1.70910551e+01] [ 1.59654594e-01 9.87165295e-01 -3.88482898e-03 1.28421041e+00] [ 2.72300433e-02 -4.70046389e-04 9.99629083e-01 3.20131948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.12, Y:1.29, Z:0.32 [[ 9.86530915e-01 -1.61324073e-01 -2.70425192e-02 1.71183324e+01] [ 1.61277642e-01 9.86901354e-01 -3.90371747e-03 1.28687519e+00] [ 2.73180625e-02 -5.10215764e-04 9.99626662e-01 3.20881840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.15, Y:1.29, Z:0.32 [[ 9.86264705e-01 -1.62895364e-01 -2.73318986e-02 1.71472471e+01] [ 1.62848408e-01 9.86643194e-01 -3.95014046e-03 1.29006600e+00] [ 2.76102913e-02 -5.55072067e-04 9.99618609e-01 3.21892426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.18, Y:1.29, Z:0.32 [[ 9.85759471e-01 -1.65878375e-01 -2.76157645e-02 1.71759649e+01] [ 1.65831417e-01 9.86146012e-01 -3.99800226e-03 1.29253797e+00] [ 2.78963581e-02 -6.38492756e-04 9.99610617e-01 3.23359684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.20, Y:1.30, Z:0.32 [[ 9.85529221e-01 -1.67237945e-01 -2.76337517e-02 1.72038474e+01] [ 1.67191287e-01 9.85916335e-01 -4.00681464e-03 1.29650324e+00] [ 2.79146587e-02 -6.71289609e-04 9.99610085e-01 3.23989984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:1.30, Z:0.32 [[ 9.85267126e-01 -1.68817988e-01 -2.73710862e-02 1.72307583e+01] [ 1.68772728e-01 9.85646990e-01 -3.97212040e-03 1.30214661e+00] [ 2.76487941e-02 -7.05893229e-04 9.99617450e-01 3.24062901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.26, Y:1.31, Z:0.32 [[ 9.85232033e-01 -1.69054834e-01 -2.71717577e-02 1.72568909e+01] [ 1.69010243e-01 9.85606395e-01 -3.94603477e-03 1.30721811e+00] [ 2.74477544e-02 -7.04545508e-04 9.99622991e-01 3.24477135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.28, Y:1.31, Z:0.32 [[ 9.85172286e-01 -1.69376186e-01 -2.73363188e-02 1.72844612e+01] [ 1.69331067e-01 9.85551215e-01 -3.97386874e-03 1.31272653e+00] [ 2.76144210e-02 -7.13942697e-04 9.99618394e-01 3.24698333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.31, Y:1.32, Z:0.32 [[ 9.85284635e-01 -1.68564101e-01 -2.82901410e-02 1.73113516e+01] [ 1.68515247e-01 9.85690439e-01 -4.11941901e-03 1.31864481e+00] [ 2.85797077e-02 -7.08519848e-04 9.99591266e-01 3.24273347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.34, Y:1.32, Z:0.32 [[ 9.85241682e-01 -1.68786250e-01 -2.84610263e-02 1.73386919e+01] [ 1.68736798e-01 9.85652418e-01 -4.14770532e-03 1.32421816e+00] [ 2.87527550e-02 -7.15930288e-04 9.99586298e-01 3.24907938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.37, Y:1.33, Z:0.33 [[ 9.85257402e-01 -1.68682975e-01 -2.85290414e-02 1.73660524e+01] [ 1.68633025e-01 9.85670104e-01 -4.16522376e-03 1.33100809e+00] [ 2.88228255e-02 -7.07121004e-04 9.99584286e-01 3.25148822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.39, Y:1.34, Z:0.33 [[ 9.85276718e-01 -1.68527961e-01 -2.87769943e-02 1.73925213e+01] [ 1.68476864e-01 9.85696624e-01 -4.20860252e-03 1.33619271e+00] [ 2.90746533e-02 -7.01619686e-04 9.99576997e-01 3.25632998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.42, Y:1.34, Z:0.33 [[ 9.85342556e-01 -1.68174994e-01 -2.85870241e-02 1.74211214e+01] [ 1.68124265e-01 9.85756921e-01 -4.18620661e-03 1.34200110e+00] [ 2.88838721e-02 -6.81324904e-04 9.99582542e-01 3.26550873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.45, Y:1.35, Z:0.33 [[ 9.85653161e-01 -1.66568356e-01 -2.72549037e-02 1.74478160e+01] [ 1.66521484e-01 9.86029728e-01 -3.99647219e-03 1.34892834e+00] [ 2.75398311e-02 -5.99391561e-04 9.99620527e-01 3.28914602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.48, Y:1.35, Z:0.33 [[ 9.85782022e-01 -1.65822136e-01 -2.71444984e-02 1.74759697e+01] [ 1.65775284e-01 9.86155510e-01 -3.98307078e-03 1.35439268e+00] [ 2.74291779e-02 -5.73447349e-04 9.99623585e-01 3.29651532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.50, Y:1.36, Z:0.33 [[ 9.85936627e-01 -1.64834799e-01 -2.75401031e-02 1.75044572e+01] [ 1.64786012e-01 9.86321037e-01 -4.04738645e-03 1.36037258e+00] [ 2.78305332e-02 -5.47757212e-04 9.99612506e-01 3.29851830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.53, Y:1.37, Z:0.33 [[ 9.86225770e-01 -1.63018791e-01 -2.79929170e-02 1.75316150e+01] [ 1.62967495e-01 9.86622838e-01 -4.11957182e-03 1.36827692e+00] [ 2.82900188e-02 -4.99107673e-04 9.99599633e-01 3.29233440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.56, Y:1.38, Z:0.33 [[ 9.86307369e-01 -1.62512295e-01 -2.80629408e-02 1.75591584e+01] [ 1.62460451e-01 9.86706401e-01 -4.13289536e-03 1.37626677e+00] [ 2.83615296e-02 -4.82812862e-04 9.99597614e-01 3.30267710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.59, Y:1.38, Z:0.33 [[ 9.86445395e-01 -1.61773536e-01 -2.74737291e-02 1.75870798e+01] [ 1.61723384e-01 9.86827809e-01 -4.05248332e-03 1.38378941e+00] [ 2.77674244e-02 -4.45590919e-04 9.99614311e-01 3.32261199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.62, Y:1.39, Z:0.33 [[ 9.86339195e-01 -1.62456587e-01 -2.72552573e-02 1.76151201e+01] [ 1.62407301e-01 9.86715588e-01 -4.02712831e-03 1.38765602e+00] [ 2.75474207e-02 -4.54338289e-04 9.99620395e-01 3.33010267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.64, Y:1.39, Z:0.33 [[ 9.86218311e-01 -1.63152836e-01 -2.74699031e-02 1.76425066e+01] [ 1.63102841e-01 9.86600695e-01 -4.06599228e-03 1.39078684e+00] [ 2.77652036e-02 -4.70463207e-04 9.99614362e-01 3.33469976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.67, Y:1.39, Z:0.33 [[ 9.86076302e-01 -1.64050334e-01 -2.72216008e-02 1.76708232e+01] [ 1.64001470e-01 9.86451849e-01 -4.03327143e-03 1.39420963e+00] [ 2.75144580e-02 -4.87269172e-04 9.99621287e-01 3.34371919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.70, Y:1.40, Z:0.34 [[ 9.85877966e-01 -1.65331143e-01 -2.66504889e-02 1.76996950e+01] [ 1.65284605e-01 9.86237982e-01 -3.95500599e-03 1.39701059e+00] [ 2.69376101e-02 -5.05762256e-04 9.99636989e-01 3.35384102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.73, Y:1.40, Z:0.34 [[ 9.85985677e-01 -1.64686391e-01 -2.66577869e-02 1.77272800e+01] [ 1.64639434e-01 9.86345862e-01 -3.96194663e-03 1.40193914e+00] [ 2.69462764e-02 -4.82500295e-04 9.99636767e-01 3.36354770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.76, Y:1.41, Z:0.34 [[ 9.86088788e-01 -1.64012859e-01 -2.69941652e-02 1.77558423e+01] [ 1.63964376e-01 9.86458090e-01 -4.01487829e-03 1.40740042e+00] [ 2.72871043e-02 -4.67054996e-04 9.99627529e-01 3.37087377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.78, Y:1.41, Z:0.34 [[ 9.86045467e-01 -1.64273260e-01 -2.69932168e-02 1.77830824e+01] [ 1.64224701e-01 9.86414759e-01 -4.02124547e-03 1.41156559e+00] [ 2.72870905e-02 -4.67822093e-04 9.99627529e-01 3.37725620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.81, Y:1.42, Z:0.34 [[ 9.86143381e-01 -1.63653903e-01 -2.71777828e-02 1.78119200e+01] [ 1.63604244e-01 9.86517714e-01 -4.05596764e-03 1.41669974e+00] [ 2.74751391e-02 -4.46634952e-04 9.99622387e-01 3.38516190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.84, Y:1.42, Z:0.34 [[ 9.86163042e-01 -1.63565456e-01 -2.69962287e-02 1.78393368e+01] [ 1.63516250e-01 9.86532388e-01 -4.03529792e-03 1.42118022e+00] [ 2.72926893e-02 -4.34860413e-04 9.99627391e-01 3.39414859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308040941999998 meters Centerline goodness [0,1] 0.9999787897427196 Centerline is valid? [True, True] Translation: X:17.87, Y:1.42, Z:0.34 [[ 9.86164382e-01 -1.63637084e-01 -2.65088154e-02 1.78663331e+01] [ 1.63589492e-01 9.86520515e-01 -3.96889021e-03 1.42422823e+00] [ 2.68009478e-02 -4.22585477e-04 9.99640701e-01 3.40335886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:1.43, Z:0.34 [[ 9.86061369e-01 -1.64262620e-01 -2.64720211e-02 1.78943280e+01] [ 1.64215289e-01 9.86416546e-01 -3.96696848e-03 1.42866636e+00] [ 2.67640642e-02 -4.35436210e-04 9.99641683e-01 3.40958858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:1.43, Z:0.34 [[ 9.86009830e-01 -1.64475030e-01 -2.70662186e-02 1.79217822e+01] [ 1.64425431e-01 9.86381147e-01 -4.06328054e-03 1.43423814e+00] [ 2.73659159e-02 -4.43940099e-04 9.99625385e-01 3.41047096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.95, Y:1.44, Z:0.34 [[ 9.85985962e-01 -1.64625238e-01 -2.70224494e-02 1.79496959e+01] [ 1.64575658e-01 9.86356090e-01 -4.06393949e-03 1.44040240e+00] [ 2.73227845e-02 -4.40250100e-04 9.99626566e-01 3.41744273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.98, Y:1.44, Z:0.34 [[ 9.86012912e-01 -1.64311264e-01 -2.79346553e-02 1.79775584e+01] [ 1.64257925e-01 9.86408443e-01 -4.20920661e-03 1.44494844e+00] [ 2.82465999e-02 -4.38156454e-04 9.99600889e-01 3.41963060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.01, Y:1.45, Z:0.34 [[ 9.86111971e-01 -1.63536111e-01 -2.89675788e-02 1.80057820e+01] [ 1.63478207e-01 9.86537257e-01 -4.37213666e-03 1.44767636e+00] [ 2.92925979e-02 -4.24151528e-04 9.99570790e-01 3.39947611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.03, Y:1.45, Z:0.34 [[ 9.86235842e-01 -1.62797162e-01 -2.89127474e-02 1.80333222e+01] [ 1.62739087e-01 9.86659478e-01 -4.36634439e-03 1.45290115e+00] [ 2.92378647e-02 -3.98988758e-04 9.99572403e-01 3.39874297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.06, Y:1.46, Z:0.34 [[ 9.86276289e-01 -1.62595215e-01 -2.86684261e-02 1.80611036e+01] [ 1.62537966e-01 9.86692782e-01 -4.33169309e-03 1.45797142e+00] [ 2.89912417e-02 -3.87461487e-04 9.99579591e-01 3.40268441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:1.47, Z:0.34 [[ 9.86329312e-01 -1.62351420e-01 -2.82224038e-02 1.80879439e+01] [ 1.62295745e-01 9.86732932e-01 -4.26760683e-03 1.46705394e+00] [ 2.85408273e-02 -3.71110355e-04 9.99592559e-01 3.43000654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.12, Y:1.47, Z:0.34 [[ 9.86268670e-01 -1.62736486e-01 -2.81237854e-02 1.81160982e+01] [ 1.62681123e-01 9.86669497e-01 -4.26086502e-03 1.47116912e+00] [ 2.84422794e-02 -3.72851328e-04 9.99595367e-01 3.43582444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:1.47, Z:0.34 [[ 9.85941007e-01 -1.64729004e-01 -2.80122338e-02 1.81446498e+01] [ 1.64674658e-01 9.86338775e-01 -4.25191936e-03 1.47381184e+00] [ 2.83299668e-02 -4.20763357e-04 9.99598537e-01 3.43842882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.17, Y:1.48, Z:0.34 [[ 9.85691118e-01 -1.66268839e-01 -2.77072872e-02 1.81734268e+01] [ 1.66216083e-01 9.86080356e-01 -4.21259154e-03 1.47735598e+00] [ 2.80220344e-02 -4.53082685e-04 9.99607203e-01 3.44645275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.20, Y:1.48, Z:0.35 [[ 9.85427430e-01 -1.67944263e-01 -2.69722924e-02 1.82019924e+01] [ 1.67894715e-01 9.85796375e-01 -4.10750310e-03 1.48116460e+00] [ 2.72790196e-02 -4.80859110e-04 9.99627743e-01 3.45315735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698040942 meters Centerline goodness [0,1] 0.9999149388623073 Centerline is valid? [True, True] Translation: X:18.23, Y:1.48, Z:0.34 [[ 9.85077559e-01 -1.70181848e-01 -2.56971061e-02 1.82291878e+01] [ 1.70137485e-01 9.85412542e-01 -3.91908832e-03 1.48437056e+00] [ 2.59892084e-02 -5.11435049e-04 9.99662093e-01 3.44402000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.26, Y:1.49, Z:0.35 [[ 9.84915092e-01 -1.71318328e-01 -2.43370483e-02 1.82576586e+01] [ 1.71278818e-01 9.85215596e-01 -3.71432505e-03 1.48833162e+00] [ 2.46135715e-02 -5.10126070e-04 9.99696910e-01 3.46694439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.29, Y:1.49, Z:0.35 [[ 9.84764370e-01 -1.72337587e-01 -2.32140484e-02 1.82854656e+01] [ 1.72301795e-01 9.85037817e-01 -3.54836238e-03 1.49135015e+00] [ 2.34782317e-02 -5.05521364e-04 9.99724221e-01 3.48021740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.31, Y:1.49, Z:0.35 [[ 9.84687661e-01 -1.73134513e-01 -2.03629862e-02 1.83128708e+01] [ 1.73107112e-01 9.84898081e-01 -3.11410208e-03 1.49397973e+00] [ 2.05946246e-02 -4.58559826e-04 9.99787803e-01 3.50119782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.34, Y:1.50, Z:0.35 [[ 9.84504732e-01 -1.74270433e-01 -1.94999962e-02 1.83415341e+01] [ 1.74245507e-01 9.84697722e-01 -2.98320017e-03 1.49801681e+00] [ 1.97214855e-02 -4.60812044e-04 9.99805406e-01 3.51134074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.37, Y:1.50, Z:0.35 [[ 9.84508767e-01 -1.74343277e-01 -1.86254853e-02 1.83695529e+01] [ 1.74320472e-01 9.84684838e-01 -2.85351915e-03 1.50222690e+00] [ 1.88377249e-02 -4.37488768e-04 9.99822459e-01 3.51073181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878040942 meters Centerline goodness [0,1] 0.999914555474858 Centerline is valid? [True, True] Translation: X:18.40, Y:1.51, Z:0.35 [[ 9.84529838e-01 -1.74222052e-01 -1.86460253e-02 1.83973570e+01] [ 1.74199079e-01 9.84706297e-01 -2.86175194e-03 1.50831440e+00] [ 1.88594389e-02 -4.30640263e-04 9.99822052e-01 3.49710580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.43, Y:1.51, Z:0.35 [[ 9.84652264e-01 -1.73635922e-01 -1.76205765e-02 1.84259067e+01] [ 1.73615226e-01 9.84809836e-01 -2.70927397e-03 1.51337619e+00] [ 1.78233444e-02 -3.91507626e-04 9.99841075e-01 3.51389317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.45, Y:1.52, Z:0.35 [[ 9.84992404e-01 -1.71767456e-01 -1.69087536e-02 1.84539164e+01] [ 1.71748055e-01 9.85137465e-01 -2.60382756e-03 1.51906365e+00] [ 1.71046995e-02 -3.39295176e-04 9.99853646e-01 3.51422410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.48, Y:1.52, Z:0.35 [[ 9.85183886e-01 -1.70706074e-01 -1.64968848e-02 1.84810456e+01] [ 1.70687373e-01 9.85321948e-01 -2.54545597e-03 1.52287380e+00] [ 1.66892674e-02 -3.08067716e-04 9.99860677e-01 3.52304242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.51, Y:1.53, Z:0.35 [[ 9.85310295e-01 -1.70063416e-01 -1.55581898e-02 1.85085573e+01] [ 1.70046705e-01 9.85433080e-01 -2.40043061e-03 1.52755291e+00] [ 1.57397803e-02 -2.80449920e-04 9.99876083e-01 3.52823014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.54, Y:1.53, Z:0.35 [[ 9.85737886e-01 -1.67603061e-01 -1.51669082e-02 1.85359607e+01] [ 1.67586801e-01 9.85854534e-01 -2.34577256e-03 1.53196728e+00] [ 1.53455239e-02 -2.29456746e-04 9.99882224e-01 3.52725940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:1.54, Z:0.35 [[ 9.85926543e-01 -1.66498663e-01 -1.50681061e-02 1.85646914e+01] [ 1.66482484e-01 9.86041658e-01 -2.33056901e-03 1.53649308e+00] [ 1.52458170e-02 -2.10805896e-04 9.99883754e-01 3.52967957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.59, Y:1.54, Z:0.35 [[ 9.86349188e-01 -1.63998059e-01 -1.48295447e-02 1.85935745e+01] [ 1.63982053e-01 9.86460647e-01 -2.29722977e-03 1.54095044e+00] [ 1.50055035e-02 -1.65908469e-04 9.99887397e-01 3.53264112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.62, Y:1.55, Z:0.35 [[ 9.86513390e-01 -1.63001118e-01 -1.48985719e-02 1.86219212e+01] [ 1.62984793e-01 9.86625873e-01 -2.31161684e-03 1.54552879e+00] [ 1.50761126e-02 -1.47799684e-04 9.99886338e-01 3.53228767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.65, Y:1.55, Z:0.35 [[ 9.86760474e-01 -1.61532262e-01 -1.45291407e-02 1.86492269e+01] [ 1.61516505e-01 9.86867425e-01 -2.25921790e-03 1.54885651e+00] [ 1.47032723e-02 -1.17389103e-04 9.99891894e-01 3.54445394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.68, Y:1.55, Z:0.35 [[ 9.87293776e-01 -1.58231990e-01 -1.46163057e-02 1.86776721e+01] [ 1.58215680e-01 9.87401961e-01 -2.27285266e-03 1.55403504e+00] [ 1.47918069e-02 -6.85554682e-05 9.99890593e-01 3.54458800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.71, Y:1.56, Z:0.35 [[ 9.87590685e-01 -1.56388471e-01 -1.43974047e-02 1.87053996e+01] [ 1.56372407e-01 9.87695624e-01 -2.24180005e-03 1.55908777e+00] [ 1.45708453e-02 -3.73759790e-05 9.99893839e-01 3.54370699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.73, Y:1.56, Z:0.36 [[ 9.88115685e-01 -1.53076701e-01 -1.39612717e-02 1.87335323e+01] [ 1.53061212e-01 9.88214311e-01 -2.17757087e-03 1.56205236e+00] [ 1.41300638e-02 1.47627674e-05 9.99900166e-01 3.55336160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268040942 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:18.76, Y:1.57, Z:0.36 [[ 9.88224991e-01 -1.52434333e-01 -1.32340631e-02 1.87624227e+01] [ 1.52420306e-01 9.88313601e-01 -2.06801820e-03 1.56600823e+00] [ 1.33946415e-02 2.65273211e-05 9.99910287e-01 3.55534623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.79, Y:1.57, Z:0.36 [[ 9.88380662e-01 -1.51416333e-01 -1.32951792e-02 1.87898693e+01] [ 1.51402043e-01 9.88470076e-01 -2.08070655e-03 1.57031947e+00] [ 1.34569397e-02 4.36128252e-05 9.99909450e-01 3.56060570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.82, Y:1.57, Z:0.36 [[ 9.88595924e-01 -1.50034113e-01 -1.29562518e-02 1.88175929e+01] [ 1.50020348e-01 9.88680818e-01 -2.03335386e-03 1.57477226e+00] [ 1.31146701e-02 6.64639276e-05 9.99913997e-01 3.57051447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.85, Y:1.58, Z:0.36 [[ 9.88614595e-01 -1.49887030e-01 -1.32310484e-02 1.88458631e+01] [ 1.49872671e-01 9.88703127e-01 -2.07583435e-03 1.57833390e+00] [ 1.33927196e-02 6.92275698e-05 9.99910311e-01 3.57343287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.87, Y:1.58, Z:0.36 [[ 9.88562610e-01 -1.50249155e-01 -1.30060577e-02 1.88737136e+01] [ 1.50235264e-01 9.88648161e-01 -2.04415431e-03 1.58159808e+00] [ 1.31655475e-02 6.68060027e-05 9.99913328e-01 3.57618719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.90, Y:1.58, Z:0.36 [[ 9.88528378e-01 -1.50353569e-01 -1.43335657e-02 1.89017412e+01] [ 1.50336619e-01 9.88632287e-01 -2.25892948e-03 1.58339106e+00] [ 1.45102640e-02 7.81560805e-05 9.99894718e-01 3.57572839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.93, Y:1.59, Z:0.36 [[ 9.88462908e-01 -1.50761648e-01 -1.45604279e-02 1.89298666e+01] [ 1.50744191e-01 9.88570139e-01 -2.29537237e-03 1.58659997e+00] [ 1.47400583e-02 7.39905247e-05 9.99891357e-01 3.57332820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.96, Y:1.59, Z:0.36 [[ 9.88339746e-01 -1.51537364e-01 -1.48652090e-02 1.89580840e+01] [ 1.51519189e-01 9.88451528e-01 -2.34789044e-03 1.58914389e+00] [ 1.50493317e-02 6.81490240e-05 9.99886750e-01 3.57285204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.99, Y:1.59, Z:0.36 [[ 9.88249062e-01 -1.52094609e-01 -1.51993905e-02 1.89855609e+01] [ 1.52075603e-01 9.88365937e-01 -2.40524007e-03 1.59246024e+00] [ 1.53883839e-02 6.55197646e-05 9.99881590e-01 3.58151524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.01, Y:1.60, Z:0.36 [[ 9.88218091e-01 -1.52260612e-01 -1.55470499e-02 1.90126048e+01] [ 1.52240656e-01 9.88340377e-01 -2.46607812e-03 1.59573589e+00] [ 1.57412637e-02 7.01299293e-05 9.99876096e-01 3.59476429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.04, Y:1.60, Z:0.36 [[ 9.88059830e-01 -1.53289496e-01 -1.54952754e-02 1.90402008e+01] [ 1.53269788e-01 9.88181323e-01 -2.45862598e-03 1.59920084e+00] [ 1.56890233e-02 5.43119922e-05 9.99876918e-01 3.60527073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598040942 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:19.07, Y:1.60, Z:0.36 [[ 9.87894432e-01 -1.54319803e-01 -1.58110663e-02 1.90682622e+01] [ 1.54299343e-01 9.88020949e-01 -2.51322189e-03 1.60249742e+00] [ 1.60095047e-02 4.31607631e-05 9.99871839e-01 3.60286409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.10, Y:1.61, Z:0.36 [[ 9.87792272e-01 -1.54930436e-01 -1.62168599e-02 1.90952927e+01] [ 1.54908896e-01 9.87925381e-01 -2.58375617e-03 1.60610705e+00] [ 1.64213500e-02 4.00785255e-05 9.99865160e-01 3.60848641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.12, Y:1.61, Z:0.36 [[ 9.87548286e-01 -1.56373290e-01 -1.71981475e-02 1.91240470e+01] [ 1.56349256e-01 9.87698028e-01 -2.74153814e-03 1.60676177e+00] [ 1.74152797e-02 1.84837178e-05 9.99848342e-01 3.61493511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.15, Y:1.61, Z:0.36 [[ 9.87305481e-01 -1.57791110e-01 -1.81618365e-02 1.91519876e+01] [ 1.57764445e-01 9.87472514e-01 -2.90071308e-03 1.60897616e+00] [ 1.83920211e-02 -1.40214353e-06 9.99830852e-01 3.61597490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.18, Y:1.61, Z:0.36 [[ 9.87111708e-01 -1.58903345e-01 -1.89790255e-02 1.91793432e+01] [ 1.58874312e-01 9.87294144e-01 -3.03749837e-03 1.61152099e+00] [ 1.92205494e-02 -1.69294104e-05 9.99815268e-01 3.62569373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.21, Y:1.61, Z:0.36 [[ 9.86780787e-01 -1.60743144e-01 -2.06232868e-02 1.92075932e+01] [ 1.60709173e-01 9.86996271e-01 -3.30499494e-03 1.61416291e+00] [ 2.08863625e-02 -5.30458589e-05 9.99781855e-01 3.61997345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.24, Y:1.62, Z:0.36 [[ 9.86626461e-01 -1.61561626e-01 -2.15885757e-02 1.92353405e+01] [ 1.61524456e-01 9.86862623e-01 -3.46607789e-03 1.61849516e+00] [ 2.18649436e-02 -6.73587861e-05 9.99760931e-01 3.61363934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.26, Y:1.62, Z:0.36 [[ 9.86614636e-01 -1.61526987e-01 -2.23739167e-02 1.92625290e+01] [ 1.61486901e-01 9.86868293e-01 -3.59894018e-03 1.62249213e+00] [ 2.26614350e-02 -6.23274250e-05 9.99743195e-01 3.61316141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.29, Y:1.63, Z:0.36 [[ 9.86595604e-01 -1.61344539e-01 -2.44346869e-02 1.92907889e+01] [ 1.61296583e-01 9.86898139e-01 -3.93398222e-03 1.62535018e+00] [ 2.47492735e-02 -5.99819270e-05 9.99693688e-01 3.60729768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.32, Y:1.63, Z:0.36 [[ 9.86492550e-01 -1.61899471e-01 -2.49200901e-02 1.93190197e+01] [ 1.61849584e-01 9.86807254e-01 -4.01941111e-03 1.62808148e+00] [ 2.52420663e-02 -6.81871024e-05 9.99681366e-01 3.61914928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.35, Y:1.63, Z:0.36 [[ 9.86254000e-01 -1.63351303e-01 -2.48877349e-02 1.93458578e+01] [ 1.63301828e-01 9.86567961e-01 -4.02127381e-03 1.62851140e+00] [ 2.52103222e-02 -9.82152248e-05 9.99682164e-01 3.63818835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.37, Y:1.63, Z:0.37 [[ 9.86069747e-01 -1.64516691e-01 -2.45094501e-02 1.93731965e+01] [ 1.64468947e-01 9.86374292e-01 -3.96509444e-03 1.63207917e+00] [ 2.48278158e-02 -1.21183776e-04 9.99691735e-01 3.65496907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.40, Y:1.64, Z:0.37 [[ 9.85904079e-01 -1.65543525e-01 -2.42587645e-02 1.94005747e+01] [ 1.65496898e-01 9.86202475e-01 -3.93125971e-03 1.63550629e+00] [ 2.45748482e-02 -1.38905286e-04 9.99697983e-01 3.66605532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.43, Y:1.64, Z:0.37 [[ 9.85758510e-01 -1.66394378e-01 -2.43530291e-02 1.94283217e+01] [ 1.66347586e-01 9.86059271e-01 -3.94902745e-03 1.63937683e+00] [ 2.46706261e-02 -1.58280182e-04 9.99695621e-01 3.68051645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018040942 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:19.46, Y:1.64, Z:0.37 [[ 9.85568219e-01 -1.67365135e-01 -2.53810308e-02 1.94567142e+01] [ 1.67314433e-01 9.85894963e-01 -4.12338988e-03 1.64100434e+00] [ 2.57131421e-02 -1.82730751e-04 9.99669346e-01 3.68824777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.48, Y:1.64, Z:0.37 [[ 9.85569313e-01 -1.67306848e-01 -2.57205713e-02 1.94842064e+01] [ 1.67254564e-01 9.85904857e-01 -4.18608904e-03 1.64419101e+00] [ 2.60583975e-02 -1.76202049e-04 9.99660407e-01 3.69637711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.51, Y:1.65, Z:0.37 [[ 9.85614339e-01 -1.67118040e-01 -2.52177597e-02 1.95119911e+01] [ 1.67067534e-01 9.85936882e-01 -4.11148806e-03 1.64675093e+00] [ 2.55502232e-02 -1.60727338e-04 9.99673527e-01 3.71350571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.54, Y:1.65, Z:0.37 [[ 9.85659565e-01 -1.66887494e-01 -2.49757031e-02 1.95392335e+01] [ 1.66837702e-01 9.85975934e-01 -4.07898739e-03 1.65056817e+00] [ 2.53061742e-02 -1.46395981e-04 9.99679737e-01 3.72678112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.57, Y:1.66, Z:0.37 [[ 9.85612123e-01 -1.67167534e-01 -2.49751408e-02 1.95664293e+01] [ 1.67117746e-01 9.85928493e-01 -4.08242748e-03 1.65509577e+00] [ 2.53061522e-02 -1.50099211e-04 9.99679737e-01 3.73317270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.59, Y:1.66, Z:0.37 [[ 9.85637491e-01 -1.66990396e-01 -2.51583747e-02 1.95929374e+01] [ 1.66939637e-01 9.85958512e-01 -4.11939498e-03 1.65860107e+00] [ 2.54930131e-02 -1.39699815e-04 9.99674991e-01 3.74042593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.62, Y:1.66, Z:0.38 [[ 9.85685657e-01 -1.66506779e-01 -2.64438879e-02 1.96210764e+01] [ 1.66450416e-01 9.86040301e-01 -4.33396529e-03 1.66194111e+00] [ 2.67963738e-02 -1.29668699e-04 9.99640904e-01 3.75021986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.65, Y:1.67, Z:0.38 [[ 9.85671771e-01 -1.66504479e-01 -2.69706798e-02 1.96487763e+01] [ 1.66445626e-01 9.86040690e-01 -4.42837343e-03 1.66566127e+00] [ 2.73315318e-02 -1.24228999e-04 9.99626416e-01 3.75581091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.68, Y:1.67, Z:0.38 [[ 9.85671996e-01 -1.66288765e-01 -2.82624106e-02 1.96770278e+01] [ 1.66223800e-01 9.86077093e-01 -4.64917578e-03 1.66850046e+00] [ 2.86420214e-02 -1.15322937e-04 9.99589726e-01 3.76259035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.70, Y:1.67, Z:0.38 [[ 9.85731538e-01 -1.65945312e-01 -2.82044131e-02 1.97048935e+01] [ 1.65880235e-01 9.86134952e-01 -4.64797446e-03 1.67288950e+00] [ 2.85846671e-02 -9.68996592e-05 9.99591370e-01 3.77064228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.73, Y:1.68, Z:0.38 [[ 9.85773054e-01 -1.65692180e-01 -2.82415988e-02 1.97311092e+01] [ 1.65626604e-01 9.86177517e-01 -4.66191962e-03 1.67723027e+00] [ 2.86236734e-02 -8.19653545e-05 9.99590255e-01 3.77625382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.76, Y:1.68, Z:0.38 [[ 9.85807044e-01 -1.65701816e-01 -2.69699999e-02 1.97591836e+01] [ 1.65641864e-01 9.86175899e-01 -4.45755893e-03 1.68178844e+00] [ 2.73357895e-02 -7.30680806e-05 9.99626305e-01 3.79363218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.79, Y:1.69, Z:0.38 [[ 9.85754832e-01 -1.66160511e-01 -2.60402849e-02 1.97865577e+01] [ 1.66104590e-01 9.86098717e-01 -4.31121366e-03 1.68551735e+00] [ 2.63946450e-02 -7.56111463e-05 9.99651598e-01 3.80606958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.81, Y:1.69, Z:0.38 [[ 9.85551856e-01 -1.67497535e-01 -2.51418797e-02 1.98143232e+01] [ 1.67445662e-01 9.85872489e-01 -4.16951828e-03 1.68702270e+00] [ 2.54850715e-02 -1.00622188e-04 9.99675198e-01 3.83021293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.84, Y:1.69, Z:0.38 [[ 9.85435057e-01 -1.68142168e-01 -2.54157384e-02 1.98417311e+01] [ 1.68089190e-01 9.85762750e-01 -4.22200701e-03 1.68990102e+00] [ 2.57637856e-02 -1.11597157e-04 9.99668052e-01 3.83792741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468040942 meters Centerline goodness [0,1] 0.9999780422467173 Centerline is valid? [True, True] Translation: X:19.87, Y:1.69, Z:0.38 [[ 9.85204148e-01 -1.69395658e-01 -2.60364703e-02 1.98691770e+01] [ 1.69340395e-01 9.85548117e-01 -4.32901247e-03 1.69406094e+00] [ 2.63935101e-02 -1.44065115e-04 9.99651620e-01 3.83363952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.90, Y:1.70, Z:0.38 [[ 9.85192626e-01 -1.69053474e-01 -2.85729245e-02 1.98972652e+01] [ 1.68986543e-01 9.85606871e-01 -4.75866687e-03 1.69776666e+00] [ 2.89661398e-02 -1.40236214e-04 9.99580383e-01 3.82016019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.92, Y:1.70, Z:0.38 [[ 9.85153092e-01 -1.69075345e-01 -2.97810905e-02 1.99249903e+01] [ 1.69002517e-01 9.85603119e-01 -4.96404702e-03 1.70260124e+00] [ 3.01916336e-02 -1.42733002e-04 9.99544119e-01 3.82161146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.95, Y:1.71, Z:0.38 [[ 9.85155405e-01 -1.68927232e-01 -3.05355303e-02 1.99519594e+01] [ 1.68850340e-01 9.85628516e-01 -5.09808095e-03 1.70691799e+00] [ 3.09578941e-02 -1.33532659e-04 9.99520681e-01 3.81069239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.98, Y:1.71, Z:0.38 [[ 9.85137537e-01 -1.69065844e-01 -3.03442531e-02 1.99794193e+01] [ 1.68989774e-01 9.85604750e-01 -5.07274486e-03 1.71121272e+00] [ 3.07650679e-02 -1.30517099e-04 9.99526635e-01 3.82350446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.01, Y:1.71, Z:0.38 [[ 9.85099588e-01 -1.69290821e-01 -3.03219231e-02 2.00065380e+01] [ 1.69214740e-01 9.85566132e-01 -5.07649380e-03 1.71499987e+00] [ 3.07436643e-02 -1.30064389e-04 9.99527293e-01 3.83068406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.03, Y:1.72, Z:0.38 [[ 9.85024885e-01 -1.69821039e-01 -2.97790159e-02 2.00344500e+01] [ 1.69747758e-01 9.85474909e-01 -4.99031481e-03 1.71872898e+00] [ 3.01939334e-02 -1.39336918e-04 9.99544050e-01 3.84584578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.06, Y:1.72, Z:0.39 [[ 9.85009428e-01 -1.69953300e-01 -2.95347521e-02 2.00613987e+01] [ 1.69881063e-01 9.85452108e-01 -4.95651403e-03 1.72257904e+00] [ 2.99474596e-02 -1.35182015e-04 9.99551465e-01 3.85122180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.09, Y:1.73, Z:0.39 [[ 9.84943030e-01 -1.70326715e-01 -2.95979300e-02 2.00890225e+01] [ 1.70254198e-01 9.85387634e-01 -4.97172669e-03 1.72633342e+00] [ 3.00122521e-02 -1.42304287e-04 9.99549521e-01 3.85966348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.12, Y:1.73, Z:0.39 [[ 9.84950568e-01 -1.70378560e-01 -2.90434895e-02 2.01168777e+01] [ 1.70308524e-01 9.85378673e-01 -4.88651333e-03 1.72861995e+00] [ 2.94513922e-02 -1.33379748e-04 9.99566205e-01 3.88045662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.14, Y:1.73, Z:0.39 [[ 9.84967238e-01 -1.70320728e-01 -2.88164965e-02 2.01438883e+01] [ 1.70251534e-01 9.85388672e-01 -4.85597587e-03 1.73237881e+00] [ 2.92225225e-02 -1.23075592e-04 9.99572923e-01 3.88301827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.17, Y:1.74, Z:0.39 [[ 9.85274780e-01 -1.68594951e-01 -2.84490920e-02 2.01714471e+01] [ 1.68526619e-01 9.85685416e-01 -4.80002077e-03 1.73989188e+00] [ 2.88511143e-02 -6.50898867e-05 9.99583718e-01 3.88998969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.20, Y:1.75, Z:0.39 [[ 9.85435537e-01 -1.67644049e-01 -2.85004317e-02 2.01990429e+01] [ 1.67574840e-01 9.85847591e-01 -4.81675684e-03 1.74621481e+00] [ 2.89045826e-02 -2.93519191e-05 9.99582175e-01 3.89521175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.23, Y:1.75, Z:0.39 [[ 9.85744603e-01 -1.65845266e-01 -2.83359292e-02 2.02251495e+01] [ 1.65775902e-01 9.86151787e-01 -4.79620400e-03 1.75195145e+00] [ 2.87389550e-02 3.04179732e-05 9.99586950e-01 3.89407501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.25, Y:1.76, Z:0.39 [[ 9.86044974e-01 -1.63969565e-01 -2.87974257e-02 2.02524214e+01] [ 1.63897023e-01 9.86465394e-01 -4.87772066e-03 1.75765286e+00] [ 2.92074616e-02 8.98395767e-05 9.99573367e-01 3.89854678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918040942 meters Centerline goodness [0,1] 0.9999563280635864 Centerline is valid? [True, True] Translation: X:20.28, Y:1.76, Z:0.39 [[ 9.86582255e-01 -1.60734980e-01 -2.86307481e-02 2.02809343e+01] [ 1.60661817e-01 9.86997584e-01 -4.85279647e-03 1.76346576e+00] [ 2.90384934e-02 1.87814863e-04 9.99578276e-01 3.91697295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948040942 meters Centerline goodness [0,1] 0.9999563452219845 Centerline is valid? [True, True] Translation: X:20.31, Y:1.77, Z:0.39 [[ 9.86845433e-01 -1.58980181e-01 -2.93495187e-02 2.03092251e+01] [ 1.58902302e-01 9.87281742e-01 -4.98200329e-03 1.76853723e+00] [ 2.97682837e-02 2.52761114e-04 9.99556794e-01 3.92865280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.34, Y:1.78, Z:0.39 [[ 9.86883489e-01 -1.58555191e-01 -3.03517694e-02 2.03378894e+01] [ 1.58471452e-01 9.87350076e-01 -5.16015762e-03 1.77504928e+00] [ 3.07859916e-02 2.82585391e-04 9.99525959e-01 3.92366102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.37, Y:1.78, Z:0.39 [[ 9.86985254e-01 -1.57870365e-01 -3.06113793e-02 2.03652780e+01] [ 1.57784652e-01 9.87459797e-01 -5.21094626e-03 1.78289115e+00] [ 3.10501604e-02 3.13121291e-04 9.99517778e-01 3.90709673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038040942 meters Centerline goodness [0,1] 0.999824565250762 Centerline is valid? [True, True] Translation: X:20.39, Y:1.79, Z:0.39 [[ 9.87056278e-01 -1.57367048e-01 -3.09114421e-02 2.03933373e+01] [ 1.57279272e-01 9.87540125e-01 -5.26606338e-03 1.78924268e+00] [ 3.13549943e-02 3.36171815e-04 9.99508255e-01 3.90584183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.42, Y:1.79, Z:0.39 [[ 9.87040015e-01 -1.57375189e-01 -3.13856291e-02 2.04207073e+01] [ 1.57284451e-01 9.87538824e-01 -5.35474716e-03 1.79441149e+00] [ 3.18372316e-02 3.48878278e-04 9.99493006e-01 3.91608332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098040942 meters Centerline goodness [0,1] 0.9999562430262323 Centerline is valid? [True, True] Translation: X:20.45, Y:1.80, Z:0.39 [[ 9.86973737e-01 -1.57843477e-01 -3.11171723e-02 2.04482768e+01] [ 1.57754299e-01 9.87464087e-01 -5.31584915e-03 1.79869470e+00] [ 3.15661623e-02 3.37735788e-04 9.99501607e-01 3.92804636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128040942 meters Centerline goodness [0,1] 0.999956153812426 Centerline is valid? [True, True] Translation: X:20.48, Y:1.80, Z:0.39 [[ 9.86780106e-01 -1.59134790e-01 -3.06780223e-02 2.04773858e+01] [ 1.59048616e-01 9.87256821e-01 -5.24468178e-03 1.80191231e+00] [ 3.11216981e-02 2.96050649e-04 9.99515559e-01 3.94876375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.51, Y:1.81, Z:0.40 [[ 9.86255337e-01 -1.62559024e-01 -2.95799706e-02 2.05062556e+01] [ 1.62480233e-01 9.86698803e-01 -5.06415466e-03 1.80553287e+00] [ 3.00097456e-02 1.88389037e-04 9.99549588e-01 3.96676248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.53, Y:1.81, Z:0.40 [[ 9.85967340e-01 -1.64346497e-01 -2.93024478e-02 2.05340553e+01] [ 1.64269778e-01 9.86402661e-01 -5.02298372e-03 1.81065117e+00] [ 2.97295222e-02 1.38991305e-04 9.99557970e-01 3.97072611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.56, Y:1.81, Z:0.40 [[ 9.85241468e-01 -1.68748656e-01 -2.86904310e-02 2.05621806e+01] [ 1.68676874e-01 9.85659115e-01 -4.92150596e-03 1.81464438e+00] [ 2.91094824e-02 9.45953305e-06 9.99576229e-01 3.97713622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.59, Y:1.82, Z:0.40 [[ 9.84896767e-01 -1.70751459e-01 -2.86757376e-02 2.05897545e+01] [ 1.70680388e-01 9.85314131e-01 -4.92623023e-03 1.81892191e+00] [ 2.90957705e-02 -4.25578017e-05 9.99576628e-01 3.99077358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.62, Y:1.82, Z:0.40 [[ 9.84593385e-01 -1.72390046e-01 -2.92837565e-02 2.06175862e+01] [ 1.72316437e-01 9.85028763e-01 -5.03795152e-03 1.82292028e+00] [ 2.97138351e-02 -8.57388254e-05 9.99558443e-01 3.99786638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.65, Y:1.83, Z:0.40 [[ 9.84314571e-01 -1.73863712e-01 -2.99371897e-02 2.06464577e+01] [ 1.73787345e-01 9.84769716e-01 -5.15419323e-03 1.82727839e+00] [ 3.03773650e-02 -1.29357237e-04 9.99538493e-01 4.00719065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.67, Y:1.83, Z:0.40 [[ 9.83848977e-01 -1.76209224e-01 -3.14880824e-02 2.06744212e+01] [ 1.76125680e-01 9.84352715e-01 -5.42930644e-03 1.83321600e+00] [ 3.19520733e-02 -2.04242331e-04 9.99489381e-01 3.99734229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.70, Y:1.84, Z:0.40 [[ 9.83662951e-01 -1.77221301e-01 -3.16197571e-02 2.07020709e+01] [ 1.77137315e-01 9.84171000e-01 -5.46021028e-03 1.83979014e+00] [ 3.20869136e-02 -2.30032340e-04 9.99485056e-01 3.99558322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.73, Y:1.85, Z:0.40 [[ 9.83304102e-01 -1.79337154e-01 -3.08419968e-02 2.07287144e+01] [ 1.79258065e-01 9.83787632e-01 -5.33311428e-03 1.84614188e+00] [ 3.12984005e-02 -2.84603520e-04 9.99510045e-01 4.01227479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.76, Y:1.85, Z:0.40 [[ 9.83017649e-01 -1.81011638e-01 -3.01842320e-02 2.07569511e+01] [ 1.80936548e-01 9.83480900e-01 -5.22354208e-03 1.85157568e+00] [ 3.06311375e-02 -3.26596691e-04 9.99530703e-01 4.02609233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.79, Y:1.86, Z:0.40 [[ 9.82638384e-01 -1.83132124e-01 -2.97393982e-02 2.07854988e+01] [ 1.83059984e-01 9.83088237e-01 -5.15377937e-03 1.85668912e+00] [ 3.01802751e-02 -3.79792311e-04 9.99544400e-01 4.03347745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.81, Y:1.86, Z:0.40 [[ 9.81901860e-01 -1.86893259e-01 -3.06536802e-02 2.08143448e+01] [ 1.86818204e-01 9.82380098e-01 -5.31994404e-03 1.86022466e+00] [ 3.11078271e-02 -5.03002542e-04 9.99515908e-01 4.04523502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.84, Y:1.86, Z:0.41 [[ 9.81589850e-01 -1.88530820e-01 -3.06185523e-02 2.08422288e+01] [ 1.88456527e-01 9.82067121e-01 -5.32047125e-03 1.86473606e+00] [ 3.10725463e-02 -5.47745447e-04 9.99516982e-01 4.05783628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.87, Y:1.87, Z:0.41 [[ 9.81189623e-01 -1.90784360e-01 -2.94661264e-02 2.08699256e+01] [ 1.90716437e-01 9.81631794e-01 -5.12466775e-03 1.87201996e+00] [ 2.99025930e-02 -5.91403832e-04 9.99552643e-01 4.07569528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.90, Y:1.88, Z:0.41 [[ 9.80969696e-01 -1.91939299e-01 -2.92875591e-02 2.08982893e+01] [ 1.91872504e-01 9.81406606e-01 -5.10061677e-03 1.87863088e+00] [ 2.97220128e-02 -6.15926815e-04 9.99558014e-01 4.08524880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.93, Y:1.89, Z:0.41 [[ 9.80966521e-01 -1.91966521e-01 -2.92153964e-02 2.09252576e+01] [ 1.91899850e-01 9.81401286e-01 -5.09534314e-03 1.88850357e+00] [ 2.96501629e-02 -6.08069152e-04 9.99560152e-01 4.10440531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.95, Y:1.89, Z:0.41 [[ 9.81083214e-01 -1.91352189e-01 -2.93268993e-02 2.09532585e+01] [ 1.91284510e-01 9.81521267e-01 -5.12229535e-03 1.89189620e+00] [ 2.97651378e-02 -5.84383583e-04 9.99556749e-01 4.10697356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.98, Y:1.90, Z:0.41 [[ 9.81298947e-01 -1.90249282e-01 -2.92845892e-02 2.09815496e+01] [ 1.90181172e-01 9.81735664e-01 -5.11946696e-03 1.89919176e+00] [ 2.97237005e-02 -5.45649940e-04 9.99558004e-01 4.12043846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.01, Y:1.91, Z:0.41 [[ 9.81982832e-01 -1.86647133e-01 -2.95392054e-02 2.10082862e+01] [ 1.86575992e-01 9.82426923e-01 -5.17101669e-03 1.91416245e+00] [ 2.99852662e-02 -4.33456933e-04 9.99550247e-01 4.12688300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.04, Y:1.92, Z:0.41 [[ 9.82364784e-01 -1.84498179e-01 -3.03290958e-02 2.10356163e+01] [ 1.84421958e-01 9.82832785e-01 -5.31574787e-03 1.92147762e+00] [ 3.07891755e-02 -3.71347727e-04 9.99525832e-01 4.10984786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.06, Y:1.93, Z:0.41 [[ 9.82612467e-01 -1.83064776e-01 -3.09842994e-02 2.10629220e+01] [ 1.82984385e-01 9.83100798e-01 -5.43468735e-03 1.93185658e+00] [ 3.14555893e-02 -3.29451421e-04 9.99505096e-01 4.12504852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.09, Y:1.94, Z:0.41 [[ 9.83042118e-01 -1.80490651e-01 -3.24240498e-02 2.10900412e+01] [ 1.80400985e-01 9.83576668e-01 -5.69413475e-03 1.93931888e+00] [ 3.29192769e-02 -2.51756214e-04 9.99457982e-01 4.11227312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.12, Y:1.95, Z:0.41 [[ 9.83110936e-01 -1.80138261e-01 -3.22969691e-02 2.11168002e+01] [ 1.80048951e-01 9.83641272e-01 -5.67656649e-03 1.94755919e+00] [ 3.27911986e-02 -2.34340807e-04 9.99462197e-01 4.14695076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848040942 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:21.14, Y:1.96, Z:0.42 [[ 9.83202969e-01 -1.79870800e-01 -3.09583174e-02 2.11432322e+01] [ 1.79788388e-01 9.83690221e-01 -5.44829050e-03 1.95622680e+00] [ 3.14333824e-02 -2.09170588e-04 9.99505827e-01 4.17016674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.17, Y:1.96, Z:0.42 [[ 9.83138448e-01 -1.80234543e-01 -3.08917671e-02 2.11694771e+01] [ 1.80152570e-01 9.83623639e-01 -5.43958620e-03 1.96319806e+00] [ 3.13662737e-02 -2.17364904e-04 9.99507934e-01 4.18393059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.20, Y:1.97, Z:0.42 [[ 9.83050484e-01 -1.80796389e-01 -3.04041293e-02 2.11966772e+01] [ 1.80717103e-01 9.83520521e-01 -5.35857481e-03 1.97037844e+00] [ 3.08718961e-02 -2.26796609e-04 9.99523324e-01 4.19368685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.22, Y:1.98, Z:0.42 [[ 9.82858755e-01 -1.81903867e-01 -2.99941927e-02 2.12236755e+01] [ 1.81826967e-01 9.83316287e-01 -5.29462919e-03 1.97824361e+00] [ 3.04568918e-02 -2.49880447e-04 9.99536050e-01 4.20499769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.25, Y:1.98, Z:0.42 [[ 9.82701027e-01 -1.82710670e-01 -3.02572684e-02 2.12507973e+01] [ 1.82632532e-01 9.83166689e-01 -5.34971825e-03 1.98414941e+00] [ 3.07253890e-02 -2.68787924e-04 9.99527828e-01 4.21647261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.28, Y:1.99, Z:0.42 [[ 9.82497107e-01 -1.83685546e-01 -3.09686170e-02 2.12779971e+01] [ 1.83603942e-01 9.82985010e-01 -5.48286649e-03 1.99220716e+00] [ 3.14488097e-02 -2.99059695e-04 9.99505319e-01 4.21138240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.31, Y:2.00, Z:0.42 [[ 9.82447188e-01 -1.83952475e-01 -3.09678813e-02 2.13051148e+01] [ 1.83870873e-01 9.82935092e-01 -5.48701862e-03 1.99710849e+00] [ 3.14487680e-02 -3.03385350e-04 9.99505319e-01 4.21777470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.33, Y:2.00, Z:0.42 [[ 9.82401549e-01 -1.84132454e-01 -3.13438200e-02 2.13321209e+01] [ 1.84048667e-01 9.82901392e-01 -5.56248846e-03 2.00469346e+00] [ 3.18321190e-02 -3.04191009e-04 9.99493183e-01 4.21711731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.36, Y:2.01, Z:0.42 [[ 9.82358757e-01 -1.84209636e-01 -3.22192971e-02 2.13590178e+01] [ 1.84120888e-01 9.82886929e-01 -5.72566332e-03 2.01212616e+00] [ 3.27226483e-02 -3.07590095e-04 9.99464423e-01 4.21175331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.39, Y:2.02, Z:0.42 [[ 9.82286527e-01 -1.84501436e-01 -3.27474990e-02 2.13863025e+01] [ 1.84409724e-01 9.82832193e-01 -5.82529030e-03 2.01912342e+00] [ 3.32600707e-02 -3.16853083e-04 9.99446681e-01 4.21219426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:2.03, Z:0.42 [[ 9.82255970e-01 -1.84598829e-01 -3.31131620e-02 2.14132401e+01] [ 1.84504804e-01 9.82813906e-01 -5.89949857e-03 2.02757398e+00] [ 3.36331166e-02 -3.14719787e-04 9.99434197e-01 4.21996396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.44, Y:2.03, Z:0.42 [[ 9.82225376e-01 -1.84765802e-01 -3.30894195e-02 2.14409827e+01] [ 1.84671701e-01 9.82782530e-01 -5.90432632e-03 2.03449557e+00] [ 3.36106210e-02 -3.11300249e-04 9.99434955e-01 4.23111946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.47, Y:2.05, Z:0.43 [[ 9.82498872e-01 -1.83096129e-01 -3.42311927e-02 2.14678526e+01] [ 1.82994068e-01 9.83094982e-01 -6.11783878e-03 2.04574725e+00] [ 3.47726664e-02 -2.53335503e-04 9.99395216e-01 4.25491621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.49, Y:2.05, Z:0.43 [[ 9.82622138e-01 -1.82371707e-01 -3.45585551e-02 2.14947942e+01] [ 1.82266879e-01 9.83229633e-01 -6.18649994e-03 2.05324732e+00] [ 3.51072380e-02 -2.19888191e-04 9.99383527e-01 4.25597762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.52, Y:2.06, Z:0.42 [[ 9.82723757e-01 -1.81584413e-01 -3.57927205e-02 2.15211663e+01] [ 1.81471114e-01 9.83375343e-01 -6.41639230e-03 2.06163602e+00] [ 3.63627956e-02 -1.89803700e-04 9.99338637e-01 4.23717889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.55, Y:2.07, Z:0.43 [[ 9.82663909e-01 -1.81834615e-01 -3.61637320e-02 2.15485398e+01] [ 1.81718851e-01 9.83329108e-01 -6.49031570e-03 2.06891122e+00] [ 3.67410144e-02 -1.93832825e-04 9.99324802e-01 4.25845939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.58, Y:2.08, Z:0.43 [[ 9.82530640e-01 -1.82568976e-01 -3.60847733e-02 2.15755448e+01] [ 1.82453834e-01 9.83193025e-01 -6.48641836e-03 2.07573924e+00] [ 3.66625162e-02 -2.10700466e-04 9.99327682e-01 4.28455213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.60, Y:2.08, Z:0.43 [[ 9.82463303e-01 -1.83091735e-01 -3.52600996e-02 2.16025238e+01] [ 1.82981858e-01 9.83095809e-01 -6.34589972e-03 2.08184801e+00] [ 3.58259379e-02 -2.17344931e-04 9.99358021e-01 4.29534937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:2.09, Z:0.43 [[ 9.82264471e-01 -1.84249347e-01 -3.47661772e-02 2.16292674e+01] [ 1.84143056e-01 9.82879502e-01 -6.26254689e-03 2.08990695e+00] [ 3.53248331e-02 -2.50472816e-04 9.99375852e-01 4.31094734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:2.10, Z:0.43 [[ 9.82152184e-01 -1.84953679e-01 -3.41939081e-02 2.16567490e+01] [ 1.84850943e-01 9.82747205e-01 -6.16932619e-03 2.09663083e+00] [ 3.47450072e-02 -2.61558969e-04 9.99396176e-01 4.32184737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.68, Y:2.11, Z:0.44 [[ 9.81970490e-01 -1.86154515e-01 -3.28702351e-02 2.16839112e+01] [ 1.86059941e-01 9.82520441e-01 -5.93988695e-03 2.10544065e+00] [ 3.34014147e-02 -2.83040292e-04 9.99441977e-01 4.35115532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.71, Y:2.11, Z:0.43 [[ 9.81913250e-01 -1.86504413e-01 -3.25955955e-02 2.17104166e+01] [ 1.86411338e-01 9.82454082e-01 -5.89830420e-03 2.10897599e+00] [ 3.31237356e-02 -2.84565521e-04 9.99451218e-01 4.32662034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.74, Y:2.12, Z:0.43 [[ 9.81801448e-01 -1.87165269e-01 -3.21726407e-02 2.17373944e+01] [ 1.87074777e-01 9.82328394e-01 -5.82704379e-03 2.11545468e+00] [ 3.26947186e-02 -2.97689547e-04 9.99465340e-01 4.33958238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.77, Y:2.12, Z:0.44 [[ 9.81555309e-01 -1.88216080e-01 -3.35243709e-02 2.17653568e+01] [ 1.88118140e-01 9.82127585e-01 -6.08049001e-03 2.12473904e+00] [ 3.40696555e-02 -3.38205069e-04 9.99419404e-01 4.36034182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.79, Y:2.13, Z:0.44 [[ 9.81472796e-01 -1.88436857e-01 -3.46799777e-02 2.17938048e+01] [ 1.88331876e-01 9.82085245e-01 -6.29883867e-03 2.13141134e+00] [ 3.52456278e-02 -3.49206462e-04 9.99378619e-01 4.35907978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.82, Y:2.14, Z:0.43 [[ 9.81364838e-01 -1.88799272e-01 -3.57475723e-02 2.18213923e+01] [ 1.88687713e-01 9.82015631e-01 -6.49973414e-03 2.13510181e+00] [ 3.63318199e-02 -3.66517122e-04 9.99339714e-01 4.31398273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:2.15, Z:0.44 [[ 9.81492747e-01 -1.87895848e-01 -3.69748353e-02 2.18470968e+01] [ 1.87775617e-01 9.82188900e-01 -6.72917312e-03 2.14738836e+00] [ 3.75806565e-02 -3.38337923e-04 9.99293540e-01 4.36001519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.87, Y:2.15, Z:0.44 [[ 9.81600626e-01 -1.87381736e-01 -3.67191637e-02 2.18744590e+01] [ 1.87262478e-01 9.82287122e-01 -6.69133823e-03 2.15444315e+00] [ 3.73225962e-02 -3.07899815e-04 9.99303222e-01 4.36396565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:2.16, Z:0.44 [[ 9.81856452e-01 -1.86161533e-01 -3.60803354e-02 2.19015952e+01] [ 1.86045385e-01 9.82519119e-01 -6.57986546e-03 2.16258359e+00] [ 3.66745372e-02 -2.52096542e-04 9.99327231e-01 4.36185214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.93, Y:2.17, Z:0.44 [[ 9.81866379e-01 -1.86054304e-01 -3.63621890e-02 2.19289584e+01] [ 1.85935998e-01 9.82539433e-01 -6.63835508e-03 2.16907360e+00] [ 3.69623791e-02 -2.43062246e-04 9.99316628e-01 4.36871781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:2.17, Z:0.44 [[ 9.81975249e-01 -1.85346977e-01 -3.70284934e-02 2.19563190e+01] [ 1.85223488e-01 9.82673116e-01 -6.76805026e-03 2.17452741e+00] [ 3.76413426e-02 -2.12488861e-04 9.99291291e-01 4.36997828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:2.18, Z:0.44 [[ 9.82112939e-01 -1.84554290e-01 -3.73348357e-02 2.19828028e+01] [ 1.84428028e-01 9.82822304e-01 -6.82793404e-03 2.17932477e+00] [ 3.79536338e-02 -1.79787752e-04 9.99279485e-01 4.37461159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.01, Y:2.18, Z:0.44 [[ 9.82363639e-01 -1.83182251e-01 -3.74959212e-02 2.20088779e+01] [ 1.83053718e-01 9.83078963e-01 -6.86208709e-03 2.18484003e+00] [ 3.81184639e-02 -1.22702964e-04 9.99273220e-01 4.38075833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.04, Y:2.19, Z:0.44 [[ 9.82451550e-01 -1.82634172e-01 -3.78643759e-02 2.20358257e+01] [ 1.82502420e-01 9.83180935e-01 -6.93661764e-03 2.19087007e+00] [ 3.84943959e-02 -9.54494850e-05 9.99258812e-01 4.38343825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.06, Y:2.20, Z:0.44 [[ 9.82731712e-01 -1.81114112e-01 -3.78953949e-02 2.20631586e+01] [ 1.80980594e-01 9.83462088e-01 -6.95319185e-03 2.19734598e+00] [ 3.85280053e-02 -2.52089398e-05 9.99257520e-01 4.40341228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.09, Y:2.20, Z:0.44 [[ 9.82975752e-01 -1.79797754e-01 -3.78343513e-02 2.20900654e+01] [ 1.79663358e-01 9.83703597e-01 -6.95064594e-03 2.20252526e+00] [ 3.84674980e-02 3.48698217e-05 9.99259851e-01 4.41029273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.12, Y:2.21, Z:0.44 [[ 9.83203763e-01 -1.78591192e-01 -3.76237429e-02 2.21163938e+01] [ 1.78457223e-01 9.83923360e-01 -6.91670688e-03 2.20749181e+00] [ 3.82541425e-02 8.63035394e-05 9.99268039e-01 4.42543727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958040942 meters Centerline goodness [0,1] 0.9999790606612643 Centerline is valid? [True, True] Translation: X:22.14, Y:2.21, Z:0.45 [[ 9.83747293e-01 -1.75853600e-01 -3.62874065e-02 2.21437079e+01] [ 1.75726873e-01 9.84416312e-01 -6.67770637e-03 2.21382169e+00] [ 3.68962136e-02 1.92503096e-04 9.99319084e-01 4.45275382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.17, Y:2.22, Z:0.45 [[ 9.84014784e-01 -1.74559848e-01 -3.52670521e-02 2.21709534e+01] [ 1.74438953e-01 9.84646535e-01 -6.50013864e-03 2.21925234e+00] [ 3.58602439e-02 2.44284869e-04 9.99356785e-01 4.46929163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.20, Y:2.23, Z:0.45 [[ 9.84519234e-01 -1.71847378e-01 -3.45015453e-02 2.21981066e+01] [ 1.71729737e-01 9.85123526e-01 -6.36683510e-03 2.22535469e+00] [ 3.50824078e-02 3.43330311e-04 9.99384364e-01 4.46507300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.23, Y:2.23, Z:0.45 [[ 9.84612331e-01 -1.71310461e-01 -3.45149811e-02 2.22270396e+01] [ 1.71192220e-01 9.85217027e-01 -6.37440804e-03 2.23028481e+00] [ 3.50967499e-02 3.67624512e-04 9.99383852e-01 4.47029017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:2.23, Z:0.45 [[ 9.84646457e-01 -1.71099303e-01 -3.45887628e-02 2.22550984e+01] [ 1.70980101e-01 9.85253714e-01 -6.39725083e-03 2.23462435e+00] [ 3.51732721e-02 3.85040203e-04 9.99381155e-01 4.47352065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.28, Y:2.24, Z:0.45 [[ 9.84629653e-01 -1.71289241e-01 -3.41239366e-02 2.22828065e+01] [ 1.71172996e-01 9.85220711e-01 -6.32107475e-03 2.23661315e+00] [ 3.47023411e-02 3.82821185e-04 9.99397619e-01 4.47862723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.31, Y:2.24, Z:0.45 [[ 9.84582664e-01 -1.71506643e-01 -3.43867655e-02 2.23094202e+01] [ 1.71388448e-01 9.85182888e-01 -6.37790346e-03 2.24034256e+00] [ 3.49711057e-02 3.86078817e-04 9.99388249e-01 4.47898247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.34, Y:2.24, Z:0.45 [[ 9.84560047e-01 -1.71780092e-01 -3.36617571e-02 2.23380769e+01] [ 1.71666781e-01 9.85135249e-01 -6.24952374e-03 2.24202753e+00] [ 3.42349272e-02 3.74425908e-04 9.99413743e-01 4.49796143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.37, Y:2.25, Z:0.45 [[ 9.84585835e-01 -1.71756392e-01 -3.30223563e-02 2.23654107e+01] [ 1.71647073e-01 9.85139381e-01 -6.13853725e-03 2.24687192e+00] [ 3.35859567e-02 3.75726032e-04 9.99435762e-01 4.49774325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.39, Y:2.25, Z:0.45 [[ 9.84611872e-01 -1.71555605e-01 -3.32886794e-02 2.23935417e+01] [ 1.71444296e-01 9.85174362e-01 -6.19112249e-03 2.25052182e+00] [ 3.38572753e-02 3.88698500e-04 9.99426603e-01 4.49460568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.42, Y:2.25, Z:0.45 [[ 9.84549970e-01 -1.71846233e-01 -3.36188709e-02 2.24214226e+01] [ 1.71732693e-01 9.85123709e-01 -6.25782059e-03 2.25305956e+00] [ 3.41941297e-02 3.87677849e-04 9.99415135e-01 4.50574803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288040942 meters Centerline goodness [0,1] 0.9999371675114146 Centerline is valid? [True, True] Translation: X:22.45, Y:2.26, Z:0.45 [[ 9.84595082e-01 -1.71459092e-01 -3.42681274e-02 2.24493270e+01] [ 1.71340607e-01 9.85191152e-01 -6.38672956e-03 2.25651453e+00] [ 3.48557187e-02 4.16820781e-04 9.99392268e-01 4.50345056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318040942 meters Centerline goodness [0,1] 0.9998115893485179 Centerline is valid? [True, True] Translation: X:22.48, Y:2.26, Z:0.45 [[ 9.84593806e-01 -1.71227773e-01 -3.54413212e-02 2.24774958e+01] [ 1.71100762e-01 9.85231371e-01 -6.60874307e-03 2.25872547e+00] [ 3.60495018e-02 4.42890433e-04 9.99349907e-01 4.50055448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348040942 meters Centerline goodness [0,1] 0.9999579752474207 Centerline is valid? [True, True] Translation: X:22.51, Y:2.26, Z:0.45 [[ 9.84537342e-01 -1.71572834e-01 -3.53409884e-02 2.25052545e+01] [ 1.71446556e-01 9.85171342e-01 -6.59583129e-03 2.26214576e+00] [ 3.59485944e-02 4.34751476e-04 9.99353546e-01 4.51079397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378040942 meters Centerline goodness [0,1] 0.9998949734282774 Centerline is valid? [True, True] Translation: X:22.53, Y:2.27, Z:0.45 [[ 9.84500835e-01 -1.71792258e-01 -3.52920043e-02 2.25325093e+01] [ 1.71666097e-01 9.85133103e-01 -6.59708143e-03 2.26641051e+00] [ 3.59006492e-02 4.36391541e-04 9.99355269e-01 4.51547013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408040942 meters Centerline goodness [0,1] 0.999077394057579 Centerline is valid? [True, True] Translation: X:22.56, Y:2.27, Z:0.45 [[ 9.84396144e-01 -1.72682227e-01 -3.38390211e-02 2.25604352e+01] [ 1.72566513e-01 9.84977509e-01 -6.33289785e-03 2.26860594e+00] [ 3.44242536e-02 3.94598348e-04 9.99407232e-01 4.52508078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438040942 meters Centerline goodness [0,1] 0.9988435660218671 Centerline is valid? [True, True] Translation: X:22.59, Y:2.27, Z:0.45 [[ 9.84197382e-01 -1.73885486e-01 -3.34567057e-02 2.25891617e+01] [ 1.73772904e-01 9.84765816e-01 -6.26617240e-03 2.27177974e+00] [ 3.40366166e-02 3.53281554e-04 9.99420524e-01 4.54347335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468040942 meters Centerline goodness [0,1] 0.9977230081592208 Centerline is valid? [True, True] Translation: X:22.62, Y:2.27, Z:0.46 [[ 9.83899772e-01 -1.75588458e-01 -3.33156465e-02 2.26173173e+01] [ 1.75477550e-01 9.84463612e-01 -6.24712269e-03 2.27294571e+00] [ 3.38949643e-02 3.00394579e-04 9.99425355e-01 4.55068900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.498040942 meters Centerline goodness [0,1] 0.9984354848939724 Centerline is valid? [True, True] Translation: X:22.64, Y:2.28, Z:0.46 [[ 9.83620470e-01 -1.77061517e-01 -3.37637484e-02 2.26442875e+01] [ 1.76948286e-01 9.84199752e-01 -6.33652791e-03 2.27595434e+00] [ 3.43522281e-02 2.58301146e-04 9.99409755e-01 4.55348399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528040942 meters Centerline goodness [0,1] 0.9979519878386082 Centerline is valid? [True, True] Translation: X:22.67, Y:2.28, Z:0.46 [[ 9.83377023e-01 -1.78386729e-01 -3.38792891e-02 2.26719981e+01] [ 1.78273239e-01 9.83960429e-01 -6.36598980e-03 2.27910153e+00] [ 3.44714879e-02 2.20397490e-04 9.99405657e-01 4.55813579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558040941999998 meters Centerline goodness [0,1] 0.9982022757074573 Centerline is valid? [True, True] Translation: X:22.70, Y:2.28, Z:0.46 [[ 9.83120340e-01 -1.79836161e-01 -3.36652953e-02 2.26995158e+01] [ 1.79724617e-01 9.83696561e-01 -6.33548248e-03 2.28242040e+00] [ 3.42557841e-02 1.78059377e-04 9.99413083e-01 4.56853963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588040942 meters Centerline goodness [0,1] 0.9978622076410202 Centerline is valid? [True, True] Translation: X:22.73, Y:2.29, Z:0.46 [[ 9.82623054e-01 -1.82682072e-01 -3.28511005e-02 2.27281317e+01] [ 1.82577148e-01 9.83172037e-01 -6.19124571e-03 2.28524959e+00] [ 3.34293129e-02 8.58005195e-05 9.99441081e-01 4.57762669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618040942 meters Centerline goodness [0,1] 0.9982257894181011 Centerline is valid? [True, True] Translation: X:22.76, Y:2.29, Z:0.46 [[ 9.82394335e-01 -1.83834435e-01 -3.32606406e-02 2.27555245e+01] [ 1.83727240e-01 9.82957220e-01 -6.27725979e-03 2.28957881e+00] [ 3.38477633e-02 5.58587683e-05 9.99426999e-01 4.58005294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648040941999998 meters Centerline goodness [0,1] 0.9982609433322023 Centerline is valid? [True, True] Translation: X:22.78, Y:2.29, Z:0.46 [[ 9.82103534e-01 -1.85231916e-01 -3.40849787e-02 2.27842264e+01] [ 1.85119849e-01 9.82694834e-01 -6.44237714e-03 2.29235265e+00] [ 3.46884664e-02 1.72752305e-05 9.99398174e-01 4.57953225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678040942 meters Centerline goodness [0,1] 0.9980758658603628 Centerline is valid? [True, True] Translation: X:22.81, Y:2.30, Z:0.46 [[ 9.81945871e-01 -1.85908643e-01 -3.49325459e-02 2.28126210e+01] [ 1.85791045e-01 9.82567034e-01 -6.61144015e-03 2.29584104e+00] [ 3.55526919e-02 1.92213692e-06 9.99367803e-01 4.58317901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708040942 meters Centerline goodness [0,1] 0.9979451329308336 Centerline is valid? [True, True] Translation: X:22.84, Y:2.30, Z:0.46 [[ 9.81807581e-01 -1.86341880e-01 -3.64770895e-02 2.28420911e+01] [ 1.86213598e-01 9.82484964e-01 -6.91320195e-03 2.29779590e+00] [ 3.71264110e-02 -5.09598937e-06 9.99310577e-01 4.59438876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738040941999998 meters Centerline goodness [0,1] 0.9979371358087704 Centerline is valid? [True, True] Translation: X:22.87, Y:2.30, Z:0.46 [[ 9.81734338e-01 -1.86704248e-01 -3.65952645e-02 2.28689919e+01] [ 1.86575100e-01 9.82416166e-01 -6.94323113e-03 2.30171245e+00] [ 3.72481101e-02 -1.13567189e-05 9.99306048e-01 4.59455832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768040942 meters Centerline goodness [0,1] 0.9979169323640692 Centerline is valid? [True, True] Translation: X:22.90, Y:2.31, Z:0.46 [[ 9.81632487e-01 -1.87280050e-01 -3.63846479e-02 2.28966306e+01] [ 1.87152526e-01 9.82306562e-01 -6.91011325e-03 2.30560659e+00] [ 3.70350048e-02 -2.62871149e-05 9.99313969e-01 4.60600718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798040942 meters Centerline goodness [0,1] 0.9980206027583859 Centerline is valid? [True, True] Translation: X:22.93, Y:2.31, Z:0.46 [[ 9.81442158e-01 -1.88456269e-01 -3.54333809e-02 2.29260281e+01] [ 1.88335752e-01 9.82081581e-01 -6.73892002e-03 2.30795322e+00] [ 3.60684625e-02 -5.95122462e-05 9.99349320e-01 4.62847805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828040942 meters Centerline goodness [0,1] 0.9984070345354913 Centerline is valid? [True, True] Translation: X:22.95, Y:2.31, Z:0.46 [[ 9.81260417e-01 -1.89343082e-01 -3.57378127e-02 2.29542947e+01] [ 1.89220736e-01 9.81910989e-01 -6.80608659e-03 2.31168653e+00] [ 3.63800365e-02 -8.37918573e-05 9.99338024e-01 4.64189180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858040942 meters Centerline goodness [0,1] 0.9984281071436157 Centerline is valid? [True, True] Translation: X:22.98, Y:2.31, Z:0.47 [[ 9.81357917e-01 -1.89015560e-01 -3.47815488e-02 2.29823201e+01] [ 1.88899200e-01 9.81974090e-01 -6.63161034e-03 2.31394971e+00] [ 3.54080573e-02 -6.22234198e-05 9.99372936e-01 4.65723237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888040942 meters Centerline goodness [0,1] 0.9982145893555517 Centerline is valid? [True, True] Translation: X:23.01, Y:2.32, Z:0.47 [[ 9.81323559e-01 -1.89227477e-01 -3.45981857e-02 2.30100451e+01] [ 1.89112276e-01 9.81933276e-01 -6.60220324e-03 2.31841867e+00] [ 3.52224280e-02 -6.40440718e-05 9.99379496e-01 4.67859974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.918040942 meters Centerline goodness [0,1] 0.9981741364302245 Centerline is valid? [True, True] Translation: X:23.04, Y:2.32, Z:0.47 [[ 9.81234265e-01 -1.89773115e-01 -3.41391697e-02 2.30367868e+01] [ 1.89661000e-01 9.81827968e-01 -6.52270232e-03 2.32262040e+00] [ 3.47566251e-02 -7.45700535e-05 9.99395803e-01 4.67748094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948040942 meters Centerline goodness [0,1] 0.9981741364302245 Centerline is valid? [True, True] Translation: X:23.06, Y:2.33, Z:0.47 [[ 9.81182886e-01 -1.90038780e-01 -3.41380449e-02 2.30638341e+01] [ 1.89926621e-01 9.81776582e-01 -6.52858416e-03 2.32789226e+00] [ 3.47566172e-02 -7.79884870e-05 9.99395803e-01 4.68387053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978040942 meters Centerline goodness [0,1] 0.9980915221171381 Centerline is valid? [True, True] Translation: X:23.09, Y:2.33, Z:0.47 [[ 9.81011879e-01 -1.91011826e-01 -3.36180765e-02 2.30916324e+01] [ 1.90903306e-01 9.81587730e-01 -6.43863220e-03 2.33248163e+00] [ 3.42289463e-02 -1.01427258e-04 9.99414013e-01 4.70150180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008040942 meters Centerline goodness [0,1] 0.9985765275771225 Centerline is valid? [True, True] Translation: X:23.12, Y:2.33, Z:0.47 [[ 9.80702421e-01 -1.92698035e-01 -3.30186155e-02 2.31183690e+01] [ 1.92594040e-01 9.81258093e-01 -6.33172311e-03 2.33438100e+00] [ 3.36198943e-02 -1.49652389e-04 9.99434680e-01 4.70243911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038040942 meters Centerline goodness [0,1] 0.9985152504984516 Centerline is valid? [True, True] Translation: X:23.15, Y:2.34, Z:0.47 [[ 9.80521797e-01 -1.93686176e-01 -3.25986326e-02 2.31459769e+01] [ 1.93585167e-01 9.81063522e-01 -6.25690794e-03 2.33853547e+00] [ 3.31932058e-02 -1.75577097e-04 9.99448938e-01 4.72485966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068040942 meters Centerline goodness [0,1] 0.9987535650153163 Centerline is valid? [True, True] Translation: X:23.17, Y:2.34, Z:0.47 [[ 9.80389939e-01 -1.94451564e-01 -3.20024640e-02 2.31734241e+01] [ 1.94354374e-01 9.80912103e-01 -6.15014171e-03 2.34134559e+00] [ 3.25875089e-02 -1.90281795e-04 9.99468868e-01 4.73824909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098040942 meters Centerline goodness [0,1] 0.9989008201572672 Centerline is valid? [True, True] Translation: X:23.20, Y:2.35, Z:0.47 [[ 9.80358758e-01 -1.94674273e-01 -3.16011487e-02 2.32006429e+01] [ 1.94579495e-01 9.80867927e-01 -6.07694416e-03 2.34546969e+00] [ 3.21795779e-02 -1.91350132e-04 9.99482085e-01 4.73850229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128040942 meters Centerline goodness [0,1] 0.9988806285376363 Centerline is valid? [True, True] Translation: X:23.23, Y:2.35, Z:0.48 [[ 9.80316568e-01 -1.94951000e-01 -3.12015143e-02 2.32282924e+01] [ 1.94858579e-01 9.80812964e-01 -6.00532140e-03 2.35157837e+00] [ 3.17735931e-02 -1.92766660e-04 9.99495073e-01 4.75589475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158040942 meters Centerline goodness [0,1] 0.9990107970450193 Centerline is valid? [True, True] Translation: X:23.25, Y:2.36, Z:0.48 [[ 9.80329485e-01 -1.94816580e-01 -3.16322647e-02 2.32545671e+01] [ 1.94721268e-01 9.80839674e-01 -6.09601723e-03 2.35676431e+00] [ 3.22137854e-02 -1.83369258e-04 9.99480985e-01 4.75213988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188040942 meters Centerline goodness [0,1] 0.9991334305581976 Centerline is valid? [True, True] Translation: X:23.28, Y:2.36, Z:0.48 [[ 9.80238253e-01 -1.95302275e-01 -3.14640875e-02 2.32822820e+01] [ 1.95208054e-01 9.80743078e-01 -6.06891472e-03 2.36193453e+00] [ 3.20434588e-02 -1.93060911e-04 9.99486458e-01 4.75862306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218040942 meters Centerline goodness [0,1] 0.9990083760575564 Centerline is valid? [True, True] Translation: X:23.31, Y:2.37, Z:0.48 [[ 9.80156992e-01 -1.95663406e-01 -3.17506163e-02 2.33102621e+01] [ 1.95567413e-01 9.80671093e-01 -6.13150994e-03 2.36613186e+00] [ 3.23366237e-02 -1.99543543e-04 9.99477015e-01 4.76020817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248040942 meters Centerline goodness [0,1] 0.9989628093050822 Centerline is valid? [True, True] Translation: X:23.34, Y:2.37, Z:0.48 [[ 9.79885476e-01 -1.97131152e-01 -3.10445250e-02 2.33376074e+01] [ 1.97039979e-01 9.80377097e-01 -5.99953670e-03 2.36979020e+00] [ 3.16180369e-02 -2.38153678e-04 9.99499997e-01 4.77814370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278040942 meters Centerline goodness [0,1] 0.9990265786355171 Centerline is valid? [True, True] Translation: X:23.37, Y:2.37, Z:0.48 [[ 9.79482576e-01 -1.99122233e-01 -3.10518724e-02 2.33662996e+01] [ 1.99031737e-01 9.79974617e-01 -6.00978658e-03 2.37446396e+00] [ 3.16267289e-02 -2.93826871e-04 9.99499707e-01 4.78295977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308040941999998 meters Centerline goodness [0,1] 0.9991529730645434 Centerline is valid? [True, True] Translation: X:23.39, Y:2.38, Z:0.48 [[ 9.79286561e-01 -2.00138409e-01 -3.06993348e-02 2.33941108e+01] [ 2.00050200e-01 9.79767584e-01 -5.94974676e-03 2.37977555e+00] [ 3.12689859e-02 -3.14901022e-04 9.99510956e-01 4.79118248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338040942 meters Centerline goodness [0,1] 0.9992155532469735 Centerline is valid? [True, True] Translation: X:23.42, Y:2.38, Z:0.48 [[ 9.79145420e-01 -2.00910095e-01 -3.01559172e-02 2.34214886e+01] [ 2.00825076e-01 9.79609630e-01 -5.85325273e-03 2.38492396e+00] [ 3.07170045e-02 -3.24878762e-04 9.99528069e-01 4.79779192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368040942 meters Centerline goodness [0,1] 0.9994716486674979 Centerline is valid? [True, True] Translation: X:23.45, Y:2.39, Z:0.48 [[ 9.79087430e-01 -2.01160922e-01 -3.03659094e-02 2.34487127e+01] [ 2.01074596e-01 9.79558153e-01 -5.90177213e-03 2.38756651e+00] [ 3.09323801e-02 -3.27462048e-04 9.99521426e-01 4.79287149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398040941999998 meters Centerline goodness [0,1] 0.999259337636229 Centerline is valid? [True, True] Translation: X:23.48, Y:2.39, Z:0.48 [[ 9.79080384e-01 -2.01309911e-01 -2.95959710e-02 2.34766970e+01] [ 2.01227852e-01 9.79527548e-01 -5.75621194e-03 2.39272987e+00] [ 3.01488514e-02 -3.19739465e-04 9.99545369e-01 4.83000627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428040942 meters Centerline goodness [0,1] 0.9992571840910056 Centerline is valid? [True, True] Translation: X:23.50, Y:2.40, Z:0.49 [[ 9.79101421e-01 -2.01285698e-01 -2.90598588e-02 2.35046183e+01] [ 2.01206400e-01 9.79532528e-01 -5.65785119e-03 2.39730226e+00] [ 2.96039215e-02 -3.07419428e-04 9.99561661e-01 4.85243093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458040942 meters Centerline goodness [0,1] 0.999383595128276 Centerline is valid? [True, True] Translation: X:23.53, Y:2.40, Z:0.49 [[ 9.79464231e-01 -1.99632149e-01 -2.82280827e-02 2.35318324e+01] [ 1.99556437e-01 9.79870882e-01 -5.50294365e-03 2.40270867e+00] [ 2.87584407e-02 -2.43159143e-04 9.99586361e-01 4.86832215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488040941999998 meters Centerline goodness [0,1] 0.9993616613826415 Centerline is valid? [True, True] Translation: X:23.56, Y:2.41, Z:0.49 [[ 9.79597434e-01 -1.98939244e-01 -2.84963888e-02 2.35593582e+01] [ 1.98861683e-01 9.80011800e-01 -5.55901623e-03 2.40952060e+00] [ 2.90327038e-02 -2.21241824e-04 9.99578438e-01 4.87202062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518040942 meters Centerline goodness [0,1] 0.999338553779845 Centerline is valid? [True, True] Translation: X:23.59, Y:2.42, Z:0.49 [[ 9.79812459e-01 -1.97809245e-01 -2.89663311e-02 2.35867929e+01] [ 1.97728358e-01 9.80240516e-01 -5.65924278e-03 2.41636012e+00] [ 2.95134219e-02 -1.82468492e-04 9.99564367e-01 4.87168323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548040942 meters Centerline goodness [0,1] 0.9994028832210186 Centerline is valid? [True, True] Translation: X:23.61, Y:2.42, Z:0.49 [[ 9.80125586e-01 -1.96261467e-01 -2.89010875e-02 2.36136188e+01] [ 1.96180060e-01 9.80551590e-01 -5.65367484e-03 2.42247049e+00] [ 2.94486059e-02 -1.28505723e-04 9.99566287e-01 4.88851793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578040942 meters Centerline goodness [0,1] 0.9993806462635884 Centerline is valid? [True, True] Translation: X:23.64, Y:2.43, Z:0.49 [[ 9.80169543e-01 -1.96002053e-01 -2.91695345e-02 2.36417069e+01] [ 1.95918895e-01 9.80603478e-01 -5.71010888e-03 2.42724662e+00] [ 2.97229401e-02 -1.17988173e-04 9.99558169e-01 4.89673521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608040942 meters Centerline goodness [0,1] 0.9994024244493768 Centerline is valid? [True, True] Translation: X:23.67, Y:2.43, Z:0.49 [[ 9.80286548e-01 -1.95272187e-01 -3.01173796e-02 2.36695321e+01] [ 1.95182917e-01 9.80749084e-01 -5.90456901e-03 2.43123941e+00] [ 3.06905906e-02 -9.02284452e-05 9.99528929e-01 4.91591952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638040942 meters Centerline goodness [0,1] 0.9993807652886915 Centerline is valid? [True, True] Translation: X:23.70, Y:2.44, Z:0.49 [[ 9.80505348e-01 -1.94255620e-01 -2.95637671e-02 2.36971460e+01] [ 1.94168887e-01 9.80950943e-01 -5.80442974e-03 2.43704533e+00] [ 3.01281483e-02 -4.90893525e-05 9.99546043e-01 4.93033485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668040942 meters Centerline goodness [0,1] 0.9992090129764628 Centerline is valid? [True, True] Translation: X:23.72, Y:2.44, Z:0.50 [[ 9.80701822e-01 -1.93399251e-01 -2.86472763e-02 2.37240566e+01] [ 1.93317213e-01 9.81120140e-01 -5.63255219e-03 2.44349651e+00] [ 2.91957511e-02 -1.41574102e-05 9.99573713e-01 4.95185149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698040942 meters Centerline goodness [0,1] 0.9992314917598839 Centerline is valid? [True, True] Translation: X:23.75, Y:2.45, Z:0.50 [[ 9.81153750e-01 -1.91226139e-01 -2.77467528e-02 2.37498357e+01] [ 1.91148107e-01 9.81546005e-01 -5.46264463e-03 2.45248203e+00] [ 2.82793148e-02 5.59550051e-05 9.99600059e-01 4.96206584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728040942 meters Centerline goodness [0,1] 0.9992520888091116 Centerline is valid? [True, True] Translation: X:23.78, Y:2.46, Z:0.50 [[ 9.81324662e-01 -1.90400990e-01 -2.73746246e-02 2.37757960e+01] [ 1.90324612e-01 9.81706400e-01 -5.39315166e-03 2.45950488e+00] [ 2.79007056e-02 8.23679354e-05 9.99610696e-01 4.96566230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758040942 meters Centerline goodness [0,1] 0.9992547800536559 Centerline is valid? [True, True] Translation: X:23.80, Y:2.47, Z:0.50 [[ 9.81362485e-01 -1.90174726e-01 -2.75906933e-02 2.38030276e+01] [ 1.90096884e-01 9.81750256e-01 -5.44153388e-03 2.46536096e+00] [ 2.81220124e-02 9.52124050e-05 9.99604493e-01 4.97171285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788040942 meters Centerline goodness [0,1] 0.9992956393673561 Centerline is valid? [True, True] Translation: X:23.83, Y:2.47, Z:0.50 [[ 9.81365729e-01 -1.90049537e-01 -2.83280732e-02 2.38304306e+01] [ 1.89967222e-01 9.81774496e-01 -5.59399413e-03 2.46879571e+00] [ 2.88749158e-02 1.08348746e-04 9.99583027e-01 4.98668026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818040942 meters Centerline goodness [0,1] 0.9993588921656623 Centerline is valid? [True, True] Translation: X:23.86, Y:2.47, Z:0.50 [[ 9.81222397e-01 -1.90766812e-01 -2.84715734e-02 2.38584833e+01] [ 1.90683858e-01 9.81635378e-01 -5.62596832e-03 2.47265659e+00] [ 2.90219517e-02 9.12566875e-05 9.99578770e-01 5.00707134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848040942 meters Centerline goodness [0,1] 0.9994046353391453 Centerline is valid? [True, True] Translation: X:23.89, Y:2.48, Z:0.50 [[ 9.80857869e-01 -1.92500047e-01 -2.93525398e-02 2.38854512e+01] [ 1.92412412e-01 9.81296963e-01 -5.80814421e-03 2.47709955e+00] [ 2.99216262e-02 4.91709867e-05 9.99552247e-01 5.01592951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878040942 meters Centerline goodness [0,1] 0.9994224351843929 Centerline is valid? [True, True] Translation: X:23.91, Y:2.48, Z:0.50 [[ 9.80787926e-01 -1.92853660e-01 -2.93685291e-02 2.39127523e+01] [ 1.92765895e-01 9.81227529e-01 -5.81770229e-03 2.48317079e+00] [ 2.99391745e-02 4.46813547e-05 9.99551721e-01 5.01807197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908040942 meters Centerline goodness [0,1] 0.9993584808827303 Centerline is valid? [True, True] Translation: X:23.94, Y:2.49, Z:0.50 [[ 9.80663134e-01 -1.93351261e-01 -3.02507492e-02 2.39405134e+01] [ 1.93258104e-01 9.81129598e-01 -6.00141320e-03 2.48938136e+00] [ 3.08402862e-02 3.91622625e-05 9.99524324e-01 5.01265211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938040942 meters Centerline goodness [0,1] 0.9994666894212514 Centerline is valid? [True, True] Translation: X:23.97, Y:2.49, Z:0.50 [[ 9.80426829e-01 -1.94256202e-01 -3.20586998e-02 2.39675813e+01] [ 1.94151802e-01 9.80950828e-01 -6.36790839e-03 2.49444454e+00] [ 3.26850138e-02 1.90139056e-05 9.99465702e-01 5.00261921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968040942 meters Centerline goodness [0,1] 0.9994887198824056 Centerline is valid? [True, True] Translation: X:24.00, Y:2.50, Z:0.50 [[ 9.80186240e-01 -1.95454261e-01 -3.21335884e-02 2.39957913e+01] [ 1.95349861e-01 9.80712818e-01 -6.38749631e-03 2.49851197e+00] [ 3.27622854e-02 -1.63560492e-05 9.99463172e-01 5.01204773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998040942 meters Centerline goodness [0,1] 0.9995737697930652 Centerline is valid? [True, True] Translation: X:24.02, Y:2.50, Z:0.50 [[ 9.79642740e-01 -1.98286265e-01 -3.13473847e-02 2.40233023e+01] [ 1.98188082e-01 9.80144146e-01 -6.23996730e-03 2.50153231e+00] [ 3.19622554e-02 -9.97393703e-05 9.99489072e-01 5.03223248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028040942 meters Centerline goodness [0,1] 0.999594285836305 Centerline is valid? [True, True] Translation: X:24.05, Y:2.51, Z:0.51 [[ 9.79286601e-01 -2.00127965e-01 -3.07660725e-02 2.40507778e+01] [ 2.00034024e-01 9.79769756e-01 -6.13298883e-03 2.50738275e+00] [ 3.13710500e-02 -1.48307504e-04 9.99507796e-01 5.05192319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058040941999998 meters Centerline goodness [0,1] 0.9997016388551456 Centerline is valid? [True, True] Translation: X:24.08, Y:2.51, Z:0.50 [[ 9.78633295e-01 -2.03386576e-01 -3.01790407e-02 2.40783790e+01] [ 2.03297506e-01 9.79098485e-01 -6.02338808e-03 2.51216363e+00] [ 3.07733293e-02 -2.40635581e-04 9.99526360e-01 5.04425992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088040942 meters Centerline goodness [0,1] 0.9997027979450601 Centerline is valid? [True, True] Translation: X:24.11, Y:2.52, Z:0.51 [[ 9.78378066e-01 -2.04687391e-01 -2.96552324e-02 2.41055137e+01] [ 2.04601859e-01 9.78827359e-01 -5.92295064e-03 2.51770187e+00] [ 3.02397061e-02 -2.72630683e-04 9.99542638e-01 5.05890739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118040942 meters Centerline goodness [0,1] 0.9997225127537407 Centerline is valid? [True, True] Translation: X:24.13, Y:2.52, Z:0.51 [[ 9.78162731e-01 -2.05737316e-01 -2.94928397e-02 2.41327256e+01] [ 2.05652977e-01 9.78607209e-01 -5.89778058e-03 2.52223144e+00] [ 3.00752991e-02 -2.96301140e-04 9.99547592e-01 5.06669945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148040941999998 meters Centerline goodness [0,1] 0.9997434910863152 Centerline is valid? [True, True] Translation: X:24.16, Y:2.53, Z:0.51 [[ 9.77997666e-01 -2.06526597e-01 -2.94504546e-02 2.41605565e+01] [ 2.06442778e-01 9.78440935e-01 -5.89197463e-03 2.52641929e+00] [ 3.00323798e-02 -3.17496234e-04 9.99548876e-01 5.07069013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178040942 meters Centerline goodness [0,1] 0.9997005923993242 Centerline is valid? [True, True] Translation: X:24.19, Y:2.53, Z:0.51 [[ 9.77810266e-01 -2.07460135e-01 -2.91097133e-02 2.41875072e+01] [ 2.07378543e-01 9.78243414e-01 -5.82769855e-03 2.53308309e+00] [ 2.96854005e-02 -3.38346458e-04 9.99559234e-01 5.07435936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208040942 meters Centerline goodness [0,1] 0.999700284729507 Centerline is valid? [True, True] Translation: X:24.21, Y:2.54, Z:0.51 [[ 9.77845407e-01 -2.07279937e-01 -2.92128007e-02 2.42142765e+01] [ 2.07197428e-01 9.78281617e-01 -5.85695759e-03 2.53999031e+00] [ 2.97923757e-02 -3.25618101e-04 9.99556056e-01 5.07511122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238040941999998 meters Centerline goodness [0,1] 0.9996789658419656 Centerline is valid? [True, True] Translation: X:24.24, Y:2.55, Z:0.51 [[ 9.78059454e-01 -2.06332873e-01 -2.87480442e-02 2.42411362e+01] [ 2.06252348e-01 9.78481816e-01 -5.77099524e-03 2.54777506e+00] [ 2.93201846e-02 -2.84975176e-04 9.99570030e-01 5.06834863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268040942 meters Centerline goodness [0,1] 0.9997214723400608 Centerline is valid? [True, True] Translation: X:24.27, Y:2.55, Z:0.51 [[ 9.78193576e-01 -2.05827994e-01 -2.77878529e-02 2.42678155e+01] [ 2.05752486e-01 9.78588151e-01 -5.58072782e-03 2.55398916e+00] [ 2.83415336e-02 -2.58387711e-04 9.99598265e-01 5.07238216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298040942 meters Centerline goodness [0,1] 0.9997007012142979 Centerline is valid? [True, True] Translation: X:24.30, Y:2.56, Z:0.51 [[ 9.78383927e-01 -2.05001867e-01 -2.71868799e-02 2.42952846e+01] [ 2.04929204e-01 9.78761556e-01 -5.46246004e-03 2.56083446e+00] [ 2.77292873e-02 -2.27002537e-04 9.99615444e-01 5.07499669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328040942 meters Centerline goodness [0,1] 0.9997653032921547 Centerline is valid? [True, True] Translation: X:24.32, Y:2.57, Z:0.51 [[ 9.78799319e-01 -2.03242622e-01 -2.53836545e-02 2.43225268e+01] [ 2.03178632e-01 9.79128393e-01 -5.10230300e-03 2.56891304e+00] [ 2.58908623e-02 -1.63285508e-04 9.99664762e-01 5.08030232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358040942 meters Centerline goodness [0,1] 0.9997225245992615 Centerline is valid? [True, True] Translation: X:24.35, Y:2.58, Z:0.51 [[ 9.78846243e-01 -2.03072686e-01 -2.49302516e-02 2.43496364e+01] [ 2.03010839e-01 9.79163654e-01 -5.01381435e-03 2.57570608e+00] [ 2.54289650e-02 -1.53357976e-04 9.99676620e-01 5.08823571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388040942 meters Centerline goodness [0,1] 0.9997229562697127 Centerline is valid? [True, True] Translation: X:24.38, Y:2.58, Z:0.51 [[ 9.78897385e-01 -2.02914442e-01 -2.41999640e-02 2.43758635e+01] [ 2.02855951e-01 9.79196461e-01 -4.87371962e-03 2.58143813e+00] [ 2.46854672e-02 -1.38235302e-04 9.99695258e-01 5.09003245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418040942 meters Centerline goodness [0,1] 0.9997453526865292 Centerline is valid? [True, True] Translation: X:24.40, Y:2.59, Z:0.51 [[ 9.78783224e-01 -2.03526715e-01 -2.36701591e-02 2.44031242e+01] [ 2.03470860e-01 9.79069382e-01 -4.77017611e-03 2.58763992e+00] [ 2.41455864e-02 -1.47219289e-04 9.99708442e-01 5.09611515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448040942 meters Centerline goodness [0,1] 0.9997653032921547 Centerline is valid? [True, True] Translation: X:24.43, Y:2.59, Z:0.51 [[ 9.78591288e-01 -2.04595719e-01 -2.23535848e-02 2.44309580e+01] [ 2.04546043e-01 9.78846549e-01 -4.51102415e-03 2.59398679e+00] [ 2.28036656e-02 -1.57888392e-04 9.99739950e-01 5.10518601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478040942 meters Centerline goodness [0,1] 0.9997873833266004 Centerline is valid? [True, True] Translation: X:24.46, Y:2.60, Z:0.51 [[ 9.78271245e-01 -2.06332413e-01 -2.03053371e-02 2.44582475e+01] [ 2.06291678e-01 9.78481939e-01 -4.10349958e-03 2.59910769e+00] [ 2.07150906e-02 -1.74486418e-04 9.99785404e-01 5.11587876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508040942 meters Centerline goodness [0,1] 0.999830504883578 Centerline is valid? [True, True] Translation: X:24.49, Y:2.60, Z:0.51 [[ 9.78001077e-01 -2.07590130e-01 -2.04995244e-02 2.44868751e+01] [ 2.07548857e-01 9.78215875e-01 -4.14425222e-03 2.60438097e+00] [ 2.09132661e-02 -2.01569718e-04 9.99781273e-01 5.11826508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538040942 meters Centerline goodness [0,1] 0.9998520491196923 Centerline is valid? [True, True] Translation: X:24.51, Y:2.61, Z:0.51 [[ 9.77730538e-01 -2.08849160e-01 -2.06161038e-02 2.45143381e+01] [ 2.08807580e-01 9.77947840e-01 -4.17329021e-03 2.60905962e+00] [ 2.10330623e-02 -2.24445456e-04 9.99778755e-01 5.11744516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568040942 meters Centerline goodness [0,1] 0.9998946703180956 Centerline is valid? [True, True] Translation: X:24.54, Y:2.61, Z:0.51 [[ 9.77478526e-01 -2.09989344e-01 -2.09810879e-02 2.45415844e+01] [ 2.09946478e-01 9.77703643e-01 -4.25011328e-03 2.61329902e+00] [ 2.14057645e-02 -2.50511048e-04 9.99770839e-01 5.11241031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598040942 meters Centerline goodness [0,1] 0.9998312983699205 Centerline is valid? [True, True] Translation: X:24.57, Y:2.62, Z:0.51 [[ 9.77388834e-01 -2.10417628e-01 -2.08683749e-02 2.45693742e+01] [ 2.10375289e-01 9.77611557e-01 -4.22872843e-03 2.61955064e+00] [ 2.12909635e-02 -2.57078455e-04 9.99773289e-01 5.11876777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628040942 meters Centerline goodness [0,1] 0.9998316781686585 Centerline is valid? [True, True] Translation: X:24.60, Y:2.63, Z:0.51 [[ 9.77466564e-01 -2.10143461e-01 -1.99710124e-02 2.45963274e+01] [ 2.10104517e-01 9.77670533e-01 -4.05235369e-03 2.62719053e+00] [ 2.03766459e-02 -2.34959668e-04 9.99792347e-01 5.12975986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658040942 meters Centerline goodness [0,1] 0.9998945681511471 Centerline is valid? [True, True] Translation: X:24.62, Y:2.63, Z:0.51 [[ 9.77568445e-01 -2.09746801e-01 -1.91367553e-02 2.46230695e+01] [ 2.09710865e-01 9.77755713e-01 -3.88826780e-03 2.63497700e+00] [ 1.95266235e-02 -2.12137583e-04 9.99809315e-01 5.13553097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688040942 meters Centerline goodness [0,1] 0.9998734284026665 Centerline is valid? [True, True] Translation: X:24.65, Y:2.64, Z:0.51 [[ 9.77751485e-01 -2.08913076e-01 -1.89039748e-02 2.46498175e+01] [ 2.08877735e-01 9.77934196e-01 -3.84713341e-03 2.64159064e+00] [ 1.92905598e-02 -1.87079018e-04 9.99813902e-01 5.14421869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718040942 meters Centerline goodness [0,1] 0.9999152255001695 Centerline is valid? [True, True] Translation: X:24.68, Y:2.65, Z:0.51 [[ 9.78017652e-01 -2.07574336e-01 -1.98587068e-02 2.46781909e+01] [ 2.07535029e-01 9.78219233e-01 -4.04282866e-03 2.64881884e+00] [ 2.02653564e-02 -1.67419498e-04 9.99794623e-01 5.14823532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748040942 meters Centerline goodness [0,1] 0.9999156438483277 Centerline is valid? [True, True] Translation: X:24.71, Y:2.65, Z:0.52 [[ 9.78080296e-01 -2.07193686e-01 -2.07294746e-02 2.47053673e+01] [ 2.07150646e-01 9.78299929e-01 -4.22602109e-03 2.65364233e+00] [ 2.11552484e-02 -1.60736081e-04 9.99776190e-01 5.15247492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778040942 meters Centerline goodness [0,1] 0.9998518769308901 Centerline is valid? [True, True] Translation: X:24.73, Y:2.66, Z:0.52 [[ 9.78117412e-01 -2.06877357e-01 -2.20927062e-02 2.47315076e+01] [ 2.06828340e-01 9.78366870e-01 -4.50606507e-03 2.65897977e+00] [ 2.25469747e-02 -1.61937060e-04 9.99745772e-01 5.15595007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808040941999998 meters Centerline goodness [0,1] 0.9998940363667189 Centerline is valid? [True, True] Translation: X:24.76, Y:2.67, Z:0.52 [[ 9.78029092e-01 -2.07313277e-01 -2.19157632e-02 2.47593297e+01] [ 2.07265095e-01 9.78274592e-01 -4.47252257e-03 2.66528444e+00] [ 2.23668476e-02 -1.68115550e-04 9.99749817e-01 5.16061218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.838040942 meters Centerline goodness [0,1] 0.9998940363667189 Centerline is valid? [True, True] Translation: X:24.79, Y:2.67, Z:0.52 [[ 9.77973271e-01 -2.07576572e-01 -2.19145565e-02 2.47863065e+01] [ 2.07528324e-01 9.78218758e-01 -4.47842730e-03 2.67090198e+00] [ 2.23668469e-02 -1.68108984e-04 9.99749817e-01 5.16699156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868040942 meters Centerline goodness [0,1] 0.9999364245147071 Centerline is valid? [True, True] Translation: X:24.81, Y:2.68, Z:0.52 [[ 9.77791630e-01 -2.08436708e-01 -2.18555924e-02 2.48136576e+01] [ 2.08388798e-01 9.78035841e-01 -4.47248026e-03 2.67720719e+00] [ 2.23077818e-02 -1.81306869e-04 9.99751134e-01 5.17496510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898040941999998 meters Centerline goodness [0,1] 0.9999362597203927 Centerline is valid? [True, True] Translation: X:24.84, Y:2.68, Z:0.52 [[ 9.77573941e-01 -2.09517417e-01 -2.12518516e-02 2.48412457e+01] [ 2.09472238e-01 9.77804896e-01 -4.35515327e-03 2.68230056e+00] [ 2.16926450e-02 -1.94188572e-04 9.99764668e-01 5.19380565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928040942 meters Centerline goodness [0,1] 0.9998941328421097 Centerline is valid? [True, True] Translation: X:24.87, Y:2.69, Z:0.52 [[ 9.77446291e-01 -2.10084980e-01 -2.15185823e-02 2.48684127e+01] [ 2.10038731e-01 9.77683107e-01 -4.41281984e-03 2.68646241e+00] [ 2.19654216e-02 -2.06441324e-04 9.99758710e-01 5.20415378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.958040942 meters Centerline goodness [0,1] 0.9999153600372416 Centerline is valid? [True, True] Translation: X:24.90, Y:2.69, Z:0.52 [[ 9.77014651e-01 -2.12150046e-01 -2.08501657e-02 2.48972654e+01] [ 2.12107064e-01 9.77237074e-01 -4.27725737e-03 2.69046893e+00] [ 2.12829753e-02 -2.43524310e-04 9.99773462e-01 5.22196343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988040941999998 meters Centerline goodness [0,1] 0.9999363989060612 Centerline is valid? [True, True] Translation: X:24.93, Y:2.70, Z:0.52 [[ 9.76769750e-01 -2.13283912e-01 -2.07564252e-02 2.49252878e+01] [ 2.13241468e-01 9.76990227e-01 -4.26288137e-03 2.69667662e+00] [ 2.11880286e-02 -2.62277022e-04 9.99775474e-01 5.23061076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018040942 meters Centerline goodness [0,1] 0.9999576764363559 Centerline is valid? [True, True] Translation: X:24.95, Y:2.70, Z:0.52 [[ 9.76537672e-01 -2.14281592e-01 -2.13910134e-02 2.49522482e+01] [ 2.14236629e-01 9.76771886e-01 -4.39885586e-03 2.70155089e+00] [ 2.18367343e-02 -2.87090134e-04 9.99761509e-01 5.23700862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048040942 meters Centerline goodness [0,1] 0.9999576504467877 Centerline is valid? [True, True] Translation: X:24.98, Y:2.71, Z:0.52 [[ 9.76173974e-01 -2.15937687e-01 -2.13374591e-02 2.49804798e+01] [ 2.15893309e-01 9.76407093e-01 -4.38947736e-03 2.70699755e+00] [ 2.17819000e-02 -3.21721091e-04 9.99762695e-01 5.23567095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.078040942 meters Centerline goodness [0,1] 0.999978855221703 Centerline is valid? [True, True] Translation: X:25.01, Y:2.71, Z:0.52 [[ 9.76047871e-01 -2.16513972e-01 -2.12662710e-02 2.50081025e+01] [ 2.16469915e-01 9.76279464e-01 -4.37992525e-03 2.71270401e+00] [ 2.17101387e-02 -3.28491164e-04 9.99764253e-01 5.24132461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108040942 meters Centerline goodness [0,1] 0.999978807722466 Centerline is valid? [True, True] Translation: X:25.03, Y:2.72, Z:0.53 [[ 9.76112103e-01 -2.16273676e-01 -2.07571642e-02 2.50343164e+01] [ 2.16231525e-01 9.76332731e-01 -4.28097257e-03 2.71769509e+00] [ 2.11917605e-02 -3.09644114e-04 9.99775381e-01 5.25535684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138040942 meters Centerline goodness [0,1] 0.9999788462758868 Centerline is valid? [True, True] Translation: X:25.06, Y:2.72, Z:0.53 [[ 9.76324126e-01 -2.15291918e-01 -2.09902423e-02 2.50618932e+01] [ 2.15248533e-01 9.76549695e-01 -4.33157839e-03 2.72261106e+00] [ 2.14305685e-02 -2.89094370e-04 9.99770297e-01 5.26474739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168040942 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:25.09, Y:2.73, Z:0.53 [[ 9.76470651e-01 -2.14570288e-01 -2.15559711e-02 2.50893481e+01] [ 2.14524298e-01 9.76708510e-01 -4.45097410e-03 2.73080157e+00] [ 2.20089472e-02 -2.78034001e-04 9.99757735e-01 5.26601013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.12, Y:2.74, Z:0.53 [[ 9.76865855e-01 -2.12624850e-01 -2.28861294e-02 2.51166741e+01] [ 2.12572337e-01 9.77133877e-01 -4.73149903e-03 2.73699587e+00] [ 2.33688467e-02 -2.42918184e-04 9.99726882e-01 5.25854362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228040942 meters Centerline goodness [0,1] 0.9999786105407256 Centerline is valid? [True, True] Translation: X:25.14, Y:2.74, Z:0.53 [[ 9.76984791e-01 -2.12096681e-01 -2.27094020e-02 2.51442864e+01] [ 2.12044789e-01 9.77248662e-01 -4.69689304e-03 2.74318094e+00] [ 2.31889282e-02 -2.26617302e-04 9.99731075e-01 5.26598287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258040942 meters Centerline goodness [0,1] 0.9999785890161653 Centerline is valid? [True, True] Translation: X:25.17, Y:2.75, Z:0.53 [[ 9.77324155e-01 -2.10587157e-01 -2.21482414e-02 2.51715900e+01] [ 2.10537274e-01 9.77575070e-01 -4.58687447e-03 2.74926560e+00] [ 2.26175054e-02 -1.80167146e-04 9.99744175e-01 5.28367953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.20, Y:2.75, Z:0.53 [[ 9.77494329e-01 -2.09836660e-01 -2.17580459e-02 2.51992909e+01] [ 2.09788293e-01 9.77736443e-01 -4.50788487e-03 2.75474277e+00] [ 2.22195539e-02 -1.58151413e-04 9.99753103e-01 5.29824006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.23, Y:2.76, Z:0.53 [[ 9.77493141e-01 -2.09917852e-01 -2.10156013e-02 2.52265177e+01] [ 2.09872719e-01 9.77719015e-01 -4.35544097e-03 2.76032424e+00] [ 2.14616379e-02 -1.53187730e-04 9.99769661e-01 5.31041310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.25, Y:2.76, Z:0.53 [[ 9.77471277e-01 -2.09995923e-01 -2.12512372e-02 2.52532048e+01] [ 2.09949661e-01 9.77702250e-01 -4.41025636e-03 2.76451775e+00] [ 2.17035183e-02 -1.50791135e-04 9.99764440e-01 5.32129477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.28, Y:2.77, Z:0.53 [[ 9.77344994e-01 -2.10608095e-01 -2.09998171e-02 2.52811074e+01] [ 2.10563016e-01 9.77570563e-01 -4.36023181e-03 2.76963998e+00] [ 2.14471031e-02 -1.60334088e-04 9.99769972e-01 5.32978526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.31, Y:2.77, Z:0.53 [[ 9.77223290e-01 -2.11187483e-01 -2.08444043e-02 2.53086696e+01] [ 2.11143086e-01 9.77445558e-01 -4.33338203e-03 2.77499994e+00] [ 2.12894264e-02 -1.66469993e-04 9.99773341e-01 5.33480263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.34, Y:2.78, Z:0.53 [[ 9.76891388e-01 -2.12753825e-01 -2.04701407e-02 2.53361788e+01] [ 2.12711228e-01 9.77105815e-01 -4.26147957e-03 2.77733687e+00] [ 2.09081395e-02 -1.91226065e-04 9.99781383e-01 5.34480214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.37, Y:2.78, Z:0.54 [[ 9.76644948e-01 -2.13897202e-01 -2.03133700e-02 2.53650343e+01] [ 2.13855474e-01 9.76856152e-01 -4.23018379e-03 2.78250334e+00] [ 2.07480649e-02 -2.12737737e-04 9.99784713e-01 5.35163574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.39, Y:2.79, Z:0.54 [[ 9.76286280e-01 -2.15480447e-01 -2.08152937e-02 2.53925612e+01] [ 2.15436878e-01 9.76508124e-01 -4.34000954e-03 2.78511218e+00] [ 2.12614906e-02 -2.47290117e-04 9.99773918e-01 5.36107333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.42, Y:2.79, Z:0.54 [[ 9.76081416e-01 -2.16435920e-01 -2.05075880e-02 2.54212156e+01] [ 2.16393812e-01 9.76296791e-01 -4.27720444e-03 2.79144703e+00] [ 2.09472330e-02 -2.62815380e-04 9.99780548e-01 5.36582916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.45, Y:2.80, Z:0.54 [[ 9.75928147e-01 -2.17127787e-01 -2.04884271e-02 2.54484463e+01] [ 2.17085813e-01 9.76143150e-01 -4.27785533e-03 2.79681631e+00] [ 2.09284791e-02 -2.72867433e-04 9.99780938e-01 5.36948214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.48, Y:2.80, Z:0.54 [[ 9.75644673e-01 -2.18368663e-01 -2.07990246e-02 2.54761308e+01] [ 2.18325564e-01 9.75866301e-01 -4.34853952e-03 2.80143884e+00] [ 2.12466519e-02 -2.98329360e-04 9.99774220e-01 5.36963088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.50, Y:2.81, Z:0.54 [[ 9.75523288e-01 -2.18882100e-01 -2.10936469e-02 2.55034585e+01] [ 2.18837840e-01 9.75751264e-01 -4.41252317e-03 2.80694361e+00] [ 2.15479750e-02 -3.11569033e-04 9.99767767e-01 5.37321060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:2.81, Z:0.54 [[ 9.75310242e-01 -2.19730018e-01 -2.21054442e-02 2.55310366e+01] [ 2.19681490e-01 9.75560661e-01 -4.63027459e-03 2.81128175e+00] [ 2.25826121e-02 -3.40202697e-04 9.99744922e-01 5.36667600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.56, Y:2.82, Z:0.54 [[ 9.75118687e-01 -2.20480438e-01 -2.30634563e-02 2.55599057e+01] [ 2.20427753e-01 9.75391326e-01 -4.83387855e-03 2.81654741e+00] [ 2.35616709e-02 -3.70220547e-04 9.99722317e-01 5.36456501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:2.82, Z:0.54 [[ 9.74808549e-01 -2.21693858e-01 -2.44974745e-02 2.55873668e+01] [ 2.21634661e-01 9.75116228e-01 -5.13996801e-03 2.82108821e+00] [ 2.50273842e-02 -4.19004690e-04 9.99686678e-01 5.35753235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:2.83, Z:0.54 [[ 9.74671511e-01 -2.22303560e-01 -2.44248196e-02 2.56149680e+01] [ 2.22244850e-01 9.74977405e-01 -5.12694930e-03 2.82607669e+00] [ 2.49533864e-02 -4.31198952e-04 9.99688523e-01 5.36601272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.64, Y:2.83, Z:0.54 [[ 9.74547875e-01 -2.22876663e-01 -2.41336170e-02 2.56427517e+01] [ 2.22819372e-01 9.74846554e-01 -5.07182519e-03 2.83120747e+00] [ 2.46569649e-02 -4.34700930e-04 9.99695876e-01 5.37593480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.67, Y:2.84, Z:0.54 [[ 9.74303291e-01 -2.23921673e-01 -2.43347691e-02 2.56705790e+01] [ 2.23863603e-01 9.74607035e-01 -5.11996133e-03 2.83561504e+00] [ 2.48633074e-02 -4.59273907e-04 9.99690755e-01 5.38518241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828040941999998 meters Centerline goodness [0,1] 0.999935504675911 Centerline is valid? [True, True] Translation: X:25.70, Y:2.84, Z:0.54 [[ 9.74063535e-01 -2.24877374e-01 -2.51077039e-02 2.56988346e+01] [ 2.24815813e-01 9.74386946e-01 -5.28492045e-03 2.84075880e+00] [ 2.56530779e-02 -4.96760567e-04 9.99670782e-01 5.38214899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.73, Y:2.85, Z:0.54 [[ 9.74033701e-01 -2.25122440e-01 -2.40465311e-02 2.57255444e+01] [ 2.25065929e-01 9.74330365e-01 -5.06639354e-03 2.84639930e+00] [ 2.45698243e-02 -4.77216816e-04 9.99698002e-01 5.39898620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.75, Y:2.85, Z:0.54 [[ 9.73983564e-01 -2.25347883e-01 -2.39655676e-02 2.57532873e+01] [ 2.25291753e-01 9.74278247e-01 -5.05206905e-03 2.85257170e+00] [ 2.44876043e-02 -4.78612538e-04 9.99700019e-01 5.40680749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.78, Y:2.86, Z:0.54 [[ 9.73916781e-01 -2.25628571e-01 -2.40385592e-02 2.57810980e+01] [ 2.25572040e-01 9.74213281e-01 -5.07331831e-03 2.85851432e+00] [ 2.45633692e-02 -4.81436995e-04 9.99698159e-01 5.41195924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.81, Y:2.86, Z:0.54 [[ 9.73922660e-01 -2.25659613e-01 -2.35029881e-02 2.58081056e+01] [ 2.25605449e-01 9.74206098e-01 -4.96584147e-03 2.86423137e+00] [ 2.40173442e-02 -4.66056660e-04 9.99711433e-01 5.42159402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.83, Y:2.87, Z:0.54 [[ 9.74113925e-01 -2.24818518e-01 -2.36367242e-02 2.58346096e+01] [ 2.24763354e-01 9.74400553e-01 -4.99965276e-03 2.87113465e+00] [ 2.41556516e-02 -4.42438021e-04 9.99708112e-01 5.43620379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.86, Y:2.88, Z:0.54 [[ 9.74169538e-01 -2.24574666e-01 -2.36628658e-02 2.58615402e+01] [ 2.24519262e-01 9.74456787e-01 -5.00710298e-03 2.87840452e+00] [ 2.41829087e-02 -4.35001975e-04 9.99707456e-01 5.44152455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.89, Y:2.89, Z:0.54 [[ 9.74488924e-01 -2.23163351e-01 -2.38632683e-02 2.58885074e+01] [ 2.23106445e-01 9.74780981e-01 -5.05507143e-03 2.88663689e+00] [ 2.43895668e-02 -3.97937854e-04 9.99702451e-01 5.44768732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.92, Y:2.89, Z:0.55 [[ 9.74623839e-01 -2.22533447e-01 -2.42329608e-02 2.59159058e+01] [ 2.22474523e-01 9.74924979e-01 -5.13526398e-03 2.89361598e+00] [ 2.47680868e-02 -3.86265695e-04 9.99693149e-01 5.45359243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.94, Y:2.90, Z:0.55 [[ 9.74771371e-01 -2.21855244e-01 -2.45157974e-02 2.59434449e+01] [ 2.21794649e-01 9.75079542e-01 -5.19810369e-03 2.90156360e+00] [ 2.50580790e-02 -3.70510023e-04 9.99685928e-01 5.45975670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.97, Y:2.91, Z:0.55 [[ 9.74965172e-01 -2.20978179e-01 -2.47296864e-02 2.59715570e+01] [ 2.20916112e-01 9.75278691e-01 -5.24852572e-03 2.91057035e+00] [ 2.52781458e-02 -3.46056376e-04 9.99680397e-01 5.46367933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.00, Y:2.92, Z:0.55 [[ 9.74899861e-01 -2.21290430e-01 -2.45113389e-02 2.59974523e+01] [ 2.21229433e-01 9.75207888e-01 -5.20695082e-03 2.92250928e+00] [ 2.50558994e-02 -3.46373964e-04 9.99685992e-01 5.48163288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.03, Y:2.93, Z:0.55 [[ 9.74583807e-01 -2.22608048e-01 -2.51408165e-02 2.60255655e+01] [ 2.22544129e-01 9.74907950e-01 -5.34793357e-03 2.92893781e+00] [ 2.57004749e-02 -3.82931646e-04 9.99669615e-01 5.48959941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.05, Y:2.94, Z:0.55 [[ 9.74390953e-01 -2.23362967e-01 -2.59086126e-02 2.60540470e+01] [ 2.23295172e-01 9.74735255e-01 -5.51797380e-03 2.93564575e+00] [ 2.64865491e-02 -4.08604363e-04 9.99649086e-01 5.49026562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.08, Y:2.94, Z:0.55 [[ 9.74154803e-01 -2.24368564e-01 -2.60991745e-02 2.60810986e+01] [ 2.24299965e-01 9.74504264e-01 -5.56469443e-03 2.94133613e+00] [ 2.66822993e-02 -4.33170098e-04 9.99643870e-01 5.49078497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278040942 meters Centerline goodness [0,1] 0.9999788193929638 Centerline is valid? [True, True] Translation: X:26.11, Y:2.95, Z:0.55 [[ 9.73943933e-01 -2.25262946e-01 -2.62644448e-02 2.61085359e+01] [ 2.25193737e-01 9.74297899e-01 -5.60231178e-03 2.94605253e+00] [ 2.68513866e-02 -4.58250910e-04 9.99639331e-01 5.49757353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:2.95, Z:0.55 [[ 9.73827252e-01 -2.25752538e-01 -2.63870145e-02 2.61360844e+01] [ 2.25682777e-01 9.74184567e-01 -5.63152924e-03 2.95272220e+00] [ 2.69771543e-02 -4.70958061e-04 9.99635939e-01 5.50603845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:2.96, Z:0.55 [[ 9.73785568e-01 -2.25928003e-01 -2.64235557e-02 2.61633084e+01] [ 2.25857912e-01 9.74143889e-01 -5.64681431e-03 2.95857577e+00] [ 2.70161188e-02 -4.69182837e-04 9.99634888e-01 5.51142484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.19, Y:2.96, Z:0.55 [[ 9.73738834e-01 -2.26142654e-01 -2.63093903e-02 2.61891863e+01] [ 2.26073055e-01 9.74094083e-01 -5.62947613e-03 2.96478831e+00] [ 2.69008861e-02 -4.66204728e-04 9.99637997e-01 5.51061500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.22, Y:2.97, Z:0.55 [[ 9.73842973e-01 -2.25780997e-01 -2.55500730e-02 2.62166395e+01] [ 2.25715105e-01 9.74177986e-01 -5.47193307e-03 2.97468062e+00] [ 2.61257771e-02 -4.38233842e-04 9.99658568e-01 5.51561174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.24, Y:2.98, Z:0.55 [[ 9.73941148e-01 -2.25300769e-01 -2.60423372e-02 2.62438056e+01] [ 2.25231981e-01 9.74289167e-01 -5.58339725e-03 2.97986166e+00] [ 2.66307107e-02 -4.27666874e-04 9.99645248e-01 5.51781794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.27, Y:2.99, Z:0.55 [[ 9.74035754e-01 -2.24917198e-01 -2.58186892e-02 2.62719791e+01] [ 2.24849379e-01 9.74377794e-01 -5.53820523e-03 2.98781679e+00] [ 2.64027951e-02 -4.10906332e-04 9.99651301e-01 5.52340612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.30, Y:3.00, Z:0.55 [[ 9.74046040e-01 -2.24884961e-01 -2.57112219e-02 2.62994622e+01] [ 2.24817522e-01 9.74385238e-01 -5.52170584e-03 2.99531348e+00] [ 2.62943836e-02 -4.01937470e-04 9.99654162e-01 5.53024240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.33, Y:3.00, Z:0.55 [[ 9.74126053e-01 -2.24468779e-01 -2.63096992e-02 2.63269519e+01] [ 2.24397817e-01 9.74481202e-01 -5.65744133e-03 3.00084197e+00] [ 2.69082262e-02 -3.92778060e-04 9.99637831e-01 5.52880099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:3.01, Z:0.55 [[ 9.74108402e-01 -2.24571594e-01 -2.60848808e-02 2.63544594e+01] [ 2.24501795e-01 9.74457515e-01 -5.61213758e-03 3.00831894e+00] [ 2.66789348e-02 -3.89272208e-04 9.99643978e-01 5.53343612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.38, Y:3.02, Z:0.55 [[ 9.74315309e-01 -2.23701095e-01 -2.58359951e-02 2.63819994e+01] [ 2.23632125e-01 9.74657732e-01 -5.56586521e-03 3.01529754e+00] [ 2.64263425e-02 -3.54850776e-04 9.99650700e-01 5.53378818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:3.02, Z:0.55 [[ 9.74401945e-01 -2.23340841e-01 -2.56849767e-02 2.64094447e+01] [ 2.23272378e-01 9.74740353e-01 -5.53983453e-03 3.02213235e+00] [ 2.62734546e-02 -3.36720294e-04 9.99654736e-01 5.54184492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.44, Y:3.03, Z:0.56 [[ 9.74587454e-01 -2.22561179e-01 -2.54129248e-02 2.64375434e+01] [ 2.22493709e-01 9.74918678e-01 -5.48826555e-03 3.02916644e+00] [ 2.59970099e-02 -3.05421146e-04 9.99661974e-01 5.55001731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.47, Y:3.04, Z:0.56 [[ 9.75094773e-01 -2.20474133e-01 -2.41109840e-02 2.64654044e+01] [ 2.20412620e-01 9.75392794e-01 -5.21285726e-03 3.03801137e+00] [ 2.46669802e-02 -2.31335286e-04 9.99695697e-01 5.56534794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.49, Y:3.04, Z:0.56 [[ 9.75327486e-01 -2.19460304e-01 -2.39472390e-02 2.64922742e+01] [ 2.19399171e-01 9.75621410e-01 -5.18344551e-03 3.04425460e+00] [ 2.45009996e-02 -1.98447511e-04 9.99699786e-01 5.56876000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.52, Y:3.05, Z:0.56 [[ 9.75715473e-01 -2.17759118e-01 -2.36702749e-02 2.65190676e+01] [ 2.17698837e-01 9.76002533e-01 -5.12569315e-03 3.05334373e+00] [ 2.42184147e-02 -1.51773212e-04 9.99706680e-01 5.56727346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.55, Y:3.06, Z:0.56 [[ 9.75657353e-01 -2.18019446e-01 -2.36696028e-02 2.65459721e+01] [ 2.17959167e-01 9.75944413e-01 -5.12879484e-03 3.05927941e+00] [ 2.42183937e-02 -1.55060513e-04 9.99706680e-01 5.57366202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.57, Y:3.07, Z:0.56 [[ 9.75781298e-01 -2.17489971e-01 -2.34301421e-02 2.65732889e+01] [ 2.17430597e-01 9.76062546e-01 -5.08338837e-03 3.06671884e+00] [ 2.39748701e-02 -1.34154485e-04 9.99712552e-01 5.57494316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:3.07, Z:0.56 [[ 9.75817702e-01 -2.17355977e-01 -2.31558149e-02 2.66002714e+01] [ 2.17297797e-01 9.76092395e-01 -5.03023320e-03 3.07286971e+00] [ 2.36955661e-02 -1.23116964e-04 9.99719213e-01 5.58027813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.63, Y:3.08, Z:0.56 [[ 9.75672306e-01 -2.18009953e-01 -2.31346502e-02 2.66281356e+01] [ 2.17951911e-01 9.75946537e-01 -5.03204299e-03 3.07730982e+00] [ 2.36752172e-02 -1.32616243e-04 9.99719694e-01 5.59503230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:3.08, Z:0.56 [[ 9.75552153e-01 -2.18530025e-01 -2.32943244e-02 2.66556046e+01] [ 2.18471163e-01 9.75830215e-01 -5.07364328e-03 3.08305974e+00] [ 2.38400490e-02 -1.39534530e-04 9.99715776e-01 5.60192796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908040942 meters Centerline goodness [0,1] 0.9999786698519688 Centerline is valid? [True, True] Translation: X:26.68, Y:3.09, Z:0.56 [[ 9.75340848e-01 -2.19506841e-01 -2.29559868e-02 2.66823511e+01] [ 2.19449790e-01 9.75610949e-01 -5.00667017e-03 3.08886495e+00] [ 2.34951104e-02 -1.54476558e-04 9.99723940e-01 5.60124271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.71, Y:3.10, Z:0.56 [[ 9.75112695e-01 -2.20499889e-01 -2.31307575e-02 2.67094411e+01] [ 2.20442184e-01 9.75386984e-01 -5.04736814e-03 3.09566038e+00] [ 2.36743839e-02 -1.77241936e-04 9.99719707e-01 5.60213195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.74, Y:3.10, Z:0.56 [[ 9.74883753e-01 -2.21514561e-01 -2.30860955e-02 2.67368136e+01] [ 2.21457312e-01 9.75157044e-01 -5.03977563e-03 3.10127578e+00] [ 2.36289523e-02 -1.99389278e-04 9.99720777e-01 5.60560202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.76, Y:3.11, Z:0.56 [[ 9.74356887e-01 -2.23801618e-01 -2.32700001e-02 2.67649721e+01] [ 2.23743945e-01 9.74634687e-01 -5.08662680e-03 3.10529512e+00] [ 2.38181446e-02 -2.50331766e-04 9.99716276e-01 5.61326035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:3.11, Z:0.56 [[ 9.73978385e-01 -2.25436824e-01 -2.33311736e-02 2.67932316e+01] [ 2.25379262e-01 9.74257746e-01 -5.10227109e-03 3.11018863e+00] [ 2.38808164e-02 -2.88860926e-04 9.99714771e-01 5.62410329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.82, Y:3.12, Z:0.56 [[ 9.73648540e-01 -2.26878092e-01 -2.31268491e-02 2.68212636e+01] [ 2.26821800e-01 9.73923114e-01 -5.06352319e-03 3.11574053e+00] [ 2.36725753e-02 -3.15581574e-04 9.99719716e-01 5.63060752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:3.12, Z:0.56 [[ 9.73354373e-01 -2.28192841e-01 -2.25675115e-02 2.68484429e+01] [ 2.28139457e-01 9.73615898e-01 -4.94692701e-03 3.12038086e+00] [ 2.31009413e-02 -3.33426778e-04 9.99733082e-01 5.64000837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.88, Y:3.13, Z:0.56 [[ 9.72807077e-01 -2.30514693e-01 -2.25691690e-02 2.68755952e+01] [ 2.30461877e-01 9.73068768e-01 -4.94941162e-03 3.12507185e+00] [ 2.31022656e-02 -3.86510392e-04 9.99733032e-01 5.63951515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.90, Y:3.13, Z:0.56 [[ 9.72728670e-01 -2.30801490e-01 -2.30131927e-02 2.69016600e+01] [ 2.30746603e-01 9.73000778e-01 -5.04898008e-03 3.13007707e+00] [ 2.35571665e-02 -3.98928353e-04 9.99722412e-01 5.64413840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.93, Y:3.14, Z:0.56 [[ 9.72576778e-01 -2.31387888e-01 -2.35383970e-02 2.69287389e+01] [ 2.31330560e-01 9.72861485e-01 -5.16744742e-03 3.13649723e+00] [ 2.40952846e-02 -4.19411211e-04 9.99709579e-01 5.64387690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.96, Y:3.14, Z:0.57 [[ 9.72570242e-01 -2.31423059e-01 -2.34625805e-02 2.69562362e+01] [ 2.31365947e-01 9.72853122e-01 -5.15761846e-03 3.14150189e+00] [ 2.40192365e-02 -4.12295915e-04 9.99711412e-01 5.65187336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.238040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.98, Y:3.15, Z:0.57 [[ 9.72533787e-01 -2.31584886e-01 -2.33767764e-02 2.69841007e+01] [ 2.31528076e-01 9.72814614e-01 -5.14549896e-03 3.14673388e+00] [ 2.39328895e-02 -4.08208462e-04 9.99713484e-01 5.66287875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.01, Y:3.15, Z:0.57 [[ 9.72727677e-01 -2.30785072e-01 -2.32188853e-02 2.70121567e+01] [ 2.30728641e-01 9.73004680e-01 -5.11738889e-03 3.15290984e+00] [ 2.37731010e-02 -3.79436027e-04 9.99717308e-01 5.67582856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.04, Y:3.16, Z:0.57 [[ 9.72851789e-01 -2.30282408e-01 -2.30089064e-02 2.70400131e+01] [ 2.30226717e-01 9.73123777e-01 -5.07686161e-03 3.15975495e+00] [ 2.35596258e-02 -3.58231083e-04 9.99722369e-01 5.68579452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.07, Y:3.17, Z:0.57 [[ 9.73522604e-01 -2.27464248e-01 -2.26661524e-02 2.70673228e+01] [ 2.27409310e-01 9.73786392e-01 -5.00682739e-03 3.16837029e+00] [ 2.32108650e-02 -2.80234435e-04 9.99730552e-01 5.69354768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.09, Y:3.17, Z:0.57 [[ 9.73911358e-01 -2.25757247e-01 -2.30289269e-02 2.70943604e+01] [ 2.25699921e-01 9.74183560e-01 -5.09280829e-03 3.17441056e+00] [ 2.35841404e-02 -2.37683137e-04 9.99721827e-01 5.69804435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:3.18, Z:0.57 [[ 9.74727364e-01 -2.22199339e-01 -2.31088681e-02 2.71222665e+01] [ 2.22140562e-01 9.75001247e-01 -5.11263498e-03 3.18309605e+00] [ 2.36671993e-02 -1.49991746e-04 9.99719881e-01 5.70580429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.15, Y:3.19, Z:0.57 [[ 9.75110922e-01 -2.20454498e-01 -2.36326919e-02 2.71490789e+01] [ 2.20392373e-01 9.75397254e-01 -5.23434038e-03 3.18918132e+00] [ 2.42051967e-02 -1.04402589e-04 9.99707006e-01 5.71479665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.18, Y:3.20, Z:0.57 [[ 9.75371208e-01 -2.19278515e-01 -2.38314980e-02 2.71762256e+01] [ 2.19214932e-01 9.75662302e-01 -5.28070408e-03 3.19633959e+00] [ 2.44094391e-02 -7.35734976e-05 9.99702043e-01 5.72259188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478040942 meters Centerline goodness [0,1] 0.9999578165865182 Centerline is valid? [True, True] Translation: X:27.20, Y:3.20, Z:0.57 [[ 9.76033348e-01 -2.16240320e-01 -2.44750259e-02 2.72018546e+01] [ 2.16172128e-01 9.76340168e-01 -5.43020974e-03 3.20434847e+00] [ 2.50701812e-02 9.24736954e-06 9.99685694e-01 5.72572607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508040942 meters Centerline goodness [0,1] 0.999873187640022 Centerline is valid? [True, True] Translation: X:27.23, Y:3.21, Z:0.57 [[ 9.76375943e-01 -2.14591854e-01 -2.53052204e-02 2.72290652e+01] [ 2.14518267e-01 9.76703810e-01 -5.61962480e-03 3.21142932e+00] [ 2.59216309e-02 5.84344400e-05 9.99663976e-01 5.71499353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.26, Y:3.22, Z:0.57 [[ 9.76500539e-01 -2.14109768e-01 -2.45704035e-02 2.72558540e+01] [ 2.14040073e-01 9.76809603e-01 -5.46311896e-03 3.21790881e+00] [ 2.51703132e-02 7.56876556e-05 9.99683175e-01 5.73584567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.28, Y:3.22, Z:0.58 [[ 9.76939590e-01 -2.12128661e-01 -2.42995668e-02 2.72833059e+01] [ 2.12059715e-01 9.77241738e-01 -5.40957004e-03 3.22218217e+00] [ 2.48940757e-02 1.31863944e-04 9.99690086e-01 5.75165919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.31, Y:3.23, Z:0.58 [[ 9.77023911e-01 -2.11770899e-01 -2.40284064e-02 2.73106704e+01] [ 2.11703316e-01 9.77319327e-01 -5.35162691e-03 3.22700505e+00] [ 2.46167448e-02 1.41774147e-04 9.99696952e-01 5.76714216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.34, Y:3.23, Z:0.58 [[ 9.77085427e-01 -2.11526113e-01 -2.36806119e-02 2.73367419e+01] [ 2.11460237e-01 9.77372335e-01 -5.28087529e-03 3.23348028e+00] [ 2.42618179e-02 1.52358484e-04 9.99705627e-01 5.77037480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.36, Y:3.24, Z:0.58 [[ 9.76993454e-01 -2.11923079e-01 -2.39248820e-02 2.73646188e+01] [ 2.11855875e-01 9.77286338e-01 -5.33864995e-03 3.23760331e+00] [ 2.45128434e-02 1.47199243e-04 9.99699504e-01 5.77295038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.39, Y:3.24, Z:0.58 [[ 9.76921791e-01 -2.12194547e-01 -2.44394709e-02 2.73916977e+01] [ 2.12124326e-01 9.77227431e-01 -5.46064307e-03 3.24261254e+00] [ 2.50416401e-02 1.50414903e-04 9.99686398e-01 5.77601685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.42, Y:3.25, Z:0.58 [[ 9.76805655e-01 -2.12703856e-01 -2.46532425e-02 2.74191032e+01] [ 2.12632473e-01 9.77116702e-01 -5.51199171e-03 3.24673682e+00] [ 2.52615169e-02 1.42064772e-04 9.99680867e-01 5.78548349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.45, Y:3.25, Z:0.58 [[ 9.76545186e-01 -2.13816773e-01 -2.53355046e-02 2.74458085e+01] [ 2.13741564e-01 9.76873775e-01 -5.67201883e-03 3.25074184e+00] [ 2.59623628e-02 1.23732298e-04 9.99662913e-01 5.78484572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.47, Y:3.25, Z:0.58 [[ 9.76330773e-01 -2.14774083e-01 -2.55012576e-02 2.74742883e+01] [ 2.14698110e-01 9.76663751e-01 -5.71302794e-03 3.25349706e+00] [ 2.61331643e-02 1.02733157e-04 9.99658465e-01 5.80014929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.50, Y:3.26, Z:0.58 [[ 9.75997847e-01 -2.16150430e-01 -2.65931278e-02 2.75019542e+01] [ 2.16068090e-01 9.76360070e-01 -5.96612055e-03 3.25614738e+00] [ 2.72540476e-02 7.69944773e-05 9.99628536e-01 5.80092123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.53, Y:3.26, Z:0.58 [[ 9.75754907e-01 -2.17144622e-01 -2.73966320e-02 2.75294824e+01] [ 2.17057381e-01 9.76139442e-01 -6.15496156e-03 3.26026072e+00] [ 2.80794498e-02 5.90927566e-05 9.99605693e-01 5.80926558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.56, Y:3.26, Z:0.58 [[ 9.75206551e-01 -2.19556823e-01 -2.76944895e-02 2.75578349e+01] [ 2.19468404e-01 9.75599714e-01 -6.23042620e-03 3.26285534e+00] [ 2.83866687e-02 -2.11298248e-06 9.99597017e-01 5.82021048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.58, Y:3.27, Z:0.58 [[ 9.74894914e-01 -2.20938453e-01 -2.76786393e-02 2.75847286e+01] [ 2.20850473e-01 9.75287752e-01 -6.23455080e-03 3.26670639e+00] [ 2.83720899e-02 -3.48087206e-05 9.99597431e-01 5.82517179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.61, Y:3.27, Z:0.58 [[ 9.74592822e-01 -2.22270497e-01 -2.76524541e-02 2.76122312e+01] [ 2.22183090e-01 9.74985036e-01 -6.23323078e-03 3.27060282e+00] [ 2.83461923e-02 -6.90457255e-05 9.99598164e-01 5.84292582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958040942 meters Centerline goodness [0,1] 0.9999783769758038 Centerline is valid? [True, True] Translation: X:27.64, Y:3.27, Z:0.59 [[ 9.74306950e-01 -2.23523008e-01 -2.76302602e-02 2.76403801e+01] [ 2.23436004e-01 9.74698648e-01 -6.23671841e-03 3.27409918e+00] [ 2.83252273e-02 -9.71168367e-05 9.99598756e-01 5.85784126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988040941999998 meters Centerline goodness [0,1] 0.9999132245748004 Centerline is valid? [True, True] Translation: X:27.67, Y:3.27, Z:0.59 [[ 9.73765676e-01 -2.25867257e-01 -2.76476042e-02 2.76685922e+01] [ 2.25780877e-01 9.74158076e-01 -6.24805435e-03 3.27396452e+00] [ 2.83443679e-02 -1.58159469e-04 9.99598205e-01 5.85477636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.70, Y:3.28, Z:0.59 [[ 9.73356587e-01 -2.27709993e-01 -2.69279365e-02 2.76955410e+01] [ 2.27628663e-01 9.73728976e-01 -6.08880710e-03 3.27968071e+00] [ 2.76069942e-02 -2.02989686e-04 9.99618834e-01 5.88290418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.72, Y:3.28, Z:0.59 [[ 9.72802991e-01 -2.30000412e-01 -2.74618055e-02 2.77235091e+01] [ 2.29916528e-01 9.73190495e-01 -6.21695868e-03 3.28189804e+00] [ 2.81554711e-02 -2.66046968e-04 9.99603521e-01 5.88188293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.75, Y:3.29, Z:0.59 [[ 9.72608074e-01 -2.30769804e-01 -2.79075683e-02 2.77514446e+01] [ 2.30683408e-01 9.73008332e-01 -6.32075870e-03 3.28580252e+00] [ 2.86129367e-02 -2.90192022e-04 9.99590524e-01 5.88536490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.78, Y:3.29, Z:0.59 [[ 9.72400610e-01 -2.31581985e-01 -2.84049085e-02 2.77794177e+01] [ 2.31492719e-01 9.72815339e-01 -6.43712609e-03 3.28929280e+00] [ 2.91234532e-02 -3.16064178e-04 9.99575772e-01 5.88608813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.81, Y:3.29, Z:0.59 [[ 9.72052909e-01 -2.32906778e-01 -2.94546059e-02 2.78081558e+01] [ 2.32811283e-01 9.72498997e-01 -6.67886089e-03 3.29256315e+00] [ 3.02001266e-02 -3.65158428e-04 9.99543805e-01 5.89363103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168040942 meters Centerline goodness [0,1] 0.9998909867875987 Centerline is valid? [True, True] Translation: X:27.84, Y:3.30, Z:0.59 [[ 9.71926253e-01 -2.33406530e-01 -2.96774431e-02 2.78359233e+01] [ 2.33309581e-01 9.72379170e-01 -6.73715569e-03 3.29779847e+00] [ 3.04302236e-02 -3.76013312e-04 9.99536823e-01 5.89966159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198040942 meters Centerline goodness [0,1] 0.9998254151845143 Centerline is valid? [True, True] Translation: X:27.86, Y:3.30, Z:0.59 [[ 9.71778144e-01 -2.33961628e-01 -3.01528749e-02 2.78635296e+01] [ 2.33861538e-01 9.72245753e-01 -6.85399156e-03 3.30370591e+00] [ 3.09195756e-02 -3.91038525e-04 9.99521799e-01 5.91087216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228040942 meters Centerline goodness [0,1] 0.9999344835116838 Centerline is valid? [True, True] Translation: X:27.89, Y:3.31, Z:0.59 [[ 9.71616767e-01 -2.34588197e-01 -3.04833567e-02 2.78918479e+01] [ 2.34485970e-01 9.72094754e-01 -6.93675840e-03 3.30677226e+00] [ 3.12599928e-02 -4.08048705e-04 9.99511204e-01 5.91363490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.92, Y:3.31, Z:0.59 [[ 9.71419499e-01 -2.35487281e-01 -2.98311599e-02 2.79199617e+01] [ 2.35389676e-01 9.71877339e-01 -6.79257772e-03 3.31171903e+00] [ 3.05917939e-02 -4.23504607e-04 9.99531872e-01 5.92550810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.95, Y:3.32, Z:0.59 [[ 9.71282672e-01 -2.36143940e-01 -2.90862761e-02 2.79480713e+01] [ 2.36051189e-01 9.71717994e-01 -6.63152538e-03 3.31519394e+00] [ 2.98296523e-02 -4.24764362e-04 9.99554907e-01 5.93581587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.98, Y:3.32, Z:0.59 [[ 9.71276221e-01 -2.36163454e-01 -2.91432018e-02 2.79756717e+01] [ 2.36070088e-01 9.71713254e-01 -6.65322139e-03 3.32081778e+00] [ 2.98900832e-02 -4.17722478e-04 9.99553104e-01 5.94499070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.00, Y:3.33, Z:0.59 [[ 9.71352310e-01 -2.35855023e-01 -2.91049450e-02 2.80029783e+01] [ 2.35761544e-01 9.71788170e-01 -6.65184217e-03 3.32562951e+00] [ 2.98527116e-02 -4.00544502e-04 9.99554228e-01 5.94603134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378040942 meters Centerline goodness [0,1] 0.9999562277034865 Centerline is valid? [True, True] Translation: X:28.03, Y:3.33, Z:0.59 [[ 9.71626764e-01 -2.34639616e-01 -2.97604070e-02 2.80311477e+01] [ 2.34541186e-01 9.72082361e-01 -6.80561161e-03 3.33048490e+00] [ 3.05264328e-02 -3.67526776e-04 9.99533892e-01 5.94867650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408040942 meters Centerline goodness [0,1] 0.9999781143307362 Centerline is valid? [True, True] Translation: X:28.06, Y:3.34, Z:0.60 [[ 9.71688952e-01 -2.34350238e-01 -3.00091067e-02 2.80587061e+01] [ 2.34249772e-01 9.72152170e-01 -6.87047590e-03 3.33637420e+00] [ 3.07835159e-02 -3.53660870e-04 9.99526013e-01 5.95308242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.09, Y:3.34, Z:0.60 [[ 9.71811469e-01 -2.33909739e-01 -2.94737699e-02 2.80874190e+01] [ 2.33812379e-01 9.72258262e-01 -6.75600296e-03 3.34268552e+00] [ 3.02364111e-02 -3.25771095e-04 9.99542722e-01 5.96006615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468040942 meters Centerline goodness [0,1] 0.9999341180604358 Centerline is valid? [True, True] Translation: X:28.12, Y:3.35, Z:0.60 [[ 9.71949924e-01 -2.33422224e-01 -2.87647311e-02 2.81152228e+01] [ 2.33329109e-01 9.72375430e-01 -6.59925166e-03 3.34767191e+00] [ 2.95105298e-02 -2.97506942e-04 9.99564425e-01 5.96638773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498040942 meters Centerline goodness [0,1] 0.9999781401652603 Centerline is valid? [True, True] Translation: X:28.14, Y:3.35, Z:0.60 [[ 9.71985828e-01 -2.33239339e-01 -2.90337927e-02 2.81419132e+01] [ 2.33144306e-01 9.72419316e-01 -6.66384146e-03 3.35285535e+00] [ 2.97872908e-02 -2.91903997e-04 9.99556218e-01 5.97299021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.17, Y:3.36, Z:0.60 [[ 9.71919587e-01 -2.33445010e-01 -2.95929553e-02 2.81692348e+01] [ 2.33346248e-01 9.72369959e-01 -6.79641251e-03 3.35592015e+00] [ 3.03618893e-02 -2.99838631e-04 9.99538927e-01 5.97899007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558040941999998 meters Centerline goodness [0,1] 0.9999780567014833 Centerline is valid? [True, True] Translation: X:28.20, Y:3.36, Z:0.60 [[ 9.71913211e-01 -2.33456918e-01 -2.97081959e-02 2.81969344e+01] [ 2.33357195e-01 9.72367102e-01 -6.82927381e-03 3.36081181e+00] [ 3.04816136e-02 -2.95159846e-04 9.99535284e-01 5.98769629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588040942 meters Centerline goodness [0,1] 0.9999560690594386 Centerline is valid? [True, True] Translation: X:28.22, Y:3.37, Z:0.60 [[ 9.71951729e-01 -2.33285181e-01 -2.97970043e-02 2.82241917e+01] [ 2.33184524e-01 9.72408322e-01 -6.85806953e-03 3.36639969e+00] [ 3.05747409e-02 -2.82487735e-04 9.99532443e-01 5.98906288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.25, Y:3.37, Z:0.60 [[ 9.72174638e-01 -2.32356188e-01 -2.97838033e-02 2.82510184e+01] [ 2.32254963e-01 9.72630732e-01 -6.86228313e-03 3.37255523e+00] [ 3.05631364e-02 -2.46098515e-04 9.99532808e-01 5.98653045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.28, Y:3.38, Z:0.60 [[ 9.72113841e-01 -2.32610552e-01 -2.97827251e-02 2.82778589e+01] [ 2.32509303e-01 9.72569930e-01 -6.86695947e-03 3.37885532e+00] [ 3.05631101e-02 -2.49294314e-04 9.99532808e-01 5.99292133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678040942 meters Centerline goodness [0,1] 0.9999780210119126 Centerline is valid? [True, True] Translation: X:28.31, Y:3.39, Z:0.60 [[ 9.72023156e-01 -2.32990253e-01 -2.97746032e-02 2.83055566e+01] [ 2.32888986e-01 9.72479037e-01 -6.87328096e-03 3.38549750e+00] [ 3.05565849e-02 -2.53188901e-04 9.99533006e-01 5.99729359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:3.39, Z:0.60 [[ 9.71957410e-01 -2.33446183e-01 -2.83138390e-02 2.83331376e+01] [ 2.33354619e-01 9.72369692e-01 -6.54245822e-03 3.38988523e+00] [ 2.90588308e-02 -2.48174363e-04 9.99577672e-01 6.01350504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.36, Y:3.40, Z:0.60 [[ 9.71707914e-01 -2.34540787e-01 -2.78271275e-02 2.83601509e+01] [ 2.34452695e-01 9.72106241e-01 -6.43343879e-03 3.39611347e+00] [ 2.85598281e-02 -2.72721650e-04 9.99592048e-01 6.04066059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768040942 meters Centerline goodness [0,1] 0.9999780089283751 Centerline is valid? [True, True] Translation: X:28.39, Y:3.40, Z:0.61 [[ 9.71535286e-01 -2.35337108e-01 -2.71225699e-02 2.83877979e+01] [ 2.35253536e-01 9.71913765e-01 -6.27754740e-03 3.40056607e+00] [ 2.78381389e-02 -2.81821678e-04 9.99612404e-01 6.05190919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798040942 meters Centerline goodness [0,1] 0.9999779449063761 Centerline is valid? [True, True] Translation: X:28.42, Y:3.40, Z:0.61 [[ 9.70995687e-01 -2.37582556e-01 -2.68683041e-02 2.84167889e+01] [ 2.37501315e-01 9.71367291e-01 -6.22186352e-03 3.40487087e+00] [ 2.75771980e-02 -3.39854926e-04 9.99619619e-01 6.06116294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828040941999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.44, Y:3.41, Z:0.61 [[ 9.70811833e-01 -2.38363055e-01 -2.65977048e-02 2.84444477e+01] [ 2.38283546e-01 9.71176055e-01 -6.16615471e-03 3.41065833e+00] [ 2.73008375e-02 -3.51619446e-04 9.99627201e-01 6.06240082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.47, Y:3.42, Z:0.61 [[ 9.70607315e-01 -2.39173553e-01 -2.67852785e-02 2.84717018e+01] [ 2.39093032e-01 9.70976763e-01 -6.21671967e-03 3.41625070e+00] [ 2.74947580e-02 -3.70179860e-04 9.99621879e-01 6.06309845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.50, Y:3.42, Z:0.61 [[ 9.70283856e-01 -2.40631832e-01 -2.54078816e-02 2.85004009e+01] [ 2.40559811e-01 9.70616387e-01 -5.89969889e-03 3.42246764e+00] [ 2.60809616e-02 -3.87732600e-04 9.99659759e-01 6.06514488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918040942 meters Centerline goodness [0,1] 0.9999561615010302 Centerline is valid? [True, True] Translation: X:28.53, Y:3.43, Z:0.61 [[ 9.70233219e-01 -2.40885487e-01 -2.49335841e-02 2.85273304e+01] [ 2.40816051e-01 9.70553469e-01 -5.79590281e-03 3.42893040e+00] [ 2.55955254e-02 -3.81029831e-04 9.99672308e-01 6.07053969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.55, Y:3.43, Z:0.61 [[ 9.70040556e-01 -2.41694627e-01 -2.45972975e-02 2.85545270e+01] [ 2.41627132e-01 9.70352284e-01 -5.72488087e-03 3.43445747e+00] [ 2.52517167e-02 -3.90007821e-04 9.99681048e-01 6.07742238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.58, Y:3.44, Z:0.61 [[ 9.69881928e-01 -2.42318935e-01 -2.47099010e-02 2.85823254e+01] [ 2.42250835e-01 9.70196564e-01 -5.75848689e-03 3.44090692e+00] [ 2.53688514e-02 -4.00941778e-04 9.99678078e-01 6.08228560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.61, Y:3.45, Z:0.61 [[ 9.69708931e-01 -2.42996159e-01 -2.48486604e-02 2.86094501e+01] [ 2.42927320e-01 9.70027162e-01 -5.79839594e-03 3.44706845e+00] [ 2.55128634e-02 -4.13662144e-04 9.99674408e-01 6.08992216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.64, Y:3.45, Z:0.61 [[ 9.69646150e-01 -2.43264471e-01 -2.46726628e-02 2.86356891e+01] [ 2.43196509e-01 9.69959911e-01 -5.76451362e-03 3.45302121e+00] [ 2.53337952e-02 -4.10767040e-04 9.99678964e-01 6.09493457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.66, Y:3.46, Z:0.61 [[ 9.69559578e-01 -2.43700162e-01 -2.37582666e-02 2.86628931e+01] [ 2.43637164e-01 9.69850540e-01 -5.55543457e-03 3.45934064e+00] [ 2.43958280e-02 -4.02071906e-04 9.99702297e-01 6.10846776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.69, Y:3.47, Z:0.61 [[ 9.69513163e-01 -2.43946616e-01 -2.31143982e-02 2.86897526e+01] [ 2.43887006e-01 9.69788581e-01 -5.40702539e-03 3.46748797e+00] [ 2.37351050e-02 -3.95119081e-04 9.99718205e-01 6.11642607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128040942 meters Centerline goodness [0,1] 0.999978063921732 Centerline is valid? [True, True] Translation: X:28.72, Y:3.47, Z:0.61 [[ 9.69462826e-01 -2.44170801e-01 -2.28571625e-02 2.87174894e+01] [ 2.44112412e-01 9.69732163e-01 -5.35369718e-03 3.47372813e+00] [ 2.34725422e-02 -3.89506659e-04 9.99724406e-01 6.12225705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.74, Y:3.48, Z:0.61 [[ 9.69486020e-01 -2.44075380e-01 -2.28924758e-02 2.87436827e+01] [ 2.44016620e-01 9.69756188e-01 -5.36892389e-03 3.47944183e+00] [ 2.35105422e-02 -3.81047924e-04 9.99723516e-01 6.12908778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18804094199999 meters Centerline goodness [0,1] 0.9999781109773449 Centerline is valid? [True, True] Translation: X:28.77, Y:3.49, Z:0.61 [[ 9.69590545e-01 -2.43657991e-01 -2.29119725e-02 2.87705980e+01] [ 2.43598903e-01 9.69861149e-01 -5.37821814e-03 3.48573181e+00] [ 2.35318779e-02 -3.66661918e-04 9.99723020e-01 6.13072627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218040941999995 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:28.80, Y:3.49, Z:0.61 [[ 9.69932400e-01 -2.42274515e-01 -2.31127253e-02 2.87986561e+01] [ 2.42213916e-01 9.70207683e-01 -5.42866736e-03 3.49277247e+00] [ 2.37393715e-02 -3.32783344e-04 9.99718126e-01 6.13299429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248040941999996 meters Centerline goodness [0,1] 0.9998679432155827 Centerline is valid? [True, True] Translation: X:28.83, Y:3.50, Z:0.61 [[ 9.70172365e-01 -2.41312863e-01 -2.31016234e-02 2.88270917e+01] [ 2.41251907e-01 9.70447325e-01 -5.43206589e-03 3.49988799e+00] [ 2.37297360e-02 -3.03270477e-04 9.99718364e-01 6.13586418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278040942 meters Centerline goodness [0,1] 0.9998677627664029 Centerline is valid? [True, True] Translation: X:28.86, Y:3.51, Z:0.61 [[ 9.70388449e-01 -2.40412635e-01 -2.34098856e-02 2.88552250e+01] [ 2.40349628e-01 9.70670741e-01 -5.51079956e-03 3.50720706e+00] [ 2.40481569e-02 -2.78941074e-04 9.99710762e-01 6.14111030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308040942 meters Centerline goodness [0,1] 0.9999780084447573 Centerline is valid? [True, True] Translation: X:28.88, Y:3.52, Z:0.61 [[ 9.70929252e-01 -2.38260871e-01 -2.29813914e-02 2.88826744e+01] [ 2.38199408e-01 9.71201169e-01 -5.41585385e-03 3.51545427e+00] [ 2.36099403e-02 -2.15742885e-04 9.99721223e-01 6.14031734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.91, Y:3.52, Z:0.61 [[ 9.71127035e-01 -2.37421489e-01 -2.33091970e-02 2.89100457e+01] [ 2.37357871e-01 9.71406712e-01 -5.49920048e-03 3.52246516e+00] [ 2.39483387e-02 -1.92199117e-04 9.99713179e-01 6.14352675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36804094199999 meters Centerline goodness [0,1] 0.999934028235915 Centerline is valid? [True, True] Translation: X:28.94, Y:3.53, Z:0.61 [[ 9.71452492e-01 -2.35979310e-01 -2.43684347e-02 2.89371795e+01] [ 2.35909232e-01 9.71758066e-01 -5.75278860e-03 3.52861792e+00] [ 2.50377621e-02 -1.60177899e-04 9.99686493e-01 6.14682812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398040941999994 meters Centerline goodness [0,1] 0.9999558186798622 Centerline is valid? [True, True] Translation: X:28.96, Y:3.53, Z:0.62 [[ 9.71462137e-01 -2.35920193e-01 -2.45556462e-02 2.89647304e+01] [ 2.35848827e-01 9.71772422e-01 -5.80443306e-03 3.53443365e+00] [ 2.52318827e-02 -1.52633420e-04 9.99681614e-01 6.15265555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428040941999996 meters Centerline goodness [0,1] 0.9999118301849362 Centerline is valid? [True, True] Translation: X:28.99, Y:3.54, Z:0.62 [[ 9.71486656e-01 -2.35836823e-01 -2.43858508e-02 2.89910189e+01] [ 2.35766236e-01 9.71792659e-01 -5.77141096e-03 3.54028420e+00] [ 2.50591020e-02 -1.42511531e-04 9.99685961e-01 6.15723906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458040942 meters Centerline goodness [0,1] 0.9999336811389159 Centerline is valid? [True, True] Translation: X:29.02, Y:3.55, Z:0.62 [[ 9.71270177e-01 -2.36746470e-01 -2.41940403e-02 2.90183711e+01] [ 2.36677146e-01 9.71571450e-01 -5.73106875e-03 3.54652451e+00] [ 2.48630491e-02 -1.59760252e-04 9.99690854e-01 6.16264773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488040942 meters Centerline goodness [0,1] 0.9999779108038258 Centerline is valid? [True, True] Translation: X:29.05, Y:3.55, Z:0.62 [[ 9.70835794e-01 -2.38600864e-01 -2.33984999e-02 2.90455477e+01] [ 2.38536405e-01 9.71117701e-01 -5.54917523e-03 3.55116191e+00] [ 2.40467355e-02 -1.94056111e-04 9.99710817e-01 6.16999829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.07, Y:3.56, Z:0.62 [[ 9.70449243e-01 -2.40176519e-01 -2.33132361e-02 2.90727304e+01] [ 2.40112933e-01 9.70729204e-01 -5.53108627e-03 3.55569726e+00] [ 2.39592762e-02 -2.30171018e-04 9.99712909e-01 6.17739989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.10, Y:3.56, Z:0.62 [[ 9.69548065e-01 -2.43719495e-01 -2.40282792e-02 2.91018228e+01] [ 2.43652973e-01 9.69845710e-01 -5.70320524e-03 3.55733436e+00] [ 2.46937058e-02 -3.25030068e-04 9.99695011e-01 6.18586288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.13, Y:3.56, Z:0.62 [[ 9.69093489e-01 -2.45536034e-01 -2.38718555e-02 2.91305071e+01] [ 2.45470778e-01 9.69387396e-01 -5.67210497e-03 3.56179870e+00] [ 2.45337820e-02 -3.63042949e-04 9.99698936e-01 6.19873579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.16, Y:3.56, Z:0.62 [[ 9.68335921e-01 -2.48436995e-01 -2.45887018e-02 2.91599130e+01] [ 2.48368531e-01 9.68647956e-01 -5.84892251e-03 3.56477185e+00] [ 2.52708845e-02 -4.43337986e-04 9.99680542e-01 6.20592832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.19, Y:3.57, Z:0.62 [[ 9.68068278e-01 -2.49451367e-01 -2.48560865e-02 2.91881323e+01] [ 2.49381576e-01 9.68387214e-01 -5.91893280e-03 3.57066954e+00] [ 2.55468022e-02 -4.68718935e-04 9.99673517e-01 6.20483748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.22, Y:3.58, Z:0.62 [[ 9.67746236e-01 -2.50638006e-01 -2.54521602e-02 2.92160764e+01] [ 2.50565062e-01 9.68080748e-01 -6.06753890e-03 3.57870953e+00] [ 2.61605022e-02 -5.05584175e-04 9.99657628e-01 6.20565878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.24, Y:3.58, Z:0.62 [[ 9.67449457e-01 -2.51740537e-01 -2.58505335e-02 2.92448284e+01] [ 2.51665499e-01 9.67794613e-01 -6.16952024e-03 3.58434918e+00] [ 2.65711254e-02 -5.36988407e-04 9.99646781e-01 6.20678713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.27, Y:3.59, Z:0.62 [[ 9.67282837e-01 -2.52295965e-01 -2.66581720e-02 2.92724418e+01] [ 2.52216194e-01 9.67649952e-01 -6.36889027e-03 3.58924563e+00] [ 2.74026242e-02 -5.63104434e-04 9.99624319e-01 6.21502738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.30, Y:3.60, Z:0.62 [[ 9.67141852e-01 -2.52829972e-01 -2.67140852e-02 2.93002757e+01] [ 2.52749977e-01 9.67510554e-01 -6.38563105e-03 3.59516003e+00] [ 2.74606383e-02 -5.76173362e-04 9.99622720e-01 6.22164484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:3.60, Z:0.62 [[ 9.67038825e-01 -2.53213370e-01 -2.68122990e-02 2.93274929e+01] [ 2.53132709e-01 9.67410281e-01 -6.41717819e-03 3.60178996e+00] [ 2.75634090e-02 -5.81409425e-04 9.99619888e-01 6.22743780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.36, Y:3.61, Z:0.62 [[ 9.66886630e-01 -2.53796314e-01 -2.67894895e-02 2.93551298e+01] [ 2.53715792e-01 9.67257506e-01 -6.41976828e-03 3.60810539e+00] [ 2.75416483e-02 -5.89728422e-04 9.99620483e-01 6.22693530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.38, Y:3.61, Z:0.62 [[ 9.66718899e-01 -2.54480885e-01 -2.63448305e-02 2.93831055e+01] [ 2.54403062e-01 9.67077623e-01 -6.32083560e-03 3.61432614e+00] [ 2.70860279e-02 -5.91734310e-04 9.99632931e-01 6.23218574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.41, Y:3.62, Z:0.62 [[ 9.66457102e-01 -2.55565521e-01 -2.54348969e-02 2.94105744e+01] [ 2.55493202e-01 9.66791555e-01 -6.10847701e-03 3.61944257e+00] [ 2.61513596e-02 -5.94862248e-04 9.99657818e-01 6.24737814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.44, Y:3.63, Z:0.63 [[ 9.66252454e-01 -2.56357408e-01 -2.52403387e-02 2.94380702e+01] [ 2.56286397e-01 9.66581868e-01 -6.06418657e-03 3.62520694e+00] [ 2.59514529e-02 -6.09220327e-04 9.99663019e-01 6.25821756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:3.63, Z:0.63 [[ 9.65989425e-01 -2.57354991e-01 -2.51562932e-02 2.94660973e+01] [ 2.57284693e-01 9.66316724e-01 -6.04773759e-03 3.63290816e+00] [ 2.58653623e-02 -6.30278624e-04 9.99665237e-01 6.26589270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.49, Y:3.64, Z:0.63 [[ 9.66001054e-01 -2.57307132e-01 -2.51992772e-02 2.94931059e+01] [ 2.57236416e-01 9.66329473e-01 -6.06430604e-03 3.63787467e+00] [ 2.59111935e-02 -6.24045743e-04 9.99664054e-01 6.27356973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998040941999996 meters Centerline goodness [0,1] 0.9998885694546589 Centerline is valid? [True, True] Translation: X:29.52, Y:3.65, Z:0.63 [[ 9.65999408e-01 -2.57356643e-01 -2.47528121e-02 2.95201203e+01] [ 2.57288337e-01 9.66316297e-01 -5.96038320e-03 3.64695222e+00] [ 2.54529899e-02 -6.10883220e-04 9.99675834e-01 6.26661236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:3.65, Z:0.63 [[ 9.66489389e-01 -2.55480342e-01 -2.50610547e-02 2.95467120e+01] [ 2.55409509e-01 9.66814087e-01 -6.04175063e-03 3.65402731e+00] [ 2.57729293e-02 -5.61543821e-04 9.99667665e-01 6.28768546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:3.66, Z:0.63 [[ 9.67354097e-01 -2.52178937e-01 -2.51363117e-02 2.95735292e+01] [ 2.52106468e-01 9.67680506e-01 -6.06359808e-03 3.66415609e+00] [ 2.58530306e-02 -4.71380322e-04 9.99665643e-01 6.29441301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088040942 meters Centerline goodness [0,1] 0.9998893878724864 Centerline is valid? [True, True] Translation: X:29.60, Y:3.67, Z:0.63 [[ 9.67652727e-01 -2.51039924e-01 -2.50431079e-02 2.96012942e+01] [ 2.50967455e-01 9.67976636e-01 -6.04713158e-03 3.67294949e+00] [ 2.57592148e-02 -4.33481703e-04 9.99668082e-01 6.28343939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:3.69, Z:0.63 [[ 9.68148659e-01 -2.49104627e-01 -2.52003596e-02 2.96278816e+01] [ 2.49030427e-01 9.68476506e-01 -6.09135748e-03 3.68550006e+00] [ 2.59233416e-02 -3.78316735e-04 9.99663862e-01 6.31079329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148040941999994 meters Centerline goodness [0,1] 0.9999557942665164 Centerline is valid? [True, True] Translation: X:29.65, Y:3.70, Z:0.63 [[ 9.69040952e-01 -2.45614573e-01 -2.51617788e-02 2.96539963e+01] [ 2.45539260e-01 9.69367528e-01 -6.08833074e-03 3.69588584e+00] [ 2.58863941e-02 -2.78362718e-04 9.99664852e-01 6.31181564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178040941999996 meters Centerline goodness [0,1] 0.9998897026383129 Centerline is valid? [True, True] Translation: X:29.68, Y:3.70, Z:0.63 [[ 9.69474577e-01 -2.43860081e-01 -2.55206896e-02 2.96809064e+01] [ 2.43781905e-01 9.69810398e-01 -6.17859924e-03 3.70350467e+00] [ 2.62569439e-02 -2.31487460e-04 9.99655200e-01 6.32016855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:3.71, Z:0.63 [[ 9.70092101e-01 -2.41379478e-01 -2.56371320e-02 2.97083826e+01] [ 2.41299645e-01 9.70430791e-01 -6.20968292e-03 3.71293749e+00] [ 2.63779523e-02 -1.62266509e-04 9.99652028e-01 6.33392886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238040942 meters Centerline goodness [0,1] 0.9999779478245528 Centerline is valid? [True, True] Translation: X:29.74, Y:3.72, Z:0.63 [[ 9.70229495e-01 -2.40802154e-01 -2.58659825e-02 2.97353047e+01] [ 2.40720498e-01 9.70574213e-01 -6.27205786e-03 3.72126022e+00] [ 2.66151806e-02 -1.41136669e-04 9.99645743e-01 6.33739997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268040942 meters Centerline goodness [0,1] 0.9998457334273625 Centerline is valid? [True, True] Translation: X:29.76, Y:3.73, Z:0.63 [[ 9.70402056e-01 -2.40167396e-01 -2.52877682e-02 2.97617162e+01] [ 2.40088943e-01 9.70731481e-01 -6.13925971e-03 3.72986075e+00] [ 2.60220827e-02 -1.13763286e-04 9.99661362e-01 6.34122823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29804094199999 meters Centerline goodness [0,1] 0.9999120066874918 Centerline is valid? [True, True] Translation: X:29.79, Y:3.74, Z:0.63 [[ 9.70456104e-01 -2.40000640e-01 -2.47919829e-02 2.97888228e+01] [ 2.39924993e-01 9.70772725e-01 -6.02617305e-03 3.73807580e+00] [ 2.55136662e-02 -1.00079903e-04 9.99674468e-01 6.33825144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.81, Y:3.75, Z:0.64 [[ 9.70678995e-01 -2.39072625e-01 -2.50313657e-02 2.98142297e+01] [ 2.38995012e-01 9.71001686e-01 -6.09172006e-03 3.74594490e+00] [ 2.57618618e-02 -6.92668563e-05 9.99668106e-01 6.35068666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.84, Y:3.75, Z:0.64 [[ 9.70633539e-01 -2.39233869e-01 -2.52524920e-02 2.98413352e+01] [ 2.39154791e-01 9.70961972e-01 -6.15100062e-03 3.75224636e+00] [ 2.59907371e-02 -6.88869273e-05 9.99662181e-01 6.35405412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388040941999996 meters Centerline goodness [0,1] 0.9999119640813452 Centerline is valid? [True, True] Translation: X:29.87, Y:3.76, Z:0.63 [[ 9.70427334e-01 -2.40064807e-01 -2.52918624e-02 2.98684575e+01] [ 2.39985579e-01 9.70756860e-01 -6.16768280e-03 3.75710172e+00] [ 2.60328925e-02 -8.43942899e-05 9.99661083e-01 6.34719090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.89, Y:3.76, Z:0.64 [[ 9.70477819e-01 -2.39912614e-01 -2.47939531e-02 2.98947001e+01] [ 2.39836346e-01 9.70794485e-01 -6.04940828e-03 3.76361976e+00] [ 2.55211623e-02 -7.56745378e-05 9.99674279e-01 6.37088916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.92, Y:3.77, Z:0.64 [[ 9.70319180e-01 -2.40568682e-01 -2.46454647e-02 2.99224121e+01] [ 2.40493448e-01 9.70632114e-01 -6.01666894e-03 3.77048575e+00] [ 2.53691016e-02 -8.89835125e-05 9.99678149e-01 6.37938057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.95, Y:3.78, Z:0.64 [[ 9.70034244e-01 -2.41621371e-01 -2.55475858e-02 2.99498770e+01] [ 2.41540704e-01 9.70370599e-01 -6.24407326e-03 3.77756685e+00] [ 2.62993277e-02 -1.13816962e-04 9.99654106e-01 6.37393528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508040941999994 meters Centerline goodness [0,1] 0.9999780074774577 Centerline is valid? [True, True] Translation: X:29.98, Y:3.78, Z:0.64 [[ 9.69900069e-01 -2.42172032e-01 -2.54275950e-02 2.99771789e+01] [ 2.42092234e-01 9.70233318e-01 -6.21763958e-03 3.78474131e+00] [ 2.61764383e-02 -1.25334221e-04 9.99657330e-01 6.37338230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.538040941999995 meters Centerline goodness [0,1] 0.9998687319506432 Centerline is valid? [True, True] Translation: X:30.00, Y:3.79, Z:0.64 [[ 9.69675251e-01 -2.43079235e-01 -2.53454814e-02 3.00038818e+01] [ 2.43000075e-01 9.70006425e-01 -6.20472441e-03 3.79040204e+00] [ 2.60935195e-02 -1.42386181e-04 9.99659496e-01 6.38198872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568040941999996 meters Centerline goodness [0,1] 0.9998687319506432 Centerline is valid? [True, True] Translation: X:30.03, Y:3.80, Z:0.64 [[ 9.69608564e-01 -2.43345232e-01 -2.53442530e-02 3.00306413e+01] [ 2.43266031e-01 9.69939729e-01 -6.20973828e-03 3.79705562e+00] [ 2.60935081e-02 -1.44380423e-04 9.99659496e-01 6.38837519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.06, Y:3.80, Z:0.64 [[ 9.69370945e-01 -2.44264967e-01 -2.55850789e-02 3.00568868e+01] [ 2.44184384e-01 9.69708512e-01 -6.27596267e-03 3.80212349e+00] [ 2.63430666e-02 -1.63740869e-04 9.99652948e-01 6.39555257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628040942 meters Centerline goodness [0,1] 0.9999780132799789 Centerline is valid? [True, True] Translation: X:30.08, Y:3.81, Z:0.64 [[ 9.69064475e-01 -2.45436615e-01 -2.59790367e-02 3.00846231e+01] [ 2.45353804e-01 9.69412621e-01 -6.37810587e-03 3.80749447e+00] [ 2.67498268e-02 -1.93259656e-04 9.99642141e-01 6.40680733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.11, Y:3.81, Z:0.64 [[ 9.68563892e-01 -2.47424609e-01 -2.57885628e-02 3.01121323e+01] [ 2.47343530e-01 9.68907119e-01 -6.33818122e-03 3.81237998e+00] [ 2.65549441e-02 -2.39700685e-04 9.99647327e-01 6.41198329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.14, Y:3.82, Z:0.64 [[ 9.68316371e-01 -2.48347271e-01 -2.62114048e-02 3.01387865e+01] [ 2.48263737e-01 9.68671029e-01 -6.44627419e-03 3.82041214e+00] [ 2.69911431e-02 -2.65308470e-04 9.99635638e-01 6.41544616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.718040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.17, Y:3.83, Z:0.64 [[ 9.68174903e-01 -2.48869411e-01 -2.64834387e-02 3.01661065e+01] [ 2.48784106e-01 9.68537010e-01 -6.52132709e-03 3.82721811e+00] [ 2.72731493e-02 -2.74873393e-04 9.99627981e-01 6.41376769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748040941999996 meters Centerline goodness [0,1] 0.9999339832317409 Centerline is valid? [True, True] Translation: X:30.19, Y:3.83, Z:0.64 [[ 9.68034120e-01 -2.49365877e-01 -2.69555666e-02 3.01935425e+01] [ 2.49277485e-01 9.68409303e-01 -6.64518497e-03 3.83135185e+00] [ 2.77611039e-02 -2.86650060e-04 9.99614545e-01 6.39746580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.778040942 meters Centerline goodness [0,1] 0.9999780007039775 Centerline is valid? [True, True] Translation: X:30.22, Y:3.84, Z:0.64 [[ 9.68072992e-01 -2.49249894e-01 -2.66302884e-02 3.02202663e+01] [ 2.49163458e-01 9.68439164e-01 -6.56940425e-03 3.83978444e+00] [ 2.74272376e-02 -2.75631918e-04 9.99623765e-01 6.42009251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.25, Y:3.85, Z:0.64 [[ 9.68300994e-01 -2.48425776e-01 -2.60349518e-02 3.02471174e+01] [ 2.48342679e-01 9.68650905e-01 -6.42944475e-03 3.84595542e+00] [ 2.68160194e-02 -2.39951916e-04 9.99640357e-01 6.43271445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.838040942 meters Centerline goodness [0,1] 0.9998897488478755 Centerline is valid? [True, True] Translation: X:30.27, Y:3.85, Z:0.64 [[ 9.68367392e-01 -2.48185944e-01 -2.58521002e-02 3.02742622e+01] [ 2.48103843e-01 9.68712385e-01 -6.38734578e-03 3.85245290e+00] [ 2.66284991e-02 -2.28708052e-04 9.99645372e-01 6.43933644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86804094199999 meters Centerline goodness [0,1] 0.9999559578075796 Centerline is valid? [True, True] Translation: X:30.30, Y:3.86, Z:0.64 [[ 9.68617864e-01 -2.47195356e-01 -2.59593761e-02 3.03013652e+01] [ 2.47112028e-01 9.68965643e-01 -6.42090765e-03 3.85971063e+00] [ 2.67409621e-02 -1.95468200e-04 9.99642377e-01 6.43484617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.898040941999994 meters Centerline goodness [0,1] 0.9999338886685177 Centerline is valid? [True, True] Translation: X:30.33, Y:3.87, Z:0.64 [[ 9.68860264e-01 -2.46287136e-01 -2.55428009e-02 3.03285262e+01] [ 2.46206068e-01 9.69196894e-01 -6.32080497e-03 3.86742287e+00] [ 2.63127363e-02 -1.64815813e-04 9.99653746e-01 6.43431453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928040941999996 meters Centerline goodness [0,1] 0.9999779599753151 Centerline is valid? [True, True] Translation: X:30.36, Y:3.88, Z:0.64 [[ 9.69045452e-01 -2.45578071e-01 -2.53440925e-02 3.03555300e+01] [ 2.45497823e-01 9.69376806e-01 -6.27907196e-03 3.87501484e+00] [ 2.61099778e-02 -1.37213405e-04 9.99659067e-01 6.43696905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.958040942 meters Centerline goodness [0,1] 0.9999779332259418 Centerline is valid? [True, True] Translation: X:30.38, Y:3.88, Z:0.64 [[ 9.69299334e-01 -2.44700948e-01 -2.40883339e-02 3.03831083e+01] [ 2.44628018e-01 9.69598595e-01 -5.97468787e-03 3.88251671e+00] [ 2.48180265e-02 -1.01420399e-04 9.99691980e-01 6.44586733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988040942 meters Centerline goodness [0,1] 0.9998453448809156 Centerline is valid? [True, True] Translation: X:30.41, Y:3.89, Z:0.64 [[ 9.69513507e-01 -2.43827348e-01 -2.43266191e-02 3.04095278e+01] [ 2.43752528e-01 9.69818653e-01 -6.04036925e-03 3.88868070e+00] [ 2.50652162e-02 -7.34553199e-05 9.99685815e-01 6.43917371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.018040942 meters Centerline goodness [0,1] 0.9999779137310334 Centerline is valid? [True, True] Translation: X:30.44, Y:3.90, Z:0.65 [[ 9.69820893e-01 -2.42695881e-01 -2.33697445e-02 3.04355168e+01] [ 2.42626434e-01 9.70102421e-01 -5.80567354e-03 3.89565257e+00] [ 2.40800588e-02 -3.96542753e-05 9.99710033e-01 6.45909310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04804094199999 meters Centerline goodness [0,1] 0.9999557561277763 Centerline is valid? [True, True] Translation: X:30.46, Y:3.90, Z:0.65 [[ 9.69929763e-01 -2.42348696e-01 -2.24357720e-02 3.04628035e+01] [ 2.42284533e-01 9.70189213e-01 -5.57638223e-03 3.90161220e+00] [ 2.31183729e-02 -2.71414430e-05 9.99732734e-01 6.46752579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.078040941999994 meters Centerline goodness [0,1] 0.9999557932894213 Centerline is valid? [True, True] Translation: X:30.49, Y:3.91, Z:0.65 [[ 9.69915423e-01 -2.42420519e-01 -2.22792074e-02 3.04894665e+01] [ 2.42357117e-01 9.70171269e-01 -5.54405950e-03 3.90768356e+00] [ 2.29586407e-02 -2.22556574e-05 9.99736415e-01 6.47473381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108040941999995 meters Centerline goodness [0,1] 0.9999557012492247 Centerline is valid? [True, True] Translation: X:30.52, Y:3.91, Z:0.65 [[ 9.69854385e-01 -2.42747688e-01 -2.13549169e-02 3.05162789e+01] [ 2.42689464e-01 9.70089459e-01 -5.31647297e-03 3.91456943e+00] [ 2.20067413e-02 -2.64087177e-05 9.99757822e-01 6.47950266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.138040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.54, Y:3.92, Z:0.65 [[ 9.70043238e-01 -2.42070917e-01 -2.04398432e-02 3.05426438e+01] [ 2.42017296e-01 9.70258559e-01 -5.09485260e-03 3.92205339e+00] [ 2.10652484e-02 -4.56826009e-06 9.99778103e-01 6.47820218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.57, Y:3.93, Z:0.65 [[ 9.70173474e-01 -2.41576413e-01 -2.01064146e-02 3.05701758e+01] [ 2.41524375e-01 9.70381800e-01 -5.01392250e-03 3.92908546e+00] [ 2.07221441e-02 8.18539987e-06 9.99785273e-01 6.48483267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.198040942 meters Centerline goodness [0,1] 0.9999777851827168 Centerline is valid? [True, True] Translation: X:30.60, Y:3.94, Z:0.65 [[ 9.70240661e-01 -2.41335799e-01 -1.97507490e-02 3.05975182e+01] [ 2.41285424e-01 9.70441668e-01 -4.93077885e-03 3.93594286e+00] [ 2.03569232e-02 1.84743040e-05 9.99792776e-01 6.48948074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.62, Y:3.94, Z:0.65 [[ 9.70337740e-01 -2.40924150e-01 -2.00055833e-02 3.06237847e+01] [ 2.40872246e-01 9.70543947e-01 -5.00082398e-03 3.94375677e+00] [ 2.06211171e-02 3.36984427e-05 9.99787362e-01 6.48225820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.258040941999994 meters Centerline goodness [0,1] 0.9999778245925269 Centerline is valid? [True, True] Translation: X:30.65, Y:3.95, Z:0.65 [[ 9.70270590e-01 -2.41191236e-01 -2.00442219e-02 3.06506904e+01] [ 2.41139144e-01 9.70477608e-01 -5.01263676e-03 3.95143810e+00] [ 2.06614726e-02 3.01675158e-05 9.99786529e-01 6.47532366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:3.96, Z:0.65 [[ 9.70185295e-01 -2.41533331e-01 -2.00534867e-02 3.06781423e+01] [ 2.41481140e-01 9.70392523e-01 -5.02096256e-03 3.95889028e+00] [ 2.06724834e-02 2.87252125e-05 9.99786301e-01 6.47230236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.318040941999996 meters Centerline goodness [0,1] 0.9999777401834209 Centerline is valid? [True, True] Translation: X:30.71, Y:3.96, Z:0.65 [[ 9.69840173e-01 -2.42917429e-01 -2.00290271e-02 3.07058282e+01] [ 2.42865537e-01 9.70046969e-01 -5.02080401e-03 3.96433858e+00] [ 2.06487378e-02 5.01701298e-06 9.99786792e-01 6.47260217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.73, Y:3.97, Z:0.65 [[ 9.69553547e-01 -2.44059533e-01 -2.00215602e-02 3.07326674e+01] [ 2.44007792e-01 9.69760251e-01 -5.02525991e-03 3.96942346e+00] [ 2.06425758e-02 -1.31581207e-05 9.99786919e-01 6.47877600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.76, Y:3.97, Z:0.65 [[ 9.68749847e-01 -2.47210847e-01 -2.02615546e-02 3.07608841e+01] [ 2.47158499e-01 9.68961708e-01 -5.08776473e-03 3.97436246e+00] [ 2.08904212e-02 -7.90441224e-05 9.99781768e-01 6.47452134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40804094199999 meters Centerline goodness [0,1] 0.9999331535907663 Centerline is valid? [True, True] Translation: X:30.79, Y:3.98, Z:0.65 [[ 9.68169937e-01 -2.49437268e-01 -2.06886919e-02 3.07891702e+01] [ 2.49383066e-01 9.68390951e-01 -5.20119662e-03 3.98079492e+00] [ 2.13321143e-02 -1.23767211e-04 9.99772437e-01 6.46574056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:3.99, Z:0.65 [[ 9.67767952e-01 -2.51090194e-01 -1.94654894e-02 3.08174042e+01] [ 2.51042454e-01 9.67963684e-01 -4.89828857e-03 3.98784323e+00] [ 2.00717991e-02 -1.46257540e-04 9.99798530e-01 6.47680186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.85, Y:3.99, Z:0.65 [[ 9.66828059e-01 -2.54810691e-01 -1.77486830e-02 3.08451553e+01] [ 2.54771539e-01 9.66990937e-01 -4.47105825e-03 3.99323746e+00] [ 1.83020891e-02 -1.99114728e-04 9.99832483e-01 6.48081675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.87, Y:4.00, Z:0.65 [[ 9.66247762e-01 -2.57065009e-01 -1.68179448e-02 3.08722024e+01] [ 2.57030174e-01 9.66394086e-01 -4.23800271e-03 3.99894681e+00] [ 1.73422046e-02 -2.27758642e-04 9.99849587e-01 6.48641712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.90, Y:4.00, Z:0.65 [[ 9.65213710e-01 -2.61048495e-01 -1.47029670e-02 3.09000957e+01] [ 2.61022316e-01 9.65325653e-01 -3.70610147e-03 4.00249986e+00] [ 1.51606234e-02 -2.60622538e-04 9.99885037e-01 6.49463144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.93, Y:4.01, Z:0.65 [[ 9.64680043e-01 -2.63037425e-01 -1.42733032e-02 3.09279880e+01] [ 2.63012954e-01 9.64785589e-01 -3.59898530e-03 4.00768588e+00] [ 1.47173451e-02 -2.82194333e-04 9.99891654e-01 6.49837990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.96, Y:4.01, Z:0.65 [[ 9.64195859e-01 -2.64833741e-01 -1.37635623e-02 3.09552915e+01] [ 2.64811153e-01 9.64294043e-01 -3.47158818e-03 4.01339527e+00] [ 1.41915148e-02 -2.97453847e-04 9.99899251e-01 6.50170245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.98, Y:4.02, Z:0.65 [[ 9.63747809e-01 -2.66481357e-01 -1.33359454e-02 3.09826824e+01] [ 2.66460316e-01 9.63840022e-01 -3.36323418e-03 4.02334875e+00] [ 1.37499571e-02 -3.12190649e-04 9.99905416e-01 6.48694465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.01, Y:4.03, Z:0.65 [[ 9.63167048e-01 -2.68635262e-01 -1.20138991e-02 3.10099743e+01] [ 2.68618300e-01 9.63241923e-01 -3.03411458e-03 4.03030411e+00] [ 1.23873615e-02 -3.04793986e-04 9.99923227e-01 6.47928698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.678040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.04, Y:4.04, Z:0.65 [[ 9.63021800e-01 -2.69174364e-01 -1.15833873e-02 3.10377321e+01] [ 2.69158644e-01 9.63091414e-01 -2.92457646e-03 4.03814844e+00] [ 1.19430818e-02 -3.01337926e-04 9.99928633e-01 6.47707565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.07, Y:4.04, Z:0.65 [[ 9.62873035e-01 -2.69742244e-01 -1.07069858e-02 3.10654939e+01] [ 2.69728802e-01 9.62932522e-01 -2.70756157e-03 4.04384824e+00] [ 1.10404486e-02 -2.80944426e-04 9.99939013e-01 6.48253934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.09, Y:4.05, Z:0.65 [[ 9.62869490e-01 -2.69775963e-01 -1.01624005e-02 3.10926424e+01] [ 2.69763872e-01 9.62923080e-01 -2.56824542e-03 4.05105971e+00] [ 1.04784609e-02 -2.68563358e-04 9.99945063e-01 6.48849919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.12, Y:4.06, Z:0.65 [[ 9.62965287e-01 -2.69432714e-01 -1.01915676e-02 3.11204090e+01] [ 2.69420499e-01 9.63019181e-01 -2.57893725e-03 4.06036712e+00] [ 1.05095252e-02 -2.62390190e-04 9.99944739e-01 6.48054987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79804094199999 meters Centerline goodness [0,1] 0.9998234852830855 Centerline is valid? [True, True] Translation: X:31.15, Y:4.07, Z:0.65 [[ 9.63590581e-01 -2.67169434e-01 -1.06623546e-02 3.11477182e+01] [ 2.67155892e-01 9.63649539e-01 -2.70109918e-03 4.06856876e+00] [ 1.09964242e-02 -2.45757122e-04 9.99939507e-01 6.47095863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828040941999994 meters Centerline goodness [0,1] 0.9998020281120081 Centerline is valid? [True, True] Translation: X:31.17, Y:4.08, Z:0.65 [[ 9.64068457e-01 -2.65432706e-01 -1.08392573e-02 3.11744569e+01] [ 2.65418548e-01 9.64129363e-01 -2.75071879e-03 4.07683597e+00] [ 1.11805769e-02 -2.25058708e-04 9.99937470e-01 6.47187914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.858040941999995 meters Centerline goodness [0,1] 0.9997576772260651 Centerline is valid? [True, True] Translation: X:31.20, Y:4.09, Z:0.65 [[ 9.64593094e-01 -2.63540115e-01 -1.03330034e-02 3.12013643e+01] [ 2.63527154e-01 9.64648418e-01 -2.62090251e-03 4.08855294e+00] [ 1.06584284e-02 -1.94922526e-04 9.99943178e-01 6.45742486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888040941999996 meters Centerline goodness [0,1] 0.9998243495444066 Centerline is valid? [True, True] Translation: X:31.23, Y:4.10, Z:0.65 [[ 9.65628328e-01 -2.59764431e-01 -9.18540045e-03 3.12280205e+01] [ 2.59753980e-01 9.65672006e-01 -2.33385981e-03 4.09748262e+00] [ 9.47633784e-03 -1.32303184e-04 9.99955090e-01 6.47617035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.918040942 meters Centerline goodness [0,1] 0.9998023324767741 Centerline is valid? [True, True] Translation: X:31.25, Y:4.11, Z:0.65 [[ 9.65973540e-01 -2.58509242e-01 -8.25181235e-03 3.12547382e+01] [ 2.58500782e-01 9.66008778e-01 -2.09431179e-03 4.10572703e+00] [ 8.51272212e-03 -1.10050176e-04 9.99963760e-01 6.48125718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948040942 meters Centerline goodness [0,1] 0.9997802729010569 Centerline is valid? [True, True] Translation: X:31.28, Y:4.11, Z:0.65 [[ 9.66342677e-01 -2.57151040e-01 -7.42780527e-03 3.12802500e+01] [ 2.57144114e-01 9.66371220e-01 -1.88925314e-03 4.11343000e+00] [ 7.66384065e-03 -8.43504642e-05 9.99970629e-01 6.48584706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97804094199999 meters Centerline goodness [0,1] 0.999758872399658 Centerline is valid? [True, True] Translation: X:31.31, Y:4.12, Z:0.65 [[ 9.66284390e-01 -2.57388894e-01 -6.74055767e-03 3.13079695e+01] [ 2.57383206e-01 9.66307896e-01 -1.71306829e-03 4.12050489e+00] [ 6.95437885e-03 -7.95951972e-05 9.99975815e-01 6.49934076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008040941999994 meters Centerline goodness [0,1] 0.9996485215939546 Centerline is valid? [True, True] Translation: X:31.34, Y:4.13, Z:0.65 [[ 9.66241801e-01 -2.57578418e-01 -5.49011673e-03 3.13358167e+01] [ 2.57574645e-01 9.66257396e-01 -1.39560683e-03 4.12736737e+00] [ 5.66434409e-03 -6.56212109e-05 9.99983955e-01 6.51076455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.038040941999995 meters Centerline goodness [0,1] 0.9998021543196307 Centerline is valid? [True, True] Translation: X:31.36, Y:4.13, Z:0.65 [[ 9.66145833e-01 -2.57951604e-01 -4.81661381e-03 3.13636521e+01] [ 2.57948692e-01 9.66157837e-01 -1.22704851e-03 4.13227335e+00] [ 4.97012831e-03 -5.69314325e-05 9.99987647e-01 6.53233046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068040941999996 meters Centerline goodness [0,1] 0.9996704455576061 Centerline is valid? [True, True] Translation: X:31.39, Y:4.14, Z:0.65 [[ 9.66005982e-01 -2.58462752e-01 -5.42674890e-03 3.13906553e+01] [ 2.58459071e-01 9.66021222e-01 -1.38096699e-03 4.13855151e+00] [ 5.59928313e-03 -6.85701081e-05 9.99984322e-01 6.53388619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.098040942 meters Centerline goodness [0,1] 0.9997141097818437 Centerline is valid? [True, True] Translation: X:31.42, Y:4.15, Z:0.65 [[ 9.65989129e-01 -2.58505174e-01 -6.33071180e-03 3.14184795e+01] [ 2.58500144e-01 9.66009870e-01 -1.61453233e-03 4.14585284e+00] [ 6.53289504e-03 -7.68692350e-05 9.99978657e-01 6.53200375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128040942 meters Centerline goodness [0,1] 0.9997359038690083 Centerline is valid? [True, True] Translation: X:31.45, Y:4.15, Z:0.65 [[ 9.65940817e-01 -2.58636150e-01 -8.10428783e-03 3.14464461e+01] [ 2.58627881e-01 9.65974810e-01 -2.07035183e-03 4.15472699e+00] [ 8.36400572e-03 -9.61574521e-05 9.99965016e-01 6.49834588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15804094199999 meters Centerline goodness [0,1] 0.9998023802204559 Centerline is valid? [True, True] Translation: X:31.47, Y:4.16, Z:0.65 [[ 9.65775905e-01 -2.59207452e-01 -9.40201941e-03 3.14748285e+01] [ 2.59196318e-01 9.65821662e-01 -2.40524000e-03 4.16157353e+00] [ 9.70413015e-03 -1.14045979e-04 9.99952907e-01 6.49149935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18804094199999 meters Centerline goodness [0,1] 0.9998676490051617 Centerline is valid? [True, True] Translation: X:31.50, Y:4.17, Z:0.65 [[ 9.65240441e-01 -2.61149038e-01 -1.05863326e-02 3.15028243e+01] [ 2.61135006e-01 9.65298481e-01 -2.71119187e-03 4.16721749e+00] [ 1.09269959e-02 -1.47509996e-04 9.99940288e-01 6.48032733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.218040941999995 meters Centerline goodness [0,1] 0.9997804031797619 Centerline is valid? [True, True] Translation: X:31.53, Y:4.17, Z:0.65 [[ 9.64964082e-01 -2.62174390e-01 -1.04359915e-02 3.15300256e+01] [ 2.62160754e-01 9.65020501e-01 -2.67820538e-03 4.17274258e+00] [ 1.07731026e-02 -1.51535408e-04 9.99941957e-01 6.48655748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248040941999996 meters Centerline goodness [0,1] 0.9998677831643896 Centerline is valid? [True, True] Translation: X:31.56, Y:4.18, Z:0.65 [[ 9.64657036e-01 -2.63303331e-01 -1.03999463e-02 3.15576976e+01] [ 2.63289844e-01 9.64713081e-01 -2.66992490e-03 4.17787598e+00] [ 1.07359644e-02 -1.62638406e-04 9.99942355e-01 6.50220731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.278040942 meters Centerline goodness [0,1] 0.9997791373103342 Centerline is valid? [True, True] Translation: X:31.59, Y:4.18, Z:0.65 [[ 9.64093871e-01 -2.65340130e-01 -1.08454140e-02 3.15861364e+01] [ 2.65325601e-01 9.64154852e-01 -2.78350616e-03 4.18226442e+00] [ 1.11952344e-02 -1.94004746e-04 9.99937313e-01 6.50798180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308040942 meters Centerline goodness [0,1] 0.999711853887756 Centerline is valid? [True, True] Translation: X:31.61, Y:4.19, Z:0.65 [[ 9.63859216e-01 -2.66162359e-01 -1.15329835e-02 3.16136281e+01] [ 2.66145955e-01 9.63928189e-01 -2.96269669e-03 4.18940498e+00] [ 1.19055263e-02 -2.13834400e-04 9.99929104e-01 6.50322508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33804094199999 meters Centerline goodness [0,1] 0.9998671684746513 Centerline is valid? [True, True] Translation: X:31.64, Y:4.20, Z:0.65 [[ 9.63903070e-01 -2.65960662e-01 -1.24818981e-02 3.16404993e+01] [ 2.65941355e-01 9.63983857e-01 -3.21236231e-03 4.19532160e+00] [ 1.28867103e-02 -2.23046994e-04 9.99916938e-01 6.51178296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36804094199999 meters Centerline goodness [0,1] 0.9998673564133174 Centerline is valid? [True, True] Translation: X:31.67, Y:4.20, Z:0.65 [[ 9.64257008e-01 -2.64651501e-01 -1.29616979e-02 3.16679656e+01] [ 2.64630551e-01 9.64344097e-01 -3.33668227e-03 4.20401951e+00] [ 1.33825948e-02 -2.12641993e-04 9.99910426e-01 6.51391114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.398040941999994 meters Centerline goodness [0,1] 0.9996461664344634 Centerline is valid? [True, True] Translation: X:31.70, Y:4.21, Z:0.65 [[ 9.64613714e-01 -2.63325750e-01 -1.34138617e-02 3.16956971e+01] [ 2.63303135e-01 9.64706956e-01 -3.45673663e-03 4.21419045e+00] [ 1.38506934e-02 -1.97496267e-04 9.99904055e-01 6.50971459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428040941999996 meters Centerline goodness [0,1] 0.9996481273778892 Centerline is valid? [True, True] Translation: X:31.72, Y:4.22, Z:0.65 [[ 9.65398100e-01 -2.60392159e-01 -1.42278544e-02 3.17225620e+01] [ 2.60366344e-01 9.65502925e-01 -3.67012027e-03 4.22479475e+00] [ 1.46927056e-02 -1.61327286e-04 9.99892043e-01 6.50938110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.458040942 meters Centerline goodness [0,1] 0.9996481273778892 Centerline is valid? [True, True] Translation: X:31.75, Y:4.23, Z:0.65 [[ 9.65324587e-01 -2.60664598e-01 -1.42270246e-02 3.17492436e+01] [ 2.60638765e-01 9.65429408e-01 -3.67333318e-03 4.23177572e+00] [ 1.46926959e-02 -1.62155286e-04 9.99892043e-01 6.51576386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488040942 meters Centerline goodness [0,1] 0.9997136816139547 Centerline is valid? [True, True] Translation: X:31.78, Y:4.24, Z:0.65 [[ 9.65592012e-01 -2.59646015e-01 -1.46973843e-02 3.17766805e+01] [ 2.59618252e-01 9.65703850e-01 -3.79973645e-03 4.23894714e+00] [ 1.51799071e-02 -1.46714059e-04 9.99884768e-01 6.52962661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.518040942 meters Centerline goodness [0,1] 0.9998899017923988 Centerline is valid? [True, True] Translation: X:31.80, Y:4.25, Z:0.65 [[ 9.65724990e-01 -2.59152121e-01 -1.46772197e-02 3.18028723e+01] [ 2.59124324e-01 9.65836508e-01 -3.79799402e-03 4.24829849e+00] [ 1.51600529e-02 -1.35406905e-04 9.99885071e-01 6.51990351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54804094199999 meters Centerline goodness [0,1] 0.9997580928923293 Centerline is valid? [True, True] Translation: X:31.83, Y:4.25, Z:0.65 [[ 9.65734122e-01 -2.59143656e-01 -1.42187080e-02 3.18293008e+01] [ 2.59117486e-01 9.65838780e-01 -3.68492554e-03 4.25499101e+00] [ 1.46879047e-02 -1.25657546e-04 9.99892119e-01 6.54189083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.578040941999994 meters Centerline goodness [0,1] 0.9998459507042253 Centerline is valid? [True, True] Translation: X:31.86, Y:4.26, Z:0.66 [[ 9.65555691e-01 -2.59792799e-01 -1.44882466e-02 3.18554196e+01] [ 2.59765671e-01 9.65664374e-01 -3.75677732e-03 4.26101083e+00] [ 1.49667672e-02 -1.36171359e-04 9.99887982e-01 6.55388199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.88, Y:4.27, Z:0.66 [[ 9.64680435e-01 -2.62966532e-01 -1.55003866e-02 3.18834261e+01] [ 2.62935869e-01 9.64804936e-01 -4.02054816e-03 4.26638746e+00] [ 1.60121191e-02 -1.97063475e-04 9.99871778e-01 6.55714350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.638040941999996 meters Centerline goodness [0,1] 0.9998679257742852 Centerline is valid? [True, True] Translation: X:31.91, Y:4.27, Z:0.66 [[ 9.64072348e-01 -2.65184060e-01 -1.55538121e-02 3.19117398e+01] [ 2.65153408e-01 9.64197781e-01 -4.03848792e-03 4.27324278e+00] [ 1.60678938e-02 -2.30751761e-04 9.99870876e-01 6.55917282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668040942 meters Centerline goodness [0,1] 0.999802167366408 Centerline is valid? [True, True] Translation: X:31.94, Y:4.28, Z:0.66 [[ 9.63381834e-01 -2.67704363e-01 -1.51596644e-02 3.19400261e+01] [ 2.67675496e-01 9.63501067e-01 -3.93994589e-03 4.27991110e+00] [ 1.56610935e-02 -2.62198400e-04 9.99877323e-01 6.56735574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.698040942 meters Centerline goodness [0,1] 0.9997795803209311 Centerline is valid? [True, True] Translation: X:31.97, Y:4.29, Z:0.66 [[ 9.62011244e-01 -2.72547399e-01 -1.58833852e-02 3.19685323e+01] [ 2.72516297e-01 9.62142292e-01 -4.13242668e-03 4.28532412e+00] [ 1.64083588e-02 -3.53040399e-04 9.99865311e-01 6.56746523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72804094199999 meters Centerline goodness [0,1] 0.9997577839432774 Centerline is valid? [True, True] Translation: X:32.00, Y:4.29, Z:0.66 [[ 9.61339471e-01 -2.74849150e-01 -1.68631623e-02 3.19955078e+01] [ 2.74814353e-01 9.61487273e-01 -4.39272412e-03 4.29051149e+00] [ 1.74210524e-02 -4.11339964e-04 9.99848157e-01 6.56953730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.758040941999994 meters Centerline goodness [0,1] 0.9999779861753181 Centerline is valid? [True, True] Translation: X:32.02, Y:4.30, Z:0.66 [[ 9.60513332e-01 -2.77666182e-01 -1.77660096e-02 3.20233687e+01] [ 2.77627981e-01 9.60677499e-01 -4.63113355e-03 4.29665057e+00] [ 1.83533148e-02 -4.84075863e-04 9.99831447e-01 6.56097597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.05, Y:4.30, Z:0.66 [[ 9.60230284e-01 -2.78607754e-01 -1.83172055e-02 3.20514505e+01] [ 2.78567276e-01 9.60404838e-01 -4.77697466e-03 4.30488252e+00] [ 1.89228350e-02 -5.15578297e-04 9.99820814e-01 6.56145705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.818040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.08, Y:4.31, Z:0.66 [[ 9.60155668e-01 -2.78851816e-01 -1.85137388e-02 3.20780823e+01] [ 2.78810405e-01 9.60334001e-01 -4.83369398e-03 4.31112844e+00] [ 1.91272572e-02 -5.20724324e-04 9.99816922e-01 6.56429635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848040942 meters Centerline goodness [0,1] 0.999670358649789 Centerline is valid? [True, True] Translation: X:32.11, Y:4.32, Z:0.66 [[ 9.60024802e-01 -2.79254289e-01 -1.92203376e-02 3.21052941e+01] [ 2.79209696e-01 9.60217029e-01 -5.02025473e-03 4.31905605e+00] [ 1.98576232e-02 -5.46935569e-04 9.99802668e-01 6.56957054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.878040942 meters Centerline goodness [0,1] 0.9997589252449101 Centerline is valid? [True, True] Translation: X:32.13, Y:4.33, Z:0.66 [[ 9.59988311e-01 -2.79342525e-01 -1.97533635e-02 3.21324152e+01] [ 2.79295320e-01 9.60191357e-01 -5.16549650e-03 4.32677499e+00] [ 2.04099518e-02 -5.58205726e-04 9.99791539e-01 6.58119143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90804094199999 meters Centerline goodness [0,1] 0.999670358649789 Centerline is valid? [True, True] Translation: X:32.16, Y:4.33, Z:0.66 [[ 9.60054388e-01 -2.79058919e-01 -2.05351488e-02 3.21602496e+01] [ 2.79007700e-01 9.60273814e-01 -5.37645433e-03 4.33411246e+00] [ 2.12197132e-02 -5.67776050e-04 9.99774675e-01 6.59255698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:4.34, Z:0.66 [[ 9.60884167e-01 -2.76110404e-01 -2.15560116e-02 3.21865992e+01] [ 2.76053087e-01 9.61125784e-01 -5.64981976e-03 4.34300922e+00] [ 2.22780126e-02 -5.21781206e-04 9.99751678e-01 6.59654847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.21, Y:4.35, Z:0.66 [[ 9.61567407e-01 -2.73640791e-01 -2.25574540e-02 3.22136856e+01] [ 2.73577293e-01 9.61831837e-01 -5.91450390e-03 4.35227504e+00] [ 2.33149270e-02 -4.84013031e-04 9.99728053e-01 6.59813354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.998040941999996 meters Centerline goodness [0,1] 0.9998909035369073 Centerline is valid? [True, True] Translation: X:32.24, Y:4.36, Z:0.66 [[ 9.63273318e-01 -2.67449032e-01 -2.39902265e-02 3.22403119e+01] [ 2.67375130e-01 9.63571945e-01 -6.29654167e-03 4.36311993e+00] [ 2.48003132e-02 -3.49099350e-04 9.99692364e-01 6.60040446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028040942 meters Centerline goodness [0,1] 0.9999780576644578 Centerline is valid? [True, True] Translation: X:32.27, Y:4.37, Z:0.66 [[ 9.63974749e-01 -2.64806140e-01 -2.51075945e-02 3.22670838e+01] [ 2.64724233e-01 9.64301624e-01 -6.59223458e-03 4.37347267e+00] [ 2.59569584e-02 -2.91841033e-04 9.99663019e-01 6.60287537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.058040942 meters Centerline goodness [0,1] 0.9998908177748662 Centerline is valid? [True, True] Translation: X:32.29, Y:4.38, Z:0.66 [[ 9.64743492e-01 -2.61926489e-01 -2.57780569e-02 3.22930752e+01] [ 2.61838952e-01 9.65087804e-01 -6.77457519e-03 4.38259612e+00] [ 2.66525290e-02 -2.13972063e-04 9.99644735e-01 6.59819458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:4.39, Z:0.66 [[ 9.65984140e-01 -2.57002917e-01 -2.87078734e-02 3.23198814e+01] [ 2.56892054e-01 9.66410624e-01 -7.54841597e-03 4.39393206e+00] [ 2.96835587e-02 -8.31744497e-05 9.99559343e-01 6.58296526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11804094199999 meters Centerline goodness [0,1] 0.999912457322945 Centerline is valid? [True, True] Translation: X:32.35, Y:4.40, Z:0.66 [[ 9.66490921e-01 -2.54857882e-01 -3.07043880e-02 3.23477351e+01] [ 2.54729720e-01 9.66978521e-01 -8.08145912e-03 4.40207391e+00] [ 3.17501073e-02 -1.06633059e-05 9.99495838e-01 6.58619562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148040941999994 meters Centerline goodness [0,1] 0.9998909178174837 Centerline is valid? [True, True] Translation: X:32.38, Y:4.41, Z:0.66 [[ 9.67459570e-01 -2.51078859e-01 -3.13271106e-02 3.23753014e+01] [ 2.50943199e-01 9.67966627e-01 -8.25345217e-03 4.40966161e+00] [ 3.23958649e-02 1.23555918e-04 9.99475109e-01 6.61941200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.178040941999996 meters Centerline goodness [0,1] 0.9997812438474832 Centerline is valid? [True, True] Translation: X:32.40, Y:4.42, Z:0.66 [[ 9.67904706e-01 -2.49272225e-01 -3.19974675e-02 3.24026720e+01] [ 2.49129422e-01 9.68433436e-01 -8.43871965e-03 4.41758562e+00] [ 3.30909558e-02 1.96365882e-04 9.99452325e-01 6.63094475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208040942 meters Centerline goodness [0,1] 0.9998692069581898 Centerline is valid? [True, True] Translation: X:32.43, Y:4.43, Z:0.66 [[ 9.68292671e-01 -2.47733781e-01 -3.22067776e-02 3.24307221e+01] [ 2.47587966e-01 9.68828110e-01 -8.50249337e-03 4.42631436e+00] [ 3.33091863e-02 2.58891480e-04 9.99445062e-01 6.63884565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.238040942 meters Centerline goodness [0,1] 0.9998033087833555 Centerline is valid? [True, True] Translation: X:32.46, Y:4.44, Z:0.66 [[ 9.68946331e-01 -2.44918033e-01 -3.40318299e-02 3.24578527e+01] [ 2.44753154e-01 9.69543712e-01 -8.99359687e-03 4.43537295e+00] [ 3.51980407e-02 3.84914995e-04 9.99380283e-01 6.64418302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268040942 meters Centerline goodness [0,1] 0.9999781435097153 Centerline is valid? [True, True] Translation: X:32.48, Y:4.44, Z:0.66 [[ 9.69221012e-01 -2.43705830e-01 -3.49012634e-02 3.24840098e+01] [ 2.43531370e-01 9.69849096e-01 -9.23054867e-03 4.44458396e+00] [ 3.60984973e-02 4.46889226e-04 9.99348137e-01 6.63174336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29804094199999 meters Centerline goodness [0,1] 0.9994315697420201 Centerline is valid? [True, True] Translation: X:32.51, Y:4.45, Z:0.67 [[ 9.69443282e-01 -2.42644934e-01 -3.60993042e-02 3.25126178e+01] [ 2.42457339e-01 9.70115033e-01 -9.55307743e-03 4.44834615e+00] [ 3.73384835e-02 5.08625491e-04 9.99302546e-01 6.65610268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328040941999994 meters Centerline goodness [0,1] 0.99951927279084 Centerline is valid? [True, True] Translation: X:32.54, Y:4.45, Z:0.67 [[ 9.69366022e-01 -2.42890636e-01 -3.65192262e-02 3.25398504e+01] [ 2.42698447e-01 9.70053542e-01 -9.67419695e-03 4.45441307e+00] [ 3.77753765e-02 5.14678355e-04 9.99286123e-01 6.66451241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.358040941999995 meters Centerline goodness [0,1] 0.999672439019064 Centerline is valid? [True, True] Translation: X:32.57, Y:4.46, Z:0.67 [[ 9.69378586e-01 -2.42762592e-01 -3.70335251e-02 3.25667301e+01] [ 2.42564548e-01 9.70085583e-01 -9.81845932e-03 4.46071429e+00] [ 3.83092434e-02 5.34783933e-04 9.99265788e-01 6.67141922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388040941999996 meters Centerline goodness [0,1] 0.9997165903640723 Centerline is valid? [True, True] Translation: X:32.59, Y:4.47, Z:0.67 [[ 9.69220395e-01 -2.43264564e-01 -3.78705339e-02 3.25937546e+01] [ 2.43057709e-01 9.69959830e-01 -1.00438527e-02 4.46615905e+00] [ 3.91762100e-02 5.29981669e-04 9.99232177e-01 6.68241489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.418040942 meters Centerline goodness [0,1] 0.99980328298835 Centerline is valid? [True, True] Translation: X:32.62, Y:4.47, Z:0.67 [[ 9.69104849e-01 -2.43651869e-01 -3.83348142e-02 3.26216691e+01] [ 2.43439942e-01 9.69862613e-01 -1.01737631e-02 4.47179349e+00] [ 3.96583595e-02 5.27218192e-04 9.99213159e-01 6.70357182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448040942 meters Centerline goodness [0,1] 0.9999127532881105 Centerline is valid? [True, True] Translation: X:32.65, Y:4.48, Z:0.67 [[ 9.68857864e-01 -2.44517187e-01 -3.90612946e-02 3.26495006e+01] [ 2.44297377e-01 9.69644823e-01 -1.03782713e-02 4.47764688e+00] [ 4.04132478e-02 5.12497980e-04 9.99182920e-01 6.71614998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47804094199999 meters Centerline goodness [0,1] 0.9998689956331878 Centerline is valid? [True, True] Translation: X:32.68, Y:4.48, Z:0.67 [[ 9.68707615e-01 -2.45044935e-01 -3.94783143e-02 3.26763856e+01] [ 2.44820361e-01 9.69511590e-01 -1.05008626e-02 4.48406032e+00] [ 4.08478665e-02 5.07170423e-04 9.99165249e-01 6.72566130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508040941999994 meters Centerline goodness [0,1] 0.9999563461748335 Centerline is valid? [True, True] Translation: X:32.70, Y:4.49, Z:0.67 [[ 9.68555031e-01 -2.45517634e-01 -4.02770775e-02 3.27044452e+01] [ 2.45283804e-01 9.69391991e-01 -1.07248611e-02 4.49135760e+00] [ 4.16774189e-02 5.08303374e-04 9.99130990e-01 6.73112558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.538040941999995 meters Centerline goodness [0,1] 0.9999564687445586 Centerline is valid? [True, True] Translation: X:32.73, Y:4.50, Z:0.67 [[ 9.68286102e-01 -2.46243629e-01 -4.22622874e-02 3.27315551e+01] [ 2.45986507e-01 9.69207830e-01 -1.12615066e-02 4.49805421e+00] [ 4.37340141e-02 5.08407920e-04 9.99043081e-01 6.71934334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568040941999996 meters Centerline goodness [0,1] 0.9998469744665968 Centerline is valid? [True, True] Translation: X:32.76, Y:4.51, Z:0.67 [[ 9.68159885e-01 -2.46657695e-01 -4.27366168e-02 3.27588446e+01] [ 2.46394995e-01 9.69102540e-01 -1.13918481e-02 4.50508354e+00] [ 4.42260509e-02 4.99041878e-04 9.99021425e-01 6.71709457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.598040942 meters Centerline goodness [0,1] 0.9996719231862821 Centerline is valid? [True, True] Translation: X:32.79, Y:4.51, Z:0.67 [[ 9.67888318e-01 -2.47567051e-01 -4.36206266e-02 3.27872950e+01] [ 2.47293950e-01 9.68870647e-01 -1.16349358e-02 4.51141781e+00] [ 4.51431715e-02 4.74201328e-04 9.98980415e-01 6.73737956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.81, Y:4.52, Z:0.67 [[ 9.67342335e-01 -2.49788558e-01 -4.30637140e-02 3.28144572e+01] [ 2.49524216e-01 9.68300334e-01 -1.14947418e-02 4.51824136e+00] [ 4.45698636e-02 3.73910874e-04 9.99006200e-01 6.74297030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65804094199999 meters Centerline goodness [0,1] 0.9998697775366251 Centerline is valid? [True, True] Translation: X:32.84, Y:4.53, Z:0.68 [[ 9.66910668e-01 -2.51442886e-01 -4.31304539e-02 3.28414776e+01] [ 2.51178969e-01 9.67872089e-01 -1.15214799e-02 4.52528983e+00] [ 4.46417567e-02 3.06778835e-04 9.99003013e-01 6.75985161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68804094199999 meters Centerline goodness [0,1] 0.9998691670300915 Centerline is valid? [True, True] Translation: X:32.87, Y:4.53, Z:0.68 [[ 9.65931129e-01 -2.55052619e-01 -4.38772751e-02 3.28683469e+01] [ 2.54782603e-01 9.66927162e-01 -1.17340464e-02 4.53242030e+00] [ 4.54189284e-02 1.55114283e-04 9.98968016e-01 6.78838446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.718040941999995 meters Centerline goodness [0,1] 0.9998038531950135 Centerline is valid? [True, True] Translation: X:32.89, Y:4.54, Z:0.68 [[ 9.65328726e-01 -2.57302084e-01 -4.40010155e-02 3.28941581e+01] [ 2.57032435e-01 9.66331017e-01 -1.17768072e-02 4.53903875e+00] [ 4.55497431e-02 5.88021525e-05 9.98962070e-01 6.77736566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748040941999996 meters Centerline goodness [0,1] 0.9998256700806276 Centerline is valid? [True, True] Translation: X:32.92, Y:4.54, Z:0.68 [[ 9.64637408e-01 -2.59812459e-01 -4.44089789e-02 3.29217097e+01] [ 2.59540166e-01 9.65659093e-01 -1.18919799e-02 4.54498820e+00] [ 4.59736188e-02 -5.44651217e-05 9.98942653e-01 6.76927754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.95, Y:4.55, Z:0.68 [[ 9.63334804e-01 -2.64857788e-01 -4.28533378e-02 3.29504390e+01] [ 2.64608865e-01 9.64287445e-01 -1.14835843e-02 4.54867251e+00] [ 4.43644524e-02 -2.76836636e-04 9.99015375e-01 6.82666148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808040942 meters Centerline goodness [0,1] 0.9998026142644092 Centerline is valid? [True, True] Translation: X:32.98, Y:4.55, Z:0.68 [[ 9.62708086e-01 -2.67246913e-01 -4.20978455e-02 3.29765879e+01] [ 2.67008622e-01 9.63628014e-01 -1.12892422e-02 4.55417635e+00] [ 4.35836784e-02 -3.72243007e-04 9.99049711e-01 6.84176438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.00, Y:4.56, Z:0.69 [[ 9.61824854e-01 -2.70569887e-01 -4.10473747e-02 3.30040924e+01] [ 2.70346047e-01 9.62700205e-01 -1.10150320e-02 4.56140088e+00] [ 4.24966520e-02 -5.02463937e-04 9.99096483e-01 6.86618078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86804094199999 meters Centerline goodness [0,1] 0.99989034606781 Centerline is valid? [True, True] Translation: X:33.03, Y:4.57, Z:0.69 [[ 9.61428411e-01 -2.71952005e-01 -4.12009502e-02 3.30317591e+01] [ 2.71727300e-01 9.62310656e-01 -1.10668690e-02 4.57069421e+00] [ 4.26577706e-02 -5.55420678e-04 9.99089589e-01 6.87968782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.898040941999994 meters Centerline goodness [0,1] 0.9998252473841718 Centerline is valid? [True, True] Translation: X:33.06, Y:4.58, Z:0.69 [[ 9.61257499e-01 -2.72520200e-01 -4.14338080e-02 3.30588236e+01] [ 2.72293007e-01 9.62149890e-01 -1.11403190e-02 4.57979036e+00] [ 4.29014958e-02 -5.73420944e-04 9.99079142e-01 6.88795987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928040941999996 meters Centerline goodness [0,1] 0.999649783303419 Centerline is valid? [True, True] Translation: X:33.09, Y:4.59, Z:0.69 [[ 9.61430250e-01 -2.71996330e-01 -4.08640610e-02 3.30864856e+01] [ 2.71774421e-01 9.62298142e-01 -1.09977615e-02 4.58918585e+00] [ 4.23147607e-02 -5.32225910e-04 9.99104188e-01 6.89666979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.958040942 meters Centerline goodness [0,1] 0.9996056782334385 Centerline is valid? [True, True] Translation: X:33.11, Y:4.60, Z:0.69 [[ 9.61584573e-01 -2.71537651e-01 -4.02792012e-02 3.31146350e+01] [ 2.71321214e-01 9.62427691e-01 -1.08507625e-02 4.59680954e+00] [ 4.17122092e-02 -4.94675994e-04 9.99129545e-01 6.91162812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988040942 meters Centerline goodness [0,1] 0.9996498905908097 Centerline is valid? [True, True] Translation: X:33.14, Y:4.60, Z:0.69 [[ 9.61817675e-01 -2.70829601e-01 -3.94726169e-02 3.31416076e+01] [ 2.70620824e-01 9.62627201e-01 -1.06415150e-02 4.60430929e+00] [ 4.08794520e-02 -4.46914874e-04 9.99163986e-01 6.92961685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.018040942 meters Centerline goodness [0,1] 0.9997162625226444 Centerline is valid? [True, True] Translation: X:33.17, Y:4.62, Z:0.69 [[ 9.62525634e-01 -2.68448998e-01 -3.84647923e-02 3.31685658e+01] [ 2.68248566e-01 9.63293842e-01 -1.03768971e-02 4.61613915e+00] [ 3.98385652e-02 -3.30095971e-04 9.99206075e-01 6.94603088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04804094199999 meters Centerline goodness [0,1] 0.999847888915448 Centerline is valid? [True, True] Translation: X:33.20, Y:4.63, Z:0.70 [[ 9.62974205e-01 -2.66873585e-01 -3.81990757e-02 3.31958845e+01] [ 2.66674289e-01 9.63731511e-01 -1.03149681e-02 4.62679896e+00] [ 3.95664455e-02 -2.53663149e-04 9.99216909e-01 6.95244157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.078040941999994 meters Centerline goodness [0,1] 0.9998252588353501 Centerline is valid? [True, True] Translation: X:33.22, Y:4.64, Z:0.70 [[ 9.63675076e-01 -2.64418359e-01 -3.75936173e-02 3.32225881e+01] [ 2.64223090e-01 9.64408063e-01 -1.01610614e-02 4.63753348e+00] [ 3.89423589e-02 -1.41140082e-04 9.99241449e-01 6.95858503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108040941999995 meters Centerline goodness [0,1] 0.999737876802097 Centerline is valid? [True, True] Translation: X:33.25, Y:4.65, Z:0.70 [[ 9.63910668e-01 -2.63585575e-01 -3.74014590e-02 3.32498579e+01] [ 2.63391397e-01 9.64636012e-01 -1.01161987e-02 4.64513335e+00] [ 3.87452783e-02 -1.00110635e-04 9.99249115e-01 6.96886136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.138040941999996 meters Centerline goodness [0,1] 0.9998470212858953 Centerline is valid? [True, True] Translation: X:33.28, Y:4.65, Z:0.70 [[ 9.63989013e-01 -2.63347448e-01 -3.70581194e-02 3.32770540e+01] [ 2.63156398e-01 9.64701049e-01 -1.00297475e-02 4.65275071e+00] [ 3.83913151e-02 -8.35147787e-05 9.99262778e-01 6.99580613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168040942 meters Centerline goodness [0,1] 0.9998689269486194 Centerline is valid? [True, True] Translation: X:33.30, Y:4.66, Z:0.70 [[ 9.64070121e-01 -2.63179166e-01 -3.61320862e-02 3.33035907e+01] [ 2.62997136e-01 9.64746973e-01 -9.78694929e-03 4.66063633e+00] [ 3.74340420e-02 -6.73297957e-05 9.99299098e-01 7.00842080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.198040942 meters Centerline goodness [0,1] 0.9999128502331256 Centerline is valid? [True, True] Translation: X:33.33, Y:4.67, Z:0.70 [[ 9.63996292e-01 -2.63559999e-01 -3.53167858e-02 3.33312759e+01] [ 2.63386151e-01 9.64643002e-01 -9.57152206e-03 4.66900763e+00] [ 3.65907606e-02 -7.50405109e-05 9.99330331e-01 7.02900173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22804094199999 meters Centerline goodness [0,1] 0.9999782722058057 Centerline is valid? [True, True] Translation: X:33.36, Y:4.68, Z:0.70 [[ 9.63993115e-01 -2.63662057e-01 -3.46351469e-02 3.33570807e+01] [ 2.63494585e-01 9.64615112e-01 -9.39622136e-03 4.67924833e+00] [ 3.58870131e-02 -6.82809408e-05 9.99355851e-01 7.04039593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.258040941999994 meters Centerline goodness [0,1] 0.9998478360106949 Centerline is valid? [True, True] Translation: X:33.38, Y:4.69, Z:0.70 [[ 9.64040109e-01 -2.63547480e-01 -3.41963982e-02 3.33832708e+01] [ 2.63383876e-01 9.64646424e-01 -9.28497637e-03 4.68799162e+00] [ 3.54344654e-02 -5.56902846e-05 9.99372001e-01 7.03760831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288040941999995 meters Centerline goodness [0,1] 0.9999347599164927 Centerline is valid? [True, True] Translation: X:33.41, Y:4.70, Z:0.70 [[ 9.63999586e-01 -2.63726937e-01 -3.39543986e-02 3.34104487e+01] [ 2.63565558e-01 9.64597377e-01 -9.22481003e-03 4.69637349e+00] [ 3.51851547e-02 -5.64969680e-05 9.99380809e-01 7.04537917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.318040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.44, Y:4.70, Z:0.71 [[ 9.63843918e-01 -2.64333294e-01 -3.36572602e-02 3.34375216e+01] [ 2.64174746e-01 9.64431389e-01 -9.15415278e-03 4.70422055e+00] [ 3.48798656e-02 -6.82236944e-05 9.99391510e-01 7.05245974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348040942 meters Centerline goodness [0,1] 0.9999565170127188 Centerline is valid? [True, True] Translation: X:33.46, Y:4.71, Z:0.70 [[ 9.63724434e-01 -2.64635146e-01 -3.46908519e-02 3.34641909e+01] [ 2.64466589e-01 9.64348606e-01 -9.44400590e-03 4.71151053e+00] [ 3.59532906e-02 -7.31520420e-05 9.99353469e-01 7.04168029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.378040942 meters Centerline goodness [0,1] 0.9999565170127188 Centerline is valid? [True, True] Translation: X:33.49, Y:4.72, Z:0.70 [[ 9.63654977e-01 -2.64888179e-01 -3.46891741e-02 3.34907604e+01] [ 2.64719564e-01 9.64279133e-01 -9.45016522e-03 4.71886045e+00] [ 3.59532838e-02 -7.62042972e-05 9.99353469e-01 7.04807036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40804094199999 meters Centerline goodness [0,1] 0.9999782755099824 Centerline is valid? [True, True] Translation: X:33.52, Y:4.73, Z:0.71 [[ 9.63572211e-01 -2.65150993e-01 -3.49791961e-02 3.35180264e+01] [ 2.64979350e-01 9.64206899e-01 -9.53934987e-03 4.72706597e+00] [ 3.62565503e-02 -7.69121890e-05 9.99342512e-01 7.06974486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.54, Y:4.74, Z:0.71 [[ 9.63523458e-01 -2.65379112e-01 -3.45900719e-02 3.35432229e+01] [ 2.65211084e-01 9.64144139e-01 -9.44243812e-03 4.73688985e+00] [ 3.58556410e-02 -7.56598547e-05 9.99356977e-01 7.07144158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:4.75, Z:0.71 [[ 9.63441098e-01 -2.65742484e-01 -3.40907964e-02 3.35696791e+01] [ 2.65579219e-01 9.64044048e-01 -9.31413235e-03 4.74620118e+00] [ 3.53401900e-02 -8.01891776e-05 9.99375337e-01 7.07753408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.60, Y:4.76, Z:0.71 [[ 9.63417738e-01 -2.65892437e-01 -3.35778697e-02 3.35962365e+01] [ 2.65733794e-01 9.64002700e-01 -9.18392419e-03 4.75538789e+00] [ 3.48110931e-02 -7.48192515e-05 9.99393907e-01 7.09245507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:4.77, Z:0.71 [[ 9.63625320e-01 -2.65220375e-01 -3.29301694e-02 3.36224693e+01] [ 2.65067139e-01 9.64187819e-01 -9.01449420e-03 4.76539989e+00] [ 3.41416958e-02 -4.21109464e-05 9.99417001e-01 7.09792695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.65, Y:4.77, Z:0.71 [[ 9.63582059e-01 -2.65432548e-01 -3.24835071e-02 3.36492346e+01] [ 2.65283388e-01 9.64129431e-01 -8.89737103e-03 4.77412984e+00] [ 3.36799571e-02 -4.39877445e-05 9.99432668e-01 7.11160937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.68, Y:4.78, Z:0.71 [[ 9.63344688e-01 -2.66353748e-01 -3.19795800e-02 3.36757038e+01] [ 2.66209370e-01 9.63875343e-01 -8.76895380e-03 4.78331432e+00] [ 3.31599724e-02 -6.57387933e-05 9.99450055e-01 7.12039817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:4.79, Z:0.71 [[ 9.63218283e-01 -2.66884046e-01 -3.13599382e-02 3.37015590e+01] [ 2.66745212e-01 9.63728645e-01 -8.60762950e-03 4.79112060e+00] [ 3.25197097e-02 -7.40872419e-05 9.99471092e-01 7.12453882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.73, Y:4.80, Z:0.71 [[ 9.63132505e-01 -2.67284122e-01 -3.05773618e-02 3.37283233e+01] [ 2.67152111e-01 9.63617762e-01 -8.39986264e-03 4.79988369e+00] [ 3.17100389e-02 -7.86260132e-05 9.99497107e-01 7.13325029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.678040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.75, Y:4.81, Z:0.71 [[ 9.63180731e-01 -2.67308669e-01 -2.87915935e-02 3.37542408e+01] [ 2.67191431e-01 9.63610954e-01 -7.91633128e-03 4.81074579e+00] [ 2.98599989e-02 -6.80093188e-05 9.99554089e-01 7.13563328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.78, Y:4.82, Z:0.71 [[ 9.63033543e-01 -2.67915823e-01 -2.80625400e-02 3.37807292e+01] [ 2.67804596e-01 9.63442321e-01 -7.71964367e-03 4.81958112e+00] [ 2.91048533e-02 -8.10013891e-05 9.99576361e-01 7.14595628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.81, Y:4.83, Z:0.72 [[ 9.62574620e-01 -2.69722461e-01 -2.64555281e-02 3.38060842e+01] [ 2.69624104e-01 9.62938097e-01 -7.28445187e-03 4.82801980e+00] [ 2.74398162e-02 -1.21219582e-04 9.99623450e-01 7.15836922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.83, Y:4.84, Z:0.72 [[ 9.62085642e-01 -2.71513008e-01 -2.59211010e-02 3.38333138e+01] [ 2.71419129e-01 9.62434756e-01 -7.14122149e-03 4.83651373e+00] [ 2.68863030e-02 -1.65015992e-04 9.99638484e-01 7.16155189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.86, Y:4.85, Z:0.72 [[ 9.61780250e-01 -2.72523326e-01 -2.66418425e-02 3.38595194e+01] [ 2.72424333e-01 9.62149157e-01 -7.34728782e-03 4.84506038e+00] [ 2.76357336e-02 -1.91409847e-04 9.99618042e-01 7.15636608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.89, Y:4.85, Z:0.72 [[ 9.61003724e-01 -2.75395660e-01 -2.50813061e-02 3.38868234e+01] [ 2.75308808e-01 9.61330934e-01 -6.92058714e-03 4.85486408e+00] [ 2.60173351e-02 -2.54394465e-04 9.99661459e-01 7.16415848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.858040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:4.86, Z:0.72 [[ 9.60674473e-01 -2.76516216e-01 -2.53641527e-02 3.39135797e+01] [ 2.76427614e-01 9.61009211e-01 -7.00509526e-03 4.86310364e+00] [ 2.63122068e-02 -2.81736012e-04 9.99653734e-01 7.16325528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.94, Y:4.87, Z:0.72 [[ 9.59762822e-01 -2.79718526e-01 -2.47562503e-02 3.39408379e+01] [ 2.79635089e-01 9.60081985e-01 -6.84092367e-03 4.87384163e+00] [ 2.56815630e-02 -3.57052044e-04 9.99670111e-01 7.15949603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:4.88, Z:0.72 [[ 9.59087222e-01 -2.82101974e-01 -2.38783828e-02 3.39676103e+01] [ 2.82024942e-01 9.59384342e-01 -6.60425080e-03 4.87994112e+00] [ 2.47716187e-02 -4.00246958e-04 9.99693056e-01 7.16230051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.00, Y:4.89, Z:0.72 [[ 9.58315649e-01 -2.84718596e-01 -2.37999702e-02 3.39953665e+01] [ 2.84642776e-01 9.58611030e-01 -6.58656479e-03 4.88838151e+00] [ 2.46902315e-02 -4.62481492e-04 9.99695043e-01 7.17391348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.02, Y:4.89, Z:0.72 [[ 9.57656132e-01 -2.87001027e-01 -2.29160119e-02 3.40226577e+01] [ 2.86931253e-01 9.57930146e-01 -6.34759506e-03 4.89324895e+00] [ 2.37737049e-02 -4.96506672e-04 9.99717242e-01 7.18369663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.05, Y:4.90, Z:0.72 [[ 9.56242797e-01 -2.91812896e-01 -2.10937544e-02 3.40507736e+01] [ 2.91754907e-01 9.56475255e-01 -5.84469254e-03 4.90376317e+00] [ 2.18812108e-02 -5.65261209e-04 9.99760418e-01 7.19392477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.038040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.08, Y:4.91, Z:0.72 [[ 9.55497206e-01 -2.94334745e-01 -1.98027111e-02 3.40780133e+01] [ 2.94284175e-01 9.55702211e-01 -5.48708119e-03 4.91258183e+00] [ 2.05405334e-02 -5.84733758e-04 9.99788850e-01 7.19941825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.10, Y:4.93, Z:0.72 [[ 9.54625697e-01 -2.97263600e-01 -1.80036235e-02 3.41046226e+01] [ 2.97222230e-01 9.54795272e-01 -4.99347428e-03 4.92626734e+00] [ 1.86741527e-02 -5.84178257e-04 9.99825452e-01 7.19755439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.13, Y:4.93, Z:0.72 [[ 9.54316863e-01 -2.98272853e-01 -1.76813368e-02 3.41312132e+01] [ 2.98233110e-01 9.54480463e-01 -4.90490566e-03 4.93334914e+00] [ 1.83394907e-02 -5.92325863e-04 9.99831642e-01 7.20594948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.16, Y:4.94, Z:0.72 [[ 9.54026052e-01 -2.99219781e-01 -1.73728413e-02 3.41585543e+01] [ 2.99181555e-01 9.54184030e-01 -4.82009363e-03 4.94137900e+00] [ 1.80191551e-02 -5.99138786e-04 9.99837462e-01 7.21238677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.19, Y:4.95, Z:0.72 [[ 9.53816485e-01 -2.99973447e-01 -1.58127797e-02 3.41852913e+01] [ 2.99941822e-01 9.53947390e-01 -4.39092749e-03 4.95155450e+00] [ 1.64017216e-02 -5.54774929e-04 9.99865329e-01 7.21906687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.21, Y:4.96, Z:0.72 [[ 9.53850484e-01 -2.99868987e-01 -1.57430725e-02 3.42123311e+01] [ 2.99837539e-01 9.53980237e-01 -4.37685828e-03 4.95893521e+00] [ 1.63310641e-02 -5.45495733e-04 9.99866490e-01 7.22595911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.218040941999995 meters Centerline goodness [0,1] 0.9998718058285616 Centerline is valid? [True, True] Translation: X:34.24, Y:4.98, Z:0.72 [[ 9.54547497e-01 -2.97529593e-01 -1.77543634e-02 3.42379559e+01] [ 2.97489169e-01 9.54712427e-01 -4.93725916e-03 4.97619962e+00] [ 1.84192921e-02 -5.68882446e-04 9.99830189e-01 7.18938447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.26, Y:4.98, Z:0.72 [[ 9.54990036e-01 -2.96152485e-01 -1.69628037e-02 3.42648656e+01] [ 2.96115289e-01 9.55140535e-01 -4.72167909e-03 4.98398836e+00] [ 1.76001984e-02 -5.13789009e-04 9.99844973e-01 7.21238441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.278040942 meters Centerline goodness [0,1] 0.9999573978613726 Centerline is valid? [True, True] Translation: X:34.29, Y:5.00, Z:0.72 [[ 9.55890197e-01 -2.93229632e-01 -1.70385958e-02 3.42919279e+01] [ 2.93191606e-01 9.56041929e-01 -4.74460954e-03 4.99628372e+00] [ 1.76808722e-02 -4.60247530e-04 9.99843575e-01 7.21867525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308040942 meters Centerline goodness [0,1] 0.9999574685267097 Centerline is valid? [True, True] Translation: X:34.32, Y:5.01, Z:0.72 [[ 9.56346619e-01 -2.91748077e-01 -1.68583355e-02 3.43184834e+01] [ 2.91710552e-01 9.56495102e-01 -4.69835470e-03 5.00703206e+00] [ 1.74956513e-02 -4.24498729e-04 9.99846849e-01 7.23031129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33804094199999 meters Centerline goodness [0,1] 0.9998941216330679 Centerline is valid? [True, True] Translation: X:34.35, Y:5.02, Z:0.72 [[ 9.56917254e-01 -2.89837715e-01 -1.74203574e-02 3.43450662e+01] [ 2.89797229e-01 9.57075724e-01 -4.86056043e-03 5.01666629e+00] [ 1.80813749e-02 -3.97217158e-04 9.99836440e-01 7.23153910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36804094199999 meters Centerline goodness [0,1] 0.9998519990697085 Centerline is valid? [True, True] Translation: X:34.37, Y:5.03, Z:0.72 [[ 9.57508544e-01 -2.87871908e-01 -1.75257684e-02 3.43717589e+01] [ 2.87830566e-01 9.57668854e-01 -4.89185925e-03 5.02879445e+00] [ 1.81921114e-02 -3.60454808e-04 9.99834445e-01 7.22947041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.398040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.40, Y:5.04, Z:0.72 [[ 9.58950495e-01 -2.82968935e-01 -1.85075712e-02 3.43981366e+01] [ 2.82921814e-01 9.59129035e-01 -5.17127060e-03 5.04395383e+00] [ 1.92144578e-02 -2.77203110e-04 9.99815347e-01 7.23481635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428040941999996 meters Centerline goodness [0,1] 0.9998311915764596 Centerline is valid? [True, True] Translation: X:34.43, Y:5.05, Z:0.72 [[ 9.59470645e-01 -2.81020097e-01 -2.10662368e-02 3.44260393e+01] [ 2.80958444e-01 9.59701847e-01 -5.89219819e-03 5.05297878e+00] [ 2.18731325e-02 -2.65345928e-04 9.99760719e-01 7.21186001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.45, Y:5.06, Z:0.73 [[ 9.60392302e-01 -2.77993674e-01 -1.91348827e-02 3.44526335e+01] [ 2.77942105e-01 9.60582889e-01 -5.35715713e-03 5.06144866e+00] [ 1.98698967e-02 -1.73417117e-04 9.99802559e-01 7.25627857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488040942 meters Centerline goodness [0,1] 0.9999578787751148 Centerline is valid? [True, True] Translation: X:34.48, Y:5.07, Z:0.73 [[ 9.60564180e-01 -2.77423511e-01 -1.87790306e-02 3.44796635e+01] [ 2.77373714e-01 9.60747714e-01 -5.25852162e-03 5.06975605e+00] [ 1.95007483e-02 -1.57661953e-04 9.99809830e-01 7.26944248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:5.08, Z:0.73 [[ 9.60746609e-01 -2.76853182e-01 -1.78401177e-02 3.45052394e+01] [ 2.76808032e-01 9.60912222e-01 -5.00151833e-03 5.07852713e+00] [ 1.85274734e-02 -1.33096105e-04 9.99828343e-01 7.29009832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.53, Y:5.09, Z:0.73 [[ 9.60945190e-01 -2.76186774e-01 -1.74702001e-02 3.45315800e+01] [ 2.76143342e-01 9.61103976e-01 -4.89923774e-03 5.08992882e+00] [ 1.81437835e-02 -1.16380506e-04 9.99835381e-01 7.29609834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.578040941999994 meters Centerline goodness [0,1] 0.9999161636485581 Centerline is valid? [True, True] Translation: X:34.56, Y:5.10, Z:0.73 [[ 9.60994662e-01 -2.75923324e-01 -1.88568177e-02 3.45581384e+01] [ 2.75872535e-01 9.61179643e-01 -5.29509567e-03 5.09823117e+00] [ 1.95858297e-02 -1.13519448e-04 9.99808173e-01 7.28690923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:5.11, Z:0.73 [[ 9.60843973e-01 -2.76537476e-01 -1.74895627e-02 3.45858811e+01] [ 2.76493875e-01 9.61003127e-01 -4.91181630e-03 5.10666782e+00] [ 1.81658257e-02 -1.16267885e-04 9.99834981e-01 7.30311624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.638040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.61, Y:5.11, Z:0.73 [[ 9.60312122e-01 -2.78385415e-01 -1.73835785e-02 3.46134898e+01] [ 2.78342545e-01 9.60469437e-01 -4.88752068e-03 5.11077383e+00] [ 1.80570104e-02 -1.45044133e-04 9.99836948e-01 7.32540367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.64, Y:5.12, Z:0.73 [[ 9.60026863e-01 -2.79373935e-01 -1.72808040e-02 3.46407545e+01] [ 2.79331701e-01 9.60182367e-01 -4.86025102e-03 5.11664297e+00] [ 1.79505508e-02 -1.61104840e-04 9.99838863e-01 7.33944889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.67, Y:5.12, Z:0.73 [[ 9.59394417e-01 -2.81494709e-01 -1.79744942e-02 3.46679469e+01] [ 2.81449355e-01 9.59562758e-01 -5.05710687e-03 5.12482544e+00] [ 1.86712040e-02 -2.07149698e-04 9.99825656e-01 7.33955830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.69, Y:5.13, Z:0.73 [[ 9.59212978e-01 -2.82077111e-01 -1.85193624e-02 3.46942233e+01] [ 2.82029041e-01 9.59391710e-01 -5.21212000e-03 5.13193374e+00] [ 1.92375425e-02 -2.23464882e-04 9.99814916e-01 7.34201215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.758040941999994 meters Centerline goodness [0,1] 0.9998097492918446 Centerline is valid? [True, True] Translation: X:34.72, Y:5.14, Z:0.73 [[ 9.58754528e-01 -2.83467299e-01 -2.08816872e-02 3.47212690e+01] [ 2.83406448e-01 9.58981862e-01 -5.87991566e-03 5.13831176e+00] [ 2.16919230e-02 -2.80609016e-04 9.99764663e-01 7.31687351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788040941999995 meters Centerline goodness [0,1] 0.9998097090663058 Centerline is valid? [True, True] Translation: X:34.75, Y:5.14, Z:0.73 [[ 9.58486411e-01 -2.84319760e-01 -2.15887276e-02 3.47484785e+01] [ 2.84254777e-01 9.58729462e-01 -6.08600096e-03 5.14406111e+00] [ 2.24281195e-02 -3.03349732e-04 9.99748412e-01 7.31957146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.818040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:5.15, Z:0.74 [[ 9.58199317e-01 -2.85380125e-01 -2.03040043e-02 3.47772850e+01] [ 2.85322854e-01 9.58414362e-01 -5.72528218e-03 5.14898817e+00] [ 2.10935311e-02 -3.07234989e-04 9.99777460e-01 7.36041007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848040942 meters Centerline goodness [0,1] 0.9999153242024599 Centerline is valid? [True, True] Translation: X:34.81, Y:5.15, Z:0.74 [[ 9.58043246e-01 -2.85875417e-01 -2.06974432e-02 3.48053036e+01] [ 2.85815903e-01 9.58266740e-01 -5.84171301e-03 5.15487586e+00] [ 2.15036735e-02 -3.19044717e-04 9.99768718e-01 7.35861308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:5.16, Z:0.74 [[ 9.58051111e-01 -2.85949296e-01 -1.92631732e-02 3.48323420e+01] [ 2.85897653e-01 9.58244705e-01 -5.44220715e-03 5.16096267e+00] [ 2.00150290e-02 -2.93383398e-04 9.99799636e-01 7.38356525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90804094199999 meters Centerline goodness [0,1] 0.9999152685985426 Centerline is valid? [True, True] Translation: X:34.86, Y:5.17, Z:0.74 [[ 9.57866040e-01 -2.86498069e-01 -2.02855890e-02 3.48600323e+01] [ 2.86440786e-01 9.58080768e-01 -5.73752998e-03 5.16766194e+00] [ 2.10790239e-02 -3.14834927e-04 9.99777763e-01 7.37176001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93804094199999 meters Centerline goodness [0,1] 0.999872670939264 Centerline is valid? [True, True] Translation: X:34.89, Y:5.17, Z:0.74 [[ 9.57849214e-01 -2.86453359e-01 -2.16646431e-02 3.48876850e+01] [ 2.86387853e-01 9.58094132e-01 -6.13451754e-03 5.17450803e+00] [ 2.25140206e-02 -3.28547833e-04 9.99746473e-01 7.36379210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.92, Y:5.18, Z:0.74 [[ 9.58229820e-01 -2.85190913e-01 -2.14885014e-02 3.49155439e+01] [ 2.85126005e-01 9.58470688e-01 -6.09114998e-03 5.17904489e+00] [ 2.23332393e-02 -2.90208999e-04 9.99750540e-01 7.39030593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.998040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.94, Y:5.19, Z:0.74 [[ 9.58446593e-01 -2.84448815e-01 -2.16564168e-02 3.49436259e+01] [ 2.84382657e-01 9.58691189e-01 -6.14064704e-03 5.18503922e+00] [ 2.25085157e-02 -2.73227110e-04 9.99746614e-01 7.40645406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.97, Y:5.19, Z:0.74 [[ 9.59121162e-01 -2.82144942e-01 -2.19277836e-02 3.49707521e+01] [ 2.82076381e-01 9.59371766e-01 -6.22334896e-03 5.19028865e+00] [ 2.27927829e-02 -2.16364170e-04 9.99740187e-01 7.41974455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.00, Y:5.20, Z:0.74 [[ 9.59492809e-01 -2.80861312e-01 -2.21466086e-02 3.49983748e+01] [ 2.80790988e-01 9.59748347e-01 -6.28745561e-03 5.19792940e+00] [ 2.30210740e-02 -1.85799647e-04 9.99734963e-01 7.42616256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08804094199999 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:35.03, Y:5.21, Z:0.74 [[ 9.59923490e-01 -2.79365636e-01 -2.23994294e-02 3.50256829e+01] [ 2.79293157e-01 9.60184784e-01 -6.36495192e-03 5.20579623e+00] [ 2.32857401e-02 -1.46140479e-04 9.99728840e-01 7.43094549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.05, Y:5.21, Z:0.74 [[ 9.60749941e-01 -2.76507947e-01 -2.24255587e-02 3.50524841e+01] [ 2.76434388e-01 9.61011629e-01 -6.37799208e-03 5.21268495e+00] [ 2.33147882e-02 -7.15401001e-05 9.99728171e-01 7.43965502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.08, Y:5.22, Z:0.74 [[ 9.60899749e-01 -2.75982137e-01 -2.24840616e-02 3.50804106e+01] [ 2.75908003e-01 9.61162763e-01 -6.39666458e-03 5.21857123e+00] [ 2.33762079e-02 -5.69791387e-05 9.99726737e-01 7.44987381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.178040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.11, Y:5.22, Z:0.75 [[ 9.61057740e-01 -2.75354353e-01 -2.34094320e-02 3.51090576e+01] [ 2.75273635e-01 9.61342800e-01 -6.66684203e-03 5.22187551e+00] [ 2.43402329e-02 -3.67793038e-05 9.99703732e-01 7.45283636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.14, Y:5.23, Z:0.75 [[ 9.61089138e-01 -2.75187719e-01 -2.40704728e-02 3.51352922e+01] [ 2.75102146e-01 9.61390513e-01 -6.86226128e-03 5.22768951e+00] [ 2.50295342e-02 -2.65939336e-05 9.99686712e-01 7.45454107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.238040942 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:35.16, Y:5.23, Z:0.75 [[ 9.60984423e-01 -2.75555679e-01 -2.40417777e-02 3.51625064e+01] [ 2.75470339e-01 9.61285112e-01 -6.85753074e-03 5.23432512e+00] [ 2.50006345e-02 -3.28164475e-05 9.99687435e-01 7.46223118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268040942 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:35.19, Y:5.24, Z:0.75 [[ 9.60905710e-01 -2.75830207e-01 -2.40398169e-02 3.51889852e+01] [ 2.75744780e-01 9.61206375e-01 -6.86439800e-03 5.24197119e+00] [ 2.50006336e-02 -3.28147899e-05 9.99687435e-01 7.46861035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.22, Y:5.25, Z:0.75 [[ 9.60673936e-01 -2.76602696e-01 -2.44241064e-02 3.52158990e+01] [ 2.76514580e-01 9.60984363e-01 -6.98141565e-03 5.24617513e+00] [ 2.54022627e-02 -4.67574857e-05 9.99677309e-01 7.47731441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.24, Y:5.25, Z:0.75 [[ 9.60337385e-01 -2.77786414e-01 -2.42242778e-02 3.52421980e+01] [ 2.77700028e-01 9.60642859e-01 -6.92763895e-03 5.25127286e+00] [ 2.51952835e-02 -7.42119450e-05 9.99682546e-01 7.48805752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.358040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.27, Y:5.25, Z:0.75 [[ 9.59595037e-01 -2.80482895e-01 -2.25102489e-02 3.52713306e+01] [ 2.80408945e-01 9.59859015e-01 -6.44165331e-03 5.25295960e+00] [ 2.34134389e-02 -1.30696605e-04 9.99725859e-01 7.50979341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.30, Y:5.26, Z:0.75 [[ 9.59172254e-01 -2.81947431e-01 -2.22313694e-02 3.52988968e+01] [ 2.81875567e-01 9.59429842e-01 -6.36743153e-03 5.25755466e+00] [ 2.31247202e-02 -1.59016188e-04 9.99732575e-01 7.52125802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.33, Y:5.26, Z:0.75 [[ 9.58722474e-01 -2.83480368e-01 -2.21381674e-02 3.53274498e+01] [ 2.83409469e-01 9.58978020e-01 -6.34268371e-03 5.26445673e+00] [ 2.30280423e-02 -1.93292853e-04 9.99734801e-01 7.52728548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.36, Y:5.27, Z:0.75 [[ 9.58372000e-01 -2.84651646e-01 -2.22833850e-02 3.53558741e+01] [ 2.84579987e-01 9.58630999e-01 -6.39045576e-03 5.27083703e+00] [ 2.31805974e-02 -2.16971537e-04 9.99731270e-01 7.52909357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.38, Y:5.28, Z:0.75 [[ 9.58083469e-01 -2.85576968e-01 -2.28442829e-02 3.53835585e+01] [ 2.85501768e-01 9.58355747e-01 -6.55763552e-03 5.27619809e+00] [ 2.37656595e-02 -2.39320979e-04 9.99717528e-01 7.52380610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.41, Y:5.28, Z:0.75 [[ 9.58006458e-01 -2.85847881e-01 -2.26851302e-02 3.54106062e+01] [ 2.85773748e-01 9.58274976e-01 -6.51421282e-03 5.28338413e+00] [ 2.36006665e-02 -2.42156714e-04 9.99721436e-01 7.52603658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.538040941999995 meters Centerline goodness [0,1] 0.9999570160545036 Centerline is valid? [True, True] Translation: X:35.44, Y:5.29, Z:0.75 [[ 9.58060314e-01 -2.85682933e-01 -2.24876953e-02 3.54379775e+01] [ 2.85609878e-01 9.58324167e-01 -6.46439189e-03 5.29005991e+00] [ 2.33972683e-02 -2.29430614e-04 9.99726220e-01 7.52834623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.46, Y:5.30, Z:0.75 [[ 9.58219044e-01 -2.85137878e-01 -2.26418564e-02 3.54648638e+01] [ 2.85063501e-01 9.58486487e-01 -6.51570067e-03 5.29695810e+00] [ 2.35597864e-02 -2.10898371e-04 9.99722407e-01 7.53813304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.49, Y:5.30, Z:0.75 [[ 9.58408706e-01 -2.84466052e-01 -2.30611675e-02 3.54912730e+01] [ 2.84388530e-01 9.58686095e-01 -6.64345300e-03 5.30243695e+00] [ 2.39982575e-02 -1.91188353e-04 9.99711982e-01 7.54339160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.52, Y:5.31, Z:0.76 [[ 9.59091773e-01 -2.82081640e-01 -2.39357134e-02 3.55189967e+01] [ 2.81997253e-01 9.59390395e-01 -6.90061540e-03 5.31003433e+00] [ 2.49102304e-02 -1.31481966e-04 9.99689683e-01 7.55268245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.55, Y:5.32, Z:0.76 [[ 9.59476833e-01 -2.80764652e-01 -2.39878564e-02 3.55451208e+01] [ 2.80679330e-01 9.59776642e-01 -6.92184173e-03 5.31752375e+00] [ 2.49663927e-02 -9.15486770e-05 9.99688287e-01 7.56037643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:5.33, Z:0.76 [[ 9.59787240e-01 -2.79719592e-01 -2.37782027e-02 3.55721585e+01] [ 2.79635313e-01 9.60081739e-01 -6.86628239e-03 5.32637175e+00] [ 2.47496519e-02 -5.90549254e-05 9.99693679e-01 7.56270561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.718040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.60, Y:5.34, Z:0.76 [[ 9.60553637e-01 -2.77003569e-01 -2.46116615e-02 3.55988775e+01] [ 2.76912191e-01 9.60868889e-01 -7.11451228e-03 5.33552415e+00] [ 2.56193252e-02 1.86015226e-05 9.99671771e-01 7.56003061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.63, Y:5.34, Z:0.76 [[ 9.60907121e-01 -2.75762040e-01 -2.47548444e-02 3.56262543e+01] [ 2.75668983e-01 9.61225933e-01 -7.16363749e-03 5.34297915e+00] [ 2.57704577e-02 5.94474981e-05 9.99667885e-01 7.56622523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.65, Y:5.35, Z:0.76 [[ 9.61343548e-01 -2.74280298e-01 -2.42672719e-02 3.56532491e+01] [ 2.74190223e-01 9.61649784e-01 -7.02950794e-03 5.34892005e+00] [ 2.52646723e-02 1.03923398e-04 9.99680792e-01 7.58370878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:5.36, Z:0.76 [[ 9.61414775e-01 -2.74073265e-01 -2.37797536e-02 3.56805148e+01] [ 2.73986647e-01 9.61708809e-01 -6.89084633e-03 5.35516476e+00] [ 2.47577953e-02 1.09626514e-04 9.99693473e-01 7.59889165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.71, Y:5.36, Z:0.76 [[ 9.61403103e-01 -2.74159614e-01 -2.32503786e-02 3.57072185e+01] [ 2.74076669e-01 9.61684196e-01 -6.74434271e-03 5.36108840e+00] [ 2.42085481e-02 1.11645680e-04 9.99706924e-01 7.61335458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86804094199999 meters Centerline goodness [0,1] 0.9999136460784526 Centerline is valid? [True, True] Translation: X:35.73, Y:5.37, Z:0.76 [[ 9.61339211e-01 -2.74453418e-01 -2.24107602e-02 3.57348253e+01] [ 2.74376368e-01 9.61600390e-01 -6.50371584e-03 5.36757938e+00] [ 2.33351628e-02 1.03294082e-04 9.99727693e-01 7.63032678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.898040941999994 meters Centerline goodness [0,1] 0.9999567511460946 Centerline is valid? [True, True] Translation: X:35.76, Y:5.37, Z:0.76 [[ 9.61043187e-01 -2.75563389e-01 -2.14665029e-02 3.57624320e+01] [ 2.75492835e-01 9.61282899e-01 -6.23583811e-03 5.37386591e+00] [ 2.23537508e-02 7.90419934e-05 9.99750121e-01 7.63486254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928040941999996 meters Centerline goodness [0,1] 0.9998923457853375 Centerline is valid? [True, True] Translation: X:35.79, Y:5.38, Z:0.76 [[ 9.60911463e-01 -2.76017188e-01 -2.15330370e-02 3.57882697e+01] [ 2.75946152e-01 9.61152697e-01 -6.26216619e-03 5.38164673e+00] [ 2.24250021e-02 7.54285802e-05 9.99748525e-01 7.63454698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.958040942 meters Centerline goodness [0,1] 0.999913603179403 Centerline is valid? [True, True] Translation: X:35.82, Y:5.39, Z:0.76 [[ 9.60679841e-01 -2.76650031e-01 -2.36432531e-02 3.58159869e+01] [ 2.76564438e-01 9.60970736e-01 -6.88160695e-03 5.38583288e+00] [ 2.46242711e-02 7.21380713e-05 9.99696774e-01 7.62824089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988040942 meters Centerline goodness [0,1] 0.9999567211979572 Centerline is valid? [True, True] Translation: X:35.84, Y:5.39, Z:0.76 [[ 9.60566949e-01 -2.76973794e-01 -2.44265043e-02 3.58423516e+01] [ 2.76882349e-01 9.60877470e-01 -7.11710535e-03 5.39100884e+00] [ 2.54421293e-02 7.31882945e-05 9.99676294e-01 7.62895637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.87, Y:5.40, Z:0.76 [[ 9.60299468e-01 -2.77945200e-01 -2.39039384e-02 3.58698271e+01] [ 2.77857840e-01 9.60596931e-01 -6.96831418e-03 5.39531255e+00] [ 2.48988593e-02 4.97717089e-05 9.99689974e-01 7.64168230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04804094199999 meters Centerline goodness [0,1] 0.9998695198329853 Centerline is valid? [True, True] Translation: X:35.90, Y:5.40, Z:0.76 [[ 9.59962305e-01 -2.79146941e-01 -2.34384047e-02 3.58964833e+01] [ 2.79063136e-01 9.60248397e-01 -6.83970668e-03 5.40278609e+00] [ 2.44159737e-02 2.50658852e-05 9.99701885e-01 7.62817825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.078040941999994 meters Centerline goodness [0,1] 0.9999782651220414 Centerline is valid? [True, True] Translation: X:35.92, Y:5.41, Z:0.77 [[ 9.59866271e-01 -2.79473146e-01 -2.34840849e-02 3.59231285e+01] [ 2.79388934e-01 9.60153509e-01 -6.86029036e-03 5.41080156e+00] [ 2.44655934e-02 2.37678961e-05 9.99700672e-01 7.65253184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108040941999995 meters Centerline goodness [0,1] 0.999978288245256 Centerline is valid? [True, True] Translation: X:35.95, Y:5.42, Z:0.76 [[ 9.59625737e-01 -2.80253860e-01 -2.40045589e-02 3.59497032e+01] [ 2.80165930e-01 9.59925921e-01 -7.01982201e-03 5.41827225e+00] [ 2.50099305e-02 1.11423087e-05 9.99687203e-01 7.64834010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.138040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.98, Y:5.42, Z:0.76 [[ 9.59236169e-01 -2.81465729e-01 -2.53577444e-02 3.59780567e+01] [ 2.81367830e-01 9.59571281e-01 -7.42300344e-03 5.42227818e+00] [ 2.64218843e-02 -1.44401373e-05 9.99650881e-01 7.64784311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.01, Y:5.43, Z:0.77 [[ 9.58964872e-01 -2.82329778e-01 -2.60052118e-02 3.60058819e+01] [ 2.82227044e-01 9.59317411e-01 -7.61580714e-03 5.42733219e+00] [ 2.70974216e-02 -3.60825330e-05 9.99632797e-01 7.65625387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.198040942 meters Centerline goodness [0,1] 0.9999562506835831 Centerline is valid? [True, True] Translation: X:36.03, Y:5.43, Z:0.77 [[ 9.58348583e-01 -2.84430203e-01 -2.58350973e-02 3.60339478e+01] [ 2.84329364e-01 9.58696747e-01 -7.57367033e-03 5.43124593e+00] [ 2.69222043e-02 -8.74605486e-05 9.99637528e-01 7.66660296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:5.44, Z:0.77 [[ 9.58047796e-01 -2.85438459e-01 -2.58709823e-02 3.60606280e+01] [ 2.85337500e-01 9.58397034e-01 -7.59188688e-03 5.43863471e+00] [ 2.69616891e-02 -1.08570902e-04 9.99636462e-01 7.67243212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.258040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.09, Y:5.45, Z:0.77 [[ 9.57867997e-01 -2.86045157e-01 -2.58276647e-02 3.60871190e+01] [ 2.85944551e-01 9.58216131e-01 -7.58681528e-03 5.44681788e+00] [ 2.69186567e-02 -1.18112420e-04 9.99637620e-01 7.67128603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.11, Y:5.45, Z:0.77 [[ 9.57856742e-01 -2.86102338e-01 -2.56108119e-02 3.61131243e+01] [ 2.86003249e-01 9.58199061e-01 -7.53007455e-03 5.45319730e+00] [ 2.66946278e-02 -1.12042733e-04 9.99643629e-01 7.67292044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.318040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:5.46, Z:0.77 [[ 9.57756361e-01 -2.86440225e-01 -2.55880869e-02 3.61404602e+01] [ 2.86341331e-01 9.58098107e-01 -7.52720571e-03 5.45883952e+00] [ 2.66719922e-02 -1.17697721e-04 9.99644232e-01 7.68685537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:5.46, Z:0.77 [[ 9.57612732e-01 -2.86998457e-01 -2.46929195e-02 3.61674933e+01] [ 2.86906369e-01 9.57931037e-01 -7.27079676e-03 5.46467978e+00] [ 2.57408214e-02 -1.21948331e-04 9.99668643e-01 7.70295323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:5.47, Z:0.77 [[ 9.57367798e-01 -2.87826434e-01 -2.45528832e-02 3.61942311e+01] [ 2.87735485e-01 9.57682581e-01 -7.23638917e-03 5.46927611e+00] [ 2.55966927e-02 -1.36849800e-04 9.99672342e-01 7.71634591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:5.48, Z:0.77 [[ 9.57256474e-01 -2.88150213e-01 -2.50897886e-02 3.62211862e+01] [ 2.88055215e-01 9.57585210e-01 -7.39990640e-03 5.47605599e+00] [ 2.61578951e-02 -1.43636156e-04 9.99657813e-01 7.71996841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.25, Y:5.48, Z:0.77 [[ 9.57195114e-01 -2.88254503e-01 -2.62079210e-02 3.62482195e+01] [ 2.88150695e-01 9.57553821e-01 -7.73673128e-03 5.48115172e+00] [ 2.73256426e-02 -1.46269285e-04 9.99626574e-01 7.72044018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.28, Y:5.49, Z:0.77 [[ 9.57136352e-01 -2.88422289e-01 -2.65063701e-02 3.62758443e+01] [ 2.88316068e-01 9.57503296e-01 -7.82840910e-03 5.48797095e+00] [ 2.76378243e-02 -1.49357461e-04 9.99617991e-01 7.72584169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.30, Y:5.49, Z:0.77 [[ 9.57392157e-01 -2.87546370e-01 -2.67832625e-02 3.63027260e+01] [ 2.87437364e-01 9.57766710e-01 -7.91774609e-03 5.49425545e+00] [ 2.79288363e-02 -1.18122362e-04 9.99609907e-01 7.74142759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528040942 meters Centerline goodness [0,1] 0.9999341672152732 Centerline is valid? [True, True] Translation: X:36.33, Y:5.50, Z:0.77 [[ 9.57579188e-01 -2.86957356e-01 -2.64116476e-02 3.63283432e+01] [ 2.86850949e-01 9.57943353e-01 -7.81449657e-03 5.50150203e+00] [ 2.75432896e-02 -9.32068947e-05 9.99620607e-01 7.74644826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.36, Y:5.51, Z:0.78 [[ 9.57620709e-01 -2.86814823e-01 -2.64543908e-02 3.63551589e+01] [ 2.86707910e-01 9.57986038e-01 -7.83098724e-03 5.50940490e+00] [ 2.75889802e-02 -8.55675419e-05 9.99619348e-01 7.75427115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.38, Y:5.52, Z:0.78 [[ 9.57642038e-01 -2.86766791e-01 -2.62018125e-02 3.63817917e+01] [ 2.86661694e-01 9.58000418e-01 -7.76347367e-03 5.51719139e+00] [ 2.73276538e-02 -7.64272077e-05 9.99626527e-01 7.76994921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.41, Y:5.52, Z:0.78 [[ 9.57694276e-01 -2.86651705e-01 -2.55435479e-02 3.64091384e+01] [ 2.86551581e-01 9.58034861e-01 -7.57598384e-03 5.52260757e+00] [ 2.66432780e-02 -6.40676596e-05 9.99645003e-01 7.78736290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.44, Y:5.53, Z:0.78 [[ 9.57716275e-01 -2.86605492e-01 -2.52354584e-02 3.64360205e+01] [ 2.86507556e-01 9.58048688e-01 -7.49211055e-03 5.52927713e+00] [ 2.63240778e-02 -5.48332737e-05 9.99653460e-01 7.80009288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.678040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:5.53, Z:0.78 [[ 9.57938775e-01 -2.85918373e-01 -2.45761423e-02 3.64642196e+01] [ 2.85825077e-01 9.58253976e-01 -7.30356181e-03 5.53418043e+00] [ 2.56384086e-02 -2.81127259e-05 9.99671282e-01 7.82427376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:5.54, Z:0.78 [[ 9.57998355e-01 -2.85692879e-01 -2.48742825e-02 3.64907128e+01] [ 2.85597044e-01 9.58321229e-01 -7.39932391e-03 5.54026718e+00] [ 2.59514872e-02 -1.54814268e-05 9.99663203e-01 7.83437933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.52, Y:5.55, Z:0.78 [[ 9.57959635e-01 -2.85792951e-01 -2.52136223e-02 3.65183101e+01] [ 2.85694416e-01 9.58291390e-01 -7.50411214e-03 5.54760889e+00] [ 2.63066195e-02 -1.47545675e-05 9.99653921e-01 7.83805342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.54, Y:5.55, Z:0.78 [[ 9.57779344e-01 -2.86333334e-01 -2.59220028e-02 3.65443127e+01] [ 2.86229177e-01 9.58130065e-01 -7.72251085e-03 5.55468729e+00] [ 2.70478625e-02 -2.31721481e-05 9.99634139e-01 7.82434550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.57, Y:5.56, Z:0.78 [[ 9.57593596e-01 -2.86930057e-01 -2.61848780e-02 3.65711598e+01] [ 2.86823842e-01 9.57951534e-01 -7.80657646e-03 5.56122322e+00] [ 2.73237854e-02 -3.49196807e-05 9.99626635e-01 7.82996496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828040941999994 meters Centerline goodness [0,1] 0.9999108535770003 Centerline is valid? [True, True] Translation: X:36.60, Y:5.57, Z:0.78 [[ 9.57397259e-01 -2.87525643e-01 -2.68233543e-02 3.65983195e+01] [ 2.87414212e-01 9.57772939e-01 -8.00428414e-03 5.56643085e+00] [ 2.79921199e-02 -4.61335451e-05 9.99608143e-01 7.83352875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.858040941999995 meters Centerline goodness [0,1] 0.9999776040850149 Centerline is valid? [True, True] Translation: X:36.63, Y:5.57, Z:0.78 [[ 9.56732143e-01 -2.89651343e-01 -2.76714056e-02 3.66271295e+01] [ 2.89533537e-01 9.57132221e-01 -8.26094974e-03 5.56940409e+00] [ 2.88779891e-02 -1.08283771e-04 9.99582938e-01 7.84768137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888040941999996 meters Centerline goodness [0,1] 0.9998211651093128 Centerline is valid? [True, True] Translation: X:36.65, Y:5.58, Z:0.78 [[ 9.56358675e-01 -2.90828348e-01 -2.82304256e-02 3.66540343e+01] [ 2.90706051e-01 9.56775236e-01 -8.43443052e-03 5.57521111e+00] [ 2.94631436e-02 -1.40414752e-04 9.99565857e-01 7.84396125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.918040942 meters Centerline goodness [0,1] 0.9999776186213071 Centerline is valid? [True, True] Translation: X:36.68, Y:5.58, Z:0.78 [[ 9.55713196e-01 -2.92986782e-01 -2.77674673e-02 3.66818110e+01] [ 2.92869273e-01 9.56116471e-01 -8.29959774e-03 5.58330853e+00] [ 2.89806052e-02 -2.00202865e-04 9.99579954e-01 7.84741658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948040942 meters Centerline goodness [0,1] 0.9998880630428942 Centerline is valid? [True, True] Translation: X:36.71, Y:5.59, Z:0.79 [[ 9.55494892e-01 -2.93729115e-01 -2.74357269e-02 3.67084685e+01] [ 2.93614497e-01 9.55888676e-01 -8.20765093e-03 5.59217474e+00] [ 2.86363267e-02 -2.13158619e-04 9.99589874e-01 7.85216065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.73, Y:5.60, Z:0.79 [[ 9.55351826e-01 -2.94199912e-01 -2.73733578e-02 3.67349313e+01] [ 2.94085776e-01 9.55743880e-01 -8.19711300e-03 5.60154256e+00] [ 2.85735091e-02 -2.18988289e-04 9.99591670e-01 7.86598848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008040941999994 meters Centerline goodness [0,1] 0.9998882556710247 Centerline is valid? [True, True] Translation: X:36.76, Y:5.61, Z:0.79 [[ 9.55223172e-01 -2.94570451e-01 -2.78736497e-02 3.67612932e+01] [ 2.94452009e-01 9.55629739e-01 -8.35562344e-03 5.61024404e+00] [ 2.90982083e-02 -2.25967005e-04 9.99576532e-01 7.87203491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.038040941999995 meters Centerline goodness [0,1] 0.9999108555637272 Centerline is valid? [True, True] Translation: X:36.79, Y:5.62, Z:0.79 [[ 9.54683728e-01 -2.96271082e-01 -2.83271272e-02 3.67882563e+01] [ 2.96149277e-01 9.55103853e-01 -8.49916023e-03 5.61677815e+00] [ 2.95734037e-02 -2.75048252e-04 9.99562573e-01 7.87814241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068040941999996 meters Centerline goodness [0,1] 0.9999775769670606 Centerline is valid? [True, True] Translation: X:36.82, Y:5.63, Z:0.79 [[ 9.54059182e-01 -2.98307633e-01 -2.79934488e-02 3.68154462e+01] [ 2.98189449e-01 9.54469720e-01 -8.40271053e-03 5.62543636e+00] [ 2.92254919e-02 -3.30667936e-04 9.99572789e-01 7.89464311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.84, Y:5.63, Z:0.79 [[ 9.53031658e-01 -3.01505785e-01 -2.87214420e-02 3.68429566e+01] [ 3.01382620e-01 9.53464249e-01 -8.62803124e-03 5.63225580e+00] [ 2.99862694e-02 -4.33356509e-04 9.99550217e-01 7.90060867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.87, Y:5.64, Z:0.79 [[ 9.52443416e-01 -3.03272797e-01 -2.96166995e-02 3.68702109e+01] [ 3.03142595e-01 9.52903646e-01 -8.89991086e-03 5.63999514e+00] [ 3.09209618e-02 -5.01421633e-04 9.99521707e-01 7.89427102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.90, Y:5.65, Z:0.79 [[ 9.51923108e-01 -3.04813271e-01 -3.05166605e-02 3.68970147e+01] [ 3.04675681e-01 9.52411965e-01 -9.17483621e-03 5.65028982e+00] [ 3.18610445e-02 -5.63945748e-04 9.99492149e-01 7.89391107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.92, Y:5.66, Z:0.79 [[ 9.51835291e-01 -3.05087626e-01 -3.05142571e-02 3.69234165e+01] [ 3.04949921e-01 9.52324116e-01 -9.18282374e-03 5.65831280e+00] [ 3.18610288e-02 -5.64784592e-04 9.99492149e-01 7.90029477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.218040941999995 meters Centerline goodness [0,1] 0.9998883878744587 Centerline is valid? [True, True] Translation: X:36.95, Y:5.67, Z:0.79 [[ 9.51122445e-01 -3.07168637e-01 -3.18358838e-02 3.69490580e+01] [ 3.07019633e-01 9.51654875e-01 -9.58876857e-03 5.66865640e+00] [ 3.32421430e-02 -6.54148376e-04 9.99447113e-01 7.88201743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248040941999996 meters Centerline goodness [0,1] 0.9998887083490996 Centerline is valid? [True, True] Translation: X:36.98, Y:5.68, Z:0.79 [[ 9.50773357e-01 -3.08257104e-01 -3.17424398e-02 3.69763663e+01] [ 3.08109422e-01 9.51302837e-01 -9.56535018e-03 5.67791781e+00] [ 3.31452601e-02 -6.85664680e-04 9.99450310e-01 7.88633758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.278040942 meters Centerline goodness [0,1] 0.99991087741188 Centerline is valid? [True, True] Translation: X:37.00, Y:5.68, Z:0.79 [[ 9.50176440e-01 -3.10064471e-01 -3.20118262e-02 3.70031007e+01] [ 3.09915062e-01 9.50715238e-01 -9.65351903e-03 5.68486572e+00] [ 3.34273442e-02 -7.48400742e-04 9.99440870e-01 7.89741250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308040942 meters Centerline goodness [0,1] 0.9999107939339875 Centerline is valid? [True, True] Translation: X:37.03, Y:5.69, Z:0.79 [[ 9.49886181e-01 -3.10955492e-01 -3.19831936e-02 3.70307337e+01] [ 3.10806697e-01 9.50424159e-01 -9.64960644e-03 5.69423655e+00] [ 3.33981980e-02 -7.74562935e-04 9.99441824e-01 7.91280482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33804094199999 meters Centerline goodness [0,1] 0.9999555407358008 Centerline is valid? [True, True] Translation: X:37.06, Y:5.70, Z:0.79 [[ 9.49859487e-01 -3.11054426e-01 -3.18135102e-02 3.70575544e+01] [ 3.10906969e-01 9.50391792e-01 -9.60721167e-03 5.70293750e+00] [ 3.32236647e-02 -7.65540884e-04 9.99447648e-01 7.92473849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36804094199999 meters Centerline goodness [0,1] 0.999844031995722 Centerline is valid? [True, True] Translation: X:37.08, Y:5.71, Z:0.79 [[ 9.49772513e-01 -3.11383916e-01 -3.11805999e-02 3.70838721e+01] [ 3.11242140e-01 9.50283900e-01 -9.42547763e-03 5.71295260e+00] [ 3.25653642e-02 -7.52657066e-04 9.99469324e-01 7.93962642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.398040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.11, Y:5.72, Z:0.80 [[ 9.50175769e-01 -3.10332976e-01 -2.93164227e-02 3.71107030e+01] [ 3.10206892e-01 9.50627688e-01 -8.87036681e-03 5.72442422e+00] [ 3.06217705e-02 -6.65748777e-04 9.99530822e-01 7.95675793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428040941999996 meters Centerline goodness [0,1] 0.9999555209607472 Centerline is valid? [True, True] Translation: X:37.14, Y:5.73, Z:0.80 [[ 9.50423582e-01 -3.09638006e-01 -2.86237678e-02 3.71382100e+01] [ 3.09517268e-01 9.50854310e-01 -8.66839882e-03 5.73434260e+00] [ 2.99010987e-02 -6.20899762e-04 9.99552669e-01 7.96518133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.458040942 meters Centerline goodness [0,1] 0.9998003549245785 Centerline is valid? [True, True] Translation: X:37.16, Y:5.75, Z:0.80 [[ 9.51158971e-01 -3.07387309e-01 -2.84544200e-02 3.71647846e+01] [ 3.07266761e-01 9.51584337e-01 -8.62476282e-03 5.74620710e+00] [ 2.97279230e-02 -5.39576918e-04 9.99557882e-01 7.96275460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488040942 meters Centerline goodness [0,1] 0.9998668116939333 Centerline is valid? [True, True] Translation: X:37.19, Y:5.75, Z:0.80 [[ 9.51541150e-01 -3.06207733e-01 -2.83948011e-02 3.71911266e+01] [ 3.06086959e-01 9.51964589e-01 -8.61360231e-03 5.75486412e+00] [ 2.96683968e-02 -4.95081272e-04 9.99559674e-01 7.96409598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.518040942 meters Centerline goodness [0,1] 0.9998893487064864 Centerline is valid? [True, True] Translation: X:37.22, Y:5.76, Z:0.80 [[ 9.51892875e-01 -3.05103723e-01 -2.84898820e-02 3.72188741e+01] [ 3.04981500e-01 9.52319016e-01 -8.64732153e-03 5.76374528e+00] [ 2.97697864e-02 -4.57563200e-04 9.99556677e-01 7.97201547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.25, Y:5.77, Z:0.80 [[ 9.52607238e-01 -3.02915186e-01 -2.79613900e-02 3.72454256e+01] [ 3.02796326e-01 9.53017444e-01 -8.49330546e-03 5.77191946e+00] [ 2.92204436e-02 -3.75821892e-04 9.99572921e-01 7.98904910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.578040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.27, Y:5.78, Z:0.80 [[ 9.52952067e-01 -3.01861890e-01 -2.75999376e-02 3.72722430e+01] [ 3.01745568e-01 9.53351607e-01 -8.38610098e-03 5.78055150e+00] [ 2.88438892e-02 -3.36606573e-04 9.99583872e-01 7.99433983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608040941999995 meters Centerline goodness [0,1] 0.9998673182813295 Centerline is valid? [True, True] Translation: X:37.30, Y:5.79, Z:0.80 [[ 9.53028111e-01 -3.01650509e-01 -2.72835091e-02 3.72990852e+01] [ 3.01536650e-01 9.53418516e-01 -8.29353182e-03 5.79014942e+00] [ 2.85143509e-02 -3.23008973e-04 9.99593331e-01 7.99803291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.638040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:5.80, Z:0.80 [[ 9.53403608e-01 -3.00510828e-01 -2.67357903e-02 3.73247677e+01] [ 3.00400853e-01 9.53778363e-01 -8.13398210e-03 5.80031531e+00] [ 2.79443680e-02 -2.76486346e-04 9.99609442e-01 7.99374378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.35, Y:5.81, Z:0.80 [[ 9.53497915e-01 -3.00201715e-01 -2.68450482e-02 3.73516037e+01] [ 3.00090620e-01 9.53875705e-01 -8.17067430e-03 5.80947744e+00] [ 2.80596897e-02 -2.65226234e-04 9.99606214e-01 7.99840879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.38, Y:5.82, Z:0.80 [[ 9.53263680e-01 -3.00966835e-01 -2.65955197e-02 3.73792934e+01] [ 3.00857900e-01 9.53634567e-01 -8.10168048e-03 5.81559035e+00] [ 2.78007441e-02 -2.78434468e-04 9.99613446e-01 8.01153711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72804094199999 meters Centerline goodness [0,1] 0.9999779073877695 Centerline is valid? [True, True] Translation: X:37.41, Y:5.82, Z:0.80 [[ 9.52887382e-01 -3.02190894e-01 -2.61973340e-02 3.74074017e+01] [ 3.02085577e-01 9.53247381e-01 -7.98340661e-03 5.82259621e+00] [ 2.73850528e-02 -3.06549322e-04 9.99624912e-01 8.02564742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.758040941999994 meters Centerline goodness [0,1] 0.9999558683995675 Centerline is valid? [True, True] Translation: X:37.44, Y:5.83, Z:0.80 [[ 9.52435119e-01 -3.03678935e-01 -2.54253501e-02 3.74353226e+01] [ 3.03580096e-01 9.52774367e-01 -7.75443785e-03 5.83165432e+00] [ 2.65794813e-02 -3.33031311e-04 9.99646648e-01 8.03878436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.46, Y:5.84, Z:0.80 [[ 9.51520247e-01 -3.06608801e-01 -2.45002555e-02 3.74623836e+01] [ 3.06517844e-01 9.51835536e-01 -7.47818897e-03 5.83920309e+00] [ 2.56130924e-02 -3.94117270e-04 9.99671853e-01 8.03667279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.818040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.49, Y:5.85, Z:0.80 [[ 9.51209864e-01 -3.07579452e-01 -2.43859790e-02 3.74893604e+01] [ 3.07489603e-01 9.51522311e-01 -7.44559313e-03 5.84797986e+00] [ 2.54939146e-02 -4.16113373e-04 9.99674891e-01 8.04604929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.52, Y:5.85, Z:0.81 [[ 9.50826399e-01 -3.08815877e-01 -2.37047010e-02 3.75167397e+01] [ 3.08731307e-01 9.51121741e-01 -7.23979573e-03 5.85362065e+00] [ 2.47818203e-02 -4.34594412e-04 9.99692789e-01 8.05417789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.54, Y:5.86, Z:0.81 [[ 9.50436862e-01 -3.10113128e-01 -2.23521749e-02 3.75447507e+01] [ 3.10038246e-01 9.50699561e-01 -6.82874099e-03 5.86103786e+00] [ 2.33678851e-02 -4.39741942e-04 9.99726837e-01 8.06555379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.57, Y:5.87, Z:0.81 [[ 9.50277908e-01 -3.10589409e-01 -2.24970214e-02 3.75710371e+01] [ 3.10513553e-01 9.50544064e-01 -6.87865770e-03 5.87203347e+00] [ 2.35208484e-02 -4.48993613e-04 9.99723246e-01 8.07231550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93804094199999 meters Centerline goodness [0,1] 0.9998672213862088 Centerline is valid? [True, True] Translation: X:37.60, Y:5.88, Z:0.81 [[ 9.50188520e-01 -3.10845952e-01 -2.27281857e-02 3.75982775e+01] [ 3.10768546e-01 9.50460196e-01 -6.95170576e-03 5.88034881e+00] [ 2.37631454e-02 -4.57774216e-04 9.99717512e-01 8.07307069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968040941999995 meters Centerline goodness [0,1] 0.9998892310418929 Centerline is valid? [True, True] Translation: X:37.63, Y:5.88, Z:0.81 [[ 9.50028584e-01 -3.11320792e-01 -2.29140445e-02 3.76250730e+01] [ 3.11242080e-01 9.50304765e-01 -7.01573954e-03 5.88368466e+00] [ 2.39594712e-02 -4.66661759e-04 9.99712822e-01 8.06649133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.998040941999996 meters Centerline goodness [0,1] 0.9998228089215708 Centerline is valid? [True, True] Translation: X:37.65, Y:5.90, Z:0.81 [[ 9.49871344e-01 -3.11733203e-01 -2.38083847e-02 3.76504576e+01] [ 3.11648203e-01 9.50169548e-01 -7.29570476e-03 5.89676343e+00] [ 2.48963156e-02 -4.89859434e-04 9.99689919e-01 8.07127932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028040942 meters Centerline goodness [0,1] 0.9998232903339813 Centerline is valid? [True, True] Translation: X:37.68, Y:5.91, Z:0.81 [[ 9.49763280e-01 -3.11991847e-01 -2.47143422e-02 3.76773721e+01] [ 3.11900140e-01 9.50084643e-01 -7.58112502e-03 5.90579472e+00] [ 2.58459662e-02 -5.08132638e-04 9.99665808e-01 8.06900295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.058040942 meters Centerline goodness [0,1] 0.9998006732813607 Centerline is valid? [True, True] Translation: X:37.70, Y:5.92, Z:0.81 [[ 9.49622531e-01 -3.12384065e-01 -2.51643582e-02 3.77035447e+01] [ 3.12288919e-01 9.49955749e-01 -7.72698047e-03 5.91519630e+00] [ 2.63188123e-02 -5.20835483e-04 9.99653464e-01 8.06498736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08804094199999 meters Centerline goodness [0,1] 0.9998235242213006 Centerline is valid? [True, True] Translation: X:37.73, Y:5.92, Z:0.81 [[ 9.49487371e-01 -3.12744987e-01 -2.57741111e-02 3.77302449e+01] [ 3.12645105e-01 9.49836978e-01 -7.92169574e-03 5.92142220e+00] [ 2.69586744e-02 -5.36599600e-04 9.99636405e-01 8.07403881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:5.93, Z:0.81 [[ 9.49234072e-01 -3.13577675e-01 -2.49743524e-02 3.77575507e+01] [ 3.13484100e-01 9.49562399e-01 -7.67911887e-03 5.93050080e+00] [ 2.61227062e-02 -5.39781119e-04 9.99658598e-01 8.08781346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:5.94, Z:0.81 [[ 9.48967343e-01 -3.14403449e-01 -2.47275615e-02 3.77851796e+01] [ 3.14311824e-01 9.49289296e-01 -7.60980400e-03 5.93999162e+00] [ 2.58661581e-02 -5.50709479e-04 9.99665263e-01 8.09829934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.178040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.81, Y:5.95, Z:0.81 [[ 9.48659527e-01 -3.15340661e-01 -2.46042770e-02 3.78122107e+01] [ 3.15250101e-01 9.48978369e-01 -7.57814088e-03 5.94731663e+00] [ 2.57386226e-02 -5.67425255e-04 9.99668546e-01 8.10261623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.84, Y:5.96, Z:0.81 [[ 9.48046788e-01 -3.17203057e-01 -2.42798037e-02 3.78395115e+01] [ 3.17115412e-01 9.48357449e-01 -7.48089100e-03 5.95579170e+00] [ 2.53988942e-02 -6.07265270e-04 9.99677212e-01 8.10866110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.238040942 meters Centerline goodness [0,1] 0.9999114652501107 Centerline is valid? [True, True] Translation: X:37.87, Y:5.96, Z:0.81 [[ 9.47855247e-01 -3.17817211e-01 -2.37202474e-02 3.78659916e+01] [ 3.17733601e-01 9.48151811e-01 -7.31457589e-03 5.96293145e+00] [ 2.48150936e-02 -6.03560477e-04 9.99691876e-01 8.11662993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26804094199999 meters Centerline goodness [0,1] 0.9999556894718185 Centerline is valid? [True, True] Translation: X:37.89, Y:5.97, Z:0.81 [[ 9.47709395e-01 -3.18265304e-01 -2.35393069e-02 3.78933742e+01] [ 3.18183014e-01 9.48001491e-01 -7.26235665e-03 5.97063862e+00] [ 2.46266542e-02 -6.07203977e-04 9.99696534e-01 8.12859156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.92, Y:5.98, Z:0.82 [[ 9.47580547e-01 -3.18749821e-01 -2.21282395e-02 3.79202871e+01] [ 3.18677087e-01 9.47838709e-01 -6.83336729e-03 5.97843977e+00] [ 2.31521365e-02 -5.76596983e-04 9.99731787e-01 8.15247027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.95, Y:5.99, Z:0.82 [[ 9.47633307e-01 -3.18594712e-01 -2.21025836e-02 3.79472813e+01] [ 3.18521948e-01 9.47890864e-01 -6.83220532e-03 5.98691316e+00] [ 2.31275415e-02 -5.65732654e-04 9.99732363e-01 8.16281970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.358040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.97, Y:6.00, Z:0.82 [[ 9.47564569e-01 -3.18819186e-01 -2.18108540e-02 3.79733859e+01] [ 3.18748346e-01 9.47815389e-01 -6.74398535e-03 5.99797688e+00] [ 2.28227749e-02 -5.61812042e-04 9.99739369e-01 8.16241947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.00, Y:6.01, Z:0.82 [[ 9.47489512e-01 -3.19026511e-01 -2.20388359e-02 3.79997282e+01] [ 3.18954082e-01 9.47745622e-01 -6.82121824e-03 6.00655766e+00] [ 2.30633597e-02 -5.66343936e-04 9.99733845e-01 8.16680603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:6.01, Z:0.82 [[ 9.47379597e-01 -3.19309739e-01 -2.26536957e-02 3.80261872e+01] [ 3.19233127e-01 9.47650226e-01 -7.01853429e-03 6.01433468e+00] [ 2.37088663e-02 -5.82593935e-04 9.99718736e-01 8.17500986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.05, Y:6.02, Z:0.82 [[ 9.47088745e-01 -3.20129343e-01 -2.32403099e-02 3.80545906e+01] [ 3.20048785e-01 9.47373648e-01 -7.20736348e-03 6.02162695e+00] [ 2.43245457e-02 -6.12020123e-04 9.99703927e-01 8.18630764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.08, Y:6.03, Z:0.82 [[ 9.46845792e-01 -3.20827644e-01 -2.35088978e-02 3.80820817e+01] [ 3.20745275e-01 9.47137384e-01 -7.29685160e-03 6.03022580e+00] [ 2.46071877e-02 -6.31374660e-04 9.99696998e-01 8.19248990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508040941999994 meters Centerline goodness [0,1] 0.9999335768847559 Centerline is valid? [True, True] Translation: X:38.11, Y:6.04, Z:0.82 [[ 9.46836704e-01 -3.20826719e-01 -2.38845622e-02 3.81084164e+01] [ 3.20741543e-01 9.47137695e-01 -7.41957027e-03 6.03800695e+00] [ 2.50023655e-02 -6.35649863e-04 9.99687190e-01 8.18463827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.538040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.13, Y:6.05, Z:0.82 [[ 9.46713670e-01 -3.21139572e-01 -2.45479489e-02 3.81347806e+01] [ 3.21049610e-01 9.47031648e-01 -7.62930003e-03 6.04833421e+00] [ 2.56977547e-02 -6.58346796e-04 9.99669541e-01 8.19383576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.16, Y:6.06, Z:0.82 [[ 9.46746030e-01 -3.21063825e-01 -2.42894115e-02 3.81605324e+01] [ 3.20975543e-01 9.47057341e-01 -7.55602866e-03 6.06019871e+00] [ 2.54294329e-02 -6.42666915e-04 9.99676413e-01 8.20001093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:6.07, Z:0.82 [[ 9.47081733e-01 -3.20041066e-01 -2.46962785e-02 3.81876616e+01] [ 3.19949265e-01 9.47403469e-01 -7.68990974e-03 6.06704607e+00] [ 2.58584268e-02 -6.18583107e-04 9.99665424e-01 8.20380991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628040942 meters Centerline goodness [0,1] 0.9999339919470175 Centerline is valid? [True, True] Translation: X:38.22, Y:6.08, Z:0.82 [[ 9.47168043e-01 -3.19801511e-01 -2.44885974e-02 3.82150620e+01] [ 3.19711072e-01 9.47484369e-01 -7.62893886e-03 6.07628102e+00] [ 2.56423094e-02 -6.03388632e-04 9.99671000e-01 8.19927493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65804094199999 meters Centerline goodness [0,1] 0.9999559082892416 Centerline is valid? [True, True] Translation: X:38.24, Y:6.08, Z:0.82 [[ 9.47154094e-01 -3.19843879e-01 -2.44747970e-02 3.82406887e+01] [ 3.19753407e-01 9.47470071e-01 -7.63046619e-03 6.08439115e+00] [ 2.56296955e-02 -5.98672426e-04 9.99671326e-01 8.22074993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68804094199999 meters Centerline goodness [0,1] 0.9999337982169653 Centerline is valid? [True, True] Translation: X:38.27, Y:6.10, Z:0.82 [[ 9.47140247e-01 -3.19906278e-01 -2.41935148e-02 3.82668327e+01] [ 3.19817810e-01 9.47449009e-01 -7.54610726e-03 6.09626168e+00] [ 2.53361687e-02 -5.90295008e-04 9.99678813e-01 8.22485696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.718040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:6.10, Z:0.82 [[ 9.46870580e-01 -3.20697166e-01 -2.42782340e-02 3.82938957e+01] [ 3.20608156e-01 9.47181587e-01 -7.57960584e-03 6.10441823e+00] [ 2.54266544e-02 -6.06894071e-04 9.99676506e-01 8.24252411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748040941999996 meters Centerline goodness [0,1] 0.999911705626559 Centerline is valid? [True, True] Translation: X:38.32, Y:6.11, Z:0.82 [[ 9.46672764e-01 -3.21276390e-01 -2.43343079e-02 3.83216064e+01] [ 3.21187066e-01 9.46985267e-01 -7.60082833e-03 6.11403823e+00] [ 2.54861977e-02 -6.20367775e-04 9.99674982e-01 8.23784394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:6.12, Z:0.83 [[ 9.46423765e-01 -3.21995243e-01 -2.45177482e-02 3.83488035e+01] [ 3.21904638e-01 9.46741071e-01 -7.66473794e-03 6.12243011e+00] [ 2.56799684e-02 -6.38286706e-04 9.99670011e-01 8.26614592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808040942 meters Centerline goodness [0,1] 0.9999338551427627 Centerline is valid? [True, True] Translation: X:38.38, Y:6.13, Z:0.83 [[ 9.46243204e-01 -3.22563569e-01 -2.40113075e-02 3.83752721e+01] [ 3.22476692e-01 9.46547591e-01 -7.51278151e-03 6.13224160e+00] [ 2.51511949e-02 -6.34168560e-04 9.99683458e-01 8.26346091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83804094199999 meters Centerline goodness [0,1] 0.9999779424739721 Centerline is valid? [True, True] Translation: X:38.40, Y:6.14, Z:0.83 [[ 9.46215820e-01 -3.22651921e-01 -2.39031217e-02 3.84009967e+01] [ 3.22565671e-01 9.46517483e-01 -7.48617087e-03 6.14238660e+00] [ 2.50401500e-02 -6.26793172e-04 9.99686250e-01 8.28043291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.43, Y:6.15, Z:0.83 [[ 9.46229950e-01 -3.22640574e-01 -2.34934505e-02 3.84268060e+01] [ 3.22557080e-01 9.46521362e-01 -7.36484584e-03 6.15265847e+00] [ 2.46132508e-02 -6.09141078e-04 9.99696862e-01 8.28303104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.898040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.45, Y:6.16, Z:0.83 [[ 9.46186546e-01 -3.22830627e-01 -2.26142899e-02 3.84532759e+01] [ 3.22753165e-01 9.46456573e-01 -7.09579327e-03 6.16329004e+00] [ 2.36941827e-02 -5.84889525e-04 9.99719082e-01 8.29274825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.48, Y:6.17, Z:0.83 [[ 9.46166972e-01 -3.22904703e-01 -2.23743880e-02 3.84788004e+01] [ 3.22828742e-01 9.46431309e-01 -7.02710543e-03 6.17125714e+00] [ 2.34449067e-02 -5.74280449e-04 9.99724965e-01 8.30234267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.51, Y:6.18, Z:0.83 [[ 9.45882792e-01 -3.23684903e-01 -2.31047147e-02 3.85050958e+01] [ 3.23604060e-01 9.46164738e-01 -7.25953021e-03 6.17995846e+00] [ 2.42106667e-02 -6.10114799e-04 9.99706693e-01 8.30659467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:6.19, Z:0.83 [[ 9.45783816e-01 -3.23921265e-01 -2.38324786e-02 3.85313413e+01] [ 3.23835259e-01 9.46083830e-01 -7.49078183e-03 6.18930655e+00] [ 2.49739461e-02 -6.33136656e-04 9.99687902e-01 8.30452225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.56, Y:6.20, Z:0.83 [[ 9.45641166e-01 -3.24325252e-01 -2.39982539e-02 3.85568542e+01] [ 3.24237997e-01 9.45945410e-01 -7.54995467e-03 6.20165221e+00] [ 2.51496791e-02 -6.41597848e-04 9.99683491e-01 8.30970819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.58, Y:6.21, Z:0.83 [[ 9.45821820e-01 -3.23898186e-01 -2.26064285e-02 3.85837750e+01] [ 3.23820484e-01 9.46091761e-01 -7.11858382e-03 6.20883539e+00] [ 2.36934521e-02 -5.87512704e-04 9.99719098e-01 8.31786767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.078040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.61, Y:6.22, Z:0.83 [[ 9.45737470e-01 -3.24144439e-01 -2.26057821e-02 3.86100455e+01] [ 3.24066758e-01 9.46007417e-01 -7.12063604e-03 6.21722416e+00] [ 2.36933521e-02 -5.91530195e-04 9.99719098e-01 8.32426308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108040941999995 meters Centerline goodness [0,1] 0.9999117912982116 Centerline is valid? [True, True] Translation: X:38.64, Y:6.23, Z:0.83 [[ 9.45611660e-01 -3.24556447e-01 -2.19476961e-02 3.86365159e+01] [ 3.24483194e-01 9.45866152e-01 -6.91944293e-03 6.22681529e+00] [ 2.30053326e-02 -5.78552609e-04 9.99735175e-01 8.32149110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.138040941999996 meters Centerline goodness [0,1] 0.9999119815161184 Centerline is valid? [True, True] Translation: X:38.66, Y:6.24, Z:0.83 [[ 9.45556508e-01 -3.24740530e-01 -2.15981246e-02 3.86621544e+01] [ 3.24669503e-01 9.45802974e-01 -6.81529725e-03 6.23985608e+00] [ 2.26407737e-02 -5.68003722e-04 9.99743503e-01 8.32874566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168040942 meters Centerline goodness [0,1] 0.999845960874062 Centerline is valid? [True, True] Translation: X:38.69, Y:6.25, Z:0.83 [[ 9.45625477e-01 -3.24487659e-01 -2.23655329e-02 3.86890255e+01] [ 3.24411257e-01 9.45889755e-01 -7.06457776e-03 6.25052389e+00] [ 2.34476967e-02 -5.75185912e-04 9.99724899e-01 8.32914006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.198040942 meters Centerline goodness [0,1] 0.9998899962598728 Centerline is valid? [True, True] Translation: X:38.72, Y:6.26, Z:0.83 [[ 9.45753443e-01 -3.24076848e-01 -2.29046281e-02 3.87162181e+01] [ 3.23996445e-01 9.46030585e-01 -7.24122730e-03 6.26130404e+00] [ 2.40151929e-02 -5.72602433e-04 9.99711430e-01 8.33552566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22804094199999 meters Centerline goodness [0,1] 0.9998683026405321 Centerline is valid? [True, True] Translation: X:38.74, Y:6.27, Z:0.83 [[ 9.45956465e-01 -3.23474005e-01 -2.30419949e-02 3.87436049e+01] [ 3.23392304e-01 9.46236894e-01 -7.29093986e-03 6.27215839e+00] [ 2.41616152e-02 -5.54692121e-04 9.99707912e-01 8.33860645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.258040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.77, Y:6.28, Z:0.84 [[ 9.46665061e-01 -3.21373578e-01 -2.33299248e-02 3.87686979e+01] [ 3.21289097e-01 9.46952359e-01 -7.38555623e-03 6.28398587e+00] [ 2.44658499e-02 -5.04002421e-04 9.99700539e-01 8.35416255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.80, Y:6.30, Z:0.84 [[ 9.46962238e-01 -3.20525792e-01 -2.29289313e-02 3.87956032e+01] [ 3.20443886e-01 9.47239671e-01 -7.26096424e-03 6.29505537e+00] [ 2.40465197e-02 -4.71576914e-04 9.99710729e-01 8.36007304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.318040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.82, Y:6.30, Z:0.84 [[ 9.47146165e-01 -3.20008067e-01 -2.25605543e-02 3.88220498e+01] [ 3.19928483e-01 9.47414713e-01 -7.15031357e-03 6.30484780e+00] [ 2.36623591e-02 -4.45371814e-04 9.99719908e-01 8.36723813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.85, Y:6.32, Z:0.84 [[ 9.47473592e-01 -3.19066894e-01 -2.21384108e-02 3.88480962e+01] [ 3.18989955e-01 9.47732107e-01 -7.01863046e-03 6.31694823e+00] [ 2.32206953e-02 -4.11963657e-04 9.99730278e-01 8.38083448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.87, Y:6.33, Z:0.84 [[ 9.47510901e-01 -3.18955409e-01 -2.21481414e-02 3.88732662e+01] [ 3.18878228e-01 9.47769637e-01 -7.02787675e-03 6.32560860e+00] [ 2.32329152e-02 -4.03570251e-04 9.99729998e-01 8.38881951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.90, Y:6.34, Z:0.84 [[ 9.47618179e-01 -3.18637395e-01 -2.21358661e-02 3.88992943e+01] [ 3.18560103e-01 9.47876605e-01 -7.02876002e-03 6.33681030e+00] [ 2.32216954e-02 -3.91023016e-04 9.99730264e-01 8.39319947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.93, Y:6.35, Z:0.84 [[ 9.47618674e-01 -3.18675581e-01 -2.15574166e-02 3.89258035e+01] [ 3.18602242e-01 9.47863772e-01 -6.84699734e-03 6.34756691e+00] [ 2.26154651e-02 -3.79898740e-04 9.99744165e-01 8.39789220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.95, Y:6.36, Z:0.84 [[ 9.47644864e-01 -3.18579200e-01 -2.18290021e-02 3.89517741e+01] [ 3.18503819e-01 9.47896171e-01 -6.94012495e-03 6.35821461e+00] [ 2.29026070e-02 -3.75846784e-04 9.99737630e-01 8.40038371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.98, Y:6.37, Z:0.84 [[ 9.47908279e-01 -3.17738955e-01 -2.26241086e-02 3.89770592e+01] [ 3.17657571e-01 9.48178161e-01 -7.20013269e-03 6.37038678e+00] [ 2.37394484e-02 -3.61654008e-04 9.99718114e-01 8.39854239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.00, Y:6.38, Z:0.84 [[ 9.47826413e-01 -3.17946862e-01 -2.31275572e-02 3.90029363e+01] [ 3.17861790e-01 9.48108461e-01 -7.36393400e-03 6.38037869e+00] [ 2.42687724e-02 -3.71635587e-04 9.99705401e-01 8.39631724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.03, Y:6.39, Z:0.84 [[ 9.47735610e-01 -3.18171812e-01 -2.37468383e-02 3.90293712e+01] [ 3.18082005e-01 9.48032992e-01 -7.56864133e-03 6.39003591e+00] [ 2.49209145e-02 -3.80371051e-04 9.99689353e-01 8.39359247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.06, Y:6.40, Z:0.84 [[ 9.47438695e-01 -3.18969587e-01 -2.48660805e-02 3.90559901e+01] [ 3.18871183e-01 9.47764861e-01 -7.93326265e-03 6.40074408e+00] [ 2.60976669e-02 -4.12796511e-04 9.99659313e-01 8.39070196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.08, Y:6.41, Z:0.84 [[ 9.47150507e-01 -3.19825856e-01 -2.48463033e-02 3.90828904e+01] [ 3.19727728e-01 9.47476246e-01 -7.93366161e-03 6.41094888e+00] [ 2.60786723e-02 -4.29680492e-04 9.99659801e-01 8.39688122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.11, Y:6.42, Z:0.84 [[ 9.46897828e-01 -3.20597719e-01 -2.45276372e-02 3.91096877e+01] [ 3.20502180e-01 9.47215345e-01 -7.83853796e-03 6.42121508e+00] [ 2.57459717e-02 -4.38866616e-04 9.99668421e-01 8.40376196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.678040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.14, Y:6.43, Z:0.84 [[ 9.46537298e-01 -3.21677505e-01 -2.43048762e-02 3.91370674e+01] [ 3.21583879e-01 9.46849182e-01 -7.77400691e-03 6.43172732e+00] [ 2.55137753e-02 -4.57668888e-04 9.99674366e-01 8.41098518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.16, Y:6.44, Z:0.84 [[ 9.46075900e-01 -3.23062191e-01 -2.39000281e-02 3.91632244e+01] [ 3.22971944e-01 9.46377615e-01 -7.65073734e-03 6.44266110e+00] [ 2.50901156e-02 -4.80860335e-04 9.99685078e-01 8.41837051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.738040942 meters Centerline goodness [0,1] 0.9990760636012033 Centerline is valid? [True, True] Translation: X:39.19, Y:6.45, Z:0.84 [[ 9.45864131e-01 -3.23646357e-01 -2.43737669e-02 3.91895625e+01] [ 3.23552616e-01 9.46177986e-01 -7.80530978e-03 6.45291407e+00] [ 2.55880817e-02 -5.03433466e-04 9.99672445e-01 8.42266219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76804094199999 meters Centerline goodness [0,1] 0.9993321268528094 Centerline is valid? [True, True] Translation: X:39.22, Y:6.46, Z:0.84 [[ 9.45445508e-01 -3.24914636e-01 -2.37333330e-02 3.92155938e+01] [ 3.24825986e-01 9.45743206e-01 -7.60705153e-03 6.46332895e+00] [ 2.49172808e-02 -5.17150601e-04 9.99689383e-01 8.43173770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79804094199999 meters Centerline goodness [0,1] 0.9996564828134058 Centerline is valid? [True, True] Translation: X:39.24, Y:6.47, Z:0.84 [[ 9.45178611e-01 -3.25717929e-01 -2.33500143e-02 3.92429614e+01] [ 3.25632305e-01 9.45466844e-01 -7.48661268e-03 6.47362128e+00] [ 2.45151883e-02 -5.27332800e-04 9.99699319e-01 8.44208432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828040941999994 meters Centerline goodness [0,1] 0.9996131860575064 Centerline is valid? [True, True] Translation: X:39.27, Y:6.48, Z:0.85 [[ 9.45111717e-01 -3.25912682e-01 -2.33402042e-02 3.92684594e+01] [ 3.25827039e-01 9.45399728e-01 -7.48957669e-03 6.48350944e+00] [ 2.45067707e-02 -5.26382947e-04 9.99699525e-01 8.45036994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.858040941999995 meters Centerline goodness [0,1] 0.999657416923604 Centerline is valid? [True, True] Translation: X:39.29, Y:6.50, Z:0.85 [[ 9.45289620e-01 -3.25459219e-01 -2.24462010e-02 3.92938547e+01] [ 3.25379817e-01 9.45555950e-01 -7.20556938e-03 6.49691525e+00] [ 2.35692579e-02 -4.92190833e-04 9.99722085e-01 8.45747237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.32, Y:6.51, Z:0.85 [[ 9.45473226e-01 -3.24934517e-01 -2.23145503e-02 3.93195366e+01] [ 3.24855849e-01 9.45736398e-01 -7.16540037e-03 6.50841285e+00] [ 2.34319683e-02 -4.74317961e-04 9.99725321e-01 8.45786640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.918040942 meters Centerline goodness [0,1] 0.9997008483087245 Centerline is valid? [True, True] Translation: X:39.34, Y:6.52, Z:0.84 [[ 9.46022397e-01 -3.23300762e-01 -2.27649059e-02 3.93440966e+01] [ 3.23218361e-01 9.46296160e-01 -7.31217581e-03 6.52196881e+00] [ 2.39063751e-02 -4.40553504e-04 9.99714105e-01 8.44676429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948040942 meters Centerline goodness [0,1] 0.9998506156768177 Centerline is valid? [True, True] Translation: X:39.37, Y:6.53, Z:0.85 [[ 9.46467012e-01 -3.22014051e-01 -2.25199153e-02 3.93708596e+01] [ 3.21933000e-01 9.46734804e-01 -7.23560970e-03 6.53391109e+00] [ 2.36503556e-02 -4.01638002e-04 9.99720211e-01 8.46243843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97804094199999 meters Centerline goodness [0,1] 0.999808298543069 Centerline is valid? [True, True] Translation: X:39.40, Y:6.54, Z:0.85 [[ 9.46919937e-01 -3.20707614e-01 -2.21192133e-02 3.93968086e+01] [ 3.20628935e-01 9.47178177e-01 -7.11250503e-03 6.54485902e+00] [ 2.32318707e-02 -3.57086985e-04 9.99730040e-01 8.46881049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008040941999994 meters Centerline goodness [0,1] 0.9998299247416982 Centerline is valid? [True, True] Translation: X:39.42, Y:6.56, Z:0.85 [[ 9.47911438e-01 -3.17760637e-01 -2.21829579e-02 3.94209639e+01] [ 3.17680648e-01 9.48170922e-01 -7.13504834e-03 6.55960932e+00] [ 2.33004731e-02 -2.83702500e-04 9.99728467e-01 8.47044143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.038040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.45, Y:6.57, Z:0.85 [[ 9.48426165e-01 -3.16226119e-01 -2.21099687e-02 3.94469854e+01] [ 3.16146192e-01 9.48683816e-01 -7.11357657e-03 6.57265581e+00] [ 2.32248682e-02 -2.43280262e-04 9.99730237e-01 8.47616888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068040941999996 meters Centerline goodness [0,1] 0.999724832782999 Centerline is valid? [True, True] Translation: X:39.47, Y:6.58, Z:0.85 [[ 9.48708315e-01 -3.15344316e-01 -2.25941457e-02 3.94726252e+01] [ 3.15260460e-01 9.48977299e-01 -7.27521268e-03 6.58491860e+00] [ 2.37355283e-02 -2.20986012e-04 9.99718248e-01 8.46085954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:6.60, Z:0.85 [[ 9.50026434e-01 -3.11485522e-01 -2.06529259e-02 3.94979367e+01] [ 3.11414513e-01 9.50250892e-01 -6.65162697e-03 6.60044099e+00] [ 2.16973468e-02 -1.12399418e-04 9.99764579e-01 8.49064598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128040942 meters Centerline goodness [0,1] 0.9998511525048907 Centerline is valid? [True, True] Translation: X:39.52, Y:6.61, Z:0.85 [[ 9.50418307e-01 -3.10329826e-01 -2.00110028e-02 3.95232086e+01] [ 3.10262806e-01 9.50628946e-01 -6.44965626e-03 6.61237366e+00] [ 2.10245592e-02 -7.87984834e-05 9.99778956e-01 8.49666543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15804094199999 meters Centerline goodness [0,1] 0.9997880008479966 Centerline is valid? [True, True] Translation: X:39.55, Y:6.62, Z:0.85 [[ 9.50861883e-01 -3.08995202e-01 -1.95868218e-02 3.95479709e+01] [ 3.08930585e-01 9.51063596e-01 -6.31904498e-03 6.62320717e+00] [ 2.05808677e-02 -4.24293093e-05 9.99788191e-01 8.50297906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18804094199999 meters Centerline goodness [0,1] 0.9996830628803245 Centerline is valid? [True, True] Translation: X:39.57, Y:6.64, Z:0.85 [[ 9.51741838e-01 -3.06279125e-01 -1.95082146e-02 3.95730746e+01] [ 3.06214377e-01 9.51941751e-01 -6.29748448e-03 6.63785098e+00] [ 2.04994720e-02 1.98836711e-05 9.99789864e-01 8.49993745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.218040941999995 meters Centerline goodness [0,1] 0.9997042919905373 Centerline is valid? [True, True] Translation: X:39.60, Y:6.65, Z:0.85 [[ 9.52131689e-01 -3.05075741e-01 -1.93400820e-02 3.95993056e+01] [ 3.05011738e-01 9.52328089e-01 -6.24898831e-03 6.64951893e+00] [ 2.03245180e-02 5.09077788e-05 9.99793434e-01 8.50087786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248040941999996 meters Centerline goodness [0,1] 0.9997473045822103 Centerline is valid? [True, True] Translation: X:39.63, Y:6.66, Z:0.85 [[ 9.52865135e-01 -3.02776392e-01 -1.93517794e-02 3.96252304e+01] [ 3.02711713e-01 9.53061617e-01 -6.25887311e-03 6.66228163e+00] [ 2.03384772e-02 1.05851667e-04 9.99793146e-01 8.49836980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.278040942 meters Centerline goodness [0,1] 0.9995557342021197 Centerline is valid? [True, True] Translation: X:39.65, Y:6.67, Z:0.85 [[ 9.53042631e-01 -3.02220451e-01 -1.93013671e-02 3.96515686e+01] [ 3.02155891e-01 9.53238052e-01 -6.24764848e-03 6.67163754e+00] [ 2.02869648e-02 1.22253552e-04 9.99794191e-01 8.49637391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308040942 meters Centerline goodness [0,1] 0.9995983256521923 Centerline is valid? [True, True] Translation: X:39.68, Y:6.68, Z:0.85 [[ 9.53299879e-01 -3.01397069e-01 -1.94717278e-02 3.96776740e+01] [ 3.01331055e-01 9.53498707e-01 -6.30955412e-03 6.68147018e+00] [ 2.04679484e-02 1.47460896e-04 9.99790499e-01 8.50097777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33804094199999 meters Centerline goodness [0,1] 0.9996826874259604 Centerline is valid? [True, True] Translation: X:39.71, Y:6.69, Z:0.85 [[ 9.53529661e-01 -3.00704994e-01 -1.89127635e-02 3.97053409e+01] [ 3.00642555e-01 9.53717191e-01 -6.12966323e-03 6.69094066e+00] [ 1.98806480e-02 1.58834164e-04 9.99802348e-01 8.51560293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36804094199999 meters Centerline goodness [0,1] 0.9995366372501527 Centerline is valid? [True, True] Translation: X:39.73, Y:6.70, Z:0.85 [[ 9.53793609e-01 -2.99910461e-01 -1.82062205e-02 3.97328567e+01] [ 2.99852366e-01 9.53967340e-01 -5.90537617e-03 6.70090675e+00] [ 1.91392239e-02 1.73331747e-04 9.99816813e-01 8.52645724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.398040941999994 meters Centerline goodness [0,1] 0.9996195227123803 Centerline is valid? [True, True] Translation: X:39.76, Y:6.71, Z:0.85 [[ 9.53776453e-01 -2.99968151e-01 -1.81545220e-02 3.97580351e+01] [ 2.99910292e-01 9.53949201e-01 -5.89398937e-03 6.71029393e+00] [ 1.90865008e-02 1.76820283e-04 9.99817821e-01 8.51690600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428040941999996 meters Centerline goodness [0,1] 0.9995997809327211 Centerline is valid? [True, True] Translation: X:39.78, Y:6.72, Z:0.85 [[ 9.54220047e-01 -2.98527231e-01 -1.85901633e-02 3.97848059e+01] [ 2.98466249e-01 9.54401093e-01 -6.03750795e-03 6.72080858e+00] [ 1.95448327e-02 2.12574828e-04 9.99808959e-01 8.51631956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.458040942 meters Centerline goodness [0,1] 0.9997891140682005 Centerline is valid? [True, True] Translation: X:39.81, Y:6.73, Z:0.85 [[ 9.54348358e-01 -2.98101456e-01 -1.88343698e-02 3.98115815e+01] [ 2.98038679e-01 9.54534164e-01 -6.12174815e-03 6.73011438e+00] [ 1.98029514e-02 2.28909603e-04 9.99803876e-01 8.51601219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488040942 meters Centerline goodness [0,1] 0.9997685866958388 Centerline is valid? [True, True] Translation: X:39.84, Y:6.74, Z:0.85 [[ 9.54826148e-01 -2.96546595e-01 -1.91610170e-02 3.98390336e+01] [ 2.96481181e-01 9.55018347e-01 -6.23428383e-03 6.73734965e+00] [ 2.01478784e-02 2.71776266e-04 9.99796974e-01 8.51736250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51804094199999 meters Centerline goodness [0,1] 0.9995384938116215 Centerline is valid? [True, True] Translation: X:39.87, Y:6.75, Z:0.85 [[ 9.55118988e-01 -2.95618896e-01 -1.88993969e-02 3.98656202e+01] [ 2.95555017e-01 9.55305911e-01 -6.15203072e-03 6.74676794e+00] [ 1.98733621e-02 2.90109776e-04 9.99802463e-01 8.52666383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54804094199999 meters Centerline goodness [0,1] 0.9995790271317013 Centerline is valid? [True, True] Translation: X:39.89, Y:6.76, Z:0.85 [[ 9.55303878e-01 -2.95038141e-01 -1.86278177e-02 3.98927232e+01] [ 2.94975951e-01 9.55485430e-01 -6.06483923e-03 6.75552315e+00] [ 1.95879673e-02 2.99006188e-04 9.99808093e-01 8.53399931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.578040941999994 meters Centerline goodness [0,1] 0.9996226177747028 Centerline is valid? [True, True] Translation: X:39.92, Y:6.76, Z:0.85 [[ 9.55496965e-01 -2.94445262e-01 -1.80979853e-02 3.99188906e+01] [ 2.94386355e-01 9.55668297e-01 -5.89752455e-03 6.76472085e+00] [ 1.90321690e-02 3.07266881e-04 9.99818825e-01 8.54308846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608040941999995 meters Centerline goodness [0,1] 0.9996008906440365 Centerline is valid? [True, True] Translation: X:39.95, Y:6.77, Z:0.85 [[ 9.55491221e-01 -2.94492263e-01 -1.76304965e-02 3.99451884e+01] [ 2.94436356e-01 9.55653817e-01 -5.74582480e-03 6.77313885e+00] [ 1.85407522e-02 2.99026003e-04 9.99828061e-01 8.54466997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.638040941999996 meters Centerline goodness [0,1] 0.9994961264722555 Centerline is valid? [True, True] Translation: X:39.97, Y:6.78, Z:0.86 [[ 9.55458484e-01 -2.94635622e-01 -1.69981203e-02 3.99709084e+01] [ 2.94583575e-01 9.55609630e-01 -5.54545773e-03 6.78232621e+00] [ 1.78774569e-02 2.91087574e-04 9.99840143e-01 8.55058027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668040942 meters Centerline goodness [0,1] 0.9995805281151031 Centerline is valid? [True, True] Translation: X:40.00, Y:6.79, Z:0.85 [[ 9.55264450e-01 -2.95250192e-01 -1.72382070e-02 3.99991018e+01] [ 2.95196736e-01 9.55419930e-01 -5.62527188e-03 6.78801447e+00] [ 1.81305892e-02 2.84959797e-04 9.99835587e-01 8.54652898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.698040942 meters Centerline goodness [0,1] 0.9995594806066581 Centerline is valid? [True, True] Translation: X:40.03, Y:6.79, Z:0.85 [[ 9.55094296e-01 -2.95773332e-01 -1.76924124e-02 4.00261955e+01] [ 2.95716996e-01 9.55258108e-01 -5.77973150e-03 6.79496111e+00] [ 1.86103108e-02 2.88241540e-04 9.99826772e-01 8.54586786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72804094199999 meters Centerline goodness [0,1] 0.9997263273125342 Centerline is valid? [True, True] Translation: X:40.06, Y:6.80, Z:0.86 [[ 9.54737529e-01 -2.96911983e-01 -1.78752806e-02 4.00553809e+01] [ 2.96854658e-01 9.54904813e-01 -5.84045043e-03 6.79963996e+00] [ 1.88032912e-02 2.69736914e-04 9.99823166e-01 8.55675854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.758040941999994 meters Centerline goodness [0,1] 0.9996628597918159 Centerline is valid? [True, True] Translation: X:40.08, Y:6.81, Z:0.86 [[ 9.54025304e-01 -2.99238738e-01 -1.70850105e-02 4.00821639e+01] [ 2.99186644e-01 9.54178248e-01 -5.58773096e-03 6.80610162e+00] [ 1.79742110e-02 2.19229782e-04 9.99838427e-01 8.55519650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788040941999995 meters Centerline goodness [0,1] 0.9996629521181353 Centerline is valid? [True, True] Translation: X:40.11, Y:6.81, Z:0.86 [[ 9.53440349e-01 -3.01091210e-01 -1.71925404e-02 4.01103490e+01] [ 3.01038741e-01 9.53595327e-01 -5.62386589e-03 6.81436969e+00] [ 1.80880228e-02 1.86399925e-04 9.99836381e-01 8.55384478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.818040941999996 meters Centerline goodness [0,1] 0.9998105462582886 Centerline is valid? [True, True] Translation: X:40.14, Y:6.82, Z:0.86 [[ 9.52746758e-01 -3.03245455e-01 -1.77710143e-02 4.01382340e+01] [ 3.03189681e-01 9.52912467e-01 -5.81780516e-03 6.82165096e+00] [ 1.86984440e-02 1.54906858e-04 9.99825157e-01 8.55556742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848040942 meters Centerline goodness [0,1] 0.9997039668442865 Centerline is valid? [True, True] Translation: X:40.17, Y:6.82, Z:0.86 [[ 9.51279094e-01 -3.07797151e-01 -1.81383271e-02 4.01666191e+01] [ 3.07739765e-01 9.51452000e-01 -5.94375857e-03 6.82354992e+00] [ 1.90872196e-02 7.22887384e-05 9.99817820e-01 8.55483846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.878040942 meters Centerline goodness [0,1] 0.9997251643728462 Centerline is valid? [True, True] Translation: X:40.19, Y:6.83, Z:0.86 [[ 9.50385935e-01 -3.10505630e-01 -1.87837001e-02 4.01949713e+01] [ 3.10444570e-01 9.50571540e-01 -6.15755500e-03 6.82854558e+00] [ 1.97672062e-02 2.07559574e-05 9.99804609e-01 8.56310443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90804094199999 meters Centerline goodness [0,1] 0.9995980197181906 Centerline is valid? [True, True] Translation: X:40.22, Y:6.83, Z:0.86 [[ 9.49646380e-01 -3.12751662e-01 -1.89248567e-02 4.02230274e+01] [ 3.12690008e-01 9.49834932e-01 -6.20981036e-03 6.83399858e+00] [ 1.99176185e-02 -2.04896585e-05 9.99801624e-01 8.55641888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93804094199999 meters Centerline goodness [0,1] 0.9997450713800136 Centerline is valid? [True, True] Translation: X:40.25, Y:6.84, Z:0.86 [[ 9.48187454e-01 -3.17144979e-01 -1.89635018e-02 4.02510756e+01] [ 3.17083818e-01 9.48377062e-01 -6.22908825e-03 6.83810684e+00] [ 1.99600742e-02 -1.06676225e-04 9.99800772e-01 8.58241598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968040941999995 meters Centerline goodness [0,1] 0.9997669145847902 Centerline is valid? [True, True] Translation: X:40.28, Y:6.85, Z:0.86 [[ 9.47713830e-01 -3.18577274e-01 -1.86283993e-02 4.02789384e+01] [ 3.18518509e-01 9.47896884e-01 -6.12018681e-03 6.84598041e+00] [ 1.96075541e-02 -1.33304298e-04 9.99807745e-01 8.59266192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.998040941999996 meters Centerline goodness [0,1] 0.9997669145847902 Centerline is valid? [True, True] Translation: X:40.31, Y:6.85, Z:0.86 [[ 9.47625709e-01 -3.18839381e-01 -1.86269574e-02 4.03050831e+01] [ 3.18780581e-01 9.47808752e-01 -6.12457194e-03 6.85467584e+00] [ 1.96075480e-02 -1.34110466e-04 9.99807745e-01 8.59904344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028040942 meters Centerline goodness [0,1] 0.9998725708824466 Centerline is valid? [True, True] Translation: X:40.33, Y:6.86, Z:0.86 [[ 9.47355406e-01 -3.19720725e-01 -1.72160344e-02 4.03317566e+01] [ 3.19670538e-01 9.47511815e-01 -5.66635400e-03 6.86101246e+00] [ 1.81240468e-02 -1.35407877e-04 9.99835737e-01 8.61892954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.058040942 meters Centerline goodness [0,1] 0.9997243075879034 Centerline is valid? [True, True] Translation: X:40.36, Y:6.87, Z:0.86 [[ 9.47422660e-01 -3.19534444e-01 -1.69717863e-02 4.03581536e+01] [ 3.19485626e-01 9.47574653e-01 -5.58681873e-03 6.86913883e+00] [ 1.78672155e-02 -1.29163105e-04 9.99840360e-01 8.62606965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08804094199999 meters Centerline goodness [0,1] 0.9996822639750895 Centerline is valid? [True, True] Translation: X:40.38, Y:6.88, Z:0.86 [[ 9.47705250e-01 -3.18698919e-01 -1.69044055e-02 4.03848272e+01] [ 3.18650259e-01 9.47855995e-01 -5.57002167e-03 6.87616328e+00] [ 1.77981020e-02 -1.07854412e-04 9.99841595e-01 8.64107451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11804094199999 meters Centerline goodness [0,1] 0.9998938248534783 Centerline is valid? [True, True] Translation: X:40.41, Y:6.88, Z:0.87 [[ 9.48153544e-01 -3.17367148e-01 -1.68211260e-02 4.04115092e+01] [ 3.17318662e-01 9.48302740e-01 -5.54790826e-03 6.88412726e+00] [ 1.77122437e-02 -7.73883299e-05 9.99843123e-01 8.65550198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148040941999994 meters Centerline goodness [0,1] 0.999936358429326 Centerline is valid? [True, True] Translation: X:40.44, Y:6.89, Z:0.87 [[ 9.49333906e-01 -3.13825090e-01 -1.67017505e-02 4.04378362e+01] [ 3.13776651e-01 9.49480812e-01 -5.51367860e-03 6.89323838e+00] [ 1.75883223e-02 -6.29728922e-06 9.99845313e-01 8.67000447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.178040941999996 meters Centerline goodness [0,1] 0.9999152237034525 Centerline is valid? [True, True] Translation: X:40.46, Y:6.90, Z:0.87 [[ 9.50077218e-01 -3.11570618e-01 -1.66442164e-02 4.04641802e+01] [ 3.11522077e-01 9.50222999e-01 -5.49979076e-03 6.90340990e+00] [ 1.75292905e-02 4.01850407e-05 9.99846349e-01 8.67603536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208040942 meters Centerline goodness [0,1] 0.9997673582471501 Centerline is valid? [True, True] Translation: X:40.49, Y:6.92, Z:0.87 [[ 9.51843464e-01 -3.06129862e-01 -1.66891609e-02 4.04894974e+01] [ 3.06080110e-01 9.51989751e-01 -5.52090519e-03 6.91595920e+00] [ 1.75780241e-02 1.46817306e-04 9.99845484e-01 8.67354902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.238040942 meters Centerline goodness [0,1] 0.9999152452590316 Centerline is valid? [True, True] Translation: X:40.52, Y:6.93, Z:0.87 [[ 9.52745228e-01 -3.03279089e-01 -1.72720710e-02 4.05154604e+01] [ 3.03225304e-01 9.52901753e-01 -5.71523114e-03 6.92578033e+00] [ 1.81918969e-02 2.07830203e-04 9.99834492e-01 8.66843661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26804094199999 meters Centerline goodness [0,1] 0.9999154101550108 Centerline is valid? [True, True] Translation: X:40.54, Y:6.93, Z:0.87 [[ 9.54002917e-01 -2.99276251e-01 -1.76680771e-02 4.05418186e+01] [ 2.99219237e-01 9.54166463e-01 -5.84881624e-03 6.93422314e+00] [ 1.86086984e-02 2.93159208e-04 9.99826800e-01 8.70377996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.57, Y:6.94, Z:0.87 [[ 9.54400086e-01 -2.97994396e-01 -1.78833813e-02 4.05696547e+01] [ 2.97935719e-01 9.54567564e-01 -5.92216834e-03 6.94314259e+00] [ 1.88356687e-02 3.24019910e-04 9.99822541e-01 8.71337110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328040941999994 meters Centerline goodness [0,1] 0.9998513263810718 Centerline is valid? [True, True] Translation: X:40.60, Y:6.95, Z:0.87 [[ 9.54706487e-01 -2.97007215e-01 -1.79509982e-02 4.05982669e+01] [ 2.96947836e-01 9.54875171e-01 -5.94898490e-03 6.94956761e+00] [ 1.89078539e-02 3.49024393e-04 9.99821170e-01 8.70346687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.358040941999995 meters Centerline goodness [0,1] 0.9997868122028695 Centerline is valid? [True, True] Translation: X:40.63, Y:6.96, Z:0.87 [[ 9.54814266e-01 -2.96650136e-01 -1.81222053e-02 4.06257028e+01] [ 2.96589458e-01 9.54986159e-01 -6.01074959e-03 6.95754315e+00] [ 1.90895450e-02 3.64294400e-04 9.99817712e-01 8.69598965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388040941999996 meters Centerline goodness [0,1] 0.9998514777959305 Centerline is valid? [True, True] Translation: X:40.65, Y:6.96, Z:0.87 [[ 9.54622285e-01 -2.97253632e-01 -1.83458742e-02 4.06527588e+01] [ 2.97191463e-01 9.54798485e-01 -6.08989692e-03 6.96407506e+00] [ 1.93268569e-02 3.61314132e-04 9.99813154e-01 8.70064564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.68, Y:6.97, Z:0.87 [[ 9.54267256e-01 -2.98373187e-01 -1.86398729e-02 4.06811746e+01] [ 2.98309102e-01 9.54449223e-01 -6.19358898e-03 6.97042658e+00] [ 1.96388131e-02 3.49895407e-04 9.99807079e-01 8.71305734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.71, Y:6.97, Z:0.87 [[ 9.53222447e-01 -3.01669256e-01 -1.90427653e-02 4.07117053e+01] [ 3.01602920e-01 9.53412594e-01 -6.33284432e-03 6.97187738e+00] [ 2.00660367e-02 2.93255742e-04 9.99798614e-01 8.72623169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47804094199999 meters Centerline goodness [0,1] 0.9998499849984999 Centerline is valid? [True, True] Translation: X:40.74, Y:6.98, Z:0.87 [[ 9.52510569e-01 -3.03932161e-01 -1.86777142e-02 4.07392419e+01] [ 3.03868678e-01 9.52693645e-01 -6.21655034e-03 6.97779007e+00] [ 1.96835492e-02 2.45757591e-04 9.99806230e-01 8.73648590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.77, Y:6.98, Z:0.88 [[ 9.51086369e-01 -3.08355232e-01 -1.87555287e-02 4.07684199e+01] [ 3.08292031e-01 9.51271269e-01 -6.24479034e-03 6.98024531e+00] [ 1.97672093e-02 1.57154932e-04 9.99804597e-01 8.75172168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.538040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.80, Y:6.99, Z:0.88 [[ 9.50424202e-01 -3.10368422e-01 -1.91122606e-02 4.07956885e+01] [ 3.10303082e-01 9.50616341e-01 -6.36945601e-03 6.98646598e+00] [ 2.01453053e-02 1.23091779e-04 9.99797055e-01 8.75703131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.82, Y:6.99, Z:0.88 [[ 9.49714053e-01 -3.12524518e-01 -1.92780614e-02 4.08244533e+01] [ 3.12458454e-01 9.49909690e-01 -6.42612308e-03 6.99180581e+00] [ 2.03207384e-02 7.93861230e-05 9.99793509e-01 8.76263909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:7.00, Z:0.88 [[ 9.48995746e-01 -3.14673645e-01 -1.96868266e-02 4.08522609e+01] [ 3.14605090e-01 9.49199924e-01 -6.56821080e-03 6.99687808e+00] [ 2.07535772e-02 3.96282442e-05 9.99784621e-01 8.77432525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.88, Y:7.00, Z:0.88 [[ 9.47805601e-01 -3.18157414e-01 -2.09857726e-02 4.08813700e+01] [ 3.18080299e-01 9.48037899e-01 -7.00459095e-03 6.99979330e+00] [ 2.21238703e-02 -3.61702930e-05 9.99755237e-01 8.77007555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65804094199999 meters Centerline goodness [0,1] 0.9999783315276273 Centerline is valid? [True, True] Translation: X:40.91, Y:7.01, Z:0.88 [[ 9.47372308e-01 -3.19423375e-01 -2.13170642e-02 4.09079865e+01] [ 3.19343971e-01 9.47612106e-01 -7.12210372e-03 7.00576669e+00] [ 2.24752745e-02 -6.01920891e-05 9.99747397e-01 8.76868044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68804094199999 meters Centerline goodness [0,1] 0.9999783028488359 Centerline is valid? [True, True] Translation: X:40.94, Y:7.01, Z:0.88 [[ 9.46862336e-01 -3.20894126e-01 -2.18786835e-02 4.09350839e+01] [ 3.20810804e-01 9.47115068e-01 -7.31277333e-03 7.01265435e+00] [ 2.30682568e-02 -9.47284186e-05 9.99733888e-01 8.77080573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.718040941999995 meters Centerline goodness [0,1] 0.9999782192019515 Centerline is valid? [True, True] Translation: X:40.96, Y:7.02, Z:0.88 [[ 9.46375259e-01 -3.22190311e-01 -2.38174907e-02 4.09629387e+01] [ 3.22091771e-01 9.46674911e-01 -7.96899493e-03 7.01704880e+00] [ 2.51149538e-02 -1.29758102e-04 9.99684561e-01 8.76828767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748040941999996 meters Centerline goodness [0,1] 0.9999563147088375 Centerline is valid? [True, True] Translation: X:40.99, Y:7.02, Z:0.88 [[ 9.46227917e-01 -3.22523837e-01 -2.51217534e-02 4.09899175e+01] [ 3.22414108e-01 9.46561332e-01 -8.41353847e-03 7.02292507e+00] [ 2.64928471e-02 -1.38482734e-04 9.99648993e-01 8.76231393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.02, Y:7.03, Z:0.88 [[ 9.46145478e-01 -3.22628245e-01 -2.68281513e-02 4.10175621e+01] [ 3.22502954e-01 9.46525749e-01 -8.99168803e-03 7.02921117e+00] [ 2.82945085e-02 -1.44713064e-04 9.99599620e-01 8.75942525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.04, Y:7.04, Z:0.88 [[ 9.46301987e-01 -3.22118372e-01 -2.74281545e-02 4.10444773e+01] [ 3.21986971e-01 9.46699392e-01 -9.20062970e-03 7.03561313e+00] [ 2.89299090e-02 -1.24934229e-04 9.99581435e-01 8.75004789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.07, Y:7.04, Z:0.88 [[ 9.46452001e-01 -3.21619424e-01 -2.80990294e-02 4.10709399e+01] [ 3.21481181e-01 9.46869017e-01 -9.42951244e-03 7.04265503e+00] [ 2.96388147e-02 -1.08728243e-04 9.99560668e-01 8.75439799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86804094199999 meters Centerline goodness [0,1] 0.9998245921768111 Centerline is valid? [True, True] Translation: X:41.10, Y:7.05, Z:0.88 [[ 9.46539932e-01 -3.21261748e-01 -2.92069605e-02 4.10977795e+01] [ 3.21112058e-01 9.46990433e-01 -9.80644456e-03 7.05076990e+00] [ 3.08091477e-02 -9.65158283e-05 9.99525281e-01 8.75530169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.898040941999994 meters Centerline goodness [0,1] 0.9998682332271879 Centerline is valid? [True, True] Translation: X:41.12, Y:7.06, Z:0.88 [[ 9.48007710e-01 -3.16967552e-01 -2.85123145e-02 4.11238442e+01] [ 3.16822685e-01 9.48436381e-01 -9.58215258e-03 7.06001672e+00] [ 3.00793478e-02 5.06064957e-05 9.99547513e-01 8.80224014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928040941999996 meters Centerline goodness [0,1] 0.9997376877172274 Centerline is valid? [True, True] Translation: X:41.15, Y:7.07, Z:0.88 [[ 9.48514305e-01 -3.15449416e-01 -2.85005098e-02 4.11506130e+01] [ 3.15303750e-01 9.48942388e-01 -9.58593201e-03 7.06868097e+00] [ 3.00692184e-02 1.06076018e-04 9.99547813e-01 8.81376339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.958040942 meters Centerline goodness [0,1] 0.9998465652536057 Centerline is valid? [True, True] Translation: X:41.18, Y:7.08, Z:0.88 [[ 9.49010615e-01 -3.13889425e-01 -2.91938666e-02 4.11778491e+01] [ 3.13735755e-01 9.49459532e-01 -9.82208839e-03 7.07503853e+00] [ 3.08014445e-02 1.62106386e-04 9.99525510e-01 8.83186713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988040942 meters Centerline goodness [0,1] 0.9998682881854503 Centerline is valid? [True, True] Translation: X:41.20, Y:7.08, Z:0.88 [[ 9.49127597e-01 -3.13511683e-01 -2.94487682e-02 4.12048891e+01] [ 3.13354996e-01 9.49584326e-01 -9.91232800e-03 7.08341341e+00] [ 3.10717194e-02 1.80145400e-04 9.99517141e-01 8.84035663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01804094199999 meters Centerline goodness [0,1] 0.9998684873857484 Centerline is valid? [True, True] Translation: X:41.23, Y:7.09, Z:0.88 [[ 9.49421682e-01 -3.12684434e-01 -2.87561087e-02 4.12300301e+01] [ 3.12534407e-01 9.49857042e-01 -9.68730292e-03 7.09460999e+00] [ 3.03432612e-02 2.10062054e-04 9.99539515e-01 8.84190057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04804094199999 meters Centerline goodness [0,1] 0.9998903773212602 Centerline is valid? [True, True] Translation: X:41.26, Y:7.10, Z:0.89 [[ 9.49477378e-01 -3.12542694e-01 -2.84564978e-02 4.12561857e+01] [ 3.12395516e-01 9.49903688e-01 -9.59295769e-03 7.10383806e+00] [ 3.00291410e-02 2.18613997e-04 9.99549000e-01 8.85471747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.078040941999994 meters Centerline goodness [0,1] 0.9998904829701019 Centerline is valid? [True, True] Translation: X:41.28, Y:7.11, Z:0.89 [[ 9.49511748e-01 -3.12432170e-01 -2.85233024e-02 4.12825549e+01] [ 3.12283984e-01 9.49940043e-01 -9.62432935e-03 7.11261183e+00] [ 3.01023772e-02 2.31043259e-04 9.99546794e-01 8.87296681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108040941999995 meters Centerline goodness [0,1] 0.9999345249787206 Centerline is valid? [True, True] Translation: X:41.31, Y:7.12, Z:0.89 [[ 9.49357474e-01 -3.12933440e-01 -2.81611217e-02 4.13088455e+01] [ 3.12788993e-01 9.49775033e-01 -9.50958670e-03 7.12193797e+00] [ 2.97225980e-02 2.19508314e-04 9.99558162e-01 8.87911532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.138040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.34, Y:7.13, Z:0.89 [[ 9.48674360e-01 -3.14946185e-01 -2.87377673e-02 4.13357212e+01] [ 3.14796552e-01 9.49109516e-01 -9.70861222e-03 7.13119238e+00] [ 3.03329788e-02 1.63761437e-04 9.99539836e-01 8.88518506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.36, Y:7.14, Z:0.89 [[ 9.48212168e-01 -3.16305509e-01 -2.90604566e-02 4.13621734e+01] [ 3.16152852e-01 9.48657371e-01 -9.82680976e-03 7.13914634e+00] [ 3.06766904e-02 1.30354372e-04 9.99529351e-01 8.89999360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.198040942 meters Centerline goodness [0,1] 0.999868059373282 Centerline is valid? [True, True] Translation: X:41.39, Y:7.15, Z:0.89 [[ 9.47762969e-01 -3.17629536e-01 -2.92716941e-02 4.13876000e+01] [ 3.17475035e-01 9.48214885e-01 -9.90625772e-03 7.14731152e+00] [ 3.09023761e-02 9.57521232e-05 9.99522403e-01 8.90857725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22804094199999 meters Centerline goodness [0,1] 0.9997364606667545 Centerline is valid? [True, True] Translation: X:41.41, Y:7.16, Z:0.89 [[ 9.46435565e-01 -3.21492912e-01 -3.00337904e-02 4.14127810e+01] [ 3.21332068e-01 9.46911985e-01 -1.01683581e-02 7.15669042e+00] [ 3.17084112e-02 -2.71242029e-05 9.99497162e-01 8.91209503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.258040941999994 meters Centerline goodness [0,1] 0.9998250295262674 Centerline is valid? [True, True] Translation: X:41.44, Y:7.17, Z:0.89 [[ 9.45628971e-01 -3.23847711e-01 -3.01414868e-02 4.14390879e+01] [ 3.23686729e-01 9.46109217e-01 -1.02103626e-02 7.16599754e+00] [ 3.18237410e-02 -1.01184596e-04 9.99493491e-01 8.91882480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288040941999995 meters Centerline goodness [0,1] 0.9998260604874655 Centerline is valid? [True, True] Translation: X:41.47, Y:7.17, Z:0.89 [[ 9.43736658e-01 -3.29309193e-01 -3.02749948e-02 4.14657668e+01] [ 3.29149339e-01 9.44222102e-01 -1.02632944e-02 7.17283066e+00] [ 3.19661164e-02 -2.79147311e-04 9.99488914e-01 8.91906578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.318040941999996 meters Centerline goodness [0,1] 0.9998474180962138 Centerline is valid? [True, True] Translation: X:41.49, Y:7.18, Z:0.89 [[ 9.42473950e-01 -3.32855054e-01 -3.08280273e-02 4.14936120e+01] [ 3.32691050e-01 9.42977917e-01 -1.04553257e-02 7.18061147e+00] [ 3.25502570e-02 -4.02336660e-04 9.99470019e-01 8.92482201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348040942 meters Centerline goodness [0,1] 0.9998907629118238 Centerline is valid? [True, True] Translation: X:41.52, Y:7.19, Z:0.89 [[ 9.41305883e-01 -3.36101873e-01 -3.12852239e-02 4.15210940e+01] [ 3.35934529e-01 9.41825496e-01 -1.06172911e-02 7.18794187e+00] [ 3.30337129e-02 -5.15668410e-04 9.99454105e-01 8.92806854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:7.19, Z:0.89 [[ 9.38739452e-01 -3.43118906e-01 -3.22127070e-02 4.15504385e+01] [ 3.42945520e-01 9.39291650e-01 -1.09346217e-02 7.19405395e+00] [ 3.40090022e-02 -7.82442839e-04 9.99421220e-01 8.94109152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.58, Y:7.20, Z:0.89 [[ 9.37501982e-01 -3.46456148e-01 -3.25295534e-02 4.15790619e+01] [ 3.46281279e-01 9.38065727e-01 -1.10438714e-02 7.19996705e+00] [ 3.43410763e-02 -9.10724046e-04 9.99409756e-01 8.93734156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43804094199999 meters Centerline goodness [0,1] 0.9999780422467173 Centerline is valid? [True, True] Translation: X:41.61, Y:7.21, Z:0.89 [[ 9.36505535e-01 -3.49102799e-01 -3.29335434e-02 4.16071121e+01] [ 3.48925031e-01 9.37083883e-01 -1.11856513e-02 7.20818152e+00] [ 3.47664349e-02 -1.01591335e-03 9.99394948e-01 8.93706434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:7.22, Z:0.90 [[ 9.35201086e-01 -3.52601845e-01 -3.27241093e-02 4.16340756e+01] [ 3.52428238e-01 9.35772759e-01 -1.11211683e-02 7.21599476e+00] [ 3.45436745e-02 -1.13237151e-03 9.99402548e-01 8.95128962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.66, Y:7.23, Z:0.90 [[ 9.34820861e-01 -3.53658191e-01 -3.21844855e-02 4.16615439e+01] [ 3.53490736e-01 9.35374025e-01 -1.09422630e-02 7.22518647e+00] [ 3.39743527e-02 -1.14786176e-03 9.99422046e-01 8.96217889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.69, Y:7.23, Z:0.90 [[ 9.34899766e-01 -3.53516956e-01 -3.14354685e-02 4.16880168e+01] [ 3.53356915e-01 9.35427458e-01 -1.06939906e-02 7.23428745e+00] [ 3.31861074e-02 -1.11013088e-03 9.99448573e-01 8.97907732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.558040942 meters Centerline goodness [0,1] 0.9999123268455199 Centerline is valid? [True, True] Translation: X:41.72, Y:7.24, Z:0.90 [[ 9.35308445e-01 -3.52387562e-01 -3.19549541e-02 4.17154216e+01] [ 3.52221373e-01 9.35853532e-01 -1.08752739e-02 7.24460612e+00] [ 3.37374679e-02 -1.08348230e-03 9.99430142e-01 8.98816240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.74, Y:7.26, Z:0.90 [[ 9.35933556e-01 -3.50739865e-01 -3.17793288e-02 4.17413991e+01] [ 3.50574276e-01 9.36472384e-01 -1.08236604e-02 7.25877041e+00] [ 3.35567529e-02 -1.01078820e-03 9.99436302e-01 9.00656637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.77, Y:7.27, Z:0.90 [[ 9.37793731e-01 -3.45702416e-01 -3.21365632e-02 4.17671299e+01] [ 3.45529893e-01 9.38343831e-01 -1.09520544e-02 7.27061417e+00] [ 3.39412975e-02 -8.33375294e-04 9.99423481e-01 9.01013109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.79, Y:7.28, Z:0.90 [[ 9.38746966e-01 -3.43154368e-01 -3.16103467e-02 4.17930666e+01] [ 3.42985865e-01 9.39278741e-01 -1.07769579e-02 7.28354393e+00] [ 3.33890868e-02 -7.25065607e-04 9.99442166e-01 9.02377578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.678040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:7.29, Z:0.90 [[ 9.39645936e-01 -3.40712951e-01 -3.13081327e-02 4.18193967e+01] [ 3.40546075e-01 9.40167162e-01 -1.06807115e-02 7.29306692e+00] [ 3.30739351e-02 -6.25774544e-04 9.99452712e-01 9.02298075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.85, Y:7.30, Z:0.90 [[ 9.40519776e-01 -3.38334222e-01 -3.08626891e-02 4.18462429e+01] [ 3.38170636e-01 9.41025862e-01 -1.05331751e-02 7.30371647e+00] [ 3.26063222e-02 -5.30195714e-04 9.99468132e-01 9.03265838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.87, Y:7.32, Z:0.91 [[ 9.42144782e-01 -3.33857735e-01 -3.00370125e-02 4.18719416e+01] [ 3.33700261e-01 9.42623405e-01 -1.02591933e-02 7.31659291e+00] [ 3.17387021e-02 -3.57713500e-04 9.99496136e-01 9.06318149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.90, Y:7.33, Z:0.91 [[ 9.42763623e-01 -3.32186727e-01 -2.91329502e-02 4.18977530e+01] [ 3.32037589e-01 9.43213601e-01 -9.95704867e-03 7.32645459e+00] [ 3.07861943e-02 -2.86091276e-04 9.99525952e-01 9.07579259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.92, Y:7.34, Z:0.91 [[ 9.43956129e-01 -3.28850752e-01 -2.83550460e-02 4.19235309e+01] [ 3.28707885e-01 9.44381890e-01 -9.69394030e-03 7.33791147e+00] [ 2.99658515e-02 -1.69872842e-04 9.99550909e-01 9.08416159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.95, Y:7.35, Z:0.91 [[ 9.44386468e-01 -3.27660265e-01 -2.78019809e-02 4.19505834e+01] [ 3.27522292e-01 9.44795605e-01 -9.50861971e-03 7.34838784e+00] [ 2.93827862e-02 -1.25956709e-04 9.99568225e-01 9.09097594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.858040941999995 meters Centerline goodness [0,1] 0.9999344491543941 Centerline is valid? [True, True] Translation: X:41.98, Y:7.36, Z:0.91 [[ 9.44730436e-01 -3.26665356e-01 -2.78235180e-02 4.19767557e+01] [ 3.26526501e-01 9.45140062e-01 -9.52399257e-03 7.35793041e+00] [ 2.94082800e-02 -8.75103461e-05 9.99567479e-01 9.08665263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888040941999996 meters Centerline goodness [0,1] 0.9999344491543941 Centerline is valid? [True, True] Translation: X:42.00, Y:7.37, Z:0.91 [[ 9.44636946e-01 -3.26935842e-01 -2.78207902e-02 4.20028138e+01] [ 3.26796870e-01 9.45046532e-01 -9.53195496e-03 7.36694318e+00] [ 2.94082790e-02 -8.75103432e-05 9.99567479e-01 9.09303197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.03, Y:7.38, Z:0.91 [[ 9.45176803e-01 -3.25469054e-01 -2.66590664e-02 4.20291347e+01] [ 3.25340632e-01 9.45552692e-01 -9.14216194e-03 7.37734085e+00] [ 2.81830428e-02 -3.23181104e-05 9.99602779e-01 9.10549495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948040942 meters Centerline goodness [0,1] 0.9999345063965419 Centerline is valid? [True, True] Translation: X:42.05, Y:7.39, Z:0.91 [[ 9.45149048e-01 -3.25577246e-01 -2.63198613e-02 4.20543900e+01] [ 3.25451894e-01 9.45515445e-01 -9.03373837e-03 7.38603608e+00] [ 2.78270150e-02 -2.76194888e-05 9.99612753e-01 9.09925369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.08, Y:7.40, Z:0.91 [[ 9.44962048e-01 -3.26130633e-01 -2.61827925e-02 4.20809848e+01] [ 3.26006627e-01 9.45324711e-01 -8.99279615e-03 7.39526893e+00] [ 2.76840670e-02 -3.79128054e-05 9.99616722e-01 9.11085784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.11, Y:7.40, Z:0.91 [[ 9.44205273e-01 -3.28335320e-01 -2.59291473e-02 4.21078616e+01] [ 3.28214312e-01 9.44561225e-01 -8.91386011e-03 7.40385930e+00] [ 2.74184022e-02 -9.38034991e-05 9.99624041e-01 9.10985903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.038040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.13, Y:7.41, Z:0.91 [[ 9.43608119e-01 -3.30094627e-01 -2.53230268e-02 4.21334119e+01] [ 3.29979638e-01 9.43947837e-01 -8.71316347e-03 7.41163422e+00] [ 2.67797848e-02 -1.34271405e-04 9.99641348e-01 9.10396936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.16, Y:7.42, Z:0.91 [[ 9.42265809e-01 -3.33902103e-01 -2.53876035e-02 4.21614245e+01] [ 3.33787751e-01 9.42607728e-01 -8.74116928e-03 7.41825567e+00] [ 2.68492460e-02 -2.37566130e-04 9.99639466e-01 9.10641690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.19, Y:7.43, Z:0.91 [[ 9.41637372e-01 -3.35694308e-01 -2.50677283e-02 4.21894735e+01] [ 3.35583272e-01 9.41970941e-01 -8.63792177e-03 7.42652345e+00] [ 2.65127728e-02 -2.78520324e-04 9.99648436e-01 9.11472405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.22, Y:7.43, Z:0.91 [[ 9.41115801e-01 -3.37165390e-01 -2.49108330e-02 4.22164025e+01] [ 3.37056087e-01 9.41445380e-01 -8.59021087e-03 7.43451686e+00] [ 2.63485104e-02 -3.11964704e-04 9.99652769e-01 9.11765613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:7.44, Z:0.91 [[ 9.40145135e-01 -3.39766202e-01 -2.61926169e-02 4.22439730e+01] [ 3.39646272e-01 9.40509844e-01 -9.03565138e-03 7.44261593e+00] [ 2.77044230e-02 -4.01401020e-04 9.99616078e-01 9.10883526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.27, Y:7.45, Z:0.91 [[ 9.39708893e-01 -3.40953319e-01 -2.64202673e-02 4.22709856e+01] [ 3.40831560e-01 9.40080128e-01 -9.12146556e-03 7.45179216e+00] [ 2.79471622e-02 -4.33338612e-04 9.99609308e-01 9.10781359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.218040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:7.46, Z:0.91 [[ 9.39410639e-01 -3.41771616e-01 -2.64539884e-02 4.22978413e+01] [ 3.41649668e-01 9.39782932e-01 -9.14031862e-03 7.46150204e+00] [ 2.79849082e-02 -4.51483799e-04 9.99608244e-01 9.10913306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.32, Y:7.47, Z:0.91 [[ 9.39272500e-01 -3.42164927e-01 -2.62741901e-02 4.23238113e+01] [ 3.42044584e-01 9.39639802e-01 -9.08544796e-03 7.47105099e+00] [ 2.77969965e-02 -4.53233009e-04 9.99613486e-01 9.11388969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.35, Y:7.48, Z:0.91 [[ 9.39257463e-01 -3.42289740e-01 -2.51625041e-02 4.23502900e+01] [ 3.42179211e-01 9.39594353e-01 -8.70856040e-03 7.48175632e+00] [ 2.66233976e-02 -4.30505439e-04 9.99645442e-01 9.12791143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.38, Y:7.49, Z:0.91 [[ 9.39361137e-01 -3.42022105e-01 -2.49305680e-02 4.23772073e+01] [ 3.41913304e-01 9.39691817e-01 -8.63611400e-03 7.49108951e+00] [ 2.63807926e-02 -4.11662996e-04 9.99651882e-01 9.13619118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.40, Y:7.50, Z:0.91 [[ 9.39687946e-01 -3.41102681e-01 -2.52096411e-02 4.24028697e+01] [ 3.40990903e-01 9.40025965e-01 -8.74011790e-03 7.50075290e+00] [ 2.66789949e-02 -3.83274856e-04 9.99643979e-01 9.13768447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.43, Y:7.51, Z:0.91 [[ 9.39879218e-01 -3.40536973e-01 -2.57220606e-02 4.24289270e+01] [ 3.40420302e-01 9.40231052e-01 -8.92113098e-03 7.51168227e+00] [ 2.72226550e-02 -3.71526006e-04 9.99629326e-01 9.13564576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.398040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:7.52, Z:0.91 [[ 9.40243452e-01 -3.39503713e-01 -2.60668126e-02 4.24547833e+01] [ 3.39383296e-01 9.40604653e-01 -9.04794484e-03 7.52284609e+00] [ 2.75903761e-02 -3.39369890e-04 9.99619256e-01 9.13057661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.48, Y:7.53, Z:0.91 [[ 9.40206615e-01 -3.39586901e-01 -2.63108004e-02 4.24807380e+01] [ 3.39464154e-01 9.40574622e-01 -9.13609435e-03 7.53301993e+00] [ 2.78497691e-02 -3.41757261e-04 9.99612062e-01 9.13315732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.51, Y:7.54, Z:0.91 [[ 9.40018504e-01 -3.40071933e-01 -2.67636399e-02 4.25063016e+01] [ 3.39944882e-01 9.40399359e-01 -9.30174988e-03 7.54364077e+00] [ 2.83317739e-02 -3.54345408e-04 9.99598512e-01 9.13950254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.53, Y:7.55, Z:0.91 [[ 9.39913277e-01 -3.40336133e-01 -2.70988712e-02 4.25325980e+01] [ 3.40205769e-01 9.40303774e-01 -9.42588256e-03 7.55162235e+00] [ 2.86891393e-02 -3.59680173e-04 9.99588317e-01 9.13675656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:7.56, Z:0.92 [[ 9.39745553e-01 -3.40855355e-01 -2.63803461e-02 4.25583139e+01] [ 3.40731920e-01 9.40115682e-01 -9.17946900e-03 7.56212622e+00] [ 2.79294483e-02 -3.62260821e-04 9.99609831e-01 9.15513676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.58, Y:7.57, Z:0.92 [[ 9.39573643e-01 -3.41360435e-01 -2.59696662e-02 4.25849849e+01] [ 3.41240785e-01 9.39932403e-01 -9.04460938e-03 7.57186531e+00] [ 2.74972025e-02 -3.63832716e-04 9.99621814e-01 9.17238178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.578040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.61, Y:7.58, Z:0.92 [[ 9.39497810e-01 -3.41601971e-01 -2.55334645e-02 4.26109235e+01] [ 3.41486185e-01 9.39844650e-01 -8.90056543e-03 7.58136037e+00] [ 2.70379407e-02 -3.57263643e-04 9.99634344e-01 9.18524167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.64, Y:7.59, Z:0.92 [[ 9.39348269e-01 -3.42020303e-01 -2.54350531e-02 4.26374574e+01] [ 3.41905348e-01 9.39692493e-01 -8.87414539e-03 7.59119857e+00] [ 2.69362664e-02 -3.60467580e-04 9.99637088e-01 9.19790286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.638040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.66, Y:7.60, Z:0.92 [[ 9.39193829e-01 -3.42458447e-01 -2.52421115e-02 4.26641184e+01] [ 3.42345181e-01 9.39532905e-01 -8.81458017e-03 7.60102094e+00] [ 2.67344218e-02 -3.62915939e-04 9.99642506e-01 9.20440024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668040942 meters Centerline goodness [0,1] 0.9999342638648465 Centerline is valid? [True, True] Translation: X:42.69, Y:7.61, Z:0.92 [[ 9.39185272e-01 -3.42402156e-01 -2.63018607e-02 4.26895016e+01] [ 3.42278943e-01 9.39553419e-01 -9.19227777e-03 7.61140197e+00] [ 2.78594589e-02 -3.69321198e-04 9.99611782e-01 9.19977836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.72, Y:7.62, Z:0.92 [[ 9.39118310e-01 -3.42593548e-01 -2.62003791e-02 4.27159596e+01] [ 3.42471241e-01 9.39483648e-01 -9.16104826e-03 7.62219361e+00] [ 2.77533437e-02 -3.69568171e-04 9.99614733e-01 9.20956940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.74, Y:7.63, Z:0.92 [[ 9.38989993e-01 -3.42953133e-01 -2.60948647e-02 4.27423888e+01] [ 3.42831726e-01 9.39352442e-01 -9.13221342e-03 7.63283891e+00] [ 2.76441961e-02 -3.71090481e-04 9.99617757e-01 9.21810579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.758040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:7.64, Z:0.92 [[ 9.38758831e-01 -3.43573524e-01 -2.62505498e-02 4.27689086e+01] [ 3.43450692e-01 9.39125703e-01 -9.19435679e-03 7.64186028e+00] [ 2.78115036e-02 -3.84485845e-04 9.99613111e-01 9.22606433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:7.65, Z:0.92 [[ 9.38111350e-01 -3.45355174e-01 -2.60172893e-02 4.27949741e+01] [ 3.45235100e-01 9.38471960e-01 -9.11628453e-03 7.65059271e+00] [ 2.75648525e-02 -4.29991487e-04 9.99619925e-01 9.23833692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.818040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.82, Y:7.66, Z:0.92 [[ 9.37775806e-01 -3.46293303e-01 -2.56414920e-02 4.28215535e+01] [ 3.46176957e-01 9.38126189e-01 -8.98706801e-03 7.66047503e+00] [ 2.71671166e-02 -4.48638714e-04 9.99630805e-01 9.24888797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.85, Y:7.67, Z:0.93 [[ 9.37209634e-01 -3.47848568e-01 -2.52878454e-02 4.28484566e+01] [ 3.47735894e-01 9.37550606e-01 -8.86614024e-03 7.67166645e+00] [ 2.67927089e-02 -4.84059479e-04 9.99640894e-01 9.25466455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.88, Y:7.68, Z:0.93 [[ 9.36957579e-01 -3.48472506e-01 -2.60270517e-02 4.28754174e+01] [ 3.48353187e-01 9.37318864e-01 -9.13259566e-03 7.68310778e+00] [ 2.75781050e-02 -5.09751668e-04 9.99619522e-01 9.26571181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90804094199999 meters Centerline goodness [0,1] 0.9998688639244656 Centerline is valid? [True, True] Translation: X:42.90, Y:7.69, Z:0.93 [[ 9.36692056e-01 -3.49129574e-01 -2.67681276e-02 4.29026111e+01] [ 3.49003414e-01 9.37074305e-01 -9.40024745e-03 7.69411385e+00] [ 2.83656290e-02 -5.37030832e-04 9.99597470e-01 9.26067712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93804094199999 meters Centerline goodness [0,1] 0.999956490525812 Centerline is valid? [True, True] Translation: X:42.93, Y:7.71, Z:0.93 [[ 9.36510432e-01 -3.49656981e-01 -2.62336793e-02 4.29271551e+01] [ 3.49535823e-01 9.36877638e-01 -9.21951517e-03 7.70501988e+00] [ 2.78014153e-02 -5.35438540e-04 9.99613323e-01 9.26872628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.95, Y:7.72, Z:0.93 [[ 9.36382796e-01 -3.50043223e-01 -2.56320329e-02 4.29528575e+01] [ 3.49927545e-01 9.36733400e-01 -9.01391234e-03 7.71546815e+00] [ 2.71656402e-02 -5.28881904e-04 9.99630806e-01 9.28003710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.998040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.98, Y:7.73, Z:0.93 [[ 9.36200361e-01 -3.50557505e-01 -2.52649868e-02 4.29786146e+01] [ 3.50445093e-01 9.36541060e-01 -8.89273707e-03 7.72732428e+00] [ 2.67791133e-02 -5.28606998e-04 9.99641235e-01 9.28883695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.00, Y:7.74, Z:0.93 [[ 9.36290841e-01 -3.50310753e-01 -2.53345182e-02 4.30040427e+01] [ 3.50197436e-01 9.36633391e-01 -8.92446373e-03 7.73774997e+00] [ 2.68554913e-02 -5.16189676e-04 9.99639193e-01 9.29362316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.058040942 meters Centerline goodness [0,1] 0.9999127247338104 Centerline is valid? [True, True] Translation: X:43.03, Y:7.75, Z:0.93 [[ 9.36326541e-01 -3.50127174e-01 -2.65249217e-02 4.30298834e+01] [ 3.50002777e-01 9.36702023e-01 -9.34751736e-03 7.74938243e+00] [ 2.81187677e-02 -5.31467682e-04 9.99604448e-01 9.28655576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.06, Y:7.76, Z:0.93 [[ 9.36594022e-01 -3.49450475e-01 -2.60000747e-02 4.30558788e+01] [ 3.49330472e-01 9.36954707e-01 -9.17055564e-03 7.76301095e+00] [ 2.75655474e-02 -4.93530784e-04 9.99619876e-01 9.28477919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.08, Y:7.77, Z:0.93 [[ 9.36859005e-01 -3.48735997e-01 -2.60462916e-02 4.30820590e+01] [ 3.48615111e-01 9.37220884e-01 -9.19338620e-03 7.77325914e+00] [ 2.76171931e-02 -4.67224184e-04 9.99618463e-01 9.28182367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.11, Y:7.78, Z:0.93 [[ 9.36948362e-01 -3.48461774e-01 -2.64982959e-02 4.31081118e+01] [ 3.48336443e-01 9.37322878e-01 -9.35658952e-03 7.78442810e+00] [ 2.80978727e-02 -4.63680901e-04 9.99605069e-01 9.28581680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.178040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.13, Y:7.80, Z:0.93 [[ 9.37390708e-01 -3.47349147e-01 -2.54407310e-02 4.31340941e+01] [ 3.47233005e-01 9.37735787e-01 -8.99080506e-03 7.79746589e+00] [ 2.69796323e-02 -4.05964347e-04 9.99635901e-01 9.29081021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.16, Y:7.81, Z:0.93 [[ 9.37584939e-01 -3.46860883e-01 -2.49401447e-02 4.31602298e+01] [ 3.46748916e-01 9.37916513e-01 -8.82065356e-03 7.80905731e+00] [ 2.64513132e-02 -3.77856212e-04 9.99650031e-01 9.29708219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.238040942 meters Centerline goodness [0,1] 0.9997850941287716 Centerline is valid? [True, True] Translation: X:43.19, Y:7.82, Z:0.93 [[ 9.37938210e-01 -3.45839393e-01 -2.58269010e-02 4.31873394e+01] [ 3.45718737e-01 9.38293658e-01 -9.14149802e-03 7.82062798e+00] [ 2.73947075e-02 -3.54683295e-04 9.99624632e-01 9.29000789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.21, Y:7.83, Z:0.93 [[ 9.38708988e-01 -3.43861107e-01 -2.41862449e-02 4.32125997e+01] [ 3.43754487e-01 9.39020482e-01 -8.56663947e-03 7.83491079e+00] [ 2.56571135e-02 -2.72548745e-04 9.99670765e-01 9.31317587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.24, Y:7.85, Z:0.93 [[ 9.39154091e-01 -3.42662299e-01 -2.39194876e-02 4.32391194e+01] [ 3.42557464e-01 9.39458618e-01 -8.47867546e-03 7.84713731e+00] [ 2.53766912e-02 -2.31016261e-04 9.99677933e-01 9.32333940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.27, Y:7.86, Z:0.93 [[ 9.39651148e-01 -3.41332886e-01 -2.34004238e-02 4.32654130e+01] [ 3.41231981e-01 9.39942459e-01 -8.30110291e-03 7.85929734e+00] [ 2.48284913e-02 -1.84832103e-04 9.99691708e-01 9.33388672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.358040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:7.87, Z:0.93 [[ 9.40669714e-01 -3.38590567e-01 -2.22916383e-02 4.32897827e+01] [ 3.38498087e-01 9.40933801e-01 -7.91375401e-03 7.87266516e+00] [ 2.36544784e-02 -1.01448184e-04 9.99720189e-01 9.34034120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.32, Y:7.88, Z:0.93 [[ 9.40944558e-01 -3.37860756e-01 -2.17588582e-02 4.33150783e+01] [ 3.37772400e-01 9.41196102e-01 -7.72672926e-03 7.88421314e+00] [ 2.30899112e-02 -7.91179237e-05 9.99733389e-01 9.34426423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.34, Y:7.90, Z:0.93 [[ 9.41606696e-01 -3.36047787e-01 -2.11829089e-02 4.33391743e+01] [ 3.35963437e-01 9.41844936e-01 -7.52893442e-03 7.89669756e+00] [ 2.24810973e-02 -2.73878231e-05 9.99747268e-01 9.34488060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.37, Y:7.91, Z:0.94 [[ 9.41630497e-01 -3.35959029e-01 -2.15299255e-02 4.33654070e+01] [ 3.35871801e-01 9.41876600e-01 -7.65525283e-03 7.90758647e+00] [ 2.28503844e-02 -2.28753239e-05 9.99738896e-01 9.35316862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.39, Y:7.92, Z:0.94 [[ 9.41636398e-01 -3.35928026e-01 -2.17544390e-02 4.33916201e+01] [ 3.35838801e-01 9.41887659e-01 -7.74200001e-03 7.91788894e+00] [ 2.30909924e-02 -1.58357124e-05 9.99733367e-01 9.35661424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.42, Y:7.93, Z:0.94 [[ 9.41535156e-01 -3.36172262e-01 -2.23553099e-02 4.34167764e+01] [ 3.36077933e-01 9.41800515e-01 -7.96325330e-03 7.92706590e+00] [ 2.37312673e-02 -1.54434160e-05 9.99718374e-01 9.35987515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.538040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.44, Y:7.94, Z:0.94 [[ 9.41183220e-01 -3.37098591e-01 -2.32096138e-02 4.34430885e+01] [ 3.36997105e-01 9.41469351e-01 -8.27120165e-03 7.93684213e+00] [ 2.46393504e-02 -3.68564375e-05 9.99696404e-01 9.36148487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.47, Y:7.95, Z:0.94 [[ 9.40929037e-01 -3.37797607e-01 -2.33521624e-02 4.34695741e+01] [ 3.37694904e-01 9.41218771e-01 -8.32933700e-03 7.94673660e+00] [ 2.47931237e-02 -4.85911747e-05 9.99692602e-01 9.36561438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.50, Y:7.96, Z:0.94 [[ 9.40605167e-01 -3.38684921e-01 -2.35466308e-02 4.34958536e+01] [ 3.38580588e-01 9.40899846e-01 -8.40627230e-03 7.95615525e+00] [ 2.50020990e-02 -6.54489546e-05 9.99687397e-01 9.37145962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.52, Y:7.96, Z:0.94 [[ 9.40011677e-01 -3.40344667e-01 -2.33142532e-02 4.35226863e+01] [ 3.40242718e-01 9.40300748e-01 -8.33040361e-03 7.96455901e+00] [ 2.47576181e-02 -1.01828195e-04 9.99693478e-01 9.37570290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.55, Y:7.97, Z:0.94 [[ 9.39646880e-01 -3.41340738e-01 -2.34572094e-02 4.35485422e+01] [ 3.41237787e-01 9.39939617e-01 -8.38382536e-03 7.97354072e+00] [ 2.49101015e-02 -1.26650873e-04 9.99689687e-01 9.38128200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:7.98, Z:0.94 [[ 9.39007062e-01 -3.43106098e-01 -2.33225806e-02 4.35764775e+01] [ 3.43004806e-01 9.39296639e-01 -8.33824919e-03 7.98184008e+00] [ 2.47677257e-02 -1.70082349e-04 9.99693218e-01 9.38683373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.718040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:7.99, Z:0.94 [[ 9.38628935e-01 -3.44146897e-01 -2.32085344e-02 4.36035668e+01] [ 3.44046760e-01 9.38915799e-01 -8.30361624e-03 7.99022147e+00] [ 2.46485234e-02 -1.90806592e-04 9.99696161e-01 9.39200951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:8.00, Z:0.94 [[ 9.38165193e-01 -3.45392882e-01 -2.34484110e-02 4.36308473e+01] [ 3.45290989e-01 9.38458154e-01 -8.39203174e-03 7.99859274e+00] [ 2.49039005e-02 -2.23412948e-04 9.99689825e-01 9.39572390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:8.01, Z:0.94 [[ 9.37064538e-01 -3.48297400e-01 -2.44739111e-02 4.36578190e+01] [ 3.48187218e-01 9.37384034e-01 -8.76551271e-03 8.00543426e+00] [ 2.59944588e-02 -3.07651911e-04 9.99662040e-01 9.39035486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.68, Y:8.01, Z:0.94 [[ 9.36969768e-01 -3.48552331e-01 -2.44729870e-02 4.36837279e+01] [ 3.48442169e-01 9.37289270e-01 -8.76809186e-03 8.01481755e+00] [ 2.59944070e-02 -3.11983684e-04 9.99662040e-01 9.39674682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.71, Y:8.02, Z:0.94 [[ 9.36467796e-01 -3.49889175e-01 -2.46095919e-02 4.37116206e+01] [ 3.49778046e-01 9.36791037e-01 -8.82452122e-03 8.02368677e+00] [ 2.61416495e-02 -3.44015011e-04 9.99658189e-01 9.39913446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86804094199999 meters Centerline goodness [0,1] 0.9999574169097452 Centerline is valid? [True, True] Translation: X:43.74, Y:8.03, Z:0.94 [[ 9.36058733e-01 -3.50976490e-01 -2.46891021e-02 4.37389175e+01] [ 3.50864844e-01 9.36384198e-01 -8.85971045e-03 8.03347108e+00] [ 2.62280351e-02 -3.69328598e-04 9.99655918e-01 9.40646020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.898040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.77, Y:8.04, Z:0.94 [[ 9.35355183e-01 -3.52881945e-01 -2.41870752e-02 4.37667029e+01] [ 3.52775259e-01 9.35667765e-01 -8.68620529e-03 8.04120170e+00] [ 2.56962716e-02 -4.07914594e-04 9.99669713e-01 9.41456579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.79, Y:8.05, Z:0.94 [[ 9.35080192e-01 -3.53608125e-01 -2.42142293e-02 4.37935205e+01] [ 3.53501265e-01 9.35393562e-01 -8.70283246e-03 8.05042467e+00] [ 2.57272265e-02 -4.21914463e-04 9.99668911e-01 9.42552682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:8.06, Z:0.94 [[ 9.34941335e-01 -3.53966226e-01 -2.43435932e-02 4.38200066e+01] [ 3.53858152e-01 9.35258108e-01 -8.75668956e-03 8.05822581e+00] [ 2.58671153e-02 -4.27187873e-04 9.99665299e-01 9.43069306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.85, Y:8.06, Z:0.94 [[ 9.34916346e-01 -3.53982597e-01 -2.50548894e-02 4.38467302e+01] [ 3.53868042e-01 9.35251907e-01 -9.01549275e-03 8.06423719e+00] [ 2.66239607e-02 -4.37393117e-04 9.99645424e-01 9.43090440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.87, Y:8.08, Z:0.94 [[ 9.35029367e-01 -3.53679484e-01 -2.51178415e-02 4.38721840e+01] [ 3.53564091e-01 9.35366582e-01 -9.04387292e-03 8.07622523e+00] [ 2.66930219e-02 -4.24480037e-04 9.99643588e-01 9.44378993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.90, Y:8.09, Z:0.94 [[ 9.35478410e-01 -3.52436854e-01 -2.58535812e-02 4.38997860e+01] [ 3.52313899e-01 9.35835514e-01 -9.31704637e-03 8.08638161e+00] [ 2.74783700e-02 -3.92680264e-04 9.99622321e-01 9.43842155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.078040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.93, Y:8.09, Z:0.94 [[ 9.35540601e-01 -3.52259754e-01 -2.60163241e-02 4.39264357e+01] [ 3.52135003e-01 9.35902195e-01 -9.38197263e-03 8.09277552e+00] [ 2.76536262e-02 -3.84042029e-04 9.99617492e-01 9.43288735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.95, Y:8.10, Z:0.94 [[ 9.35684891e-01 -3.51853143e-01 -2.63277501e-02 4.39525079e+01] [ 3.51725101e-01 9.36055141e-01 -9.49875276e-03 8.10401167e+00] [ 2.79863919e-02 -3.72291138e-04 9.99608235e-01 9.44979348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.138040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.98, Y:8.11, Z:0.95 [[ 9.36108319e-01 -3.50780621e-01 -2.55767829e-02 4.39796776e+01] [ 3.50659170e-01 9.36457608e-01 -9.23551067e-03 8.11244082e+00] [ 2.71912111e-02 -3.23295122e-04 9.99630198e-01 9.46464326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.01, Y:8.12, Z:0.95 [[ 9.36198706e-01 -3.50565138e-01 -2.52203780e-02 4.40061021e+01] [ 3.50446784e-01 9.36538302e-01 -9.11379919e-03 8.12194827e+00] [ 2.68148302e-02 -3.06073360e-04 9.99640371e-01 9.47463087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.03, Y:8.13, Z:0.95 [[ 9.36277239e-01 -3.50385277e-01 -2.48009995e-02 4.40327517e+01] [ 3.50270560e-01 9.36605613e-01 -8.96996278e-03 8.13144430e+00] [ 2.63716982e-02 -2.88688006e-04 9.99652165e-01 9.48277683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.06, Y:8.14, Z:0.95 [[ 9.36504745e-01 -3.49811703e-01 -2.43029680e-02 4.40591232e+01] [ 3.49701175e-01 9.36819996e-01 -8.79678875e-03 8.13999146e+00] [ 2.58447260e-02 -2.60542059e-04 9.99665935e-01 9.48839253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.258040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.09, Y:8.15, Z:0.95 [[ 9.36479570e-01 -3.49875400e-01 -2.43560823e-02 4.40858853e+01] [ 3.49764334e-01 9.36796209e-01 -8.81894373e-03 8.14980457e+00] [ 2.59022170e-02 -2.60128252e-04 9.99664447e-01 9.50295701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.11, Y:8.16, Z:0.95 [[ 9.36368258e-01 -3.50195025e-01 -2.40401736e-02 4.41122484e+01] [ 3.50086745e-01 9.36676773e-01 -8.71169891e-03 8.15733431e+00] [ 2.55686658e-02 -2.58787775e-04 9.99673035e-01 9.51305282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.318040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.14, Y:8.16, Z:0.95 [[ 9.36271662e-01 -3.50488404e-01 -2.35213294e-02 4.41379813e+01] [ 3.50384758e-01 9.36567036e-01 -8.52697611e-03 8.16483593e+00] [ 2.50179080e-02 -2.57949213e-04 9.99686970e-01 9.51606610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.348040942 meters Centerline goodness [0,1] 0.9999136386208087 Centerline is valid? [True, True] Translation: X:44.17, Y:8.18, Z:0.95 [[ 9.35884198e-01 -3.51494759e-01 -2.39207474e-02 4.41652744e+01] [ 3.51387757e-01 9.36189806e-01 -8.67706128e-03 8.17504178e+00] [ 2.54443014e-02 -2.84733223e-04 9.99676201e-01 9.51673094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.19, Y:8.18, Z:0.95 [[ 9.35959121e-01 -3.51341087e-01 -2.32371363e-02 4.41906974e+01] [ 3.51239915e-01 9.36247494e-01 -8.43520179e-03 8.18335976e+00] [ 2.47193435e-02 -2.66805711e-04 9.99694395e-01 9.53854104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.22, Y:8.19, Z:0.95 [[ 9.35960392e-01 -3.51282028e-01 -2.40640901e-02 4.42162726e+01] [ 3.51173419e-01 9.36269653e-01 -8.73882536e-03 8.19133427e+00] [ 2.56002696e-02 -2.71474380e-04 9.99672223e-01 9.54362176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43804094199999 meters Centerline goodness [0,1] 0.9998915871639202 Centerline is valid? [True, True] Translation: X:44.24, Y:8.20, Z:0.95 [[ 9.35730558e-01 -3.51866760e-01 -2.44561978e-02 4.42433783e+01] [ 3.51754695e-01 9.36050052e-01 -8.88450727e-03 8.19858686e+00] [ 2.60183880e-02 -2.89077452e-04 9.99661423e-01 9.52523247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468040941999995 meters Centerline goodness [0,1] 0.999978288245256 Centerline is valid? [True, True] Translation: X:44.27, Y:8.21, Z:0.96 [[ 9.36130653e-01 -3.50825994e-01 -2.40940465e-02 4.42703584e+01] [ 3.50716810e-01 9.36440632e-01 -8.75565376e-03 8.20833738e+00] [ 2.56343551e-02 -2.53751274e-04 9.99671354e-01 9.55199876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:8.22, Z:0.96 [[ 9.36182971e-01 -3.50729180e-01 -2.34624659e-02 4.42962605e+01] [ 3.50625456e-01 9.36476901e-01 -8.53252976e-03 8.21787991e+00] [ 2.49646645e-02 -2.38528724e-04 9.99688306e-01 9.55643438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:8.23, Z:0.96 [[ 9.36331511e-01 -3.50357268e-01 -2.30886592e-02 4.43216839e+01] [ 3.50256534e-01 9.36616110e-01 -8.40376812e-03 8.22630354e+00] [ 2.45695314e-02 -2.18240832e-04 9.99698100e-01 9.55513917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.35, Y:8.24, Z:0.96 [[ 9.36489376e-01 -3.49916539e-01 -2.33680161e-02 4.43483303e+01] [ 3.49813126e-01 9.36780856e-01 -8.50906045e-03 8.23639640e+00] [ 2.48681711e-02 -2.05794033e-04 9.99690718e-01 9.55327335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.38, Y:8.25, Z:0.95 [[ 9.36669959e-01 -3.49397994e-01 -2.38836530e-02 4.43754892e+01] [ 3.49289601e-01 9.36974389e-01 -8.70453177e-03 8.24539864e+00] [ 2.54197171e-02 -1.89038194e-04 9.99676849e-01 9.54412960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61804094199999 meters Centerline goodness [0,1] 0.9999347059591694 Centerline is valid? [True, True] Translation: X:44.40, Y:8.25, Z:0.95 [[ 9.36629721e-01 -3.49512788e-01 -2.37818444e-02 4.44020069e+01] [ 3.49405172e-01 9.36931575e-01 -8.67463855e-03 8.25398107e+00] [ 2.53138580e-02 -1.84575129e-04 9.99679536e-01 9.54550664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.43, Y:8.26, Z:0.95 [[ 9.36931840e-01 -3.48721296e-01 -2.34986063e-02 4.44278227e+01] [ 3.48615795e-01 9.37226458e-01 -8.57869058e-03 8.26085688e+00] [ 2.50150876e-02 -1.54336949e-04 9.99687062e-01 9.54812946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.678040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.45, Y:8.27, Z:0.96 [[ 9.37200655e-01 -3.48053702e-01 -2.26617161e-02 4.44541274e+01] [ 3.47955273e-01 9.37474589e-01 -8.27788726e-03 8.26903855e+00] [ 2.41259323e-02 -1.27222249e-04 9.99708919e-01 9.55260741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708040942 meters Centerline goodness [0,1] 0.9999783141413484 Centerline is valid? [True, True] Translation: X:44.48, Y:8.28, Z:0.96 [[ 9.37276881e-01 -3.47888557e-01 -2.20363267e-02 4.44809366e+01] [ 3.47795390e-01 9.37535886e-01 -8.05161742e-03 8.27851333e+00] [ 2.34609127e-02 -1.17537983e-04 9.99724748e-01 9.56142877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.738040942 meters Centerline goodness [0,1] 0.9999344978165939 Centerline is valid? [True, True] Translation: X:44.51, Y:8.29, Z:0.96 [[ 9.37628277e-01 -3.47006009e-01 -2.09772103e-02 4.45070047e+01] [ 3.46921218e-01 9.37862902e-01 -7.67110414e-03 8.28570495e+00] [ 2.23356665e-02 -8.47951937e-05 9.99750524e-01 9.56733460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76804094199999 meters Centerline goodness [0,1] 0.9999346220062327 Centerline is valid? [True, True] Translation: X:44.53, Y:8.29, Z:0.96 [[ 9.37605857e-01 -3.47030463e-01 -2.15665395e-02 4.45334416e+01] [ 3.46940777e-01 9.37853854e-01 -7.88961946e-03 8.29392801e+00] [ 2.29642005e-02 -8.49585675e-05 9.99736284e-01 9.56487821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79804094199999 meters Centerline goodness [0,1] 0.9999782504676149 Centerline is valid? [True, True] Translation: X:44.56, Y:8.30, Z:0.96 [[ 9.37756385e-01 -3.46599759e-01 -2.19446888e-02 4.45590466e+01] [ 3.46506620e-01 9.38013114e-01 -8.03495305e-03 8.30191738e+00] [ 2.33693187e-02 -6.91514071e-05 9.99726898e-01 9.57532659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828040941999994 meters Centerline goodness [0,1] 0.9997817165808085 Centerline is valid? [True, True] Translation: X:44.59, Y:8.31, Z:0.96 [[ 9.37996518e-01 -3.45896887e-01 -2.27569013e-02 4.45867891e+01] [ 3.45796393e-01 9.38272530e-01 -8.33746030e-03 8.30907222e+00] [ 2.42360769e-02 -4.87456617e-05 9.99706262e-01 9.55502062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.858040941999995 meters Centerline goodness [0,1] 0.9999564203691195 Centerline is valid? [True, True] Translation: X:44.61, Y:8.32, Z:0.96 [[ 9.38388093e-01 -3.44881222e-01 -2.20165857e-02 4.46125532e+01] [ 3.44786728e-01 9.38646335e-01 -8.07276628e-03 8.31765123e+00] [ 2.34499330e-02 -1.56388071e-05 9.99725012e-01 9.56796685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888040941999996 meters Centerline goodness [0,1] 0.9999781749929069 Centerline is valid? [True, True] Translation: X:44.64, Y:8.33, Z:0.96 [[ 9.38606490e-01 -3.44318070e-01 -2.15156660e-02 4.46391927e+01] [ 3.44227616e-01 9.38853059e-01 -7.89185989e-03 8.32651489e+00] [ 2.29173588e-02 1.06448220e-06 9.99737363e-01 9.57691772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.67, Y:8.33, Z:0.96 [[ 9.38972398e-01 -3.43335521e-01 -2.12498572e-02 4.46654874e+01] [ 3.43246891e-01 9.39212819e-01 -7.80080499e-03 8.33482930e+00] [ 2.26364317e-02 3.07931519e-05 9.99743763e-01 9.57278092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948040942 meters Centerline goodness [0,1] 0.9998908273106399 Centerline is valid? [True, True] Translation: X:44.69, Y:8.34, Z:0.96 [[ 9.38987294e-01 -3.43290799e-01 -2.13140567e-02 4.46919751e+01] [ 3.43201522e-01 9.39229166e-01 -7.82875086e-03 8.34338046e+00] [ 2.27063218e-02 3.60808900e-05 9.99742178e-01 9.57667719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97804094199999 meters Centerline goodness [0,1] 0.9999781964067679 Centerline is valid? [True, True] Translation: X:44.72, Y:8.35, Z:0.96 [[ 9.39011698e-01 -3.43227115e-01 -2.12644865e-02 4.47185332e+01] [ 3.43138092e-01 9.39252440e-01 -7.81691948e-03 8.35166974e+00] [ 2.26556995e-02 4.35235323e-05 9.99743326e-01 9.58267380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.75, Y:8.36, Z:0.96 [[ 9.38998617e-01 -3.43279051e-01 -2.10021624e-02 4.47458085e+01] [ 3.43192086e-01 9.39233459e-01 -7.72665837e-03 8.35934838e+00] [ 2.23783336e-02 4.75455725e-05 9.99749573e-01 9.58919916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.038040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:8.36, Z:0.96 [[ 9.38748785e-01 -3.43926395e-01 -2.15720473e-02 4.47727217e+01] [ 3.43834654e-01 9.38996610e-01 -7.94337643e-03 8.36466368e+00] [ 2.29880161e-02 3.96175494e-05 9.99735740e-01 9.59403928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:8.37, Z:0.96 [[ 9.38515261e-01 -3.44600298e-01 -2.09699709e-02 4.47985290e+01] [ 3.44513713e-01 9.38749505e-01 -7.72447663e-03 8.37186575e+00] [ 2.23474067e-02 2.50966614e-05 9.99750265e-01 9.60055340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:8.38, Z:0.96 [[ 9.38121505e-01 -3.45705496e-01 -2.03899844e-02 4.48257766e+01] [ 3.45623846e-01 9.38343066e-01 -7.51313401e-03 8.37984353e+00] [ 2.17301322e-02 9.67767838e-07 9.99763873e-01 9.61002864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:8.39, Z:0.96 [[ 9.37498557e-01 -3.47419115e-01 -1.99101661e-02 4.48534038e+01] [ 3.47341530e-01 9.37709954e-01 -7.34193781e-03 8.38597220e+00] [ 2.12206905e-02 -3.25714749e-05 9.99774815e-01 9.61339529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:8.39, Z:0.96 [[ 9.37182508e-01 -3.48283733e-01 -1.96821813e-02 4.48800753e+01] [ 3.48207978e-01 9.37389161e-01 -7.26394002e-03 8.39389493e+00] [ 2.09797756e-02 -4.58550344e-05 9.99779899e-01 9.61201880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18804094199999 meters Centerline goodness [0,1] 0.9999561345791113 Centerline is valid? [True, True] Translation: X:44.91, Y:8.40, Z:0.96 [[ 9.36836473e-01 -3.49158524e-01 -2.06336785e-02 4.49067238e+01] [ 3.49075321e-01 9.37063670e-01 -7.62226500e-03 8.39850297e+00] [ 2.19964493e-02 -6.18920818e-05 9.99758047e-01 9.61629846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.218040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.93, Y:8.41, Z:0.96 [[ 9.36604054e-01 -3.49795161e-01 -2.04007675e-02 4.49338102e+01] [ 3.49713921e-01 9.36826206e-01 -7.53878840e-03 8.40702926e+00] [ 2.17490053e-02 -7.35726128e-05 9.99763460e-01 9.62020939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248040941999996 meters Centerline goodness [0,1] 0.9999559403432248 Centerline is valid? [True, True] Translation: X:44.96, Y:8.42, Z:0.96 [[ 9.36476875e-01 -3.50134407e-01 -2.04196026e-02 4.49600286e+01] [ 3.50052953e-01 9.36699467e-01 -7.55241112e-03 8.41531385e+00] [ 2.17713898e-02 -7.52838142e-05 9.99762972e-01 9.62304395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.98, Y:8.43, Z:0.96 [[ 9.37001294e-01 -3.48729702e-01 -2.04002460e-02 4.49840797e+01] [ 3.48648009e-01 9.37223342e-01 -7.54802811e-03 8.42717593e+00] [ 2.17518083e-02 -3.99930334e-05 9.99763401e-01 9.63094679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.01, Y:8.44, Z:0.96 [[ 9.37255012e-01 -3.48031833e-01 -2.06612315e-02 4.50104814e+01] [ 3.47947809e-01 9.37482716e-01 -7.64718933e-03 8.43815102e+00] [ 2.20310128e-02 -2.16637259e-05 9.99757288e-01 9.63353581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33804094199999 meters Centerline goodness [0,1] 0.9999780610342028 Centerline is valid? [True, True] Translation: X:45.04, Y:8.45, Z:0.96 [[ 9.37384567e-01 -3.47640538e-01 -2.13595522e-02 4.50370065e+01] [ 3.47550484e-01 9.37627888e-01 -7.91229344e-03 8.44859836e+00] [ 2.27779457e-02 -6.66094515e-06 9.99740549e-01 9.63715906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:8.46, Z:0.96 [[ 9.37500894e-01 -3.47277612e-01 -2.21434903e-02 4.50622969e+01] [ 3.47180556e-01 9.37762369e-01 -8.20981625e-03 8.45868211e+00] [ 2.36164173e-02 8.92079791e-06 9.99721093e-01 9.64232210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.398040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:8.47, Z:0.97 [[ 9.37097457e-01 -3.48355791e-01 -2.22844778e-02 4.50883870e+01] [ 3.48257726e-01 9.37362386e-01 -8.26522575e-03 8.46879822e+00] [ 2.37678705e-02 -1.54195373e-05 9.99717504e-01 9.65234750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.11, Y:8.48, Z:0.97 [[ 9.36594550e-01 -3.49738986e-01 -2.17552663e-02 4.51143719e+01] [ 3.49645744e-01 9.36847181e-01 -8.07548820e-03 8.47730470e+00] [ 2.32056729e-02 -4.31780274e-05 9.99730711e-01 9.66055397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.14, Y:8.49, Z:0.97 [[ 9.35076800e-01 -3.53798296e-01 -2.14042977e-02 4.51415504e+01] [ 3.53709000e-01 9.35321734e-01 -7.94959738e-03 8.48694874e+00] [ 2.28324589e-02 -1.37408679e-04 9.99739296e-01 9.67020801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.17, Y:8.50, Z:0.97 [[ 9.34206332e-01 -3.56098432e-01 -2.12705550e-02 4.51674429e+01] [ 3.56010716e-01 9.34448432e-01 -7.90560318e-03 8.49599702e+00] [ 2.26914097e-02 -1.87080967e-04 9.99742499e-01 9.67497200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:8.50, Z:0.97 [[ 9.32365569e-01 -3.60930378e-01 -2.05841821e-02 4.51948484e+01] [ 3.60849371e-01 9.32592717e-01 -7.65215147e-03 8.50460272e+00] [ 2.19585522e-02 -2.93186589e-04 9.99758839e-01 9.68259262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.22, Y:8.51, Z:0.97 [[ 9.31351736e-01 -3.63549411e-01 -2.03904188e-02 4.52225557e+01] [ 3.63470428e-01 9.31574852e-01 -7.58563829e-03 8.51335135e+00] [ 2.17529557e-02 -3.46416870e-04 9.99763316e-01 9.69475431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.578040941999994 meters Centerline goodness [0,1] 0.999934220624027 Centerline is valid? [True, True] Translation: X:45.25, Y:8.52, Z:0.97 [[ 9.30649901e-01 -3.65336183e-01 -2.04996657e-02 4.52494118e+01] [ 3.65256655e-01 9.30875569e-01 -7.63221180e-03 8.52125288e+00] [ 2.18709611e-02 -3.84722151e-04 9.99760728e-01 9.70443177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:8.53, Z:0.97 [[ 9.29622460e-01 -3.67924623e-01 -2.08219340e-02 4.52756317e+01] [ 3.67843177e-01 9.29855510e-01 -7.75427020e-03 8.53073576e+00] [ 2.22143770e-02 -4.50662586e-04 9.99753129e-01 9.70612086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.638040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.30, Y:8.54, Z:0.97 [[ 9.29495023e-01 -3.68206799e-01 -2.15117493e-02 4.53015457e+01] [ 3.68119894e-01 9.29743799e-01 -8.01323909e-03 8.54172027e+00] [ 2.29509446e-02 -4.70637016e-04 9.99736482e-01 9.70817433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:8.55, Z:0.97 [[ 9.29422029e-01 -3.68390599e-01 -2.15188060e-02 4.53273791e+01] [ 3.68303533e-01 9.29670988e-01 -8.02250858e-03 8.55271884e+00] [ 2.29608264e-02 -4.69156074e-04 9.99736255e-01 9.71287384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.35, Y:8.56, Z:0.97 [[ 9.29320941e-01 -3.68645661e-01 -2.15166061e-02 4.53531831e+01] [ 3.68558528e-01 9.29569877e-01 -8.02840435e-03 8.56244881e+00] [ 2.29608253e-02 -4.69164382e-04 9.99736255e-01 9.71925426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.38, Y:8.57, Z:0.97 [[ 9.29447022e-01 -3.68303812e-01 -2.19211143e-02 4.53791667e+01] [ 3.68213113e-01 9.29705377e-01 -8.18631235e-03 8.57460130e+00] [ 2.33952279e-02 -4.62898107e-04 9.99726187e-01 9.73219320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.758040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.41, Y:8.58, Z:0.97 [[ 9.29756906e-01 -3.67519594e-01 -2.19418207e-02 4.54060455e+01] [ 3.67428362e-01 9.30015675e-01 -8.20017216e-03 8.58261942e+00] [ 2.34199611e-02 -4.37880530e-04 9.99725619e-01 9.74307406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.43, Y:8.59, Z:0.98 [[ 9.30054146e-01 -3.66751421e-01 -2.21963837e-02 4.54321315e+01] [ 3.66657786e-01 9.30318879e-01 -8.29761256e-03 8.59479897e+00] [ 2.36928761e-02 -4.21247964e-04 9.99719196e-01 9.75429880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.818040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.46, Y:8.61, Z:0.98 [[ 9.30871444e-01 -3.64665755e-01 -2.22989344e-02 4.54580717e+01] [ 3.64570511e-01 9.31138418e-01 -8.34197266e-03 8.60746717e+00] [ 2.38054263e-02 -3.64229765e-04 9.99716544e-01 9.76868896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.48, Y:8.62, Z:0.98 [[ 9.31330766e-01 -3.63458518e-01 -2.28234508e-02 4.54848289e+01] [ 3.63358224e-01 9.31610323e-01 -8.54446944e-03 8.61977732e+00] [ 2.43681225e-02 -3.35361264e-04 9.99702997e-01 9.77917162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.51, Y:8.63, Z:0.98 [[ 9.31714246e-01 -3.62448056e-01 -2.32372849e-02 4.55111080e+01] [ 3.62343682e-01 9.32003922e-01 -8.70322328e-03 8.63137709e+00] [ 2.48117070e-02 -3.10966267e-04 9.99692094e-01 9.78600574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.54, Y:8.64, Z:0.98 [[ 9.32171969e-01 -3.61262288e-01 -2.33447854e-02 4.55371795e+01] [ 3.61156414e-01 9.32464200e-01 -8.74988943e-03 8.64233216e+00] [ 2.49291817e-02 -2.74717319e-04 9.99689182e-01 9.79528214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.56, Y:8.65, Z:0.98 [[ 9.32908383e-01 -3.59361869e-01 -2.32593455e-02 4.55632681e+01] [ 3.59256087e-01 9.33198264e-01 -8.72153238e-03 8.65388204e+00] [ 2.48397670e-02 -2.19670753e-04 9.99691421e-01 9.81964408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.59, Y:8.66, Z:0.98 [[ 9.33052878e-01 -3.58998131e-01 -2.30796342e-02 4.55897084e+01] [ 3.58893706e-01 9.33338257e-01 -8.66061969e-03 8.66442048e+00] [ 2.46502518e-02 -2.02319339e-04 9.99696116e-01 9.83408678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.998040941999996 meters Centerline goodness [0,1] 0.9999782585063594 Centerline is valid? [True, True] Translation: X:45.62, Y:8.67, Z:0.98 [[ 9.32957428e-01 -3.59266822e-01 -2.27549638e-02 4.56160286e+01] [ 3.59165220e-01 9.33234864e-01 -8.54602821e-03 8.67438269e+00] [ 2.43060300e-02 -1.99711089e-04 9.99704545e-01 9.84529745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028040942 meters Centerline goodness [0,1] 0.9999782400557055 Centerline is valid? [True, True] Translation: X:45.64, Y:8.68, Z:0.99 [[ 9.32643934e-01 -3.60042126e-01 -2.33443918e-02 4.56428604e+01] [ 3.59935250e-01 9.32936021e-01 -8.77472427e-03 8.68333065e+00] [ 2.49380944e-02 -2.18776153e-04 9.99688973e-01 9.86188346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.67, Y:8.69, Z:0.99 [[ 9.32370260e-01 -3.60748840e-01 -2.33660700e-02 4.56692177e+01] [ 3.60641921e-01 9.32662972e-01 -8.78555664e-03 8.69281787e+00] [ 2.49620477e-02 -2.35392656e-04 9.99688372e-01 9.87144507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.70, Y:8.70, Z:0.99 [[ 9.32076626e-01 -3.61488323e-01 -2.36507034e-02 4.56954423e+01] [ 3.61378829e-01 9.32376603e-01 -8.90012875e-03 8.70245871e+00] [ 2.52686551e-02 -2.51261513e-04 9.99680665e-01 9.88258764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.72, Y:8.71, Z:0.99 [[ 9.31367103e-01 -3.63223314e-01 -2.49828763e-02 4.57217302e+01] [ 3.63101553e-01 9.31702061e-01 -9.40917813e-03 8.71116101e+00] [ 2.66942302e-02 -3.07922214e-04 9.99643598e-01 9.88740516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.75, Y:8.72, Z:0.99 [[ 9.30960431e-01 -3.64207347e-01 -2.58008541e-02 4.57488556e+01] [ 3.64077738e-01 9.31317825e-01 -9.72163716e-03 8.72132374e+00] [ 2.75694870e-02 -3.43057070e-04 9.99619831e-01 9.88847211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.178040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:8.73, Z:0.99 [[ 9.30737580e-01 -3.64725365e-01 -2.65134890e-02 4.57752182e+01] [ 3.64588521e-01 9.31115072e-01 -9.99667123e-03 8.73133761e+00] [ 2.83331488e-02 -3.62236173e-04 9.99598470e-01 9.88843485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:8.74, Z:0.99 [[ 9.30530281e-01 -3.65217906e-01 -2.70051541e-02 4.58012749e+01] [ 3.65076038e-01 9.30921982e-01 -1.01857997e-02 8.74131801e+00] [ 2.88597280e-02 -3.80739624e-04 9.99583399e-01 9.89296875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.83, Y:8.75, Z:0.99 [[ 9.30174130e-01 -3.66013075e-01 -2.84695865e-02 4.58279236e+01] [ 3.65855529e-01 9.30609613e-01 -1.07461510e-02 8.75056898e+00] [ 3.04273027e-02 -4.19963982e-04 9.99536894e-01 9.88805464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.86, Y:8.76, Z:0.99 [[ 9.29870992e-01 -3.66737960e-01 -2.90380349e-02 4.58555727e+01] [ 3.66574253e-01 9.30324174e-01 -1.09657964e-02 8.76027956e+00] [ 3.10363597e-02 -4.47820009e-04 9.99518156e-01 9.89309450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.88, Y:8.77, Z:0.99 [[ 9.29074093e-01 -3.68677853e-01 -2.99661591e-02 4.58821390e+01] [ 3.68504256e-01 9.29557082e-01 -1.13244903e-02 8.77076606e+00] [ 3.20303442e-02 -5.21366637e-04 9.99486761e-01 9.90690256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.91, Y:8.78, Z:0.99 [[ 9.28595621e-01 -3.69829540e-01 -3.05987509e-02 4.59087925e+01] [ 3.69648873e-01 9.29099452e-01 -1.15723130e-02 8.78132588e+00] [ 3.27090659e-02 -5.64794635e-04 9.99464756e-01 9.91937487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.358040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.94, Y:8.79, Z:0.99 [[ 9.27810841e-01 -3.71755502e-01 -3.10626726e-02 4.59357450e+01] [ 3.71570092e-01 9.28330461e-01 -1.17567660e-02 8.79090357e+00] [ 3.32070676e-02 -6.33905215e-04 9.99448292e-01 9.92464796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:8.80, Z:0.99 [[ 9.27552027e-01 -3.72402105e-01 -3.10468861e-02 4.59622170e+01] [ 3.72217009e-01 9.28071252e-01 -1.17579352e-02 8.80056922e+00] [ 3.31924023e-02 -6.50082465e-04 9.99448769e-01 9.93433414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:8.81, Z:0.99 [[ 9.27453067e-01 -3.72659185e-01 -3.09182873e-02 4.59880439e+01] [ 3.72475622e-01 9.27968052e-01 -1.17134459e-02 8.81004097e+00] [ 3.30563060e-02 -6.52636974e-04 9.99453278e-01 9.93817472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.01, Y:8.82, Z:0.99 [[ 9.27385463e-01 -3.72780491e-01 -3.14786895e-02 4.60144504e+01] [ 3.72590013e-01 9.27919322e-01 -1.19337362e-02 8.82088815e+00] [ 3.36583482e-02 -6.61471861e-04 9.99433178e-01 9.94636651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.04, Y:8.83, Z:1.00 [[ 9.27548220e-01 -3.72362508e-01 -3.16300790e-02 4.60408121e+01] [ 3.72169620e-01 9.28087147e-01 -1.20009063e-02 8.83301873e+00] [ 3.38241573e-02 -6.40335169e-04 9.99427594e-01 9.95201015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.07, Y:8.84, Z:1.00 [[ 9.27719988e-01 -3.71951033e-01 -3.14333163e-02 4.60675969e+01] [ 3.71760002e-01 9.28252149e-01 -1.19351544e-02 8.84376503e+00] [ 3.36173364e-02 -6.13168455e-04 9.99434590e-01 9.95742169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.538040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.09, Y:8.85, Z:1.00 [[ 9.27943396e-01 -3.71408541e-01 -3.12529763e-02 4.60935699e+01] [ 3.71219151e-01 9.28469361e-01 -1.18737850e-02 8.85376796e+00] [ 3.34274561e-02 -5.83502941e-04 9.99440976e-01 9.96388118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.12, Y:8.87, Z:1.00 [[ 9.28251604e-01 -3.70664650e-01 -3.09301973e-02 4.61204958e+01] [ 3.70478583e-01 9.28766611e-01 -1.17558979e-02 8.86511307e+00] [ 3.30844303e-02 -5.46544606e-04 9.99452411e-01 9.97806433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.598040942 meters Centerline goodness [0,1] 0.9999781186407299 Centerline is valid? [True, True] Translation: X:46.15, Y:8.88, Z:1.00 [[ 9.28424427e-01 -3.70225104e-01 -3.10073358e-02 4.61468942e+01] [ 3.70037630e-01 9.28941923e-01 -1.17922139e-02 8.87525538e+00] [ 3.31697878e-02 -5.25701621e-04 9.99449593e-01 9.97943720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.17, Y:8.89, Z:1.00 [[ 9.28870199e-01 -3.68968974e-01 -3.25891060e-02 4.61731564e+01] [ 3.68760908e-01 9.29441578e-01 -1.23994493e-02 8.88632646e+00] [ 3.48646822e-02 -5.00109432e-04 9.99391917e-01 9.97380817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.20, Y:8.90, Z:1.00 [[ 9.28999396e-01 -3.68593199e-01 -3.31538365e-02 4.61996925e+01] [ 3.68377245e-01 9.29590673e-01 -1.26248449e-02 8.89694611e+00] [ 3.54729291e-02 -4.84645695e-04 9.99370520e-01 9.97205155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.22, Y:8.91, Z:1.00 [[ 9.29120009e-01 -3.68259897e-01 -3.34762062e-02 4.62243646e+01] [ 3.68039203e-01 9.29722770e-01 -1.27560502e-02 8.90673535e+00] [ 3.58211328e-02 -4.68654706e-04 9.99358107e-01 9.97427181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.718040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.25, Y:8.92, Z:1.00 [[ 9.29171427e-01 -3.68175682e-01 -3.29715919e-02 4.62509008e+01] [ 3.67961328e-01 9.29756130e-01 -1.25697592e-02 8.91715734e+00] [ 3.52834194e-02 -4.52809656e-04 9.99377244e-01 9.98709078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:8.93, Z:1.00 [[ 9.28979610e-01 -3.68699786e-01 -3.25169325e-02 4.62766926e+01] [ 3.68491371e-01 9.29548415e-01 -1.24037661e-02 8.92620881e+00] [ 3.47993289e-02 -4.59363256e-04 9.99394214e-01 9.99922853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:8.94, Z:1.00 [[ 9.28793882e-01 -3.69189831e-01 -3.22613494e-02 4.63027259e+01] [ 3.68984754e-01 9.29353888e-01 -1.23126495e-02 8.93718328e+00] [ 3.45279155e-02 -4.68032569e-04 9.99403624e-01 1.00219267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.33, Y:8.95, Z:1.00 [[ 9.28526622e-01 -3.69921353e-01 -3.15674752e-02 4.63284420e+01] [ 3.69725120e-01 9.29062950e-01 -1.20569569e-02 8.94631966e+00] [ 3.37882974e-02 -4.76083092e-04 9.99428899e-01 1.00338662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.35, Y:8.96, Z:1.00 [[ 9.28570223e-01 -3.69833091e-01 -3.13181365e-02 4.63539486e+01] [ 3.69639629e-01 9.29098096e-01 -1.19696631e-02 8.95756286e+00] [ 3.35243985e-02 -4.61751631e-04 9.99437793e-01 1.00454567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.38, Y:8.97, Z:1.00 [[ 9.28632005e-01 -3.69730033e-01 -3.06969509e-02 4.63801256e+01] [ 3.69543856e-01 9.29139122e-01 -1.17401302e-02 8.96732465e+00] [ 3.28624167e-02 -4.41608926e-04 9.99459787e-01 1.00407883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.898040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.41, Y:8.98, Z:1.01 [[ 9.28602742e-01 -3.69824752e-01 -3.04401175e-02 4.64055533e+01] [ 3.69641565e-01 9.29101427e-01 -1.16469182e-02 8.97846578e+00] [ 3.25892753e-02 -4.36572552e-04 9.99468733e-01 1.00619966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.43, Y:8.99, Z:1.01 [[ 9.28536516e-01 -3.69982496e-01 -3.05432774e-02 4.64311361e+01] [ 3.69797879e-01 9.29038623e-01 -1.16946814e-02 8.98599736e+00] [ 3.27027118e-02 -4.35900490e-04 9.99465028e-01 1.00541217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.46, Y:9.00, Z:1.01 [[ 9.27940592e-01 -3.71437654e-01 -3.09891453e-02 4.64567659e+01] [ 3.71248229e-01 9.28457770e-01 -1.18710900e-02 8.99860342e+00] [ 3.31814826e-02 -4.88999041e-04 9.99449223e-01 1.00671241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:9.01, Z:1.01 [[ 9.27671304e-01 -3.72089284e-01 -3.12332467e-02 4.64830254e+01] [ 3.71896995e-01 9.28196803e-01 -1.19716448e-02 9.00749771e+00] [ 3.34451205e-02 -5.09799264e-04 9.99440425e-01 1.00600729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.51, Y:9.02, Z:1.01 [[ 9.27359490e-01 -3.72825364e-01 -3.17115806e-02 4.65097069e+01] [ 3.72627400e-01 9.27901372e-01 -1.21599600e-02 9.01906039e+00] [ 3.39587607e-02 -5.39949547e-04 9.99423089e-01 1.00713159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.54, Y:9.03, Z:1.01 [[ 9.26796323e-01 -3.74175168e-01 -3.22725672e-02 4.65353285e+01] [ 3.73970697e-01 9.27357855e-01 -1.23824645e-02 9.02874370e+00] [ 3.45614295e-02 -5.92971875e-04 9.99402399e-01 1.00696990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.078040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:9.04, Z:1.01 [[ 9.26721984e-01 -3.74364226e-01 -3.22147515e-02 4.65607956e+01] [ 3.74160398e-01 9.27281551e-01 -1.23661861e-02 9.03961431e+00] [ 3.45016024e-02 -5.93467720e-04 9.99404466e-01 1.00826603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.59, Y:9.05, Z:1.01 [[ 9.26615790e-01 -3.74663540e-01 -3.17869354e-02 4.65863672e+01] [ 3.74464961e-01 9.27160658e-01 -1.22109280e-02 9.04948993e+00] [ 3.40465855e-02 -5.88254809e-04 9.99420074e-01 1.00917470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.138040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.61, Y:9.06, Z:1.01 [[ 9.26702861e-01 -3.74451646e-01 -3.17454145e-02 4.66120226e+01] [ 3.74253271e-01 9.27246264e-01 -1.22006021e-02 9.05945438e+00] [ 3.40043526e-02 -5.74492301e-04 9.99421520e-01 1.00952002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.64, Y:9.07, Z:1.01 [[ 9.26784285e-01 -3.74299892e-01 -3.11525322e-02 4.66375947e+01] [ 3.74108620e-01 9.27307545e-01 -1.19773468e-02 9.07212404e+00] [ 3.33710978e-02 -5.54014090e-04 9.99442876e-01 1.01140473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.66, Y:9.08, Z:1.01 [[ 9.26825837e-01 -3.74197061e-01 -3.11516749e-02 4.66637595e+01] [ 3.74005445e-01 9.27349053e-01 -1.19858604e-02 9.08357998e+00] [ 3.33735499e-02 -5.42090973e-04 9.99442801e-01 1.01190702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:9.10, Z:1.01 [[ 9.27092450e-01 -3.73562022e-01 -3.08383704e-02 4.66891259e+01] [ 3.73373628e-01 9.27605066e-01 -1.18732908e-02 9.09516773e+00] [ 3.30412391e-02 -5.06596003e-04 9.99453861e-01 1.01194832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.258040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.71, Y:9.11, Z:1.01 [[ 9.27248983e-01 -3.73163424e-01 -3.09577540e-02 4.67147989e+01] [ 3.72973148e-01 9.27765498e-01 -1.19252147e-02 9.10541520e+00] [ 3.31715900e-02 -4.88767785e-04 9.99449552e-01 1.01312544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:9.12, Z:1.01 [[ 9.27370343e-01 -3.72867358e-01 -3.08897896e-02 4.67407758e+01] [ 3.72677442e-01 9.27884537e-01 -1.19084164e-02 9.11586892e+00] [ 3.31024179e-02 -4.68415551e-04 9.99451855e-01 1.01424076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.318040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.77, Y:9.13, Z:1.02 [[ 9.28168702e-01 -3.70903811e-01 -3.05487199e-02 4.67659918e+01] [ 3.70716709e-01 9.28671209e-01 -1.17859017e-02 9.13049964e+00] [ 3.27411525e-02 -3.85615832e-04 9.99463790e-01 1.01607727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.79, Y:9.14, Z:1.02 [[ 9.28753347e-01 -3.69480550e-01 -3.00223840e-02 4.67910905e+01] [ 3.69298880e-01 9.29238408e-01 -1.15895867e-02 9.14192578e+00] [ 3.21800792e-02 -3.23365350e-04 9.99482035e-01 1.01601550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:9.16, Z:1.02 [[ 9.30392607e-01 -3.65421877e-01 -2.89214289e-02 4.68155369e+01] [ 3.65251199e-01 9.30841996e-01 -1.11686735e-02 9.15764644e+00] [ 3.10025583e-02 -1.72335365e-04 9.99519290e-01 1.01886949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:9.17, Z:1.02 [[ 9.31255256e-01 -3.63222081e-01 -2.88681137e-02 4.68402475e+01] [ 3.63050754e-01 9.31702587e-01 -1.11552118e-02 9.17010424e+00] [ 3.09483155e-02 -9.22408641e-05 9.99520982e-01 1.01920036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:9.18, Z:1.02 [[ 9.31971164e-01 -3.61362183e-01 -2.91053745e-02 4.68657570e+01] [ 3.61186941e-01 9.32425532e-01 -1.12526438e-02 9.18307788e+00] [ 3.12048742e-02 -2.53416868e-05 9.99513009e-01 1.02060159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:9.19, Z:1.02 [[ 9.32552066e-01 -3.59861765e-01 -2.90887205e-02 4.68897412e+01] [ 3.59685735e-01 9.33005632e-01 -1.12544840e-02 9.19493215e+00] [ 3.11899986e-02 3.25944976e-05 9.99513473e-01 1.01838541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:9.21, Z:1.02 [[ 9.33298369e-01 -3.57903660e-01 -2.93108460e-02 4.69159664e+01] [ 3.57723802e-01 9.33758513e-01 -1.13455511e-02 9.20709690e+00] [ 3.14298662e-02 1.03597012e-04 9.99505954e-01 1.01984428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.94, Y:9.22, Z:1.02 [[ 9.33307305e-01 -3.57914817e-01 -2.88869810e-02 4.69416054e+01] [ 3.57739890e-01 9.33754235e-01 -1.11892305e-02 9.21755610e+00] [ 3.09781323e-02 1.08965123e-04 9.99520057e-01 1.02163861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.97, Y:9.23, Z:1.02 [[ 9.33260059e-01 -3.58019372e-01 -2.91168492e-02 4.69669294e+01] [ 3.57841415e-01 9.33714151e-01 -1.12874040e-02 9.22872082e+00] [ 3.12279234e-02 1.14868838e-04 9.99512283e-01 1.02227919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:9.24, Z:1.02 [[ 9.33196009e-01 -3.58164004e-01 -2.93897010e-02 4.69910702e+01] [ 3.57982499e-01 9.33658681e-01 -1.14016771e-02 9.24060478e+00] [ 3.15236198e-02 1.19001010e-04 9.99503000e-01 1.02236625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.02, Y:9.25, Z:1.02 [[ 9.33099798e-01 -3.58414776e-01 -2.93873387e-02 4.70167237e+01] [ 3.58233204e-01 9.33562443e-01 -1.14077629e-02 9.25067426e+00] [ 3.15236265e-02 1.17060790e-04 9.99503000e-01 1.02300479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:9.26, Z:1.02 [[ 9.32904340e-01 -3.58884106e-01 -2.98611973e-02 4.70424323e+01] [ 3.58696571e-01 9.33382122e-01 -1.16010304e-02 9.26150954e+00] [ 3.20353331e-02 1.11542535e-04 9.99486731e-01 1.02348097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.678040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:9.27, Z:1.03 [[ 9.32723334e-01 -3.59340449e-01 -3.00270597e-02 4.70679432e+01] [ 3.59150758e-01 9.33206532e-01 -1.16748667e-02 9.27262467e+00] [ 3.22167001e-02 1.05179353e-04 9.99480902e-01 1.02512484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:9.28, Z:1.03 [[ 9.32465344e-01 -3.59998418e-01 -3.01582647e-02 4.70924875e+01] [ 3.59807142e-01 9.32952909e-01 -1.17341217e-02 9.28269275e+00] [ 3.23605061e-02 9.05028166e-05 9.99476258e-01 1.02593081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:9.29, Z:1.03 [[ 9.32088822e-01 -3.60976717e-01 -3.01037708e-02 4.71185154e+01] [ 3.60786456e-01 9.32574826e-01 -1.17186717e-02 9.29324114e+00] [ 3.23041864e-02 6.18101773e-05 9.99478082e-01 1.02732691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:9.30, Z:1.03 [[ 9.31505942e-01 -3.62449560e-01 -3.04466044e-02 4.71442310e+01] [ 3.62255404e-01 9.32003388e-01 -1.18619811e-02 9.30454575e+00] [ 3.26757082e-02 2.00588824e-05 9.99466006e-01 1.02880592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.17, Y:9.32, Z:1.03 [[ 9.31152057e-01 -3.63351751e-01 -3.05180455e-02 4.71703668e+01] [ 3.63156844e-01 9.31652030e-01 -1.18996396e-02 9.31564154e+00] [ 3.27559539e-02 -2.46320111e-06 9.99463380e-01 1.02961068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.20, Y:9.33, Z:1.03 [[ 9.30898788e-01 -3.63949226e-01 -3.11192523e-02 4.71963316e+01] [ 3.63746610e-01 9.31418789e-01 -1.21426155e-02 9.32658723e+00] [ 3.34043518e-02 -1.59764594e-05 9.99441919e-01 1.02999910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.858040941999995 meters Centerline goodness [0,1] 0.9999348265299473 Centerline is valid? [True, True] Translation: X:47.22, Y:9.34, Z:1.03 [[ 9.30676974e-01 -3.64468988e-01 -3.16658534e-02 4.72219926e+01] [ 3.64259264e-01 9.31215526e-01 -1.23625226e-02 9.33834313e+00] [ 3.39934904e-02 -2.90653601e-05 9.99422054e-01 1.03116656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.25, Y:9.35, Z:1.03 [[ 9.30663451e-01 -3.64460011e-01 -3.21627233e-02 4.72471739e+01] [ 3.64243343e-01 9.31219040e-01 -1.25653219e-02 9.34943079e+00] [ 3.45300977e-02 -2.09719562e-05 9.99403658e-01 1.03057283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.27, Y:9.36, Z:1.03 [[ 9.30961104e-01 -3.63656466e-01 -3.26404271e-02 4.72732672e+01] [ 3.63432575e-01 9.31533131e-01 -1.27588632e-02 9.36077722e+00] [ 3.50454824e-02 1.54108769e-05 9.99385718e-01 1.03209054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.30, Y:9.37, Z:1.03 [[ 9.31060516e-01 -3.63323776e-01 -3.34984826e-02 4.72995519e+01] [ 3.63087363e-01 9.31662939e-01 -1.31047567e-02 9.37202095e+00] [ 3.59705645e-02 3.84458424e-05 9.99352849e-01 1.03255059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.32, Y:9.38, Z:1.03 [[ 9.31491009e-01 -3.62131285e-01 -3.44300970e-02 4.73246475e+01] [ 3.61880440e-01 9.32127096e-01 -1.34767980e-02 9.38348454e+00] [ 3.69735965e-02 9.39374973e-05 9.99316238e-01 1.03213277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008040941999994 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:47.35, Y:9.39, Z:1.03 [[ 9.31668273e-01 -3.61644625e-01 -3.47475692e-02 4.73505025e+01] [ 3.61388550e-01 9.32316015e-01 -1.36075376e-02 9.39456647e+00] [ 3.73168080e-02 1.20337412e-04 9.99303478e-01 1.03372984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.038040941999995 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:47.38, Y:9.41, Z:1.04 [[ 9.31755660e-01 -3.61460325e-01 -3.43194292e-02 4.73760745e+01] [ 3.61209990e-01 9.32387481e-01 -1.34509577e-02 9.40584815e+00] [ 3.68609937e-02 1.36485340e-04 9.99320393e-01 1.03512792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.40, Y:9.42, Z:1.03 [[ 9.31838444e-01 -3.61238438e-01 -3.44079203e-02 4.74012180e+01] [ 3.60986332e-01 9.32473467e-01 -1.34944715e-02 9.41717322e+00] [ 3.69591946e-02 1.53878407e-04 9.99316764e-01 1.03437077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.43, Y:9.43, Z:1.04 [[ 9.31638242e-01 -3.61738186e-01 -3.45784640e-02 4.74272411e+01] [ 3.61483649e-01 9.32279714e-01 -1.35685897e-02 9.42627484e+00] [ 3.71450776e-02 1.41467713e-04 9.99309873e-01 1.03805898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.45, Y:9.44, Z:1.04 [[ 9.31291170e-01 -3.62645708e-01 -3.44216024e-02 4.74538339e+01] [ 3.62393686e-01 9.31927077e-01 -1.35181031e-02 9.43657331e+00] [ 3.69807053e-02 1.15118682e-04 9.99315973e-01 1.03965516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.48, Y:9.45, Z:1.04 [[ 9.30973759e-01 -3.63485291e-01 -3.41511809e-02 4.74799543e+01] [ 3.63237378e-01 9.31599933e-01 -1.34228349e-02 9.44735643e+00] [ 3.66942408e-02 9.13216371e-05 9.99326535e-01 1.04033935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.51, Y:9.46, Z:1.04 [[ 9.30706433e-01 -3.64224348e-01 -3.35583124e-02 4.75062132e+01] [ 3.63985062e-01 9.31311237e-01 -1.32005758e-02 9.45785194e+00] [ 3.60612045e-02 7.11364014e-05 9.99349581e-01 1.04225963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.218040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.53, Y:9.47, Z:1.04 [[ 9.30481336e-01 -3.64856232e-01 -3.29304255e-02 4.75319270e+01] [ 3.64625925e-01 9.31063869e-01 -1.29617697e-02 9.46788084e+00] [ 3.53895118e-02 5.33979191e-05 9.99373594e-01 1.04283136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.56, Y:9.48, Z:1.05 [[ 9.29924019e-01 -3.66303594e-01 -3.26036122e-02 4.75588663e+01] [ 3.66078522e-01 9.30495393e-01 -1.28389510e-02 9.47681862e+00] [ 3.50404648e-02 3.76676976e-06 9.99385894e-01 1.04548039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.59, Y:9.49, Z:1.05 [[ 9.29570635e-01 -3.67203119e-01 -3.25623028e-02 4.75852246e+01] [ 3.66978792e-01 9.30140779e-01 -1.28334491e-02 9.48640103e+00] [ 3.50000082e-02 -2.00771735e-05 9.99387312e-01 1.04676963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.61, Y:9.50, Z:1.05 [[ 9.29008355e-01 -3.68579758e-01 -3.30520627e-02 4.76118315e+01] [ 3.68349105e-01 9.29596126e-01 -1.30375762e-02 9.49652954e+00] [ 3.55304561e-02 -6.26804531e-05 9.99368592e-01 1.04686092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.64, Y:9.51, Z:1.05 [[ 9.29058682e-01 -3.68445391e-01 -3.31354697e-02 4.76370007e+01] [ 3.68213172e-01 9.29649392e-01 -1.30793134e-02 9.50728604e+00] [ 3.56233820e-02 -4.94666974e-05 9.99365285e-01 1.04645745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.66, Y:9.52, Z:1.05 [[ 9.29090879e-01 -3.68333583e-01 -3.34740328e-02 4.76629621e+01] [ 3.68096269e-01 9.29693697e-01 -1.32199398e-02 9.51843755e+00] [ 3.59899451e-02 -3.91411213e-05 9.99352151e-01 1.04657110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.398040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:9.53, Z:1.05 [[ 9.29346324e-01 -3.67589003e-01 -3.45504736e-02 4.76900776e+01] [ 3.67335250e-01 9.29988347e-01 -1.36561168e-02 9.52902030e+00] [ 3.71513762e-02 -3.44936907e-07 9.99309649e-01 1.04776546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.72, Y:9.54, Z:1.05 [[ 9.29563568e-01 -3.67011415e-01 -3.48452956e-02 4.77158425e+01] [ 3.66752613e-01 9.30216437e-01 -1.37804604e-02 9.53893040e+00] [ 3.74712530e-02 3.02107463e-05 9.99297706e-01 1.04712179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.74, Y:9.55, Z:1.05 [[ 9.29767395e-01 -3.66453283e-01 -3.52786292e-02 4.77423776e+01] [ 3.66187362e-01 9.30436450e-01 -1.39580934e-02 9.54912752e+00] [ 3.79395116e-02 5.91920093e-05 9.99280036e-01 1.04876487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:9.56, Z:1.05 [[ 9.30290277e-01 -3.65207671e-01 -3.43999649e-02 4.77674469e+01] [ 3.64953709e-01 9.30926068e-01 -1.36178737e-02 9.56055629e+00] [ 3.69971760e-02 1.14180714e-04 9.99315364e-01 1.04860849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.79, Y:9.57, Z:1.05 [[ 9.30493773e-01 -3.64718189e-01 -3.40878534e-02 4.77933660e+01] [ 3.64468257e-01 9.31117943e-01 -1.35005968e-02 9.57160128e+00] [ 3.66637252e-02 1.38280763e-04 9.99327650e-01 1.05010543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.82, Y:9.58, Z:1.05 [[ 9.30526832e-01 -3.64606676e-01 -3.43771347e-02 4.78197638e+01] [ 3.64351989e-01 9.31161612e-01 -1.36264684e-02 9.58224008e+00] [ 3.69789695e-02 1.54417048e-04 9.99316032e-01 1.05047462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.578040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.85, Y:9.59, Z:1.05 [[ 9.30514062e-01 -3.64578949e-01 -3.50109971e-02 4.78464255e+01] [ 3.64314436e-01 9.31172466e-01 -1.38863009e-02 9.59107653e+00] [ 3.76639296e-02 1.66386565e-04 9.99290449e-01 1.04978339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.87, Y:9.60, Z:1.05 [[ 9.30433690e-01 -3.64772131e-01 -3.51346217e-02 4.78731609e+01] [ 3.64505634e-01 9.31096808e-01 -1.39419231e-02 9.59963263e+00] [ 3.77993591e-02 1.65267359e-04 9.99285335e-01 1.05180244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.638040941999996 meters Centerline goodness [0,1] 0.9999567005845421 Centerline is valid? [True, True] Translation: X:47.90, Y:9.61, Z:1.05 [[ 9.30248104e-01 -3.65229217e-01 -3.52999098e-02 4.78990430e+01] [ 3.64960196e-01 9.30917609e-01 -1.40164541e-02 9.60797927e+00] [ 3.79805262e-02 1.55717852e-04 9.99278467e-01 1.05246499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.93, Y:9.62, Z:1.05 [[ 9.30108498e-01 -3.65674924e-01 -3.43515893e-02 4.79260636e+01] [ 3.65420231e-01 9.30742623e-01 -1.36464105e-02 9.61805546e+00] [ 3.69626385e-02 1.39876699e-04 9.99316638e-01 1.05413778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69804094199999 meters Centerline goodness [0,1] 0.9999351827845476 Centerline is valid? [True, True] Translation: X:47.95, Y:9.63, Z:1.05 [[ 9.29729290e-01 -3.66621966e-01 -3.45221783e-02 4.79526600e+01] [ 3.66365009e-01 9.30369992e-01 -1.37243950e-02 9.62820581e+00] [ 3.71500635e-02 1.12253871e-04 9.99309692e-01 1.05440856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:9.64, Z:1.06 [[ 9.29707089e-01 -3.66739572e-01 -3.38646471e-02 4.79784564e+01] [ 3.66491998e-01 9.30323639e-01 -1.34737721e-02 9.63904807e+00] [ 3.64464471e-02 1.15539278e-04 9.99335601e-01 1.05547054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.758040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:9.65, Z:1.06 [[ 9.29523153e-01 -3.67207300e-01 -3.38453336e-02 4.80046851e+01] [ 3.66959917e-01 9.30139123e-01 -1.34771050e-02 9.64831535e+00] [ 3.64297602e-02 1.07400330e-04 9.99336210e-01 1.05683370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:9.66, Z:1.06 [[ 9.29540809e-01 -3.67196878e-01 -3.34714547e-02 4.80301632e+01] [ 3.66954607e-01 9.30143236e-01 -1.33370336e-02 9.65621763e+00] [ 3.60305643e-02 1.14812468e-04 9.99350682e-01 1.05631997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.818040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:9.67, Z:1.06 [[ 9.29270440e-01 -3.67874947e-01 -3.35331597e-02 4.80569852e+01] [ 3.67631967e-01 9.29875268e-01 -1.33687131e-02 9.66520698e+00] [ 3.60996705e-02 9.52885008e-05 9.99348190e-01 1.05796869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:9.67, Z:1.06 [[ 9.28873840e-01 -3.68921638e-01 -3.30184043e-02 4.80841306e+01] [ 3.68686336e-01 9.29460500e-01 -1.31743912e-02 9.67357507e+00] [ 3.55496205e-02 6.39128444e-05 9.99367910e-01 1.05924041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.878040942 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:48.11, Y:9.68, Z:1.06 [[ 9.28542644e-01 -3.69734652e-01 -3.32392248e-02 4.81109705e+01] [ 3.69496312e-01 9.29137388e-01 -1.32736670e-02 9.68340480e+00] [ 3.57915412e-02 4.33948449e-05 9.99359277e-01 1.05915638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90804094199999 meters Centerline goodness [0,1] 0.9999564715868283 Centerline is valid? [True, True] Translation: X:48.14, Y:9.69, Z:1.06 [[ 9.28261139e-01 -3.70387412e-01 -3.38293164e-02 4.81371745e+01] [ 3.70140652e-01 9.28877368e-01 -1.35179076e-02 9.69309805e+00] [ 3.64301492e-02 2.65430782e-05 9.99336201e-01 1.05851882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:9.70, Z:1.06 [[ 9.27754407e-01 -3.71668111e-01 -3.36834624e-02 4.81635808e+01] [ 3.71424093e-01 9.28365669e-01 -1.34658160e-02 9.70179102e+00] [ 3.62753845e-02 -1.78793528e-05 9.99341831e-01 1.05882049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:9.71, Z:1.06 [[ 9.27482983e-01 -3.72354550e-01 -3.35768420e-02 4.81905666e+01] [ 3.72112127e-01 9.28090560e-01 -1.34341871e-02 9.71090677e+00] [ 3.61646308e-02 -3.43701399e-05 9.99345845e-01 1.06007611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.998040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:9.72, Z:1.06 [[ 9.27187959e-01 -3.73136304e-01 -3.30421999e-02 4.82173902e+01] [ 3.72901653e-01 9.27776533e-01 -1.32310749e-02 9.71940142e+00] [ 3.55927721e-02 -5.37976051e-05 9.99366375e-01 1.06159026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.24, Y:9.73, Z:1.06 [[ 9.26972357e-01 -3.73661233e-01 -3.31591909e-02 4.82430470e+01] [ 3.73424936e-01 9.27565242e-01 -1.32867729e-02 9.72741078e+00] [ 3.57220649e-02 -6.59975847e-05 9.99361761e-01 1.06210819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.058040942 meters Centerline goodness [0,1] 0.9999562994362627 Centerline is valid? [True, True] Translation: X:48.27, Y:9.73, Z:1.06 [[ 9.26856786e-01 -3.73942295e-01 -3.32213630e-02 4.82693396e+01] [ 3.73705121e-01 9.27451969e-01 -1.33164351e-02 9.73471651e+00] [ 3.57907969e-02 -7.25653169e-05 9.99359302e-01 1.06170468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.30, Y:9.75, Z:1.06 [[ 9.26791734e-01 -3.74142595e-01 -3.27780606e-02 4.82955626e+01] [ 3.73911599e-01 9.27371184e-01 -1.31454280e-02 9.74502464e+00] [ 3.53156934e-02 -7.30230523e-05 9.99376204e-01 1.06349075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:9.76, Z:1.06 [[ 9.26921307e-01 -3.73868035e-01 -3.22425615e-02 4.83218690e+01] [ 3.73643999e-01 9.27481908e-01 -1.29411224e-02 9.75500876e+00] [ 3.47426645e-02 -5.18375657e-05 9.99396290e-01 1.06357691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.35, Y:9.76, Z:1.06 [[ 9.27074890e-01 -3.73533591e-01 -3.16986553e-02 4.83485565e+01] [ 3.73316504e-01 9.27616653e-01 -1.27331138e-02 9.76359922e+00] [ 3.41604462e-02 -2.90810588e-05 9.99416361e-01 1.06458305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.178040941999996 meters Centerline goodness [0,1] 0.999912457322945 Centerline is valid? [True, True] Translation: X:48.38, Y:9.77, Z:1.06 [[ 9.27249356e-01 -3.73102752e-01 -3.16696814e-02 4.83754022e+01] [ 3.72885451e-01 9.27790028e-01 -1.27320152e-02 9.77215029e+00] [ 3.41331645e-02 -3.41053696e-06 9.99417294e-01 1.06467895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.40, Y:9.78, Z:1.07 [[ 9.27583598e-01 -3.72305407e-01 -3.12626363e-02 4.84004867e+01] [ 3.72092919e-01 9.28110275e-01 -1.25768467e-02 9.78122298e+00] [ 3.36976020e-02 3.34711625e-05 9.99432074e-01 1.06668123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.238040942 meters Centerline goodness [0,1] 0.9999561326548517 Centerline is valid? [True, True] Translation: X:48.43, Y:9.79, Z:1.07 [[ 9.28322005e-01 -3.70535473e-01 -3.03598147e-02 4.84273712e+01] [ 3.70333943e-01 9.28818310e-01 -1.22195386e-02 9.78977915e+00] [ 3.27265243e-02 1.00396696e-04 9.99464339e-01 1.06742214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.45, Y:9.80, Z:1.07 [[ 9.28835660e-01 -3.69297740e-01 -2.97236508e-02 4.84537271e+01] [ 3.69103629e-01 9.29311120e-01 -1.19730528e-02 9.80047410e+00] [ 3.20441405e-02 1.49891072e-04 9.99486443e-01 1.06884818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.48, Y:9.81, Z:1.07 [[ 9.29180869e-01 -3.68443686e-01 -2.95323969e-02 4.84796043e+01] [ 3.68251327e-01 9.29650050e-01 -1.19056586e-02 9.81061145e+00] [ 3.18413590e-02 1.87165838e-04 9.99492918e-01 1.06961208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328040941999994 meters Centerline goodness [0,1] 0.9999560950980176 Centerline is valid? [True, True] Translation: X:48.51, Y:9.82, Z:1.07 [[ 9.30593095e-01 -3.64830075e-01 -2.99250455e-02 4.85058253e+01] [ 3.64630422e-01 9.31074064e-01 -1.20724167e-02 9.82046925e+00] [ 3.22668144e-02 3.22925665e-04 9.99479239e-01 1.06982413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.358040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.53, Y:9.83, Z:1.07 [[ 9.31247961e-01 -3.63149718e-01 -2.99919492e-02 4.85322054e+01] [ 3.62948165e-01 9.31730719e-01 -1.21035574e-02 9.83073916e+00] [ 3.23398238e-02 3.85890208e-04 9.99476857e-01 1.07135140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.56, Y:9.84, Z:1.07 [[ 9.31709410e-01 -3.61950570e-01 -3.01556012e-02 4.85589408e+01] [ 3.61746032e-01 9.32197188e-01 -1.21742288e-02 9.84125819e+00] [ 3.25174356e-02 4.34174446e-04 9.99471074e-01 1.07210042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.418040942 meters Centerline goodness [0,1] 0.9998019409784116 Centerline is valid? [True, True] Translation: X:48.59, Y:9.85, Z:1.07 [[ 9.32735788e-01 -3.59308154e-01 -3.00266564e-02 4.85857149e+01] [ 3.59103768e-01 9.33218822e-01 -1.21290941e-02 9.85067571e+00] [ 3.23795233e-02 5.30554685e-04 9.99475505e-01 1.07292065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44804094199999 meters Centerline goodness [0,1] 0.9998462856013527 Centerline is valid? [True, True] Translation: X:48.61, Y:9.86, Z:1.07 [[ 9.33010118e-01 -3.58566741e-01 -3.03646309e-02 4.86125184e+01] [ 3.58357178e-01 9.33503921e-01 -1.22703788e-02 9.86093211e+00] [ 3.27452517e-02 5.67004090e-04 9.99463570e-01 1.07351437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47804094199999 meters Centerline goodness [0,1] 0.999889974474078 Centerline is valid? [True, True] Translation: X:48.64, Y:9.87, Z:1.07 [[ 9.33267333e-01 -3.57884504e-01 -3.05084661e-02 4.86378540e+01] [ 3.57672330e-01 9.33765667e-01 -1.23362974e-02 9.87130228e+00] [ 3.29027278e-02 6.01029238e-04 9.99458378e-01 1.07314868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508040941999994 meters Centerline goodness [0,1] 0.999889974474078 Centerline is valid? [True, True] Translation: X:48.66, Y:9.88, Z:1.07 [[ 9.33170579e-01 -3.58136908e-01 -3.05061484e-02 4.86633741e+01] [ 3.57924681e-01 9.33668891e-01 -1.23420265e-02 9.88173765e+00] [ 3.29027769e-02 5.98312627e-04 9.99458378e-01 1.07378763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.538040941999995 meters Centerline goodness [0,1] 0.9997137824746808 Centerline is valid? [True, True] Translation: X:48.69, Y:9.89, Z:1.07 [[ 9.33302578e-01 -3.57739321e-01 -3.11267603e-02 4.86904107e+01] [ 3.57517869e-01 9.33821277e-01 -1.26014199e-02 9.88952938e+00] [ 3.35748545e-02 6.32564708e-04 9.99436005e-01 1.07474664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.72, Y:9.90, Z:1.08 [[ 9.33072824e-01 -3.58342059e-01 -3.10817267e-02 4.87185122e+01] [ 3.58121368e-01 9.33590161e-01 -1.25895303e-02 9.89546767e+00] [ 3.35289525e-02 6.15918132e-04 9.99437557e-01 1.07769318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.598040942 meters Centerline goodness [0,1] 0.9998240520805841 Centerline is valid? [True, True] Translation: X:48.74, Y:9.91, Z:1.08 [[ 9.32960444e-01 -3.58603749e-01 -3.14350262e-02 4.87438846e+01] [ 3.58377863e-01 9.33489670e-01 -1.27413731e-02 9.90617449e+00] [ 3.39133764e-02 6.21579605e-04 9.99424583e-01 1.07724378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628040942 meters Centerline goodness [0,1] 0.9995787980225675 Centerline is valid? [True, True] Translation: X:48.77, Y:9.91, Z:1.08 [[ 9.32193148e-01 -3.60580936e-01 -3.15804380e-02 4.87733810e+01] [ 3.60353882e-01 9.32727762e-01 -1.28063569e-02 9.91025147e+00] [ 3.40736794e-02 5.57864742e-04 9.99419168e-01 1.08000484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65804094199999 meters Centerline goodness [0,1] 0.9997554903529831 Centerline is valid? [True, True] Translation: X:48.80, Y:9.92, Z:1.08 [[ 9.31661434e-01 -3.61947814e-01 -3.16346670e-02 4.88010294e+01] [ 3.61720454e-01 9.32198215e-01 -1.28374747e-02 9.91932650e+00] [ 3.41362760e-02 5.17274003e-04 9.99417054e-01 1.08052462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68804094199999 meters Centerline goodness [0,1] 0.9999555308504725 Centerline is valid? [True, True] Translation: X:48.83, Y:9.92, Z:1.08 [[ 9.30400677e-01 -3.65125893e-01 -3.22127783e-02 4.88298085e+01] [ 3.64891718e-01 9.30958060e-01 -1.30814954e-02 9.92420686e+00] [ 3.47651382e-02 4.16856138e-04 9.99395423e-01 1.08177021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.718040941999995 meters Centerline goodness [0,1] 0.999844007665909 Centerline is valid? [True, True] Translation: X:48.86, Y:9.93, Z:1.08 [[ 9.29494926e-01 -3.67443178e-01 -3.20108274e-02 4.88564701e+01] [ 3.67213050e-01 9.30045912e-01 -1.30068073e-02 9.93285691e+00] [ 3.45508018e-02 3.34967791e-04 9.99402887e-01 1.07936596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748040941999996 meters Centerline goodness [0,1] 0.9999554813578185 Centerline is valid? [True, True] Translation: X:48.88, Y:9.94, Z:1.08 [[ 9.29014333e-01 -3.68595622e-01 -3.27053048e-02 4.88837367e+01] [ 3.68355900e-01 9.29589789e-01 -1.32949461e-02 9.93936551e+00] [ 3.53029763e-02 3.04003470e-04 9.99376609e-01 1.08304340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.778040942 meters Centerline goodness [0,1] 0.9997559081326972 Centerline is valid? [True, True] Translation: X:48.91, Y:9.95, Z:1.08 [[ 9.28266607e-01 -3.70466332e-01 -3.27994527e-02 4.89106298e+01] [ 3.70226101e-01 9.28845864e-01 -1.33414880e-02 9.94771925e+00] [ 3.54082081e-02 2.41244327e-04 9.99372904e-01 1.08225063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808040942 meters Centerline goodness [0,1] 0.999866345896819 Centerline is valid? [True, True] Translation: X:48.94, Y:9.96, Z:1.09 [[ 9.28079991e-01 -3.70955632e-01 -3.25491932e-02 4.89371505e+01] [ 3.70719150e-01 9.28650563e-01 -1.32455105e-02 9.95702093e+00] [ 3.51403233e-02 2.26283984e-04 9.99382362e-01 1.08580416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83804094199999 meters Centerline goodness [0,1] 0.9997999110715874 Centerline is valid? [True, True] Translation: X:48.96, Y:9.97, Z:1.08 [[ 9.27660689e-01 -3.72033680e-01 -3.21960768e-02 4.89628149e+01] [ 3.71802671e-01 9.28219212e-01 -1.31099044e-02 9.96835917e+00] [ 3.47623430e-02 1.90955622e-04 9.99395589e-01 1.08271851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86804094199999 meters Centerline goodness [0,1] 0.9999555456768171 Centerline is valid? [True, True] Translation: X:48.99, Y:9.98, Z:1.09 [[ 9.27959675e-01 -3.71223688e-01 -3.29213494e-02 4.89896633e+01] [ 3.70981445e-01 9.28543440e-01 -1.34107248e-02 9.97858691e+00] [ 3.55472818e-02 2.31402036e-04 9.99367969e-01 1.08796015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.898040941999994 meters Centerline goodness [0,1] 0.999778211497516 Centerline is valid? [True, True] Translation: X:49.02, Y:9.99, Z:1.09 [[ 9.27505887e-01 -3.72278514e-01 -3.37866614e-02 4.90159929e+01] [ 3.72023688e-01 9.28121040e-01 -1.37735132e-02 9.98970995e+00] [ 3.64856944e-02 2.05576172e-04 9.99334154e-01 1.08563143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.04, Y:10.00, Z:1.09 [[ 9.27729283e-01 -3.71651927e-01 -3.45430556e-02 4.90427652e+01] [ 3.71384718e-01 9.28372116e-01 -1.40927694e-02 1.00004570e+01] [ 3.73064145e-02 2.45511917e-04 9.99303843e-01 1.08937632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.958040942 meters Centerline goodness [0,1] 0.9998892114067935 Centerline is valid? [True, True] Translation: X:49.07, Y:10.01, Z:1.09 [[ 9.27294615e-01 -3.72682043e-01 -3.51111280e-02 4.90677907e+01] [ 3.72406398e-01 9.27959077e-01 -1.43327163e-02 1.00116268e+01] [ 3.79232359e-02 2.15041997e-04 9.99280632e-01 1.08645732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988040942 meters Centerline goodness [0,1] 0.9999335710015279 Centerline is valid? [True, True] Translation: X:49.09, Y:10.02, Z:1.09 [[ 9.27115778e-01 -3.73087910e-01 -3.55210557e-02 4.90935173e+01] [ 3.72805793e-01 9.27795973e-01 -1.45076597e-02 1.00228940e+01] [ 3.83689249e-02 2.07824832e-04 9.99263620e-01 1.08873312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01804094199999 meters Centerline goodness [0,1] 0.9998675379724479 Centerline is valid? [True, True] Translation: X:49.12, Y:10.03, Z:1.09 [[ 9.26780919e-01 -3.73949567e-01 -3.51972932e-02 4.91193204e+01] [ 3.73672764e-01 9.27449022e-01 -1.43866928e-02 1.00343539e+01] [ 3.80235927e-02 1.81042517e-04 9.99276825e-01 1.08837294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.15, Y:10.05, Z:1.09 [[ 9.26567549e-01 -3.74441712e-01 -3.55806273e-02 4.91450757e+01] [ 3.74158765e-01 9.27250438e-01 -1.45548553e-02 1.00453423e+01] [ 3.84420972e-02 1.73253012e-04 9.99260814e-01 1.09154644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.078040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.17, Y:10.05, Z:1.09 [[ 9.25394615e-01 -3.77315008e-01 -3.57518097e-02 4.91711508e+01] [ 3.77031031e-01 9.26084975e-01 -1.46363019e-02 1.00543431e+01] [ 3.86317101e-02 6.48132912e-05 9.99253515e-01 1.09321076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.20, Y:10.06, Z:1.09 [[ 9.24730988e-01 -3.78957812e-01 -3.55468075e-02 4.91962341e+01] [ 3.78677962e-01 9.25413949e-01 -1.45610609e-02 1.00631915e+01] [ 3.84135393e-02 4.27163826e-06 9.99261928e-01 1.09462499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.138040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.22, Y:10.07, Z:1.10 [[ 9.23421928e-01 -3.82120457e-01 -3.57197248e-02 4.92229386e+01] [ 3.81839956e-01 9.24112516e-01 -1.46392116e-02 1.00718611e+01] [ 3.86029869e-02 -1.21049151e-04 9.99254620e-01 1.09710906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:10.08, Z:1.10 [[ 9.22873569e-01 -3.83453429e-01 -3.56067946e-02 4.92481283e+01] [ 3.83175322e-01 9.23560198e-01 -1.46024788e-02 1.00812875e+01] [ 3.84843888e-02 -1.67403299e-04 9.99259187e-01 1.09797459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19804094199999 meters Centerline goodness [0,1] 0.99988928255093 Centerline is valid? [True, True] Translation: X:49.27, Y:10.09, Z:1.10 [[ 9.22295288e-01 -3.84861249e-01 -3.54008626e-02 4.92742692e+01] [ 3.84587052e-01 9.22974416e-01 -1.45267656e-02 1.00922308e+01] [ 3.82648796e-02 -2.16745922e-04 9.99267608e-01 1.09738894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22804094199999 meters Centerline goodness [0,1] 0.9999114456497675 Centerline is valid? [True, True] Translation: X:49.30, Y:10.10, Z:1.10 [[ 9.22062917e-01 -3.85440071e-01 -3.51557707e-02 4.93000351e+01] [ 3.85169656e-01 9.22732843e-01 -1.44373583e-02 1.01043768e+01] [ 3.80041206e-02 -2.28783382e-04 9.99277556e-01 1.10267057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.258040941999994 meters Centerline goodness [0,1] 0.9997790885192304 Centerline is valid? [True, True] Translation: X:49.32, Y:10.12, Z:1.10 [[ 9.21840296e-01 -3.86018130e-01 -3.46478274e-02 4.93243011e+01] [ 3.85755543e-01 9.22491163e-01 -1.42378482e-02 1.01158002e+01] [ 3.74583821e-02 -2.40569216e-04 9.99298160e-01 1.09872655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288040941999995 meters Centerline goodness [0,1] 0.9999779628895059 Centerline is valid? [True, True] Translation: X:49.35, Y:10.13, Z:1.11 [[ 9.22177625e-01 -3.85156463e-01 -3.52551636e-02 4.93502757e+01] [ 3.84883659e-01 9.22851266e-01 -1.44952040e-02 1.01272496e+01] [ 3.81181938e-02 -2.01983574e-04 9.99273217e-01 1.10539540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.318040941999996 meters Centerline goodness [0,1] 0.9996027980669506 Centerline is valid? [True, True] Translation: X:49.37, Y:10.14, Z:1.10 [[ 9.21917718e-01 -3.85796619e-01 -3.50526743e-02 4.93748852e+01] [ 3.85527060e-01 9.22583829e-01 -1.44209964e-02 1.01377942e+01] [ 3.79026021e-02 -2.18782367e-04 9.99281414e-01 1.10241844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.348040942 meters Centerline goodness [0,1] 0.9996245500121469 Centerline is valid? [True, True] Translation: X:49.40, Y:10.15, Z:1.10 [[ 9.22140183e-01 -3.85184359e-01 -3.59234274e-02 4.94017528e+01] [ 3.84900487e-01 9.22839625e-01 -1.47865705e-02 1.01493018e+01] [ 3.88471179e-02 -1.91653886e-04 9.99245147e-01 1.10333707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.378040942 meters Centerline goodness [0,1] 0.9998236370450387 Centerline is valid? [True, True] Translation: X:49.43, Y:10.16, Z:1.11 [[ 9.22516159e-01 -3.84222337e-01 -3.65668228e-02 4.94276860e+01] [ 3.83926998e-01 9.23240583e-01 -1.50627043e-02 1.01596180e+01] [ 3.95474022e-02 -1.43402435e-04 9.99217685e-01 1.10841223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40804094199999 meters Centerline goodness [0,1] 0.999690183234487 Centerline is valid? [True, True] Translation: X:49.45, Y:10.17, Z:1.11 [[ 9.22553433e-01 -3.84103410e-01 -3.68745823e-02 4.94540639e+01] [ 3.83802493e-01 9.23290071e-01 -1.52017221e-02 1.01705073e+01] [ 3.98849690e-02 -1.28155710e-04 9.99204270e-01 1.10866334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43804094199999 meters Centerline goodness [0,1] 0.9996245002540145 Centerline is valid? [True, True] Translation: X:49.48, Y:10.18, Z:1.11 [[ 9.22934716e-01 -3.83179107e-01 -3.69497253e-02 4.94803347e+01] [ 3.82875732e-01 9.23674058e-01 -1.52449460e-02 1.01813354e+01] [ 3.99710475e-02 -7.70632264e-05 9.99200835e-01 1.11046787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468040941999995 meters Centerline goodness [0,1] 0.999580008399832 Centerline is valid? [True, True] Translation: X:49.51, Y:10.19, Z:1.11 [[ 9.22825665e-01 -3.83398262e-01 -3.73973813e-02 4.95063124e+01] [ 3.83087308e-01 9.23583113e-01 -1.54385263e-02 1.01927611e+01] [ 4.04586940e-02 -7.93937673e-05 9.99181209e-01 1.10879460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.498040941999996 meters Centerline goodness [0,1] 0.9996023856858847 Centerline is valid? [True, True] Translation: X:49.53, Y:10.20, Z:1.11 [[ 9.23122436e-01 -3.82685406e-01 -3.73744258e-02 4.95326398e+01] [ 3.82373948e-01 9.23878714e-01 -1.54364984e-02 1.02035961e+01] [ 4.04367591e-02 -4.12286858e-05 9.99182099e-01 1.11174859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528040942 meters Centerline goodness [0,1] 0.999559150924681 Centerline is valid? [True, True] Translation: X:49.56, Y:10.22, Z:1.11 [[ 9.23046775e-01 -3.82795047e-01 -3.81130260e-02 4.95588041e+01] [ 3.82470752e-01 9.23833292e-01 -1.57535181e-02 1.02151148e+01] [ 4.12404510e-02 -3.58836423e-05 9.99149250e-01 1.11025345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.558040942 meters Centerline goodness [0,1] 0.9996022538945973 Centerline is valid? [True, True] Translation: X:49.59, Y:10.23, Z:1.11 [[ 9.23384253e-01 -3.81984543e-01 -3.80700705e-02 4.95851322e+01] [ 3.81659813e-01 9.24168712e-01 -1.57473306e-02 1.02250855e+01] [ 4.11984049e-02 1.10210945e-05 9.99150985e-01 1.11388770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58804094199999 meters Centerline goodness [0,1] 0.9995803423522915 Centerline is valid? [True, True] Translation: X:49.61, Y:10.23, Z:1.12 [[ 9.23287758e-01 -3.82119120e-01 -3.90473384e-02 4.96125856e+01] [ 3.81777101e-01 9.24113077e-01 -1.61637612e-02 1.02346148e+01] [ 4.22606382e-02 1.64232004e-05 9.99106620e-01 1.11546034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61804094199999 meters Centerline goodness [0,1] 0.9998454370818521 Centerline is valid? [True, True] Translation: X:49.64, Y:10.24, Z:1.12 [[ 9.23056169e-01 -3.82615609e-01 -3.96560877e-02 4.96385834e+01] [ 3.82262952e-01 9.23907623e-01 -1.64237596e-02 1.02444020e+01] [ 4.29225485e-02 9.99517511e-07 9.99078403e-01 1.11612004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648040941999994 meters Centerline goodness [0,1] 0.9998896831700644 Centerline is valid? [True, True] Translation: X:49.67, Y:10.25, Z:1.12 [[ 9.22837770e-01 -3.83094362e-01 -4.01143433e-02 4.96656318e+01] [ 3.82733633e-01 9.23709213e-01 -1.66209772e-02 1.02549653e+01] [ 4.34213912e-02 -1.46428322e-05 9.99056847e-01 1.11694532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.678040941999996 meters Centerline goodness [0,1] 0.9995804164918402 Centerline is valid? [True, True] Translation: X:49.69, Y:10.27, Z:1.12 [[ 9.22686451e-01 -3.83374367e-01 -4.09122045e-02 4.96916561e+01] [ 3.82999053e-01 9.23593035e-01 -1.69596846e-02 1.02662255e+01] [ 4.42881354e-02 -2.08644024e-05 9.99018799e-01 1.11647512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708040942 meters Centerline goodness [0,1] 0.9996457825990702 Centerline is valid? [True, True] Translation: X:49.72, Y:10.28, Z:1.12 [[ 9.22734814e-01 -3.83242295e-01 -4.10585687e-02 4.97176193e+01] [ 3.82863975e-01 9.23647846e-01 -1.70245092e-02 1.02769132e+01] [ 4.44481705e-02 -1.07394595e-05 9.99011692e-01 1.11758348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.738040942 meters Centerline goodness [0,1] 0.9998675350480185 Centerline is valid? [True, True] Translation: X:49.74, Y:10.29, Z:1.12 [[ 9.22568574e-01 -3.83592615e-01 -4.15202519e-02 4.97431651e+01] [ 3.83205859e-01 9.23502412e-01 -1.72210608e-02 1.02871289e+01] [ 4.49499245e-02 -2.31942384e-05 9.98989241e-01 1.11796447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76804094199999 meters Centerline goodness [0,1] 0.9995787233099044 Centerline is valid? [True, True] Translation: X:49.77, Y:10.30, Z:1.12 [[ 9.21966152e-01 -3.84898570e-01 -4.27960785e-02 4.97705256e+01] [ 3.84488646e-01 9.22958875e-01 -1.77594145e-02 1.02958507e+01] [ 4.63345937e-02 -8.10271862e-05 9.98925973e-01 1.11961738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79804094199999 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:49.80, Y:10.30, Z:1.12 [[ 9.21669439e-01 -3.85549268e-01 -4.33267582e-02 4.97968697e+01] [ 3.85129442e-01 9.22687244e-01 -1.79878385e-02 1.03046849e+01] [ 4.69122451e-02 -1.07569202e-04 9.98899009e-01 1.11933298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828040941999994 meters Centerline goodness [0,1] 0.9998670271707815 Centerline is valid? [True, True] Translation: X:49.82, Y:10.31, Z:1.12 [[ 9.21137247e-01 -3.86772233e-01 -4.37425653e-02 4.98237549e+01] [ 3.86345298e-01 9.22175262e-01 -1.81685820e-02 1.03141332e+01] [ 4.73654146e-02 -1.63976869e-04 9.98877615e-01 1.12010893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.858040941999995 meters Centerline goodness [0,1] 0.9998452525699126 Centerline is valid? [True, True] Translation: X:49.85, Y:10.32, Z:1.13 [[ 9.20215234e-01 -3.88957742e-01 -4.37698298e-02 4.98510377e+01] [ 3.88532165e-01 9.21255559e-01 -1.81920819e-02 1.03245292e+01] [ 4.73991501e-02 -2.65355803e-04 9.98875993e-01 1.12514577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888040941999996 meters Centerline goodness [0,1] 0.9999115553000486 Centerline is valid? [True, True] Translation: X:49.88, Y:10.33, Z:1.12 [[ 9.19814494e-01 -3.89865231e-01 -4.41180063e-02 4.98772900e+01] [ 3.89433488e-01 9.20871874e-01 -1.83453147e-02 1.03340073e+01] [ 4.77792315e-02 -3.06742742e-04 9.98857873e-01 1.12368561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.918040942 meters Centerline goodness [0,1] 0.9999333170330525 Centerline is valid? [True, True] Translation: X:49.90, Y:10.34, Z:1.12 [[ 9.19290283e-01 -3.91074911e-01 -4.43372377e-02 4.99031065e+01] [ 3.90640058e-01 9.20358778e-01 -1.84408745e-02 1.03433001e+01] [ 4.80179292e-02 -3.67384415e-04 9.98846406e-01 1.12395952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94804094199999 meters Centerline goodness [0,1] 0.9998668323863636 Centerline is valid? [True, True] Translation: X:49.93, Y:10.35, Z:1.13 [[ 9.18746096e-01 -3.92372538e-01 -4.41520433e-02 4.99289569e+01] [ 3.91942362e-01 9.19806290e-01 -1.83731819e-02 1.03534442e+01] [ 4.78204592e-02 -4.24767039e-04 9.98855857e-01 1.12761980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.96, Y:10.36, Z:1.13 [[ 9.17566320e-01 -3.95143614e-01 -4.39723968e-02 4.99562585e+01] [ 3.94719677e-01 9.18619188e-01 -1.83074920e-02 1.03599863e+01] [ 4.76279760e-02 -5.58432199e-04 9.98864988e-01 1.12677337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008040941999994 meters Centerline goodness [0,1] 0.9998454643795395 Centerline is valid? [True, True] Translation: X:49.98, Y:10.37, Z:1.13 [[ 9.16840333e-01 -3.96857548e-01 -4.36794169e-02 4.99830143e+01] [ 3.96440788e-01 9.17879994e-01 -1.81939057e-02 1.03718907e+01] [ 4.73128517e-02 -6.35395919e-04 9.98879918e-01 1.13167277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.038040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.01, Y:10.38, Z:1.13 [[ 9.15742001e-01 -3.99356437e-01 -4.39434106e-02 5.00093793e+01] [ 3.98937096e-01 9.16795428e-01 -1.83121996e-02 1.03806246e+01] [ 4.76002127e-02 -7.61406361e-04 9.98866177e-01 1.13296027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.04, Y:10.39, Z:1.13 [[ 9.15252976e-01 -4.00475113e-01 -4.39508069e-02 5.00360055e+01] [ 4.00056520e-01 9.16307276e-01 -1.83236477e-02 1.03911805e+01] [ 4.76106090e-02 -8.12033766e-04 9.98865642e-01 1.13385893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.098040942 meters Centerline goodness [0,1] 0.9999778653326841 Centerline is valid? [True, True] Translation: X:50.06, Y:10.40, Z:1.13 [[ 9.14937085e-01 -4.01257549e-01 -4.33878908e-02 5.00625062e+01] [ 4.00849893e-01 9.15964896e-01 -1.81017354e-02 1.04017844e+01] [ 4.70052429e-02 -8.30082335e-04 9.98894298e-01 1.13496744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.09, Y:10.41, Z:1.14 [[ 9.14450849e-01 -4.02433024e-01 -4.27469950e-02 5.00879561e+01] [ 4.02038205e-01 9.15449019e-01 -1.78430869e-02 1.04120868e+01] [ 4.63133420e-02 -8.69299144e-04 9.98926583e-01 1.13600247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.11, Y:10.42, Z:1.14 [[ 9.14203288e-01 -4.03006711e-01 -4.26373026e-02 5.01133815e+01] [ 4.02614139e-01 9.15196592e-01 -1.78059670e-02 1.04233801e+01] [ 4.61974382e-02 -8.88107251e-04 9.98931934e-01 1.13699120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.14, Y:10.44, Z:1.14 [[ 9.13995693e-01 -4.03458418e-01 -4.28156303e-02 5.01390863e+01] [ 4.03062462e-01 9.14997535e-01 -1.78930926e-02 1.04359059e+01] [ 4.63953150e-02 -9.03163736e-04 9.98922749e-01 1.13903600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.218040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.16, Y:10.45, Z:1.14 [[ 9.13702485e-01 -4.04167625e-01 -4.23827865e-02 5.01644509e+01] [ 4.03780032e-01 9.14684470e-01 -1.77202047e-02 1.04466183e+01] [ 4.59288096e-02 -9.22327825e-04 9.98944290e-01 1.13986596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.19, Y:10.46, Z:1.14 [[ 9.13439207e-01 -4.04760277e-01 -4.24020356e-02 5.01904056e+01] [ 4.04372590e-01 9.14422345e-01 -1.77364987e-02 1.04601598e+01] [ 4.59523990e-02 -9.45007629e-04 9.98943184e-01 1.14330493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.22, Y:10.47, Z:1.14 [[ 9.13307797e-01 -4.05015322e-01 -4.27955173e-02 5.02169007e+01] [ 4.04620100e-01 9.14309399e-01 -1.79136406e-02 1.04718341e+01] [ 4.63836426e-02 -9.55258859e-04 9.98923243e-01 1.14412599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308040942 meters Centerline goodness [0,1] 0.9999560188239434 Centerline is valid? [True, True] Translation: X:50.24, Y:10.48, Z:1.14 [[ 9.13000511e-01 -4.05757228e-01 -4.23218449e-02 5.02411979e+01] [ 4.05371083e-01 9.13980374e-01 -1.77245722e-02 1.04828929e+01] [ 4.58732089e-02 -9.73508666e-04 9.98946796e-01 1.14419103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33804094199999 meters Centerline goodness [0,1] 0.9999780417645638 Centerline is valid? [True, True] Translation: X:50.27, Y:10.50, Z:1.15 [[ 9.12825224e-01 -4.06160221e-01 -4.22372575e-02 5.02668133e+01] [ 4.05775592e-01 9.13801351e-01 -1.76991416e-02 1.04956720e+01] [ 4.57851502e-02 -9.82625297e-04 9.98950827e-01 1.14533985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.29, Y:10.51, Z:1.15 [[ 9.12782115e-01 -4.06310983e-01 -4.17156585e-02 5.02916708e+01] [ 4.05935545e-01 9.13734340e-01 -1.74896610e-02 1.05087772e+01] [ 4.52232711e-02 -9.69618868e-04 9.98976434e-01 1.14578500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.398040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.32, Y:10.52, Z:1.15 [[ 9.12681404e-01 -4.06579315e-01 -4.13027367e-02 5.03174165e+01] [ 4.06211160e-01 9.13614979e-01 -1.73252563e-02 1.05208567e+01] [ 4.47788898e-02 -9.65193407e-04 9.98996456e-01 1.14679784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.34, Y:10.53, Z:1.15 [[ 9.12567681e-01 -4.06834994e-01 -4.12978876e-02 5.03428260e+01] [ 4.06466578e-01 9.13501153e-01 -1.73368096e-02 1.05316151e+01] [ 4.47788887e-02 -9.65198877e-04 9.98996456e-01 1.14743604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.37, Y:10.54, Z:1.15 [[ 9.12500169e-01 -4.07046752e-01 -4.06986889e-02 5.03691001e+01] [ 4.06688610e-01 9.13406831e-01 -1.70978133e-02 1.05436368e+01] [ 4.41340698e-02 -9.49935739e-04 9.99025166e-01 1.14888848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.39, Y:10.55, Z:1.15 [[ 9.12645692e-01 -4.06826098e-01 -3.96278500e-02 5.03948997e+01] [ 4.06486014e-01 9.13505174e-01 -1.66558674e-02 1.05549721e+01] [ 4.29762875e-02 -9.07261173e-04 9.99075681e-01 1.15065460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51804094199999 meters Centerline goodness [0,1] 0.9999561960664067 Centerline is valid? [True, True] Translation: X:50.42, Y:10.57, Z:1.15 [[ 9.12752608e-01 -4.06622505e-01 -3.92532007e-02 5.04212919e+01] [ 4.06288326e-01 9.13595840e-01 -1.65056660e-02 1.05676648e+01] [ 4.25731361e-02 -8.82527537e-04 9.99092963e-01 1.15159166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54804094199999 meters Centerline goodness [0,1] 0.9999343573585401 Centerline is valid? [True, True] Translation: X:50.45, Y:10.58, Z:1.15 [[ 9.13060508e-01 -4.06024166e-01 -3.82738256e-02 5.04458662e+01] [ 4.05705617e-01 9.13861967e-01 -1.61014937e-02 1.05800419e+01] [ 4.15145891e-02 -8.26268071e-04 9.99137556e-01 1.15165454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.578040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.47, Y:10.60, Z:1.15 [[ 9.13651833e-01 -4.04753883e-01 -3.76114516e-02 5.04714209e+01] [ 4.04444934e-01 9.14425356e-01 -1.58291890e-02 1.05950806e+01] [ 4.07997908e-02 -7.49393542e-04 9.99167061e-01 1.15220532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:10.61, Z:1.15 [[ 9.13810556e-01 -4.04434192e-01 -3.71921129e-02 5.04974836e+01] [ 4.04131427e-01 9.14566821e-01 -1.56626994e-02 1.06080256e+01] [ 4.03492036e-02 -7.17761562e-04 9.99185381e-01 1.15312383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.638040941999996 meters Centerline goodness [0,1] 0.9998907342657343 Centerline is valid? [True, True] Translation: X:50.52, Y:10.62, Z:1.15 [[ 9.14090785e-01 -4.03829165e-01 -3.68787597e-02 5.05224250e+01] [ 4.03530688e-01 9.14834163e-01 -1.55382962e-02 1.06193827e+01] [ 4.00127664e-02 -6.78297871e-04 9.99198938e-01 1.15347748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:10.63, Z:1.16 [[ 9.14181967e-01 -4.03724369e-01 -3.57486330e-02 5.05480942e+01] [ 4.03443593e-01 9.14880438e-01 -1.50682670e-02 1.06323804e+01] [ 3.87891516e-02 -6.47418923e-04 9.99247208e-01 1.15517656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69804094199999 meters Centerline goodness [0,1] 0.9999563585580867 Centerline is valid? [True, True] Translation: X:50.57, Y:10.64, Z:1.16 [[ 9.14164713e-01 -4.03799051e-01 -3.53440882e-02 5.05735459e+01] [ 4.03524248e-01 9.14847487e-01 -1.49082749e-02 1.06446192e+01] [ 3.83543975e-02 -6.33577781e-04 9.99263999e-01 1.15647401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72804094199999 meters Centerline goodness [0,1] 0.9999782291598632 Centerline is valid? [True, True] Translation: X:50.60, Y:10.66, Z:1.16 [[ 9.14396807e-01 -4.03348467e-01 -3.44745414e-02 5.05990936e+01] [ 4.03086399e-01 9.15046263e-01 -1.45496236e-02 1.06560788e+01] [ 3.74143687e-02 -5.92089428e-04 9.99299662e-01 1.15574907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.758040941999994 meters Centerline goodness [0,1] 0.9999782447896272 Centerline is valid? [True, True] Translation: X:50.62, Y:10.67, Z:1.16 [[ 9.14424964e-01 -4.03419960e-01 -3.28530144e-02 5.06238053e+01] [ 4.03181826e-01 9.15014765e-01 -1.38706465e-02 1.06723866e+01] [ 3.56566890e-02 -5.62072923e-04 9.99363940e-01 1.15726840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:10.69, Z:1.16 [[ 9.14364816e-01 -4.03648225e-01 -3.17032069e-02 5.06494561e+01] [ 4.03426301e-01 9.14914103e-01 -1.33941763e-02 1.06850317e+01] [ 3.44122466e-02 -5.42743901e-04 9.99407576e-01 1.15861060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.818040941999996 meters Centerline goodness [0,1] 0.9999782575609332 Centerline is valid? [True, True] Translation: X:50.68, Y:10.70, Z:1.16 [[ 9.14314189e-01 -4.03855790e-01 -3.04969494e-02 5.06760068e+01] [ 4.03650265e-01 9.14822512e-01 -1.28932186e-02 1.06971132e+01] [ 3.31062969e-02 -5.21649009e-04 9.99451700e-01 1.15955455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.848040942 meters Centerline goodness [0,1] 0.999978304731738 Centerline is valid? [True, True] Translation: X:50.70, Y:10.71, Z:1.16 [[ 9.14225353e-01 -4.04125379e-01 -2.95750081e-02 5.07014707e+01] [ 4.03932015e-01 9.14703459e-01 -1.25103275e-02 1.07087869e+01] [ 3.21081030e-02 -5.09034073e-04 9.99484272e-01 1.16000195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.73, Y:10.72, Z:1.16 [[ 9.13858925e-01 -4.05006881e-01 -2.88321071e-02 5.07268298e+01] [ 4.04823407e-01 9.14313487e-01 -1.22006646e-02 1.07212178e+01] [ 3.13029375e-02 -5.22225552e-04 9.99509807e-01 1.16055732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.75, Y:10.73, Z:1.16 [[ 9.13429009e-01 -4.06039372e-01 -2.79190695e-02 5.07524425e+01] [ 4.05867547e-01 9.13855429e-01 -1.18232201e-02 1.07326755e+01] [ 3.03146861e-02 -5.31772052e-04 9.99540263e-01 1.16117245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93804094199999 meters Centerline goodness [0,1] 0.9999782575609332 Centerline is valid? [True, True] Translation: X:50.78, Y:10.75, Z:1.16 [[ 9.12856306e-01 -4.07410820e-01 -2.66418426e-02 5.07785729e+01] [ 4.07254705e-01 9.13244835e-01 -1.12905615e-02 1.07458003e+01] [ 2.89304221e-02 -5.43355522e-04 9.99581280e-01 1.16159149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968040941999995 meters Centerline goodness [0,1] 0.9999131435519945 Centerline is valid? [True, True] Translation: X:50.80, Y:10.76, Z:1.16 [[ 9.12701935e-01 -4.07803621e-01 -2.59110754e-02 5.08035377e+01] [ 4.07655924e-01 9.13069505e-01 -1.09875824e-02 1.07566120e+01] [ 2.81393887e-02 -5.34415642e-04 9.99603866e-01 1.16159786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.998040941999996 meters Centerline goodness [0,1] 0.9999782125582815 Centerline is valid? [True, True] Translation: X:50.83, Y:10.77, Z:1.16 [[ 9.12393008e-01 -4.08515698e-01 -2.55719300e-02 5.08295070e+01] [ 4.08372003e-01 9.12751131e-01 -1.08480315e-02 1.07687382e+01] [ 2.77723991e-02 -5.45192201e-04 9.99614124e-01 1.16187070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.86, Y:10.78, Z:1.16 [[ 9.12071575e-01 -4.09243183e-01 -2.54058899e-02 5.08556487e+01] [ 4.09101428e-01 9.12425179e-01 -1.07849398e-02 1.07821249e+01] [ 2.75946367e-02 -5.56948755e-04 9.99619040e-01 1.16126756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.88, Y:10.79, Z:1.16 [[ 9.11957332e-01 -4.09515055e-01 -2.51245731e-02 5.08808269e+01] [ 4.09376322e-01 9.12303193e-01 -1.06729283e-02 1.07941926e+01] [ 2.72919530e-02 -5.52150112e-04 9.99627353e-01 1.16144083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08804094199999 meters Centerline goodness [0,1] 0.9999566122874002 Centerline is valid? [True, True] Translation: X:50.91, Y:10.80, Z:1.16 [[ 9.11862803e-01 -4.09734943e-01 -2.49700834e-02 5.09062018e+01] [ 4.09597788e-01 9.12204459e-01 -1.06149120e-02 1.08046788e+01] [ 2.71271218e-02 -5.48347537e-04 9.99631842e-01 1.16157487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11804094199999 meters Centerline goodness [0,1] 0.9999348576639958 Centerline is valid? [True, True] Translation: X:50.93, Y:10.82, Z:1.16 [[ 9.11572459e-01 -4.10400535e-01 -2.46384531e-02 5.09309454e+01] [ 4.10267132e-01 9.11905198e-01 -1.04780769e-02 1.08179535e+01] [ 2.67681418e-02 -5.56821190e-04 9.99641514e-01 1.16280588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.96, Y:10.83, Z:1.16 [[ 9.11282424e-01 -4.11086199e-01 -2.39265545e-02 5.09565935e+01] [ 4.10960429e-01 9.11596309e-01 -1.01830772e-02 1.08301885e+01] [ 2.59974813e-02 -5.53207852e-04 9.99661855e-01 1.16324226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.178040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.98, Y:10.84, Z:1.16 [[ 9.11105664e-01 -4.11491653e-01 -2.36873235e-02 5.09811890e+01] [ 4.11368336e-01 9.11413361e-01 -1.00885065e-02 1.08439645e+01] [ 2.57402793e-02 -5.52519392e-04 9.99668511e-01 1.16261301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208040942 meters Centerline goodness [0,1] 0.9999130170051755 Centerline is valid? [True, True] Translation: X:51.01, Y:10.86, Z:1.16 [[ 9.10801341e-01 -4.12175177e-01 -2.35062005e-02 5.10072273e+01] [ 4.12053894e-01 9.11104442e-01 -1.00141585e-02 1.08570781e+01] [ 2.55441912e-02 -5.64912506e-04 9.99673534e-01 1.16273545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.03, Y:10.87, Z:1.16 [[ 9.10483459e-01 -4.12887849e-01 -2.33129944e-02 5.10329445e+01] [ 4.12768617e-01 9.10781694e-01 -9.93850730e-03 1.08695685e+01] [ 2.53365374e-02 -5.74025946e-04 9.99678814e-01 1.16302566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.06, Y:10.88, Z:1.16 [[ 9.10124056e-01 -4.13718184e-01 -2.26156484e-02 5.10574881e+01] [ 4.13606085e-01 9.10404819e-01 -9.64734598e-03 1.08818156e+01] [ 2.45806778e-02 -5.73688146e-04 9.99697685e-01 1.16362893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.08, Y:10.89, Z:1.16 [[ 9.10019081e-01 -4.13961562e-01 -2.23852199e-02 5.10825511e+01] [ 4.13851739e-01 9.10294182e-01 -9.55197072e-03 1.08943498e+01] [ 2.43312841e-02 -5.71686543e-04 9.99703787e-01 1.16445998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.11, Y:10.91, Z:1.17 [[ 9.09974106e-01 -4.14074134e-01 -2.21300266e-02 5.11078008e+01] [ 4.13966663e-01 9.10242987e-01 -9.45018069e-03 1.09068608e+01] [ 2.40567770e-02 -5.61673560e-04 9.99710436e-01 1.16517571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.358040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.13, Y:10.92, Z:1.17 [[ 9.10518484e-01 -4.12895812e-01 -2.17517603e-02 5.11315632e+01] [ 4.12791487e-01 9.10778120e-01 -9.29544608e-03 1.09215757e+01] [ 2.36490781e-02 -5.15266019e-04 9.99720189e-01 1.16522986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.16, Y:10.94, Z:1.17 [[ 9.10936189e-01 -4.11954858e-01 -2.21010021e-02 5.11556111e+01] [ 4.11846821e-01 9.11204120e-01 -9.44708346e-03 1.09381057e+01] [ 2.40302961e-02 -4.96537257e-04 9.99711107e-01 1.16594969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.18, Y:10.95, Z:1.17 [[ 9.11393933e-01 -4.10952645e-01 -2.18865726e-02 5.11808037e+01] [ 4.10846253e-01 9.11656576e-01 -9.36186864e-03 1.09507768e+01] [ 2.38003225e-02 -4.59666038e-04 9.99716627e-01 1.16645931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.21, Y:10.97, Z:1.17 [[ 9.12471851e-01 -4.08585036e-01 -2.12929391e-02 5.12051919e+01] [ 4.08483642e-01 9.12720176e-01 -9.11015184e-03 1.09656850e+01] [ 2.31567668e-02 -3.85060173e-04 9.99731772e-01 1.16777200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.23, Y:10.98, Z:1.17 [[ 9.13067737e-01 -4.07314755e-01 -2.00498788e-02 5.12303989e+01] [ 4.07224427e-01 9.13287788e-01 -8.58382675e-03 1.09799391e+01] [ 2.18076288e-02 -3.27185164e-04 9.99762132e-01 1.16872843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.26, Y:10.99, Z:1.17 [[ 9.13513695e-01 -4.06302821e-01 -2.02669000e-02 5.12550167e+01] [ 4.06210139e-01 9.13738435e-01 -8.68304066e-03 1.09921371e+01] [ 2.20465894e-02 -3.00543705e-04 9.99756899e-01 1.16931116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.538040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.28, Y:11.01, Z:1.17 [[ 9.14611414e-01 -4.03839654e-01 -1.99873840e-02 5.12794731e+01] [ 4.03748883e-01 9.14829754e-01 -8.56510310e-03 1.10078424e+01] [ 2.17439819e-02 -2.36142920e-04 9.99763544e-01 1.16945321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.30, Y:11.02, Z:1.17 [[ 9.15183098e-01 -4.02523857e-01 -2.03578364e-02 5.13039053e+01] [ 4.02429224e-01 9.15409473e-01 -8.73017273e-03 1.10204235e+01] [ 2.21498591e-02 -2.02881773e-04 9.99754641e-01 1.16960264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.33, Y:11.04, Z:1.17 [[ 9.16209532e-01 -4.00208966e-01 -1.98211494e-02 5.13284558e+01] [ 4.00118678e-01 9.16423900e-01 -8.50175467e-03 1.10354585e+01] [ 2.15670534e-02 -1.41423413e-04 9.99767394e-01 1.16929553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.35, Y:11.05, Z:1.17 [[ 9.16629868e-01 -3.99251234e-01 -1.97011972e-02 5.13536066e+01] [ 3.99161693e-01 9.16841556e-01 -8.45595065e-03 1.10475781e+01] [ 2.14389250e-02 -1.12986306e-04 9.99770153e-01 1.16990011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.38, Y:11.06, Z:1.17 [[ 9.16913227e-01 -3.98614280e-01 -1.94110899e-02 5.13785503e+01] [ 3.98527080e-01 9.17118666e-01 -8.33777599e-03 1.10594324e+01] [ 2.11258294e-02 -9.08278784e-05 9.99776821e-01 1.17122513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.40, Y:11.07, Z:1.17 [[ 9.17352246e-01 -3.97640165e-01 -1.86321139e-02 5.14036947e+01] [ 3.97559502e-01 9.17541441e-01 -8.00918976e-03 1.10714977e+01] [ 2.02805121e-02 -6.01256953e-05 9.99794327e-01 1.17276448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.718040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.43, Y:11.08, Z:1.17 [[ 9.17810404e-01 -3.96587919e-01 -1.84955033e-02 5.14277920e+01] [ 3.96508086e-01 9.17996744e-01 -7.95718992e-03 1.10846918e+01] [ 2.01345372e-02 -3.04249057e-05 9.99797279e-01 1.17326828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.45, Y:11.10, Z:1.17 [[ 9.17994369e-01 -3.96165313e-01 -1.84223539e-02 5.14526489e+01] [ 3.96085981e-01 9.18179201e-01 -7.92785995e-03 1.10969019e+01] [ 2.00557653e-02 -1.91053350e-05 9.99798863e-01 1.17350466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.48, Y:11.11, Z:1.17 [[ 9.17998805e-01 -3.96135368e-01 -1.88404992e-02 5.14774756e+01] [ 3.96052246e-01 9.18192121e-01 -8.11467205e-03 1.11087625e+01] [ 2.05137065e-02 -1.25627815e-05 9.99789572e-01 1.17377573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.50, Y:11.12, Z:1.17 [[ 9.18256067e-01 -3.95564411e-01 -1.82918429e-02 5.15019422e+01] [ 3.95485897e-01 9.18438238e-01 -7.88090854e-03 1.11207978e+01] [ 1.99173349e-02 2.52618382e-06 9.99801630e-01 1.17410696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.53, Y:11.13, Z:1.17 [[ 9.18336018e-01 -3.95398207e-01 -1.78666054e-02 5.15274382e+01] [ 3.95323234e-01 9.18509803e-01 -7.69953900e-03 1.11320925e+01] [ 1.94550362e-02 7.67974567e-06 9.99810733e-01 1.17498707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.55, Y:11.14, Z:1.18 [[ 9.18253980e-01 -3.95583192e-01 -1.79879286e-02 5.15526344e+01] [ 3.95507106e-01 9.18430149e-01 -7.75831894e-03 1.11423466e+01] [ 1.95897165e-02 9.75368405e-06 9.99808103e-01 1.17545963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.898040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.58, Y:11.15, Z:1.18 [[ 9.18037871e-01 -3.96054940e-01 -1.86266628e-02 5.15789902e+01] [ 3.95973406e-01 9.18226816e-01 -8.03599625e-03 1.11528761e+01] [ 2.02861972e-02 1.68580236e-06 9.99794214e-01 1.17577983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:11.16, Z:1.18 [[ 9.17802458e-01 -3.96585592e-01 -1.89345220e-02 5.16038011e+01] [ 3.96501311e-01 9.17997750e-01 -8.17568953e-03 1.11627908e+01] [ 2.06242093e-02 -3.89485526e-06 9.99787298e-01 1.17656223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.63, Y:11.17, Z:1.18 [[ 9.17659344e-01 -3.96912871e-01 -1.90131987e-02 5.16302968e+01] [ 3.96827872e-01 9.17856292e-01 -8.21386303e-03 1.11732737e+01] [ 2.07115720e-02 -7.43902769e-06 9.99785492e-01 1.17668372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.66, Y:11.18, Z:1.18 [[ 9.17253488e-01 -3.97828455e-01 -1.94565737e-02 5.16554319e+01] [ 3.97739502e-01 9.17459819e-01 -8.41240428e-03 1.11828836e+01] [ 2.11973184e-02 -2.23407564e-05 9.99775311e-01 1.17618012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:11.19, Z:1.18 [[ 9.17064008e-01 -3.98261661e-01 -1.95257613e-02 5.16815951e+01] [ 3.98172080e-01 9.17271851e-01 -8.44665977e-03 1.11940943e+01] [ 2.12744119e-02 -2.84853306e-05 9.99773674e-01 1.17585077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:11.20, Z:1.18 [[ 9.16586717e-01 -3.99342293e-01 -1.98625982e-02 5.17073456e+01] [ 3.99249695e-01 9.16801904e-01 -8.59944867e-03 1.12020989e+01] [ 2.16441914e-02 -4.79958569e-05 9.99765736e-01 1.17625948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.078040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.73, Y:11.21, Z:1.18 [[ 9.16282884e-01 -4.00040102e-01 -1.98391756e-02 5.17336822e+01] [ 3.99947828e-01 9.16497634e-01 -8.59193893e-03 1.12111678e+01] [ 2.16196776e-02 -6.19886129e-05 9.99766266e-01 1.17712889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108040941999995 meters Centerline goodness [0,1] 0.9999783084965619 Centerline is valid? [True, True] Translation: X:51.76, Y:11.22, Z:1.18 [[ 9.15586912e-01 -4.01611645e-01 -2.02161542e-02 5.17604725e+01] [ 4.01516069e-01 9.15810066e-01 -8.76180289e-03 1.12195281e+01] [ 2.20329996e-02 -9.49187059e-05 9.99757239e-01 1.17755139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.138040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.79, Y:11.23, Z:1.18 [[ 9.15436698e-01 -4.01955587e-01 -2.01830962e-02 5.17854019e+01] [ 4.01860253e-01 9.15659160e-01 -8.75445164e-03 1.12290087e+01] [ 2.19997376e-02 -9.66378253e-05 9.99757972e-01 1.17828756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.81, Y:11.24, Z:1.18 [[ 9.15297224e-01 -4.02282110e-01 -2.00023697e-02 5.18114901e+01] [ 4.02188497e-01 9.15515753e-01 -8.67869826e-03 1.12394284e+01] [ 2.18037696e-02 -1.01134575e-04 9.99762264e-01 1.17908607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19804094199999 meters Centerline goodness [0,1] 0.9999783474796466 Centerline is valid? [True, True] Translation: X:51.84, Y:11.25, Z:1.18 [[ 9.15662328e-01 -4.01404037e-01 -2.09117246e-02 5.18365408e+01] [ 4.01301319e-01 9.15901083e-01 -9.08061157e-03 1.12489218e+01] [ 2.27980653e-02 -7.71287428e-05 9.99740087e-01 1.17900750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:11.26, Z:1.18 [[ 9.15948911e-01 -4.00717515e-01 -2.15189596e-02 5.18626287e+01] [ 4.00608480e-01 9.16201653e-01 -9.34753535e-03 1.12600124e+01] [ 2.34614275e-02 -5.88128732e-05 9.99724741e-01 1.17918001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.258040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.89, Y:11.27, Z:1.18 [[ 9.16475572e-01 -3.99498122e-01 -2.17664056e-02 5.18883322e+01] [ 3.99386048e-01 9.16734013e-01 -9.46225336e-03 1.12711272e+01] [ 2.37341568e-02 -2.12746461e-05 9.99718305e-01 1.17987449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288040941999995 meters Centerline goodness [0,1] 0.9998696473962068 Centerline is valid? [True, True] Translation: X:51.91, Y:11.28, Z:1.18 [[ 9.17220585e-01 -3.97777294e-01 -2.19002804e-02 5.19132949e+01] [ 3.97663167e-01 9.17482002e-01 -9.52797690e-03 1.12822244e+01] [ 2.38831259e-02 3.03217097e-05 9.99714757e-01 1.18031092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.318040941999996 meters Centerline goodness [0,1] 0.9998696473962068 Centerline is valid? [True, True] Translation: X:51.94, Y:11.29, Z:1.18 [[ 9.17115339e-01 -3.98019957e-01 -2.18990369e-02 5.19385191e+01] [ 3.97905831e-01 9.17376756e-01 -9.53083393e-03 1.12933207e+01] [ 2.38831296e-02 2.71195098e-05 9.99714757e-01 1.18094981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.348040942 meters Centerline goodness [0,1] 0.9998268772992859 Centerline is valid? [True, True] Translation: X:51.96, Y:11.30, Z:1.18 [[ 9.17775302e-01 -3.96507550e-01 -2.16854342e-02 5.19638288e+01] [ 3.96395057e-01 9.18031458e-01 -9.44463014e-03 1.13046923e+01] [ 2.36527779e-02 7.20493609e-05 9.99720231e-01 1.18151490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37804094199999 meters Centerline goodness [0,1] 0.9999347939488784 Centerline is valid? [True, True] Translation: X:51.99, Y:11.32, Z:1.18 [[ 9.18897010e-01 -3.93813404e-01 -2.32225863e-02 5.19907137e+01] [ 3.93683339e-01 9.19190392e-01 -1.01218168e-02 1.13150512e+01] [ 2.53320853e-02 1.58561872e-04 9.99679079e-01 1.18146641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.02, Y:11.33, Z:1.18 [[ 9.19207563e-01 -3.93086850e-01 -2.32418836e-02 5.20158361e+01] [ 3.92956170e-01 9.19501329e-01 -1.01367662e-02 1.13261044e+01] [ 2.53555724e-02 1.84750545e-04 9.99678479e-01 1.18160401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43804094199999 meters Centerline goodness [0,1] 0.9998045772354193 Centerline is valid? [True, True] Translation: X:52.04, Y:11.34, Z:1.18 [[ 9.19495074e-01 -3.92389064e-01 -2.36565188e-02 5.20429049e+01] [ 3.92253371e-01 9.19799314e-01 -1.03205916e-02 1.13359193e+01] [ 2.58089371e-02 2.10383891e-04 9.99666872e-01 1.18228979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468040941999995 meters Centerline goodness [0,1] 0.9998263625116662 Centerline is valid? [True, True] Translation: X:52.07, Y:11.34, Z:1.18 [[ 9.19913922e-01 -3.91426827e-01 -2.33112490e-02 5.20711192e+01] [ 3.91294585e-01 9.20209205e-01 -1.01767637e-02 1.13444984e+01] [ 2.54346843e-02 2.40181115e-04 9.99676457e-01 1.18369669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.10, Y:11.35, Z:1.18 [[ 9.20015532e-01 -3.91178394e-01 -2.34709274e-02 5.20974877e+01] [ 3.91044072e-01 9.20314837e-01 -1.02535548e-02 1.13542350e+01] [ 2.56116118e-02 2.55262618e-04 9.99671936e-01 1.18455565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528040942 meters Centerline goodness [0,1] 0.9997386361161327 Centerline is valid? [True, True] Translation: X:52.12, Y:11.36, Z:1.18 [[ 9.20125660e-01 -3.90872419e-01 -2.42388697e-02 5.21241322e+01] [ 3.90728849e-01 9.20444824e-01 -1.05968189e-02 1.13622533e+01] [ 2.64525464e-02 2.79579349e-04 9.99650031e-01 1.18476333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.558040942 meters Centerline goodness [0,1] 0.9997394815683209 Centerline is valid? [True, True] Translation: X:52.15, Y:11.37, Z:1.19 [[ 9.20000600e-01 -3.91149220e-01 -2.45190430e-02 5.21509339e+01] [ 3.91002320e-01 9.20327230e-01 -1.07226573e-02 1.13717871e+01] [ 2.67597020e-02 2.77848424e-04 9.99641856e-01 1.18534678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58804094199999 meters Centerline goodness [0,1] 0.9996947030987635 Centerline is valid? [True, True] Translation: X:52.18, Y:11.38, Z:1.18 [[ 9.19981496e-01 -3.91154978e-01 -2.51362204e-02 5.21767486e+01] [ 3.91000379e-01 9.20324779e-01 -1.10002523e-02 1.13823361e+01] [ 2.74362899e-02 2.91756865e-04 9.99623512e-01 1.18480995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61804094199999 meters Centerline goodness [0,1] 0.9998253160687381 Centerline is valid? [True, True] Translation: X:52.20, Y:11.39, Z:1.19 [[ 9.19655580e-01 -3.91847082e-01 -2.62579368e-02 5.22047592e+01] [ 3.91678543e-01 9.20030316e-01 -1.14950853e-02 1.13873101e+01] [ 2.86624135e-02 2.86848886e-04 9.99589107e-01 1.18564270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648040941999994 meters Centerline goodness [0,1] 0.9996950023964097 Centerline is valid? [True, True] Translation: X:52.23, Y:11.40, Z:1.19 [[ 9.19394234e-01 -3.92428940e-01 -2.67164793e-02 5.22317618e+01] [ 3.92254446e-01 9.19782283e-01 -1.17047548e-02 1.13963285e+01] [ 2.91666288e-02 2.81626275e-04 9.99574524e-01 1.18617144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.678040941999996 meters Centerline goodness [0,1] 0.9997602232103933 Centerline is valid? [True, True] Translation: X:52.26, Y:11.40, Z:1.19 [[ 9.18895763e-01 -3.93554537e-01 -2.73020729e-02 5.22591414e+01] [ 3.93372529e-01 9.19301234e-01 -1.19705475e-02 1.14032582e+01] [ 2.98098926e-02 2.59799895e-04 9.99555553e-01 1.18573185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708040942 meters Centerline goodness [0,1] 0.9998474114441417 Centerline is valid? [True, True] Translation: X:52.28, Y:11.41, Z:1.19 [[ 9.18867389e-01 -3.93619774e-01 -2.73165604e-02 5.22845988e+01] [ 3.93437367e-01 9.19273302e-01 -1.19848048e-02 1.14125220e+01] [ 2.98288408e-02 2.65090695e-04 9.99554986e-01 1.18561709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.738040942 meters Centerline goodness [0,1] 0.9996954071753367 Centerline is valid? [True, True] Translation: X:52.31, Y:11.42, Z:1.19 [[ 9.18590084e-01 -3.94223438e-01 -2.79309471e-02 5.23112564e+01] [ 3.94032847e-01 9.19014589e-01 -1.22596697e-02 1.14209796e+01] [ 3.05019970e-02 2.55900460e-04 9.99534673e-01 1.18624007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.34, Y:11.43, Z:1.19 [[ 9.17876262e-01 -3.95836887e-01 -2.85714159e-02 5.23395520e+01] [ 3.95637934e-01 9.18320811e-01 -1.25504165e-02 1.14256913e+01] [ 3.12056437e-02 2.15793422e-04 9.99512962e-01 1.18665179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79804094199999 meters Centerline goodness [0,1] 0.9998247074806083 Centerline is valid? [True, True] Translation: X:52.37, Y:11.43, Z:1.19 [[ 9.17517354e-01 -3.96672024e-01 -2.85168353e-02 5.23667317e+01] [ 3.96473987e-01 9.17960384e-01 -1.25343794e-02 1.14340027e+01] [ 3.11493628e-02 1.94327234e-04 9.99514722e-01 1.18694423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828040941999994 meters Centerline goodness [0,1] 0.9998902907295667 Centerline is valid? [True, True] Translation: X:52.39, Y:11.44, Z:1.19 [[ 9.17083629e-01 -3.97647508e-01 -2.88804022e-02 5.23926628e+01] [ 3.97444764e-01 9.17538246e-01 -1.26975332e-02 1.14423611e+01] [ 3.15480160e-02 1.66335187e-04 9.99502224e-01 1.18713498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.858040941999995 meters Centerline goodness [0,1] 0.9999781133727292 Centerline is valid? [True, True] Translation: X:52.42, Y:11.45, Z:1.19 [[ 9.16740844e-01 -3.98408418e-01 -2.92738289e-02 5.24195727e+01] [ 3.98200314e-01 9.17208106e-01 -1.28763037e-02 1.14507298e+01] [ 3.19802210e-02 1.47385678e-04 9.99488491e-01 1.18855226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.45, Y:11.46, Z:1.19 [[ 9.16369446e-01 -3.99173024e-01 -3.04620344e-02 5.24464815e+01] [ 3.98947805e-01 9.16875607e-01 -1.34078087e-02 1.14577694e+01] [ 3.32819319e-02 1.33744450e-04 9.99445994e-01 1.18762803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.918040942 meters Centerline goodness [0,1] 0.9999779380942926 Centerline is valid? [True, True] Translation: X:52.47, Y:11.47, Z:1.19 [[ 9.16149752e-01 -3.99631355e-01 -3.10549774e-02 5.24732109e+01] [ 3.99397318e-01 9.16675932e-01 -1.36754399e-02 1.14672184e+01] [ 3.39324850e-02 1.25476209e-04 9.99424120e-01 1.18799822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94804094199999 meters Centerline goodness [0,1] 0.9997788002123518 Centerline is valid? [True, True] Translation: X:52.50, Y:11.47, Z:1.19 [[ 9.16072059e-01 -3.99902563e-01 -2.98315812e-02 5.25007973e+01] [ 3.99686502e-01 9.16557650e-01 -1.31443664e-02 1.14738223e+01] [ 3.25988298e-02 1.17906478e-04 9.99468510e-01 1.18869868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97804094199999 meters Centerline goodness [0,1] 0.9999557482963094 Centerline is valid? [True, True] Translation: X:52.53, Y:11.48, Z:1.19 [[ 9.15878245e-01 -4.00390815e-01 -2.92272999e-02 5.25270742e+01] [ 4.00183517e-01 9.16344468e-01 -1.28828574e-02 1.14826776e+01] [ 3.19404524e-02 1.02845135e-04 9.99489768e-01 1.18963442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008040941999994 meters Centerline goodness [0,1] 0.9998668737519414 Centerline is valid? [True, True] Translation: X:52.55, Y:11.49, Z:1.19 [[ 9.15623194e-01 -4.01019501e-01 -2.85924067e-02 5.25537849e+01] [ 4.00821132e-01 9.16069513e-01 -1.26122025e-02 1.14915169e+01] [ 3.12503712e-02 8.75843232e-05 9.99511584e-01 1.19075534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.038040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.58, Y:11.50, Z:1.19 [[ 9.15414752e-01 -4.01572880e-01 -2.74782347e-02 5.25815025e+01] [ 4.01389693e-01 9.15827067e-01 -1.21283852e-02 1.14984507e+01] [ 3.00357417e-02 7.30225463e-05 9.99548823e-01 1.19209982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.61, Y:11.51, Z:1.19 [[ 9.15368479e-01 -4.01718567e-01 -2.68838182e-02 5.26071928e+01] [ 4.01543168e-01 9.15763172e-01 -1.18699857e-02 1.15075063e+01] [ 2.93876043e-02 7.03972517e-05 9.99568089e-01 1.19261898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.63, Y:11.52, Z:1.19 [[ 9.15882966e-01 -4.00667100e-01 -2.49853457e-02 5.26323683e+01] [ 4.00515103e-01 9.16223698e-01 -1.10357253e-02 1.15193262e+01] [ 2.73138179e-02 1.00424489e-04 9.99626903e-01 1.19445099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12804094199999 meters Centerline goodness [0,1] 0.999955551604587 Centerline is valid? [True, True] Translation: X:52.66, Y:11.53, Z:1.20 [[ 9.16263591e-01 -3.99859631e-01 -2.39438466e-02 5.26575208e+01] [ 3.99719573e-01 9.16576379e-01 -1.05831934e-02 1.15319874e+01] [ 2.61781560e-02 1.26170661e-04 9.99657285e-01 1.19518851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:11.54, Z:1.20 [[ 9.16788959e-01 -3.98664557e-01 -2.37607970e-02 5.26829747e+01] [ 3.98526033e-01 9.17096801e-01 -1.05098990e-02 1.15448709e+01] [ 2.59808752e-02 1.66063236e-04 9.99662426e-01 1.19563492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.71, Y:11.56, Z:1.20 [[ 9.17402965e-01 -3.97242657e-01 -2.38761437e-02 5.27081706e+01] [ 3.97102124e-01 9.17713586e-01 -1.05677646e-02 1.15583778e+01] [ 2.61094284e-02 2.13631221e-04 9.99659068e-01 1.19599439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.218040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.73, Y:11.57, Z:1.20 [[ 9.18268076e-01 -3.95215252e-01 -2.42620163e-02 5.27328882e+01] [ 3.95069240e-01 9.18588496e-01 -1.07457166e-02 1.15732827e+01] [ 2.65336802e-02 2.82272162e-04 9.99647880e-01 1.19508947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.76, Y:11.59, Z:1.20 [[ 9.18599940e-01 -3.94425032e-01 -2.45569446e-02 5.27583819e+01] [ 3.94274984e-01 9.18928068e-01 -1.08831181e-02 1.15856715e+01] [ 2.68586399e-02 3.15042724e-04 9.99639192e-01 1.19537522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.78, Y:11.60, Z:1.20 [[ 9.18825961e-01 -3.93868079e-01 -2.50357908e-02 5.27847997e+01] [ 3.93711791e-01 9.19166916e-01 -1.10998117e-02 1.15977228e+01] [ 2.73839321e-02 3.41909127e-04 9.99624931e-01 1.19611061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308040942 meters Centerline goodness [0,1] 0.9999113141032747 Centerline is valid? [True, True] Translation: X:52.81, Y:11.61, Z:1.20 [[ 9.18553103e-01 -3.94479985e-01 -2.54113777e-02 5.28095067e+01] [ 3.94318990e-01 9.18904472e-01 -1.12741317e-02 1.16100979e+01] [ 2.77980479e-02 3.35699906e-04 9.99613503e-01 1.19621425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.83, Y:11.62, Z:1.20 [[ 9.18092040e-01 -3.95551163e-01 -2.54221024e-02 5.28339492e+01] [ 3.95390228e-01 9.18443891e-01 -1.12865783e-02 1.16232086e+01] [ 2.78131938e-02 3.10466893e-04 9.99613090e-01 1.19578509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.86, Y:11.63, Z:1.20 [[ 9.16833839e-01 -3.98453305e-01 -2.55083597e-02 5.28600732e+01] [ 3.98292322e-01 9.17188592e-01 -1.13275504e-02 1.16339764e+01] [ 2.79094764e-02 2.25697680e-04 9.99610429e-01 1.19613033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.398040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.89, Y:11.64, Z:1.20 [[ 9.15900734e-01 -4.00604986e-01 -2.53276540e-02 5.28870406e+01] [ 4.00447006e-01 9.16250849e-01 -1.12506055e-02 1.16437689e+01] [ 2.77135332e-02 1.62054625e-04 9.99615893e-01 1.19763987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.91, Y:11.65, Z:1.20 [[ 9.14900565e-01 -4.02895497e-01 -2.51430674e-02 5.29132352e+01] [ 4.02740493e-01 9.15245983e-01 -1.11752665e-02 1.16543996e+01] [ 2.75145559e-02 9.81262816e-05 9.99621398e-01 1.19856909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.94, Y:11.66, Z:1.20 [[ 9.13725038e-01 -4.05588720e-01 -2.45834458e-02 5.29392139e+01] [ 4.05441425e-01 9.14055682e-01 -1.09298405e-02 1.16640504e+01] [ 2.69036583e-02 1.97216024e-05 9.99638031e-01 1.20042907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.97, Y:11.67, Z:1.20 [[ 9.11653787e-01 -4.10313282e-01 -2.30300504e-02 5.29654275e+01] [ 4.10185347e-01 9.11944625e-01 -1.02460588e-02 1.16729763e+01] [ 2.52062247e-02 -1.05730903e-04 9.99682267e-01 1.20261262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.99, Y:11.68, Z:1.20 [[ 9.10537832e-01 -4.12814487e-01 -2.24734543e-02 5.29921421e+01] [ 4.12693361e-01 9.10815113e-01 -1.00009447e-02 1.16840662e+01] [ 2.45976967e-02 -1.68406931e-04 9.99697417e-01 1.20375469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.02, Y:11.69, Z:1.20 [[ 9.08749130e-01 -4.16753941e-01 -2.21623817e-02 5.30191579e+01] [ 4.16637161e-01 9.09019297e-01 -9.86882139e-03 1.16944280e+01] [ 2.42589028e-02 -2.65388927e-04 9.99705674e-01 1.20427523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.578040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.05, Y:11.70, Z:1.21 [[ 9.08091567e-01 -4.18190602e-01 -2.20527838e-02 5.30462712e+01] [ 4.18075246e-01 9.08359253e-01 -9.82632411e-03 1.17049824e+01] [ 2.41411266e-02 -2.96520934e-04 9.99708517e-01 1.20535193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.07, Y:11.72, Z:1.21 [[ 9.07601361e-01 -4.19238446e-01 -2.23359484e-02 5.30721142e+01] [ 4.19120272e-01 9.07876105e-01 -9.95874617e-03 1.17166411e+01] [ 2.44533630e-02 -3.22877166e-04 9.99700920e-01 1.20641732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.638040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.10, Y:11.72, Z:1.21 [[ 9.06901238e-01 -4.20717554e-01 -2.29539397e-02 5.30987983e+01] [ 4.20593159e-01 9.07191602e-01 -1.02368118e-02 1.17244571e+01] [ 2.51304277e-02 -3.70492689e-04 9.99684112e-01 1.20691361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.12, Y:11.74, Z:1.21 [[ 9.06771021e-01 -4.20996028e-01 -2.29925866e-02 5.31248781e+01] [ 4.20871232e-01 9.07062403e-01 -1.02568871e-02 1.17359281e+01] [ 2.51738196e-02 -3.76270285e-04 9.99683018e-01 1.20752637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.15, Y:11.75, Z:1.21 [[ 9.06899817e-01 -4.20678763e-01 -2.37086400e-02 5.31499014e+01] [ 4.20545771e-01 9.07209590e-01 -1.05836985e-02 1.17470777e+01] [ 2.59610428e-02 -3.72214073e-04 9.99662886e-01 1.20775094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.18, Y:11.76, Z:1.21 [[ 9.06876543e-01 -4.20693081e-01 -2.43365414e-02 5.31754968e+01] [ 4.20552848e-01 9.07202948e-01 -1.08680369e-02 1.17587581e+01] [ 2.66502900e-02 -3.78834041e-04 9.99644746e-01 1.20802246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.758040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.20, Y:11.77, Z:1.21 [[ 9.06897555e-01 -4.20627098e-01 -2.46914895e-02 5.32008583e+01] [ 4.20482502e-01 9.07233544e-01 -1.10345440e-02 1.17709202e+01] [ 2.70423758e-02 -3.75138366e-04 9.99634218e-01 1.20877884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.23, Y:11.78, Z:1.21 [[ 9.07537118e-01 -4.19224978e-01 -2.50359396e-02 5.32269268e+01] [ 4.19075576e-01 9.07882321e-01 -1.11961293e-02 1.17804745e+01] [ 2.74233840e-02 -3.31047866e-04 9.99623853e-01 1.21002063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.818040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.25, Y:11.79, Z:1.21 [[ 9.07669873e-01 -4.18929346e-01 -2.51715092e-02 5.32521656e+01] [ 4.18778082e-01 9.08018778e-01 -1.12613152e-02 1.17917471e+01] [ 2.75738985e-02 -3.19719857e-04 9.99619717e-01 1.21171847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.28, Y:11.80, Z:1.21 [[ 9.08670045e-01 -4.16754627e-01 -2.51859271e-02 5.32788348e+01] [ 4.16602127e-01 9.09018988e-01 -1.12759712e-02 1.18032186e+01] [ 2.75937992e-02 -2.46373534e-04 9.99619188e-01 1.21415247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.30, Y:11.82, Z:1.22 [[ 9.08975904e-01 -4.16089056e-01 -2.51535784e-02 5.33046712e+01] [ 4.15936488e-01 9.09323842e-01 -1.12689491e-02 1.18153635e+01] [ 2.75616349e-02 -2.19087818e-04 9.99620082e-01 1.21544197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90804094199999 meters Centerline goodness [0,1] 0.9998663131391903 Centerline is valid? [True, True] Translation: X:53.33, Y:11.83, Z:1.22 [[ 9.09251243e-01 -4.15506542e-01 -2.48292325e-02 5.33295103e+01] [ 4.15357444e-01 9.09590170e-01 -1.11317872e-02 1.18273983e+01] [ 2.72097562e-02 -1.91415167e-04 9.99629728e-01 1.21680928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93804094199999 meters Centerline goodness [0,1] 0.9999777347315922 Centerline is valid? [True, True] Translation: X:53.36, Y:11.84, Z:1.22 [[ 9.09559031e-01 -4.14850442e-01 -2.45250957e-02 5.33550361e+01] [ 4.14704518e-01 9.09889600e-01 -1.10035738e-02 1.18393716e+01] [ 2.68799669e-02 -1.62268066e-04 9.99638655e-01 1.21834511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.38, Y:11.85, Z:1.22 [[ 9.10123632e-01 -4.13683004e-01 -2.32668483e-02 5.33810013e+01] [ 4.13551101e-01 9.10420979e-01 -1.04463999e-02 1.18513870e+01] [ 2.55041249e-02 -1.14515290e-04 9.99674710e-01 1.22033511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.998040941999996 meters Centerline goodness [0,1] 0.9999777307649482 Centerline is valid? [True, True] Translation: X:53.41, Y:11.86, Z:1.22 [[ 9.10344254e-01 -4.13221324e-01 -2.28358589e-02 5.34065227e+01] [ 4.13093952e-01 9.10630621e-01 -1.02595430e-02 1.18625636e+01] [ 2.50344943e-02 -9.36392157e-05 9.99686584e-01 1.22217856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.43, Y:11.87, Z:1.22 [[ 9.10528756e-01 -4.12820115e-01 -2.27362374e-02 5.34315425e+01] [ 4.12693540e-01 9.10812575e-01 -1.02223112e-02 1.18733424e+01] [ 2.49284266e-02 -7.53899515e-05 9.99689236e-01 1.22341737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.46, Y:11.88, Z:1.22 [[ 9.10659188e-01 -4.12468341e-01 -2.38686129e-02 5.34573783e+01] [ 4.12328562e-01 9.10971933e-01 -1.07374828e-02 1.18834385e+01] [ 2.61725081e-02 -6.35234909e-05 9.99657439e-01 1.22445784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08804094199999 meters Centerline goodness [0,1] 0.999977711904072 Centerline is valid? [True, True] Translation: X:53.48, Y:11.89, Z:1.22 [[ 9.10596181e-01 -4.12556632e-01 -2.47309536e-02 5.34828913e+01] [ 4.12406367e-01 9.10931952e-01 -1.11340508e-02 1.18941953e+01] [ 2.71216423e-02 -6.05785963e-05 9.99632139e-01 1.22484050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11804094199999 meters Centerline goodness [0,1] 0.9999553750725155 Centerline is valid? [True, True] Translation: X:53.51, Y:11.90, Z:1.22 [[ 9.10903993e-01 -4.11777586e-01 -2.63274565e-02 5.35082131e+01] [ 4.11606728e-01 9.11284379e-01 -1.18609895e-02 1.19047569e+01] [ 2.88758895e-02 -3.23355350e-05 9.99583004e-01 1.22455213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148040941999994 meters Centerline goodness [0,1] 0.9999332918260251 Centerline is valid? [True, True] Translation: X:53.53, Y:11.92, Z:1.22 [[ 9.11064292e-01 -4.11401879e-01 -2.66523836e-02 5.35329115e+01] [ 4.11226526e-01 9.11454055e-01 -1.20104098e-02 1.19157401e+01] [ 2.92335283e-02 -1.79116432e-05 9.99572609e-01 1.22437259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.178040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.56, Y:11.93, Z:1.22 [[ 9.11203855e-01 -4.11002153e-01 -2.80136488e-02 5.35590938e+01] [ 4.10808080e-01 9.11634373e-01 -1.26289926e-02 1.19277808e+01] [ 3.07287483e-02 -6.46546936e-07 9.99527761e-01 1.22456086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208040942 meters Centerline goodness [0,1] 0.9999552822806037 Centerline is valid? [True, True] Translation: X:53.58, Y:11.94, Z:1.22 [[ 9.11239111e-01 -4.10905723e-01 -2.82802019e-02 5.35849059e+01] [ 4.10707627e-01 9.11677842e-01 -1.27576599e-02 1.19394001e+01] [ 3.10246289e-02 1.03840083e-05 9.99518620e-01 1.22486125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.238040942 meters Centerline goodness [0,1] 0.9999552822806037 Centerline is valid? [True, True] Translation: X:53.61, Y:11.95, Z:1.23 [[ 9.11126389e-01 -4.11155847e-01 -2.82766984e-02 5.36100061e+01] [ 4.10957632e-01 9.11565066e-01 -1.27654211e-02 1.19508364e+01] [ 3.10246280e-02 1.03870665e-05 9.99518620e-01 1.22549917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.64, Y:11.96, Z:1.23 [[ 9.11916506e-01 -4.09290402e-01 -2.98270494e-02 5.36351398e+01] [ 4.09068580e-01 9.12404165e-01 -1.34735796e-02 1.19623426e+01] [ 3.27289309e-02 8.54709221e-05 9.99464261e-01 1.22558927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29804094199999 meters Centerline goodness [0,1] 0.9998883006054107 Centerline is valid? [True, True] Translation: X:53.66, Y:11.97, Z:1.23 [[ 9.12348272e-01 -4.08326542e-01 -2.98339604e-02 5.36603518e+01] [ 4.08103938e-01 9.12835922e-01 -1.34816860e-02 1.19741589e+01] [ 3.27384409e-02 1.24636249e-04 9.99463946e-01 1.22631980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328040941999994 meters Centerline goodness [0,1] 0.9997760558964482 Centerline is valid? [True, True] Translation: X:53.69, Y:11.99, Z:1.23 [[ 9.12919450e-01 -4.06979305e-01 -3.07558442e-02 5.36851718e+01] [ 4.06741691e-01 9.13437360e-01 -1.39063293e-02 1.19857786e+01] [ 3.37531254e-02 1.85674474e-04 9.99430184e-01 1.22771847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.358040941999995 meters Centerline goodness [0,1] 0.9999327414581652 Centerline is valid? [True, True] Translation: X:53.71, Y:12.00, Z:1.23 [[ 9.13010945e-01 -4.06736298e-01 -3.12505690e-02 5.37113555e+01] [ 4.06490660e-01 9.13545589e-01 -1.41350640e-02 1.19982320e+01] [ 3.42980631e-02 2.02403736e-04 9.99411628e-01 1.22913243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.74, Y:12.01, Z:1.23 [[ 9.13537622e-01 -4.05557652e-01 -3.11769882e-02 5.37354363e+01] [ 4.05312243e-01 9.14069432e-01 -1.41088120e-02 1.20119438e+01] [ 3.42198686e-02 2.52515571e-04 9.99414297e-01 1.22899585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:12.02, Z:1.23 [[ 9.13616978e-01 -4.05353802e-01 -3.15009993e-02 5.37618585e+01] [ 4.05102968e-01 9.14159846e-01 -1.42605043e-02 1.20238299e+01] [ 3.45774983e-02 2.67490506e-04 9.99401984e-01 1.23090436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44804094199999 meters Centerline goodness [0,1] 0.9999110775181735 Centerline is valid? [True, True] Translation: X:53.79, Y:12.04, Z:1.23 [[ 9.13399287e-01 -4.05857301e-01 -3.13303898e-02 5.37874149e+01] [ 4.05609155e-01 9.13936423e-01 -1.41925365e-02 1.20353886e+01] [ 3.43941289e-02 2.55559761e-04 9.99408314e-01 1.23226070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.81, Y:12.05, Z:1.23 [[ 9.13292441e-01 -4.06090796e-01 -3.14194686e-02 5.38123151e+01] [ 4.05841015e-01 9.13832698e-01 -1.42432715e-02 1.20474632e+01] [ 3.44961992e-02 2.56963196e-04 9.99404796e-01 1.23255022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508040941999994 meters Centerline goodness [0,1] 0.9999112511370948 Centerline is valid? [True, True] Translation: X:53.84, Y:12.06, Z:1.23 [[ 9.12674414e-01 -4.07478063e-01 -3.14172154e-02 5.38373936e+01] [ 4.07228778e-01 9.13214970e-01 -1.42527375e-02 1.20590440e+01] [ 3.44983493e-02 2.14114666e-04 9.99404732e-01 1.23447903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.538040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.86, Y:12.07, Z:1.23 [[ 9.12151199e-01 -4.08639628e-01 -3.15252998e-02 5.38618564e+01] [ 4.08388978e-01 9.12695800e-01 -1.43115281e-02 1.20707099e+01] [ 3.46212662e-02 1.79692577e-04 9.99400488e-01 1.23400048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568040941999996 meters Centerline goodness [0,1] 0.9998891647455223 Centerline is valid? [True, True] Translation: X:53.89, Y:12.08, Z:1.24 [[ 9.11651340e-01 -4.09715531e-01 -3.20158947e-02 5.38878905e+01] [ 4.09457376e-01 9.12213331e-01 -1.45429088e-02 1.20816297e+01] [ 3.51637815e-02 1.48918046e-04 9.99381552e-01 1.23565622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.598040942 meters Centerline goodness [0,1] 0.9998891524597069 Centerline is valid? [True, True] Translation: X:53.92, Y:12.09, Z:1.24 [[ 9.10189896e-01 -4.12850478e-01 -3.32991887e-02 5.39152767e+01] [ 4.12572898e-01 9.10798815e-01 -1.51367928e-02 1.20921350e+01] [ 3.65780937e-02 3.90130822e-05 9.99330797e-01 1.23726246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62804094199999 meters Centerline goodness [0,1] 0.9998223367163384 Centerline is valid? [True, True] Translation: X:53.94, Y:12.10, Z:1.24 [[ 9.09362502e-01 -4.14584424e-01 -3.43452366e-02 5.39425246e+01] [ 4.14289967e-01 9.10010854e-01 -1.56226864e-02 1.21031149e+01] [ 3.77314605e-02 -2.22017381e-05 9.99287915e-01 1.23826519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65804094199999 meters Centerline goodness [0,1] 0.9999555674042477 Centerline is valid? [True, True] Translation: X:53.97, Y:12.11, Z:1.24 [[ 9.07567888e-01 -4.18373161e-01 -3.58388956e-02 5.39681568e+01] [ 4.18055107e-01 9.08275215e-01 -1.63113838e-02 1.21127848e+01] [ 3.93758258e-02 -1.78945219e-04 9.99224455e-01 1.23861263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68804094199999 meters Centerline goodness [0,1] 0.9999778063828842 Centerline is valid? [True, True] Translation: X:53.99, Y:12.12, Z:1.24 [[ 9.06563299e-01 -4.20476375e-01 -3.66415373e-02 5.39942501e+01] [ 4.20145367e-01 9.07303447e-01 -1.66831021e-02 1.21240425e+01] [ 4.02598434e-02 -2.70484069e-04 9.99189207e-01 1.23869977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.718040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.02, Y:12.14, Z:1.24 [[ 9.05582760e-01 -4.22578961e-01 -3.66999500e-02 5.40202041e+01] [ 4.22248420e-01 9.06326041e-01 -1.67146513e-02 1.21353809e+01] [ 4.03253803e-02 -3.59995877e-04 9.99186536e-01 1.23977830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748040941999996 meters Centerline goodness [0,1] 0.9997780589031671 Centerline is valid? [True, True] Translation: X:54.05, Y:12.14, Z:1.24 [[ 9.03638159e-01 -4.26638650e-01 -3.76502208e-02 5.40473301e+01] [ 4.26293980e-01 9.04422004e-01 -1.71546186e-02 1.21449001e+01] [ 4.13705114e-02 -5.48494541e-04 9.99143723e-01 1.24115361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.778040942 meters Centerline goodness [0,1] 0.999845005867635 Centerline is valid? [True, True] Translation: X:54.07, Y:12.16, Z:1.24 [[ 9.02669416e-01 -4.28697137e-01 -3.75058738e-02 5.40742082e+01] [ 4.28356425e-01 9.03448043e-01 -1.70998857e-02 1.21553556e+01] [ 4.12152803e-02 -6.30338139e-04 9.99150090e-01 1.24237730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.808040942 meters Centerline goodness [0,1] 0.9999114809241392 Centerline is valid? [True, True] Translation: X:54.10, Y:12.17, Z:1.24 [[ 9.01725805e-01 -4.30682375e-01 -3.74601717e-02 5.41009361e+01] [ 4.30343747e-01 9.02503290e-01 -1.70901116e-02 1.21661518e+01] [ 4.11683380e-02 -7.10156022e-04 9.99151972e-01 1.24380909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83804094199999 meters Centerline goodness [0,1] 0.9999557561277763 Centerline is valid? [True, True] Translation: X:54.13, Y:12.18, Z:1.25 [[ 8.99936838e-01 -4.34440503e-01 -3.70828444e-02 5.41277241e+01] [ 4.34111398e-01 9.00700119e-01 -1.69289602e-02 1.21767946e+01] [ 4.07551483e-02 -8.63090532e-04 9.99168791e-01 1.24624145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86804094199999 meters Centerline goodness [0,1] 0.9999557492753944 Centerline is valid? [True, True] Translation: X:54.15, Y:12.19, Z:1.25 [[ 8.99233544e-01 -4.35910317e-01 -3.68948298e-02 5.41541171e+01] [ 4.35585330e-01 8.99989643e-01 -1.68541469e-02 1.21884743e+01] [ 4.05518613e-02 -9.15032311e-04 9.99177016e-01 1.24748187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.898040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:12.20, Z:1.25 [[ 8.98448375e-01 -4.37542876e-01 -3.66980893e-02 5.41806250e+01] [ 4.37222265e-01 8.99197022e-01 -1.67751868e-02 1.22007110e+01] [ 4.03386761e-02 -9.73582375e-04 9.99185590e-01 1.24864161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928040941999996 meters Centerline goodness [0,1] 0.9999778736585906 Centerline is valid? [True, True] Translation: X:54.21, Y:12.21, Z:1.25 [[ 8.98283238e-01 -4.37890168e-01 -3.65981579e-02 5.42061198e+01] [ 4.37571272e-01 8.99027942e-01 -1.67373950e-02 1.22119632e+01] [ 4.02319073e-02 -9.79381118e-04 9.99189889e-01 1.24913891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.23, Y:12.22, Z:1.25 [[ 8.98241588e-01 -4.37921704e-01 -3.72374861e-02 5.42316480e+01] [ 4.37591276e-01 8.99012569e-01 -1.70375007e-02 1.22243516e+01] [ 4.09380594e-02 -9.91007347e-04 9.99161195e-01 1.25015515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.988040942 meters Centerline goodness [0,1] 0.9999559897896312 Centerline is valid? [True, True] Translation: X:54.26, Y:12.23, Z:1.25 [[ 8.98322393e-01 -4.37739081e-01 -3.74349480e-02 5.42571919e+01] [ 4.37404457e-01 8.99101520e-01 -1.71405209e-02 1.22348554e+01] [ 4.11608945e-02 -9.76499310e-04 9.99152054e-01 1.24990456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.28, Y:12.25, Z:1.25 [[ 8.99054458e-01 -4.36168414e-01 -3.81863421e-02 5.42829599e+01] [ 4.35818291e-01 8.99864592e-01 -1.74966835e-02 1.22479437e+01] [ 4.19940379e-02 -9.11835051e-04 9.99117445e-01 1.25139231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.31, Y:12.26, Z:1.25 [[ 8.99685706e-01 -4.34841765e-01 -3.84482728e-02 5.43090040e+01] [ 4.34485143e-01 9.00506482e-01 -1.76277239e-02 1.22613579e+01] [ 4.22881895e-02 -8.45792116e-04 9.99105096e-01 1.25254493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.078040941999994 meters Centerline goodness [0,1] 0.9998458896569944 Centerline is valid? [True, True] Translation: X:54.33, Y:12.28, Z:1.25 [[ 9.01465684e-01 -4.31150653e-01 -3.83240640e-02 5.43325781e+01] [ 4.30792646e-01 9.02279710e-01 -1.75790131e-02 1.22780168e+01] [ 4.21582284e-02 -6.62847834e-04 9.99110727e-01 1.25345069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.36, Y:12.29, Z:1.25 [[ 9.02287872e-01 -4.29453978e-01 -3.80246721e-02 5.43580030e+01] [ 4.29099725e-01 9.03088563e-01 -1.74491598e-02 1.22925510e+01] [ 4.18332576e-02 -5.72211066e-04 9.99124442e-01 1.25378108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.138040941999996 meters Centerline goodness [0,1] 0.9999562066171801 Centerline is valid? [True, True] Translation: X:54.38, Y:12.31, Z:1.26 [[ 9.03320103e-01 -4.27280819e-01 -3.79985923e-02 5.43832841e+01] [ 4.26924676e-01 9.04118846e-01 -1.74479937e-02 1.23074453e+01] [ 4.18104364e-02 -4.61413244e-04 9.99125455e-01 1.25569479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.168040942 meters Centerline goodness [0,1] 0.9999780965940204 Centerline is valid? [True, True] Translation: X:54.41, Y:12.32, Z:1.26 [[ 9.05359559e-01 -4.23012543e-01 -3.72083115e-02 5.44070794e+01] [ 4.22667011e-01 9.06123792e-01 -1.70959437e-02 1.23243155e+01] [ 4.09471349e-02 -2.48749783e-04 9.99161283e-01 1.25877274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19804094199999 meters Centerline goodness [0,1] 0.9999781740402034 Centerline is valid? [True, True] Translation: X:54.43, Y:12.34, Z:1.26 [[ 9.06252186e-01 -4.21113286e-01 -3.70212978e-02 5.44315639e+01] [ 4.20769305e-01 9.07008036e-01 -1.70180748e-02 1.23377925e+01] [ 4.07451520e-02 -1.54758331e-04 9.99169560e-01 1.25772015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22804094199999 meters Centerline goodness [0,1] 0.9999345492625884 Centerline is valid? [True, True] Translation: X:54.46, Y:12.35, Z:1.26 [[ 9.07733879e-01 -4.17962442e-01 -3.64225492e-02 5.44557537e+01] [ 4.17626692e-01 9.08464307e-01 -1.67495834e-02 1.23548277e+01] [ 4.00892827e-02 -6.86439970e-06 9.99196102e-01 1.26006221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.258040941999994 meters Centerline goodness [0,1] 0.9999342782658225 Centerline is valid? [True, True] Translation: X:54.48, Y:12.37, Z:1.26 [[ 9.08111989e-01 -4.17160681e-01 -3.61881529e-02 5.44799099e+01] [ 4.16828151e-01 9.08832749e-01 -1.66531663e-02 1.23686323e+01] [ 3.98360247e-02 3.86991005e-05 9.99206230e-01 1.26147103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288040941999995 meters Centerline goodness [0,1] 0.99967205946655 Centerline is valid? [True, True] Translation: X:54.50, Y:12.38, Z:1.26 [[ 9.08535751e-01 -4.16283413e-01 -3.56498009e-02 5.45045303e+01] [ 4.15959554e-01 9.09234905e-01 -1.64175800e-02 1.23831886e+01] [ 3.92484096e-02 8.70830328e-05 9.99229481e-01 1.26230125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.318040941999996 meters Centerline goodness [0,1] 0.9997373374775642 Centerline is valid? [True, True] Translation: X:54.53, Y:12.40, Z:1.26 [[ 9.08403907e-01 -4.16562504e-01 -3.57494400e-02 5.45295712e+01] [ 4.16236564e-01 9.09107074e-01 -1.64757427e-02 1.23954411e+01] [ 3.93632455e-02 8.64049405e-05 9.99224963e-01 1.26306834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.348040942 meters Centerline goodness [0,1] 0.9996724819319199 Centerline is valid? [True, True] Translation: X:54.56, Y:12.41, Z:1.26 [[ 9.08127997e-01 -4.17154309e-01 -3.58583801e-02 5.45551356e+01] [ 4.16826355e-01 9.08835671e-01 -1.65382144e-02 1.24076708e+01] [ 3.94883623e-02 7.20977232e-05 9.99220028e-01 1.26376228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.58, Y:12.42, Z:1.26 [[ 9.07534946e-01 -4.18410288e-01 -3.62374543e-02 5.45800939e+01] [ 4.18075864e-01 9.08258130e-01 -1.67254981e-02 1.24209947e+01] [ 3.99110830e-02 2.89690097e-05 9.99203235e-01 1.26464446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40804094199999 meters Centerline goodness [0,1] 0.9998465585269618 Centerline is valid? [True, True] Translation: X:54.61, Y:12.43, Z:1.26 [[ 9.07227715e-01 -4.19101935e-01 -3.59366221e-02 5.46051831e+01] [ 4.18773238e-01 9.07939188e-01 -1.65953783e-02 1.24338994e+01] [ 3.95834227e-02 6.49150279e-06 9.99216269e-01 1.26469365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43804094199999 meters Centerline goodness [0,1] 0.9996510816468946 Centerline is valid? [True, True] Translation: X:54.63, Y:12.45, Z:1.27 [[ 9.06472500e-01 -4.20857946e-01 -3.44411949e-02 5.46300640e+01] [ 4.20557079e-01 9.07126554e-01 -1.59109134e-02 1.24482622e+01] [ 3.79387568e-02 -6.16828992e-05 9.99280064e-01 1.26586682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468040941999995 meters Centerline goodness [0,1] 0.9997604164397883 Centerline is valid? [True, True] Translation: X:54.66, Y:12.46, Z:1.27 [[ 9.06058384e-01 -4.21806453e-01 -3.37271514e-02 5.46550288e+01] [ 4.21518205e-01 9.06685893e-01 -1.55914818e-02 1.24610271e+01] [ 3.71565200e-02 -8.98155213e-05 9.99309454e-01 1.26705474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.498040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.68, Y:12.47, Z:1.27 [[ 9.05558526e-01 -4.22925055e-01 -3.31383972e-02 5.46798968e+01] [ 4.22647232e-01 9.06164655e-01 -1.53276143e-02 1.24732460e+01] [ 3.65112763e-02 -1.25800039e-04 9.99333233e-01 1.26747700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.71, Y:12.49, Z:1.27 [[ 9.04830805e-01 -4.24512897e-01 -3.27110636e-02 5.47054841e+01] [ 4.24243012e-01 9.05421872e-01 -1.51360564e-02 1.24857138e+01] [ 3.60427636e-02 -1.81870008e-04 9.99350232e-01 1.26843203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.558040942 meters Centerline goodness [0,1] 0.9998044456032853 Centerline is valid? [True, True] Translation: X:54.73, Y:12.50, Z:1.27 [[ 9.03619189e-01 -4.27129632e-01 -3.21346911e-02 5.47315921e+01] [ 4.26870467e-01 9.04190358e-01 -1.48795637e-02 1.24983177e+01] [ 3.54113804e-02 -2.71891290e-04 9.99372783e-01 1.27005246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58804094199999 meters Centerline goodness [0,1] 0.9999346832135859 Centerline is valid? [True, True] Translation: X:54.76, Y:12.51, Z:1.27 [[ 9.02850744e-01 -4.28828383e-01 -3.10926347e-02 5.47566542e+01] [ 4.28586443e-01 9.03385918e-01 -1.44064100e-02 1.25102679e+01] [ 3.42665259e-02 -3.19043694e-04 9.99412679e-01 1.27120951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.78, Y:12.52, Z:1.27 [[ 9.01470808e-01 -4.31806180e-01 -2.98965859e-02 5.47825510e+01] [ 4.31583825e-01 9.01966328e-01 -1.38616116e-02 1.25233559e+01] [ 3.29512434e-02 -4.07044747e-04 9.99456877e-01 1.27207699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.81, Y:12.54, Z:1.27 [[ 9.00705038e-01 -4.33444672e-01 -2.92600705e-02 5.48079247e+01] [ 4.33232329e-01 9.01180067e-01 -1.35733429e-02 1.25360912e+01] [ 3.22518854e-02 -4.50830128e-04 9.99479671e-01 1.27280087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.678040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.83, Y:12.55, Z:1.27 [[ 9.00259896e-01 -4.34403276e-01 -2.87387190e-02 5.48332541e+01] [ 4.34198830e-01 9.00718363e-01 -1.33344312e-02 1.25486631e+01] [ 3.16780125e-02 -4.73864493e-04 9.99498013e-01 1.27328135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.86, Y:12.56, Z:1.27 [[ 8.99271125e-01 -4.36479823e-01 -2.82277948e-02 5.48583040e+01] [ 4.36283473e-01 8.99713888e-01 -1.31015833e-02 1.25634805e+01] [ 3.11155157e-02 -5.33444811e-04 9.99515653e-01 1.27348965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:12.58, Z:1.27 [[ 8.98903298e-01 -4.37215631e-01 -2.85543887e-02 5.48844566e+01] [ 4.37014818e-01 8.99356537e-01 -1.32615339e-02 1.25768777e+01] [ 3.14787261e-02 -5.57854462e-04 9.99504266e-01 1.27368986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76804094199999 meters Centerline goodness [0,1] 0.9999783807155983 Centerline is valid? [True, True] Translation: X:54.91, Y:12.59, Z:1.27 [[ 8.98567916e-01 -4.37922691e-01 -2.82739778e-02 5.49081782e+01] [ 4.37725888e-01 8.99012454e-01 -1.31397824e-02 1.25917665e+01] [ 3.11728670e-02 -5.69265152e-04 9.99513846e-01 1.27367522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:12.61, Z:1.27 [[ 8.98398387e-01 -4.38297171e-01 -2.78554838e-02 5.49325345e+01] [ 4.38106046e-01 8.98829945e-01 -1.29546299e-02 1.26059928e+01] [ 3.07153206e-02 -5.65237225e-04 9.99528013e-01 1.27419899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828040941999994 meters Centerline goodness [0,1] 0.9999784087228759 Centerline is valid? [True, True] Translation: X:54.96, Y:12.62, Z:1.27 [[ 8.98244240e-01 -4.38688140e-01 -2.66458353e-02 5.49572162e+01] [ 4.38513169e-01 8.98639204e-01 -1.24008896e-02 1.26200391e+01] [ 2.93851154e-02 -5.45522020e-04 9.99568015e-01 1.27477711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.858040941999995 meters Centerline goodness [0,1] 0.9999569688885064 Centerline is valid? [True, True] Translation: X:54.98, Y:12.63, Z:1.27 [[ 8.98356496e-01 -4.38513249e-01 -2.57242561e-02 5.49808661e+01] [ 4.38349891e-01 8.98724577e-01 -1.19794522e-02 1.26345104e+01] [ 2.83721697e-02 -5.14406089e-04 9.99597297e-01 1.27499281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.01, Y:12.65, Z:1.28 [[ 8.98321109e-01 -4.38619160e-01 -2.51479000e-02 5.50058172e+01] [ 4.38462984e-01 8.98672899e-01 -1.17146160e-02 1.26475206e+01] [ 2.77379912e-02 -5.02936404e-04 9.99615101e-01 1.27574469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.03, Y:12.66, Z:1.28 [[ 8.98638779e-01 -4.38078478e-01 -2.31428457e-02 5.50296202e+01] [ 4.37945865e-01 8.98936623e-01 -1.07873454e-02 1.26614340e+01] [ 2.55296554e-02 -4.41386726e-04 9.99673968e-01 1.27690563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.05, Y:12.68, Z:1.28 [[ 8.98710961e-01 -4.37968048e-01 -2.24186625e-02 5.50541273e+01] [ 4.37843508e-01 8.98990440e-01 -1.04523862e-02 1.26763067e+01] [ 2.47319744e-02 -4.22191741e-04 9.99694029e-01 1.27796236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.08, Y:12.69, Z:1.28 [[ 8.99479332e-01 -4.36438720e-01 -2.14050009e-02 5.50778908e+01] [ 4.36324591e-01 8.99733914e-01 -9.98676440e-03 1.26934214e+01] [ 2.36174159e-02 -3.56640082e-04 9.99721006e-01 1.27857174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:12.71, Z:1.28 [[ 8.99785177e-01 -4.35830469e-01 -2.09388887e-02 5.51024764e+01] [ 4.35720946e-01 9.00028719e-01 -9.77562534e-03 1.27071811e+01] [ 2.31061166e-02 -3.27549613e-04 9.99732964e-01 1.27901119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.038040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.13, Y:12.72, Z:1.28 [[ 9.00267628e-01 -4.34855508e-01 -2.04666703e-02 5.51274677e+01] [ 4.34750542e-01 9.00500195e-01 -9.55848034e-03 1.27197963e+01] [ 2.25867984e-02 -2.92705579e-04 9.99744843e-01 1.27945195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:12.73, Z:1.28 [[ 9.00510001e-01 -4.34375432e-01 -1.99930634e-02 5.51516264e+01] [ 4.34275109e-01 9.00731875e-01 -9.33913883e-03 1.27341687e+01] [ 2.20650819e-02 -2.72501871e-04 9.99756499e-01 1.27998308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.18, Y:12.75, Z:1.28 [[ 9.01526286e-01 -4.32283278e-01 -1.95325998e-02 5.51766961e+01] [ 4.32186890e-01 9.01737835e-01 -9.13067754e-03 1.27492913e+01] [ 2.15603235e-02 -2.10187734e-04 9.99767527e-01 1.27973508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.20, Y:12.76, Z:1.28 [[ 9.01402758e-01 -4.32540904e-01 -1.95303426e-02 5.52016335e+01] [ 4.32444471e-01 9.01614287e-01 -9.13550299e-03 1.27610452e+01] [ 2.15603146e-02 -2.11021079e-04 9.99767527e-01 1.28037329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.23, Y:12.78, Z:1.28 [[ 9.02713073e-01 -4.29801484e-01 -1.94882633e-02 5.52259662e+01] [ 4.29704674e-01 9.02923399e-01 -9.12296188e-03 1.27752578e+01] [ 2.15174715e-02 -1.38780898e-04 9.99768463e-01 1.28119279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.25, Y:12.79, Z:1.28 [[ 9.03165616e-01 -4.28876973e-01 -1.88788744e-02 5.52504935e+01] [ 4.28785890e-01 9.03362900e-01 -8.83915354e-03 1.27888416e+01] [ 2.08453841e-02 -1.11775413e-04 9.99782705e-01 1.28192405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.218040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.27, Y:12.80, Z:1.28 [[ 9.03730594e-01 -4.27711266e-01 -1.82780472e-02 5.52749791e+01] [ 4.27625528e-01 9.03915409e-01 -8.56387593e-03 1.28027002e+01] [ 2.01846747e-02 -7.67229140e-05 9.99796266e-01 1.28265519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.30, Y:12.82, Z:1.28 [[ 9.04204688e-01 -4.26727256e-01 -1.78249868e-02 5.52990384e+01] [ 4.26645398e-01 9.04380366e-01 -8.35810722e-03 1.28161973e+01] [ 1.96872003e-02 -4.75088597e-05 9.99806187e-01 1.28333996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:12.83, Z:1.28 [[ 9.05235481e-01 -4.24572083e-01 -1.69490418e-02 5.53223758e+01] [ 4.24497651e-01 9.05394139e-01 -7.94973225e-03 1.28299632e+01] [ 1.87207975e-02 1.55128621e-06 9.99824751e-01 1.28430868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.35, Y:12.84, Z:1.28 [[ 9.05630199e-01 -4.23724014e-01 -1.70851412e-02 5.53476418e+01] [ 4.23648196e-01 9.05791345e-01 -8.01534721e-03 1.28423891e+01] [ 1.88718681e-02 2.08512326e-05 9.99821910e-01 1.28476379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.37, Y:12.85, Z:1.28 [[ 9.05957290e-01 -4.22992729e-01 -1.78476903e-02 5.53723148e+01] [ 4.22909715e-01 9.06133075e-01 -8.37996965e-03 1.28537686e+01] [ 1.97170487e-02 4.39329948e-05 9.99805599e-01 1.28467674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.40, Y:12.87, Z:1.29 [[ 9.05867169e-01 -4.23181650e-01 -1.79433203e-02 5.53981166e+01] [ 4.23097740e-01 9.06044860e-01 -8.42691964e-03 1.28660058e+01] [ 1.98235709e-02 4.18915734e-05 9.99803493e-01 1.28532027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.398040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.42, Y:12.88, Z:1.29 [[ 9.05600748e-01 -4.23754113e-01 -1.78811945e-02 5.54236695e+01] [ 4.23670779e-01 9.05777263e-01 -8.40355878e-03 1.28780996e+01] [ 1.97574220e-02 3.45295065e-05 9.99804802e-01 1.28512472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:12.89, Z:1.29 [[ 9.05087944e-01 -4.24918999e-01 -1.61138869e-02 5.54489810e+01] [ 4.24851406e-01 9.05231376e-01 -7.57879479e-03 1.28890850e+01] [ 1.78071699e-02 1.34682792e-05 9.99841440e-01 1.28586882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:12.90, Z:1.29 [[ 9.04829151e-01 -4.25486587e-01 -1.56643202e-02 5.54737068e+01] [ 4.25422755e-01 9.04964731e-01 -7.36989321e-03 1.28990880e+01] [ 1.73114480e-02 4.53597512e-06 9.99850146e-01 1.28790248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.50, Y:12.91, Z:1.29 [[ 9.04464642e-01 -4.26290415e-01 -1.48389163e-02 5.55008201e+01] [ 4.26233202e-01 9.04586360e-01 -6.98390201e-03 1.29075651e+01] [ 1.64002517e-02 -8.14635691e-06 9.99865507e-01 1.28998544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.53, Y:12.92, Z:1.29 [[ 9.04332895e-01 -4.26558183e-01 -1.51700967e-02 5.55255781e+01] [ 4.26498403e-01 9.04460124e-01 -7.14111419e-03 1.29176465e+01] [ 1.67668483e-02 -1.20775677e-05 9.99859426e-01 1.29018050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:12.93, Z:1.29 [[ 9.04109993e-01 -4.27036232e-01 -1.50058975e-02 5.55503978e+01] [ 4.26977771e-01 9.04234514e-01 -7.06588529e-03 1.29278102e+01] [ 1.65862395e-02 -1.88471845e-05 9.99862439e-01 1.29000899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.578040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.58, Y:12.94, Z:1.29 [[ 9.03968216e-01 -4.27318789e-01 -1.54957197e-02 5.55764777e+01] [ 4.27256471e-01 9.04101019e-01 -7.29766711e-03 1.29376819e+01] [ 1.71281262e-02 -2.37873731e-05 9.99853303e-01 1.28830307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:12.95, Z:1.29 [[ 9.03907172e-01 -4.27431403e-01 -1.59443043e-02 5.56016909e+01] [ 4.27365326e-01 9.04047784e-01 -7.51549148e-03 1.29478104e+01] [ 1.76267700e-02 -2.07361587e-05 9.99844636e-01 1.28853408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.638040941999996 meters Centerline goodness [0,1] 0.9998483535528596 Centerline is valid? [True, True] Translation: X:55.63, Y:12.96, Z:1.29 [[ 9.04014724e-01 -4.27209212e-01 -1.58008545e-02 5.56284668e+01] [ 4.27144263e-01 9.04152802e-01 -7.44917473e-03 1.29560924e+01] [ 1.74687430e-02 -1.50807134e-05 9.99847410e-01 1.28906879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.668040942 meters Centerline goodness [0,1] 0.9998267685844828 Centerline is valid? [True, True] Translation: X:55.65, Y:12.97, Z:1.29 [[ 9.04115089e-01 -4.27000820e-01 -1.56909371e-02 5.56536044e+01] [ 4.26936631e-01 9.04251237e-01 -7.40361001e-03 1.29663975e+01] [ 1.73498968e-02 -5.32029108e-06 9.99849479e-01 1.29051773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.68, Y:12.98, Z:1.29 [[ 9.03974775e-01 -4.27327657e-01 -1.48553100e-02 5.56797805e+01] [ 4.27270154e-01 9.04096828e-01 -7.01010600e-03 1.29770186e+01] [ 1.64262509e-02 -1.02716211e-05 9.99865080e-01 1.29080661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72804094199999 meters Centerline goodness [0,1] 0.9997408878908274 Centerline is valid? [True, True] Translation: X:55.71, Y:12.99, Z:1.29 [[ 9.04332386e-01 -4.26565011e-01 -1.50075642e-02 5.57060112e+01] [ 4.26506112e-01 9.04456904e-01 -7.08840744e-03 1.29855899e+01] [ 1.65973617e-02 9.45855463e-06 9.99862254e-01 1.29198104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.758040941999994 meters Centerline goodness [0,1] 0.9997831555208604 Centerline is valid? [True, True] Translation: X:55.73, Y:12.99, Z:1.29 [[ 9.04655582e-01 -4.25871531e-01 -1.52222226e-02 5.57327642e+01] [ 4.25810816e-01 9.04783642e-01 -7.19101928e-03 1.29942762e+01] [ 1.68352684e-02 2.36087220e-05 9.99858277e-01 1.29202359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788040941999995 meters Centerline goodness [0,1] 0.9998481495943425 Centerline is valid? [True, True] Translation: X:55.76, Y:13.00, Z:1.29 [[ 9.04723728e-01 -4.25716431e-01 -1.55079663e-02 5.57578946e+01] [ 4.25653288e-01 9.04856629e-01 -7.33204754e-03 1.30041887e+01] [ 1.71538592e-02 3.24605544e-05 9.99852861e-01 1.29355725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.818040941999996 meters Centerline goodness [0,1] 0.9998048780487805 Centerline is valid? [True, True] Translation: X:55.78, Y:13.01, Z:1.29 [[ 9.04721591e-01 -4.25726340e-01 -1.53598821e-02 5.57846502e+01] [ 4.25664349e-01 9.04851967e-01 -7.26496509e-03 1.30141556e+01] [ 1.69913065e-02 3.46165529e-05 9.99855637e-01 1.29353047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.848040942 meters Centerline goodness [0,1] 0.9996956852516031 Centerline is valid? [True, True] Translation: X:55.81, Y:13.02, Z:1.29 [[ 9.05015598e-01 -4.25091142e-01 -1.56297122e-02 5.58121261e+01] [ 4.25026765e-01 9.05150550e-01 -7.39798131e-03 1.30219300e+01] [ 1.72920589e-02 5.22424709e-05 9.99850480e-01 1.29468181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87804094199999 meters Centerline goodness [0,1] 0.9995215519116176 Centerline is valid? [True, True] Translation: X:55.84, Y:13.03, Z:1.30 [[ 9.05123453e-01 -4.24850534e-01 -1.59235338e-02 5.58368419e+01] [ 4.24783560e-01 9.05263508e-01 -7.54367325e-03 1.30328201e+01] [ 1.76199277e-02 6.39001888e-05 9.99844755e-01 1.29720330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90804094199999 meters Centerline goodness [0,1] 0.9997386759581881 Centerline is valid? [True, True] Translation: X:55.86, Y:13.04, Z:1.30 [[ 9.05613680e-01 -4.23793285e-01 -1.62208006e-02 5.58644407e+01] [ 4.23723590e-01 9.05758933e-01 -7.68606590e-03 1.30412588e+01] [ 1.79494382e-02 8.74705508e-05 9.99838892e-01 1.29573912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93804094199999 meters Centerline goodness [0,1] 0.9997609059490947 Centerline is valid? [True, True] Translation: X:55.89, Y:13.05, Z:1.30 [[ 9.05709268e-01 -4.23583508e-01 -1.63625982e-02 5.58902651e+01] [ 4.23512452e-01 9.05857054e-01 -7.75891566e-03 1.30522317e+01] [ 1.81087237e-02 9.75577406e-05 9.99836019e-01 1.29579005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968040941999995 meters Centerline goodness [0,1] 0.9996960816237924 Centerline is valid? [True, True] Translation: X:55.92, Y:13.06, Z:1.30 [[ 9.05834307e-01 -4.23311767e-01 -1.64728906e-02 5.59152428e+01] [ 4.23239592e-01 9.05984070e-01 -7.81741465e-03 1.30633840e+01] [ 1.82333801e-02 1.09302895e-04 9.99833752e-01 1.29698425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.998040941999996 meters Centerline goodness [0,1] 0.9999345621114626 Centerline is valid? [True, True] Translation: X:55.94, Y:13.07, Z:1.30 [[ 9.05763133e-01 -4.23417785e-01 -1.76217724e-02 5.59440474e+01] [ 4.23335129e-01 9.05934526e-01 -8.36681120e-03 1.30693640e+01] [ 1.95068287e-02 1.18433843e-04 9.99809717e-01 1.29679975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028040942 meters Centerline goodness [0,1] 0.9999344720632563 Centerline is valid? [True, True] Translation: X:55.97, Y:13.08, Z:1.30 [[ 9.05348205e-01 -4.24282049e-01 -1.81485828e-02 5.59706419e+01] [ 4.24194433e-01 9.05530083e-01 -8.62276470e-03 1.30781948e+01] [ 2.00925720e-02 1.08076727e-04 9.99798118e-01 1.29727117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.058040942 meters Centerline goodness [0,1] 0.99980323567993 Centerline is valid? [True, True] Translation: X:56.00, Y:13.09, Z:1.30 [[ 9.04910083e-01 -4.25201411e-01 -1.84797662e-02 5.59972923e+01] [ 4.25110626e-01 9.05098752e-01 -8.78660757e-03 1.30874801e+01] [ 2.04620913e-02 9.51447939e-05 9.99790625e-01 1.29793023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08804094199999 meters Centerline goodness [0,1] 0.9998461606083249 Centerline is valid? [True, True] Translation: X:56.03, Y:13.09, Z:1.30 [[ 9.04121904e-01 -4.26842710e-01 -1.92063691e-02 5.60251672e+01] [ 4.26744861e-01 9.04325880e-01 -9.13929454e-03 1.30945428e+01] [ 2.12698579e-02 6.68170463e-05 9.99773769e-01 1.29871912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11804094199999 meters Centerline goodness [0,1] 0.9997137194450562 Centerline is valid? [True, True] Translation: X:56.05, Y:13.10, Z:1.30 [[ 9.03598800e-01 -4.27910111e-01 -2.00535775e-02 5.60516704e+01] [ 4.27803630e-01 9.03821296e-01 -9.54564061e-03 1.31042060e+01] [ 2.22095265e-02 4.64361392e-05 9.99753337e-01 1.29945227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148040941999994 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:56.08, Y:13.11, Z:1.30 [[ 9.02537690e-01 -4.30098762e-01 -2.09945899e-02 5.60795155e+01] [ 4.29982472e-01 9.02781842e-01 -1.00009456e-02 1.31108531e+01] [ 2.32549289e-02 -1.07530214e-06 9.99729568e-01 1.29958570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.178040941999996 meters Centerline goodness [0,1] 0.9999116354076921 Centerline is valid? [True, True] Translation: X:56.11, Y:13.12, Z:1.30 [[ 9.01915127e-01 -4.31392950e-01 -2.11949524e-02 5.61063408e+01] [ 4.31274617e-01 9.02164132e-01 -1.01036163e-02 1.31201513e+01] [ 2.34799546e-02 -2.82406356e-05 9.99724307e-01 1.30005757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208040942 meters Centerline goodness [0,1] 0.9999778619025481 Centerline is valid? [True, True] Translation: X:56.13, Y:13.13, Z:1.30 [[ 9.01184660e-01 -4.32899689e-01 -2.15422253e-02 5.61330954e+01] [ 4.32777696e-01 9.01442097e-01 -1.02766902e-02 1.31294408e+01] [ 2.38678448e-02 -6.17990753e-05 9.99715121e-01 1.30041061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.16, Y:13.13, Z:1.30 [[ 8.99626563e-01 -4.36125611e-01 -2.15985708e-02 5.61616422e+01] [ 4.36003731e-01 8.99885788e-01 -1.03109058e-02 1.31348957e+01] [ 2.39330970e-02 -1.41092757e-04 9.99713552e-01 1.30167195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.19, Y:13.14, Z:1.30 [[ 8.98958007e-01 -4.37480672e-01 -2.20264234e-02 5.61887102e+01] [ 4.37354235e-01 8.99227797e-01 -1.05186757e-02 1.31440183e+01] [ 2.44084895e-02 -1.77501777e-04 9.99702053e-01 1.30213093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:13.15, Z:1.30 [[ 8.98132494e-01 -4.39161865e-01 -2.22459148e-02 5.62158956e+01] [ 4.39033346e-01 8.98407929e-01 -1.06261222e-02 1.31538118e+01] [ 2.46524939e-02 -2.23032786e-04 9.99696056e-01 1.30247739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:13.16, Z:1.30 [[ 8.96985599e-01 -4.41408345e-01 -2.39897588e-02 5.62435014e+01] [ 4.41259493e-01 8.97306293e-01 -1.14663497e-02 1.31599609e+01] [ 2.65875040e-02 -3.00558254e-04 9.99646445e-01 1.30273654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.358040941999995 meters Centerline goodness [0,1] 0.9999776890296959 Centerline is valid? [True, True] Translation: X:56.27, Y:13.17, Z:1.30 [[ 8.96650045e-01 -4.42068363e-01 -2.43774498e-02 5.62694825e+01] [ 4.41914809e-01 8.96981304e-01 -1.16551605e-02 1.31698484e+01] [ 2.70184944e-02 -3.22155849e-04 9.99634882e-01 1.30303710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.30, Y:13.18, Z:1.30 [[ 8.96341068e-01 -4.42664696e-01 -2.49129843e-02 5.62957157e+01] [ 4.42504307e-01 8.96687154e-01 -1.19200305e-02 1.31797962e+01] [ 2.76157297e-02 -3.39689995e-04 9.99618555e-01 1.30348331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.32, Y:13.19, Z:1.30 [[ 8.96107263e-01 -4.43129112e-01 -2.50671816e-02 5.63233213e+01] [ 4.42966697e-01 8.96457734e-01 -1.20015402e-02 1.31871777e+01] [ 2.77899007e-02 -3.49259279e-04 9.99613725e-01 1.30438440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.35, Y:13.20, Z:1.31 [[ 8.96205116e-01 -4.42942561e-01 -2.48651973e-02 5.63493927e+01] [ 4.42782584e-01 8.96549928e-01 -1.19083882e-02 1.31984351e+01] [ 2.75676229e-02 -3.37517861e-04 9.99619884e-01 1.30594499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.37, Y:13.21, Z:1.31 [[ 8.97088372e-01 -4.41186368e-01 -2.42289142e-02 5.63742920e+01] [ 4.41033635e-01 8.97415464e-01 -1.16110752e-02 1.32105150e+01] [ 2.68660504e-02 -2.69605561e-04 9.99639006e-01 1.30722444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508040941999994 meters Centerline goodness [0,1] 0.9999325842696629 Centerline is valid? [True, True] Translation: X:56.40, Y:13.22, Z:1.31 [[ 8.97418505e-01 -4.40490812e-01 -2.46550545e-02 5.63998699e+01] [ 4.40332270e-01 8.97757084e-01 -1.18198959e-02 1.32226836e+01] [ 2.73408054e-02 -2.49022764e-04 9.99626139e-01 1.30840343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.538040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.43, Y:13.23, Z:1.31 [[ 8.97772867e-01 -4.39755835e-01 -2.48733884e-02 5.64258474e+01] [ 4.39593951e-01 8.98117340e-01 -1.19332335e-02 1.32344865e+01] [ 2.75869305e-02 -2.20857875e-04 9.99619384e-01 1.30941866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568040941999996 meters Centerline goodness [0,1] 0.99995497523638 Centerline is valid? [True, True] Translation: X:56.45, Y:13.25, Z:1.31 [[ 8.98785840e-01 -4.37650446e-01 -2.54185294e-02 5.64512446e+01] [ 4.37480321e-01 8.99145185e-01 -1.22026791e-02 1.32456599e+01] [ 2.81954563e-02 -1.52511192e-04 9.99602417e-01 1.31095203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:13.26, Z:1.31 [[ 8.99094817e-01 -4.37020489e-01 -2.53298861e-02 5.64754182e+01] [ 4.36851217e-01 8.99451542e-01 -1.21630091e-02 1.32569255e+01] [ 2.80984893e-02 -1.29693067e-04 9.99605151e-01 1.31090560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.50, Y:13.27, Z:1.31 [[ 8.99116835e-01 -4.37011937e-01 -2.46877190e-02 5.65002622e+01] [ 4.36851020e-01 8.99455697e-01 -1.18589580e-02 1.32699789e+01] [ 2.73880158e-02 -1.22266450e-04 9.99624870e-01 1.31130742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.53, Y:13.28, Z:1.31 [[ 8.98984174e-01 -4.37297890e-01 -2.44542387e-02 5.65257286e+01] [ 4.37139884e-01 8.99316707e-01 -1.17550616e-02 1.32829639e+01] [ 2.71325691e-02 -1.22308684e-04 9.99631837e-01 1.31175875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.55, Y:13.29, Z:1.31 [[ 8.98733089e-01 -4.37824756e-01 -2.42552694e-02 5.65500269e+01] [ 4.37669296e-01 8.99060324e-01 -1.16670921e-02 1.32944694e+01] [ 2.69150921e-02 -1.30184977e-04 9.99637715e-01 1.31187597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.718040941999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.58, Y:13.30, Z:1.31 [[ 8.97985232e-01 -4.39383143e-01 -2.37692381e-02 5.65761648e+01] [ 4.39234291e-01 8.98299741e-01 -1.14373415e-02 1.33045452e+01] [ 2.63772755e-02 -1.69700726e-04 9.99652045e-01 1.31418124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748040941999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.60, Y:13.32, Z:1.32 [[ 8.97596102e-01 -4.40181108e-01 -2.37029605e-02 5.66017098e+01] [ 4.40033153e-01 8.97908992e-01 -1.14134505e-02 1.33156172e+01] [ 2.63070867e-02 -1.85419769e-04 9.99653892e-01 1.31549989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.63, Y:13.33, Z:1.32 [[ 8.97084610e-01 -4.41168602e-01 -2.46873718e-02 5.66273060e+01] [ 4.41008261e-01 8.97424213e-01 -1.18952074e-02 1.33277869e+01] [ 2.74028372e-02 -2.16327434e-04 9.99624448e-01 1.31572581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.65, Y:13.34, Z:1.32 [[ 8.96875981e-01 -4.41571369e-01 -2.50639574e-02 5.66524385e+01] [ 4.41406154e-01 8.97226100e-01 -1.20802916e-02 1.33408832e+01] [ 2.78223476e-02 -2.28861621e-04 9.99612857e-01 1.31601441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.68, Y:13.36, Z:1.32 [[ 8.96690287e-01 -4.41921964e-01 -2.55246260e-02 5.66767338e+01] [ 4.41750511e-01 8.97053467e-01 -1.23111494e-02 1.33557443e+01] [ 2.83375216e-02 -2.36228487e-04 9.99598384e-01 1.31505521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.70, Y:13.37, Z:1.31 [[ 8.96697458e-01 -4.41871297e-01 -2.61424021e-02 5.67001413e+01] [ 4.41691187e-01 8.97078426e-01 -1.26171719e-02 1.33689432e+01] [ 2.90269510e-02 -2.33082640e-04 9.99578602e-01 1.31478105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.898040941999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.72, Y:13.38, Z:1.31 [[ 8.96513053e-01 -4.42216243e-01 -2.66296796e-02 5.67244595e+01] [ 4.42029357e-01 8.96908432e-01 -1.28574013e-02 1.33825823e+01] [ 2.95701358e-02 -2.44272021e-04 9.99562678e-01 1.31486326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928040941999996 meters Centerline goodness [0,1] 0.9999552202046437 Centerline is valid? [True, True] Translation: X:56.75, Y:13.39, Z:1.32 [[ 8.96413585e-01 -4.42420823e-01 -2.65800787e-02 5.67479979e+01] [ 4.42234492e-01 8.96807536e-01 -1.28412575e-02 1.33949201e+01] [ 2.95184546e-02 -2.43549930e-04 9.99564206e-01 1.31542471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.958040942 meters Centerline goodness [0,1] 0.9998425905104565 Centerline is valid? [True, True] Translation: X:56.77, Y:13.41, Z:1.32 [[ 8.95491244e-01 -4.44286480e-01 -2.65509859e-02 5.67729023e+01] [ 4.44101261e-01 8.95884721e-01 -1.28311013e-02 1.34072363e+01] [ 2.94873074e-02 -3.01187451e-04 9.99565109e-01 1.31554138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.988040942 meters Centerline goodness [0,1] 0.9998878471131847 Centerline is valid? [True, True] Translation: X:56.80, Y:13.42, Z:1.32 [[ 8.94787056e-01 -4.45719276e-01 -2.62764399e-02 5.67990676e+01] [ 4.45538346e-01 8.95172727e-01 -1.27032044e-02 1.34201847e+01] [ 2.91840154e-02 -3.40498651e-04 9.99573998e-01 1.31718448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.018040942 meters Centerline goodness [0,1] 0.9997756388683224 Centerline is valid? [True, True] Translation: X:56.83, Y:13.43, Z:1.32 [[ 8.93384959e-01 -4.48535877e-01 -2.60553563e-02 5.68254206e+01] [ 4.48358980e-01 8.93764728e-01 -1.26030286e-02 1.34306876e+01] [ 2.89402689e-02 -4.22796737e-04 9.99581053e-01 1.31929977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.048040942 meters Centerline goodness [0,1] 0.9997756388683224 Centerline is valid? [True, True] Translation: X:56.85, Y:13.44, Z:1.32 [[ 8.93261869e-01 -4.48781053e-01 -2.60538026e-02 5.68502199e+01] [ 4.48604167e-01 8.93641642e-01 -1.26062397e-02 1.34427882e+01] [ 2.89402044e-02 -4.27171149e-04 9.99581053e-01 1.31993957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.078040942 meters Centerline goodness [0,1] 0.9998435544430538 Centerline is valid? [True, True] Translation: X:56.88, Y:13.45, Z:1.32 [[ 8.92575334e-01 -4.50168270e-01 -2.56476533e-02 5.68761359e+01] [ 4.49997190e-01 8.92943626e-01 -1.24181001e-02 1.34547494e+01] [ 2.84921432e-02 -4.57282135e-04 9.99593912e-01 1.32131092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108040942 meters Centerline goodness [0,1] 0.9998208086011872 Centerline is valid? [True, True] Translation: X:56.90, Y:13.47, Z:1.32 [[ 8.91853356e-01 -4.51621789e-01 -2.52061735e-02 5.69022296e+01] [ 4.51456922e-01 8.92209348e-01 -1.22117043e-02 1.34674136e+01] [ 2.80042554e-02 -4.88452092e-04 9.99607685e-01 1.32207158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.138040942 meters Centerline goodness [0,1] 0.9997988736926791 Centerline is valid? [True, True] Translation: X:56.93, Y:13.48, Z:1.32 [[ 8.91210650e-01 -4.52887192e-01 -2.52342627e-02 5.69280393e+01] [ 4.52722256e-01 8.91567675e-01 -1.22327474e-02 1.34813639e+01] [ 2.80381075e-02 -5.22157597e-04 9.99606719e-01 1.32169159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.95, Y:13.49, Z:1.32 [[ 8.91094818e-01 -4.53091955e-01 -2.56457794e-02 5.69535523e+01] [ 4.52921471e-01 8.91463627e-01 -1.24395594e-02 1.34905153e+01] [ 2.84985438e-02 -5.30697247e-04 9.99593693e-01 1.32112214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.198040942 meters Centerline goodness [0,1] 0.9999776516336656 Centerline is valid? [True, True] Translation: X:56.98, Y:13.51, Z:1.32 [[ 8.91394334e-01 -4.52486079e-01 -2.59323911e-02 5.69771299e+01] [ 4.52311324e-01 8.91771320e-01 -1.25849078e-02 1.35070510e+01] [ 2.88202582e-02 -5.11398676e-04 9.99584479e-01 1.32348109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.00, Y:13.52, Z:1.32 [[ 8.91425695e-01 -4.52452327e-01 -2.54385863e-02 5.70022422e+01] [ 4.52283938e-01 8.91788454e-01 -1.23527970e-02 1.35201425e+01] [ 2.82748893e-02 -4.93863339e-04 9.99600063e-01 1.32465299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25804094200001 meters Centerline goodness [0,1] 0.999955222209784 Centerline is valid? [True, True] Translation: X:57.03, Y:13.53, Z:1.33 [[ 8.91677121e-01 -4.51980626e-01 -2.50085137e-02 5.70267427e+01] [ 4.51817496e-01 8.92027633e-01 -1.21512175e-02 1.35328460e+01] [ 2.78004002e-02 -4.64321425e-04 9.99613386e-01 1.32584789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288040942 meters Centerline goodness [0,1] 0.9999775437335788 Centerline is valid? [True, True] Translation: X:57.05, Y:13.55, Z:1.33 [[ 8.92032768e-01 -4.51321944e-01 -2.42083605e-02 5.70517213e+01] [ 4.51168763e-01 8.92361093e-01 -1.17654672e-02 1.35472147e+01] [ 2.69126126e-02 -4.26873752e-04 9.99637699e-01 1.32763135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.318040942 meters Centerline goodness [0,1] 0.9998657688091456 Centerline is valid? [True, True] Translation: X:57.08, Y:13.56, Z:1.33 [[ 8.92116712e-01 -4.51157248e-01 -2.41849213e-02 5.70752416e+01] [ 4.51004112e-01 8.92444377e-01 -1.17611772e-02 1.35622456e+01] [ 2.68898374e-02 -4.15156263e-04 9.99638317e-01 1.32858362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348040942 meters Centerline goodness [0,1] 0.9998660385362478 Centerline is valid? [True, True] Translation: X:57.10, Y:13.57, Z:1.33 [[ 8.92369707e-01 -4.50655205e-01 -2.42114268e-02 5.70999966e+01] [ 4.50501342e-01 8.92698007e-01 -1.17817466e-02 1.35749029e+01] [ 2.69229979e-02 -3.93606537e-04 9.99637433e-01 1.32847697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.12, Y:13.59, Z:1.33 [[ 8.92198834e-01 -4.51004349e-01 -2.40066177e-02 5.71246402e+01] [ 4.50853115e-01 8.92521663e-01 -1.16854275e-02 1.35891458e+01] [ 2.66966049e-02 -3.97733593e-04 9.99643503e-01 1.32991843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.408040942 meters Centerline goodness [0,1] 0.9998657748148811 Centerline is valid? [True, True] Translation: X:57.15, Y:13.60, Z:1.33 [[ 8.92074343e-01 -4.51262551e-01 -2.37797665e-02 5.71495948e+01] [ 4.51114044e-01 8.92391144e-01 -1.15829561e-02 1.36007020e+01] [ 2.64478074e-02 -3.94528645e-04 9.99650118e-01 1.33111604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.438040942 meters Centerline goodness [0,1] 0.9999776136109245 Centerline is valid? [True, True] Translation: X:57.17, Y:13.61, Z:1.33 [[ 8.91555780e-01 -4.52305815e-01 -2.34038724e-02 5.71748192e+01] [ 4.52162191e-01 8.91862813e-01 -1.14050289e-02 1.36128894e+01] [ 2.60316044e-02 -4.14126753e-04 9.99661035e-01 1.33192674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.468040942 meters Centerline goodness [0,1] 0.9998877917414721 Centerline is valid? [True, True] Translation: X:57.20, Y:13.62, Z:1.33 [[ 8.91134813e-01 -4.53150743e-01 -2.30900275e-02 5.72004781e+01] [ 4.53011167e-01 8.91433799e-01 -1.12545255e-02 1.36245844e+01] [ 2.56832276e-02 -4.30740865e-04 9.99670039e-01 1.33266702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.23, Y:13.64, Z:1.33 [[ 8.90341418e-01 -4.54719671e-01 -2.28512759e-02 5.72266460e+01] [ 4.54583413e-01 8.90634493e-01 -1.11409156e-02 1.36372941e+01] [ 2.54181280e-02 -4.68592436e-04 9.99676797e-01 1.33395137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.25, Y:13.65, Z:1.33 [[ 8.89770642e-01 -4.55818510e-01 -2.31881626e-02 5.72529440e+01] [ 4.55678397e-01 8.90072601e-01 -1.13120970e-02 1.36496258e+01] [ 2.57954113e-02 -5.01172972e-04 9.99667117e-01 1.33486070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.28, Y:13.66, Z:1.33 [[ 8.89395228e-01 -4.56560574e-01 -2.29906768e-02 5.72791497e+01] [ 4.56422914e-01 8.89692183e-01 -1.12224601e-02 1.36626771e+01] [ 2.55783582e-02 -5.12269187e-04 9.99672689e-01 1.33491206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.30, Y:13.68, Z:1.34 [[ 8.89132106e-01 -4.57041550e-01 -2.36033923e-02 5.73036920e+01] [ 4.56896433e-01 8.89445185e-01 -1.15287638e-02 1.36765926e+01] [ 2.62630477e-02 -5.33711735e-04 9.99654924e-01 1.33521102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:13.69, Z:1.34 [[ 8.88853368e-01 -4.57542350e-01 -2.43862298e-02 5.73303465e+01] [ 4.57387420e-01 8.89187655e-01 -1.19190189e-02 1.36865922e+01] [ 2.71373904e-02 -5.59694584e-04 9.99631557e-01 1.33509892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:13.70, Z:1.34 [[ 8.88572228e-01 -4.58087180e-01 -2.44035131e-02 5.73565670e+01] [ 4.57932147e-01 8.88907085e-01 -1.19307354e-02 1.36993613e+01] [ 2.71577726e-02 -5.73833069e-04 9.99630995e-01 1.33550619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.38, Y:13.71, Z:1.34 [[ 8.88451121e-01 -4.58318212e-01 -2.44749340e-02 5.73809887e+01] [ 4.58162161e-01 8.88787986e-01 -1.19728975e-02 1.37137639e+01] [ 2.72404243e-02 -5.76154438e-04 9.99628745e-01 1.33625686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.41, Y:13.73, Z:1.34 [[ 8.88878615e-01 -4.57510792e-01 -2.40558355e-02 5.74070219e+01] [ 4.57359530e-01 8.89203907e-01 -1.17758898e-02 1.37267737e+01] [ 2.67781396e-02 -5.34828957e-04 9.99641258e-01 1.33710459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.43, Y:13.74, Z:1.34 [[ 8.89720479e-01 -4.55857718e-01 -2.43148112e-02 5.74327743e+01] [ 4.55702364e-01 8.90052531e-01 -1.19099879e-02 1.37405415e+01] [ 2.70707192e-02 -4.83756868e-04 9.99633404e-01 1.33794357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:13.75, Z:1.34 [[ 8.90079674e-01 -4.55162394e-01 -2.41944164e-02 5.74589426e+01] [ 4.55008125e-01 8.90408327e-01 -1.18582030e-02 1.37537898e+01] [ 2.69403179e-02 -4.53910622e-04 9.99636941e-01 1.33911502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:13.77, Z:1.34 [[ 8.90428085e-01 -4.54512897e-01 -2.35765297e-02 5.74846633e+01] [ 4.54366001e-01 8.90740059e-01 -1.15622149e-02 1.37669125e+01] [ 2.62557353e-02 -4.17052636e-04 9.99655172e-01 1.34040744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.51, Y:13.78, Z:1.34 [[ 8.90650618e-01 -4.54108625e-01 -2.29528793e-02 5.75104847e+01] [ 4.53969094e-01 8.90946242e-01 -1.12630136e-02 1.37801589e+01] [ 2.55644132e-02 -3.88487795e-04 9.99673101e-01 1.34134952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.54, Y:13.79, Z:1.34 [[ 8.90865148e-01 -4.53705063e-01 -2.26053827e-02 5.75365675e+01] [ 4.53569431e-01 8.91151829e-01 -1.10990728e-02 1.37931170e+01] [ 2.51805337e-02 -3.65333430e-04 9.99682853e-01 1.34308246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888040942 meters Centerline goodness [0,1] 0.9999777466230501 Centerline is valid? [True, True] Translation: X:57.56, Y:13.80, Z:1.34 [[ 8.90775880e-01 -4.53898318e-01 -2.22406984e-02 5.75618710e+01] [ 4.53766926e-01 8.91053415e-01 -1.09265059e-02 1.38048725e+01] [ 2.47771729e-02 -3.59025469e-04 9.99692934e-01 1.34446215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.918040942 meters Centerline goodness [0,1] 0.9999777827149522 Centerline is valid? [True, True] Translation: X:57.59, Y:13.82, Z:1.35 [[ 8.90589376e-01 -4.54262191e-01 -2.22806084e-02 5.75874303e+01] [ 4.54130264e-01 8.90867964e-01 -1.09532550e-02 1.38156026e+01] [ 2.48247299e-02 -3.63446078e-04 9.99691753e-01 1.34575907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.61, Y:13.83, Z:1.35 [[ 8.90365547e-01 -4.54696945e-01 -2.23580318e-02 5.76130513e+01] [ 4.54564170e-01 8.90646141e-01 -1.09939851e-02 1.38278019e+01] [ 2.49120262e-02 -3.74494656e-04 9.99689577e-01 1.34652598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.64, Y:13.84, Z:1.35 [[ 8.90098133e-01 -4.55229232e-01 -2.21733956e-02 5.76378102e+01] [ 4.55098627e-01 8.90374192e-01 -1.09104394e-02 1.38404117e+01] [ 2.47093701e-02 -3.79720148e-04 9.99694605e-01 1.34703847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.66, Y:13.85, Z:1.35 [[ 8.90007578e-01 -4.55427639e-01 -2.17296312e-02 5.76623498e+01] [ 4.55302097e-01 8.90272727e-01 -1.06991798e-02 1.38535755e+01] [ 2.42180002e-02 -3.71195518e-04 9.99706632e-01 1.34749331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.69, Y:13.87, Z:1.35 [[ 8.89874328e-01 -4.55673939e-01 -2.20213678e-02 5.76872510e+01] [ 4.55544895e-01 8.90146684e-01 -1.08503142e-02 1.38661416e+01] [ 2.45464530e-02 -3.76305588e-04 9.99698620e-01 1.34779796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.71, Y:13.88, Z:1.35 [[ 8.89547038e-01 -4.56260612e-01 -2.30720836e-02 5.77127787e+01] [ 4.56118951e-01 8.89846105e-01 -1.13759702e-02 1.38792514e+01] [ 2.57210109e-02 -4.04153993e-04 9.99669078e-01 1.34792921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.74, Y:13.89, Z:1.35 [[ 8.89381121e-01 -4.56551653e-01 -2.37025482e-02 5.77383101e+01] [ 4.56402052e-01 8.89696810e-01 -1.16941204e-02 1.38875969e+01] [ 2.64270516e-02 -4.17361729e-04 9.99650657e-01 1.34759869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:13.90, Z:1.35 [[ 8.89034471e-01 -4.57218302e-01 -2.38565326e-02 5.77631152e+01] [ 4.57066816e-01 8.89354393e-01 -1.17766753e-02 1.39022240e+01] [ 2.66014236e-02 -4.34159133e-04 9.99646025e-01 1.34890754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.79, Y:13.91, Z:1.35 [[ 8.88220891e-01 -4.58820504e-01 -2.33964736e-02 5.77885139e+01] [ 4.58675192e-01 8.88528856e-01 -1.15559790e-02 1.39135343e+01] [ 2.60905620e-02 -4.67120113e-04 9.99659474e-01 1.34945253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.188040942 meters Centerline goodness [0,1] 0.9999332517521415 Centerline is valid? [True, True] Translation: X:57.81, Y:13.93, Z:1.35 [[ 8.87929807e-01 -4.59393468e-01 -2.32012908e-02 5.78134769e+01] [ 4.59250704e-01 8.88232747e-01 -1.14620218e-02 1.39256441e+01] [ 2.58737242e-02 -4.77738308e-04 9.99665105e-01 1.35037496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.84, Y:13.94, Z:1.35 [[ 8.87614546e-01 -4.60006623e-01 -2.31154577e-02 5.78394427e+01] [ 4.59865047e-01 8.87915348e-01 -1.14224942e-02 1.39391430e+01] [ 2.57789926e-02 -4.91219048e-04 9.99667546e-01 1.35121491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.86, Y:13.95, Z:1.35 [[ 8.87680911e-01 -4.59847719e-01 -2.37207725e-02 5.78635410e+01] [ 4.59698393e-01 8.87997653e-01 -1.17283891e-02 1.39511408e+01] [ 2.64572633e-02 -4.93333910e-04 9.99649824e-01 1.35079013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.278040942 meters Centerline goodness [0,1] 0.999955294275432 Centerline is valid? [True, True] Translation: X:57.89, Y:13.96, Z:1.35 [[ 8.87552924e-01 -4.60060902e-01 -2.43674603e-02 5.78890217e+01] [ 4.59903307e-01 8.87887215e-01 -1.20516425e-02 1.39630581e+01] [ 2.71800460e-02 -5.10205042e-04 9.99630424e-01 1.35086247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308040942 meters Centerline goodness [0,1] 0.9999331759255135 Centerline is valid? [True, True] Translation: X:57.92, Y:13.97, Z:1.35 [[ 8.87080259e-01 -4.60967728e-01 -2.44411280e-02 5.79157285e+01] [ 4.60809435e-01 8.87416737e-01 -1.20912909e-02 1.39745763e+01] [ 2.72631609e-02 -5.36756936e-04 9.99628147e-01 1.35193648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.338040942 meters Centerline goodness [0,1] 0.9999329489070672 Centerline is valid? [True, True] Translation: X:57.94, Y:13.99, Z:1.35 [[ 8.86750404e-01 -4.61621657e-01 -2.40658892e-02 5.79413001e+01] [ 4.61468243e-01 8.87076745e-01 -1.19125564e-02 1.39886354e+01] [ 2.68473847e-02 -5.42179387e-04 9.99639397e-01 1.35275905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36804094200001 meters Centerline goodness [0,1] 0.9999554466473602 Centerline is valid? [True, True] Translation: X:57.97, Y:14.00, Z:1.35 [[ 8.86352280e-01 -4.62374117e-01 -2.42860455e-02 5.79661218e+01] [ 4.62217979e-01 8.86684757e-01 -1.20284004e-02 1.40004664e+01] [ 2.70956874e-02 -5.64046783e-04 9.99632685e-01 1.35278797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39804094200001 meters Centerline goodness [0,1] 0.9999107819958067 Centerline is valid? [True, True] Translation: X:57.99, Y:14.01, Z:1.35 [[ 8.85224269e-01 -4.64511448e-01 -2.46395654e-02 5.79924291e+01] [ 4.64351433e-01 8.85566887e-01 -1.22079829e-02 1.40123658e+01] [ 2.74907311e-02 -6.34614745e-04 9.99621857e-01 1.35256298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428040942 meters Centerline goodness [0,1] 0.9999777317567418 Centerline is valid? [True, True] Translation: X:58.02, Y:14.02, Z:1.35 [[ 8.84643715e-01 -4.65601643e-01 -2.49119735e-02 5.80192511e+01] [ 4.65438296e-01 8.84994159e-01 -1.23503491e-02 1.40242703e+01] [ 2.77972939e-02 -6.69327820e-04 9.99613356e-01 1.35323626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.458040942 meters Centerline goodness [0,1] 0.9998881606907196 Centerline is valid? [True, True] Translation: X:58.04, Y:14.03, Z:1.35 [[ 8.84038137e-01 -4.66746239e-01 -2.49904075e-02 5.80446240e+01] [ 4.66582129e-01 8.84391008e-01 -1.23960061e-02 1.40348818e+01] [ 2.78870809e-02 -7.01535401e-04 9.99610834e-01 1.35417007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488040942 meters Centerline goodness [0,1] 0.9999106424805647 Centerline is valid? [True, True] Translation: X:58.07, Y:14.05, Z:1.35 [[ 8.83165505e-01 -4.68380271e-01 -2.52707817e-02 5.80706397e+01] [ 4.68213013e-01 8.83526653e-01 -1.25390373e-02 1.40450006e+01] [ 2.82004468e-02 -7.58063627e-04 9.99602001e-01 1.35493755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.10, Y:14.06, Z:1.36 [[ 8.82744656e-01 -4.69147664e-01 -2.57359921e-02 5.80965850e+01] [ 4.68974381e-01 8.83119381e-01 -1.27745693e-02 1.40587562e+01] [ 2.87211127e-02 -7.92838178e-04 9.99587149e-01 1.35511927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.12, Y:14.07, Z:1.36 [[ 8.82649471e-01 -4.69347687e-01 -2.53507165e-02 5.81207139e+01] [ 4.69179449e-01 8.83013102e-01 -1.25899634e-02 1.40707360e+01] [ 2.82940850e-02 -7.81510691e-04 9.99599337e-01 1.35546168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.15, Y:14.09, Z:1.36 [[ 8.82761760e-01 -4.69147649e-01 -2.51427632e-02 5.81454391e+01] [ 4.68981958e-01 8.83119413e-01 -1.24909918e-02 1.40862618e+01] [ 2.80641817e-02 -7.64932377e-04 9.99605831e-01 1.35693724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.17, Y:14.10, Z:1.36 [[ 8.82919833e-01 -4.68873751e-01 -2.46976557e-02 5.81720066e+01] [ 4.68713581e-01 8.83264888e-01 -1.22766793e-02 1.40955195e+01] [ 2.75707847e-02 -7.36803009e-04 9.99619582e-01 1.35699257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.638040942 meters Centerline goodness [0,1] 0.9999553212402824 Centerline is valid? [True, True] Translation: X:58.20, Y:14.11, Z:1.36 [[ 8.83406946e-01 -4.68002752e-01 -2.37821978e-02 5.81968062e+01] [ 4.67853828e-01 8.83726746e-01 -1.18251405e-02 1.41074050e+01] [ 2.65511625e-02 -6.80181051e-04 9.99647224e-01 1.35766275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.22, Y:14.12, Z:1.36 [[ 8.83489541e-01 -4.67865423e-01 -2.34131822e-02 5.82227694e+01] [ 4.67720966e-01 8.83799472e-01 -1.16443757e-02 1.41212384e+01] [ 2.61405588e-02 -6.63152096e-04 9.99658057e-01 1.35838680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.25, Y:14.13, Z:1.36 [[ 8.83632212e-01 -4.67593952e-01 -2.34522807e-02 5.82480301e+01] [ 4.67448756e-01 8.83943139e-01 -1.16699389e-02 1.41349316e+01] [ 2.61872755e-02 -6.50805501e-04 9.99656843e-01 1.35927071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728040942 meters Centerline goodness [0,1] 0.9999776101023218 Centerline is valid? [True, True] Translation: X:58.27, Y:14.15, Z:1.36 [[ 8.84113832e-01 -4.66712971e-01 -2.28414992e-02 5.82716755e+01] [ 4.66574786e-01 8.84408638e-01 -1.13723363e-02 1.41521933e+01] [ 2.55088360e-02 -6.02827763e-04 9.99674415e-01 1.36062264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.30, Y:14.17, Z:1.36 [[ 8.84424967e-01 -4.66147925e-01 -2.23291108e-02 5.82965499e+01] [ 4.66015531e-01 8.84706612e-01 -1.11236105e-02 1.41654810e+01] [ 2.49399599e-02 -5.67713566e-04 9.99688790e-01 1.36148851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.32, Y:14.18, Z:1.36 [[ 8.85282094e-01 -4.64506694e-01 -2.25642539e-02 5.83211314e+01] [ 4.64370901e-01 8.85569453e-01 -1.12432140e-02 1.41789012e+01] [ 2.52047622e-02 -5.24766908e-04 9.99682172e-01 1.36106776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.818040942 meters Centerline goodness [0,1] 0.9999776416402093 Centerline is valid? [True, True] Translation: X:58.35, Y:14.19, Z:1.36 [[ 8.85692090e-01 -4.63711656e-01 -2.28259059e-02 5.83455385e+01] [ 4.63572369e-01 8.85986029e-01 -1.13760480e-02 1.41915064e+01] [ 2.54986398e-02 -5.05783529e-04 9.99674729e-01 1.36117937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.37, Y:14.21, Z:1.36 [[ 8.85940615e-01 -4.63252885e-01 -2.24942534e-02 5.83713209e+01] [ 4.63117403e-01 8.86226005e-01 -1.12133964e-02 1.42052989e+01] [ 2.51296305e-02 -4.83076916e-04 9.99684084e-01 1.36107520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.40, Y:14.22, Z:1.36 [[ 8.86266060e-01 -4.62617188e-01 -2.27554065e-02 5.83964783e+01] [ 4.62478162e-01 8.86558019e-01 -1.13502411e-02 1.42195284e+01] [ 2.54248047e-02 -4.64545148e-04 9.99676629e-01 1.36110233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.42, Y:14.23, Z:1.36 [[ 8.86892504e-01 -4.61411006e-01 -2.28379157e-02 5.84210813e+01] [ 4.61270400e-01 8.87186396e-01 -1.13980855e-02 1.42339313e+01] [ 2.55206903e-02 -4.25577953e-04 9.99674204e-01 1.36081623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:14.25, Z:1.36 [[ 8.86771679e-01 -4.61643305e-01 -2.28352377e-02 5.84457123e+01] [ 4.61502637e-01 8.87065543e-01 -1.14034484e-02 1.42463539e+01] [ 2.55206781e-02 -4.26267371e-04 9.99674204e-01 1.36145451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.47, Y:14.26, Z:1.36 [[ 8.87069442e-01 -4.61065139e-01 -2.29508590e-02 5.84703303e+01] [ 4.60922657e-01 8.87366200e-01 -1.14686948e-02 1.42625761e+01] [ 2.56536319e-02 -4.05042216e-04 9.99670809e-01 1.36215898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.49, Y:14.28, Z:1.36 [[ 8.88006071e-01 -4.59262395e-01 -2.28751029e-02 5.84945551e+01] [ 4.59120084e-01 8.88300587e-01 -1.14374876e-02 1.42754676e+01] [ 2.55727753e-02 -3.45860775e-04 9.99672903e-01 1.36296347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028040942 meters Centerline goodness [0,1] 0.9999778383529464 Centerline is valid? [True, True] Translation: X:58.52, Y:14.29, Z:1.36 [[ 8.88298065e-01 -4.58688445e-01 -2.30533781e-02 5.85199249e+01] [ 4.58543636e-01 8.88597098e-01 -1.15296181e-02 1.42886366e+01] [ 2.57736675e-02 -3.29242402e-04 9.99667750e-01 1.36359610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.55, Y:14.30, Z:1.36 [[ 8.88722457e-01 -4.57873855e-01 -2.28894431e-02 5.85450430e+01] [ 4.57730662e-01 8.89017123e-01 -1.14541079e-02 1.43015809e+01] [ 2.55936434e-02 -2.97677039e-04 9.99672385e-01 1.36434313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.57, Y:14.31, Z:1.36 [[ 8.89263955e-01 -4.56826653e-01 -2.27821876e-02 5.85697764e+01] [ 4.56684393e-01 8.89555698e-01 -1.14028716e-02 1.43148461e+01] [ 2.54751604e-02 -2.64106826e-04 9.99675421e-01 1.36476473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:14.33, Z:1.37 [[ 8.89251626e-01 -4.56859776e-01 -2.25984507e-02 5.85947812e+01] [ 4.56719742e-01 8.89538688e-01 -1.13137290e-02 1.43279079e+01] [ 2.52709838e-02 -2.60406687e-04 9.99680604e-01 1.36509331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:14.34, Z:1.37 [[ 8.88771418e-01 -4.57841429e-01 -2.16007422e-02 5.86191478e+01] [ 4.57713608e-01 8.89033831e-01 -1.08212629e-02 1.43411174e+01] [ 2.41582131e-02 -2.69324512e-04 9.99708112e-01 1.36552735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.64, Y:14.35, Z:1.37 [[ 8.88358245e-01 -4.58638667e-01 -2.16841293e-02 5.86449427e+01] [ 4.58509913e-01 8.88622806e-01 -1.08704928e-02 1.43524379e+01] [ 2.42546401e-02 -2.85496330e-04 9.99705772e-01 1.36628908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:14.36, Z:1.37 [[ 8.87825281e-01 -4.59702262e-01 -2.09785712e-02 5.86700094e+01] [ 4.59581996e-01 8.88073048e-01 -1.05190130e-02 1.43635218e+01] [ 2.34661178e-02 -3.02327932e-04 9.99724587e-01 1.36709079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:14.37, Z:1.37 [[ 8.86496061e-01 -4.62276034e-01 -2.06301433e-02 5.86968111e+01] [ 4.62160368e-01 8.86736002e-01 -1.03468432e-02 1.43731014e+01] [ 2.30765884e-02 -3.61998884e-04 9.99733635e-01 1.36823410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:14.39, Z:1.37 [[ 8.85490751e-01 -4.64212448e-01 -2.03207737e-02 5.87219859e+01] [ 4.64100689e-01 8.85723794e-01 -1.01936560e-02 1.43872163e+01] [ 2.27306147e-02 -4.04496964e-04 9.99741544e-01 1.36870680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.298040942 meters Centerline goodness [0,1] 0.9999552442544811 Centerline is valid? [True, True] Translation: X:58.75, Y:14.40, Z:1.37 [[ 8.83900876e-01 -4.67222900e-01 -2.05427308e-02 5.87471109e+01] [ 4.67109348e-01 8.84139429e-01 -1.03115242e-02 1.43986194e+01] [ 2.29804185e-02 -4.81336305e-04 9.99735799e-01 1.36821937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:14.41, Z:1.37 [[ 8.83116666e-01 -4.68719384e-01 -2.01765676e-02 5.87729500e+01] [ 4.68610187e-01 8.83346976e-01 -1.01298019e-02 1.44120123e+01] [ 2.25709445e-02 -5.09148267e-04 9.99745114e-01 1.36836967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.80, Y:14.43, Z:1.37 [[ 8.82608693e-01 -4.69664189e-01 -2.04314861e-02 5.87981269e+01] [ 4.69552320e-01 8.82844983e-01 -1.02642502e-02 1.44250108e+01] [ 2.28585857e-02 -5.34335220e-04 9.99738566e-01 1.36907224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.82, Y:14.44, Z:1.37 [[ 8.82358433e-01 -4.70147342e-01 -2.01264054e-02 5.88233233e+01] [ 4.70038866e-01 8.82587779e-01 -1.01131798e-02 1.44374586e+01] [ 2.25180041e-02 -5.36743326e-04 9.99746294e-01 1.36949629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.85, Y:14.45, Z:1.37 [[ 8.81856519e-01 -4.71094218e-01 -1.99829534e-02 5.88489558e+01] [ 4.70987480e-01 8.82082723e-01 -1.00431275e-02 1.44509464e+01] [ 2.23578772e-02 -5.55123471e-04 9.99749877e-01 1.37042409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448040942 meters Centerline goodness [0,1] 0.999977632138144 Centerline is valid? [True, True] Translation: X:58.87, Y:14.46, Z:1.37 [[ 8.81584550e-01 -4.71608834e-01 -1.98441315e-02 5.88735048e+01] [ 4.71503567e-01 8.81807686e-01 -9.97951769e-03 1.44636095e+01] [ 2.22051364e-02 -5.58790195e-04 9.99753279e-01 1.37082119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.90, Y:14.48, Z:1.37 [[ 8.81808108e-01 -4.71217169e-01 -1.92052091e-02 5.88968612e+01] [ 4.71118413e-01 8.82017063e-01 -9.66130668e-03 1.44785299e+01] [ 2.14918957e-02 -5.28509078e-04 9.99768883e-01 1.37176498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:14.49, Z:1.37 [[ 8.82183745e-01 -4.70517483e-01 -1.91085822e-02 5.89216427e+01] [ 4.70419517e-01 8.82390526e-01 -9.61440876e-03 1.44936751e+01] [ 2.13849793e-02 -5.07374888e-04 9.99771186e-01 1.37213851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.538040942 meters Centerline goodness [0,1] 0.999955294275432 Centerline is valid? [True, True] Translation: X:58.95, Y:14.51, Z:1.37 [[ 8.82546198e-01 -4.69841935e-01 -1.89938046e-02 5.89466532e+01] [ 4.69744865e-01 8.82750431e-01 -9.56236718e-03 1.45092064e+01] [ 2.12595903e-02 -4.83011394e-04 9.99773873e-01 1.37245126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.97, Y:14.53, Z:1.37 [[ 8.83573934e-01 -4.67930545e-01 -1.83877148e-02 5.89705229e+01] [ 4.67839045e-01 8.83765144e-01 -9.26270872e-03 1.45258671e+01] [ 2.05847258e-02 -4.18202949e-04 9.99788025e-01 1.37322398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:14.54, Z:1.37 [[ 8.84116310e-01 -4.66928952e-01 -1.77680758e-02 5.89955538e+01] [ 4.66843207e-01 8.84294754e-01 -8.95592100e-03 1.45408027e+01] [ 1.98939950e-02 -3.76829664e-04 9.99802024e-01 1.37406874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.02, Y:14.56, Z:1.38 [[ 8.84929143e-01 -4.65446666e-01 -1.61187236e-02 5.90196384e+01] [ 4.65375775e-01 8.85075876e-01 -8.12903849e-03 1.45560563e+01] [ 1.80499273e-02 -3.07640424e-04 9.99837039e-01 1.37547732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.04, Y:14.57, Z:1.38 [[ 8.85090868e-01 -4.65146380e-01 -1.59060081e-02 5.90434770e+01] [ 4.65077216e-01 8.85233732e-01 -8.02640679e-03 1.45712762e+01] [ 1.78139890e-02 -2.93422613e-04 9.99841275e-01 1.37563700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.07, Y:14.58, Z:1.38 [[ 8.85363213e-01 -4.64625258e-01 -1.59796876e-02 5.90684088e+01] [ 4.64555243e-01 8.85507364e-01 -8.07054646e-03 1.45834484e+01] [ 1.78999108e-02 -2.78082715e-04 9.99839745e-01 1.37677620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.718040942 meters Centerline goodness [0,1] 0.9999557717823971 Centerline is valid? [True, True] Translation: X:59.09, Y:14.60, Z:1.38 [[ 8.85157790e-01 -4.65043260e-01 -1.51807202e-02 5.90922901e+01] [ 4.64980125e-01 8.85287915e-01 -7.66748570e-03 1.45997744e+01] [ 1.70050207e-02 -2.71798470e-04 9.99855367e-01 1.37683835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.12, Y:14.61, Z:1.38 [[ 8.84822455e-01 -4.65702200e-01 -1.45149198e-02 5.91164897e+01] [ 4.65644482e-01 8.84941461e-01 -7.33673427e-03 1.46128101e+01] [ 1.62615876e-02 -2.67085050e-04 9.99867736e-01 1.37723288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.14, Y:14.63, Z:1.38 [[ 8.84375772e-01 -4.66559680e-01 -1.41971191e-02 5.91422138e+01] [ 4.66504568e-01 8.84489677e-01 -7.17632807e-03 1.46263307e+01] [ 1.59053906e-02 -2.76450230e-04 9.99873463e-01 1.37768647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.17, Y:14.64, Z:1.38 [[ 8.83496512e-01 -4.68218483e-01 -1.43305899e-02 5.91666612e+01] [ 4.68162455e-01 8.83612675e-01 -7.24957211e-03 1.46390076e+01] [ 1.60570745e-02 -3.04072478e-04 9.99871031e-01 1.37787486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.838040942 meters Centerline goodness [0,1] 0.9999779575462341 Centerline is valid? [True, True] Translation: X:59.19, Y:14.65, Z:1.38 [[ 8.82958394e-01 -4.69217720e-01 -1.48055663e-02 5.91927699e+01] [ 4.69158047e-01 8.83082454e-01 -7.49040717e-03 1.46523641e+01] [ 1.65891676e-02 -3.32432685e-04 9.99862335e-01 1.37805741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.22, Y:14.67, Z:1.38 [[ 8.81639051e-01 -4.71692536e-01 -1.47897061e-02 5.92183123e+01] [ 4.71633264e-01 8.81763013e-01 -7.48685161e-03 1.46657754e+01] [ 1.65725078e-02 -3.74616583e-04 9.99862596e-01 1.37810945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.24, Y:14.68, Z:1.38 [[ 8.80773627e-01 -4.73302927e-01 -1.49049684e-02 5.92440728e+01] [ 4.73242881e-01 8.80899640e-01 -7.54982279e-03 1.46789299e+01] [ 1.67031345e-02 -4.03985365e-04 9.99860411e-01 1.37849500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.27, Y:14.69, Z:1.38 [[ 8.80054314e-01 -4.74631915e-01 -1.51310990e-02 5.92691158e+01] [ 4.74570130e-01 8.80184276e-01 -7.67016010e-03 1.46922777e+01] [ 1.69586582e-02 -4.30610140e-04 9.99856099e-01 1.37868838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.29, Y:14.71, Z:1.38 [[ 8.78408394e-01 -4.77682462e-01 -1.47702191e-02 5.92949796e+01] [ 4.77624011e-01 8.78532434e-01 -7.48777259e-03 1.47068813e+01] [ 1.65528942e-02 -4.77289009e-04 9.99862878e-01 1.37766501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.32, Y:14.72, Z:1.38 [[ 8.77625980e-01 -4.79111501e-01 -1.49936419e-02 5.93199966e+01] [ 4.79051389e-01 8.77753902e-01 -7.60622922e-03 1.47201343e+01] [ 1.68049596e-02 -5.07300610e-04 9.99858658e-01 1.37773694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.34, Y:14.73, Z:1.38 [[ 8.76839718e-01 -4.80546101e-01 -1.50848945e-02 5.93447885e+01] [ 4.80485458e-01 8.76969301e-01 -7.65303898e-03 1.47344470e+01] [ 1.69066274e-02 -5.37583891e-04 9.99856928e-01 1.37808910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.37, Y:14.75, Z:1.38 [[ 8.75510153e-01 -4.82975482e-01 -1.47192339e-02 5.93695027e+01] [ 4.82918014e-01 8.75633692e-01 -7.47184048e-03 1.47496083e+01] [ 1.64973729e-02 -5.66510991e-04 9.99863749e-01 1.37802419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.39, Y:14.76, Z:1.38 [[ 8.75021342e-01 -4.83850729e-01 -1.50373787e-02 5.93944153e+01] [ 4.83790782e-01 8.75150343e-01 -7.63910345e-03 1.47609406e+01] [ 1.68561529e-02 -5.90566626e-04 9.99857751e-01 1.37884612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.42, Y:14.78, Z:1.38 [[ 8.74440901e-01 -4.84921835e-01 -1.42802302e-02 5.94174637e+01] [ 4.84867886e-01 8.74557304e-01 -7.25634543e-03 1.47783454e+01] [ 1.60076400e-02 -5.78779815e-04 9.99871702e-01 1.37910664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.44, Y:14.79, Z:1.38 [[ 8.74194186e-01 -4.85370314e-01 -1.41486182e-02 5.94419358e+01] [ 4.85317409e-01 8.74308481e-01 -7.18970243e-03 1.47936530e+01] [ 1.58599250e-02 -5.81374685e-04 9.99874054e-01 1.37929812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.47, Y:14.81, Z:1.38 [[ 8.74031662e-01 -4.85662511e-01 -1.41625799e-02 5.94656975e+01] [ 4.85609477e-01 8.74146203e-01 -7.20079029e-03 1.48090093e+01] [ 1.58773193e-02 -5.83764292e-04 9.99873777e-01 1.37954980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.198040942 meters Centerline goodness [0,1] 0.9999780980332034 Centerline is valid? [True, True] Translation: X:59.49, Y:14.83, Z:1.38 [[ 8.74177945e-01 -4.85378305e-01 -1.48600315e-02 5.94896709e+01] [ 4.85319782e-01 8.74304031e-01 -7.56118761e-03 1.48258819e+01] [ 1.66622219e-02 -6.02043804e-04 9.99860994e-01 1.37948637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.51, Y:14.84, Z:1.38 [[ 8.74187913e-01 -4.85360323e-01 -1.48609844e-02 5.95135422e+01] [ 4.85301718e-01 8.74314016e-01 -7.56592544e-03 1.48410056e+01] [ 1.66653670e-02 -5.98020695e-04 9.99860944e-01 1.37969269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25804094200001 meters Centerline goodness [0,1] 0.9999781559230215 Centerline is valid? [True, True] Translation: X:59.54, Y:14.85, Z:1.38 [[ 8.74387141e-01 -4.84987397e-01 -1.53085472e-02 5.95390048e+01] [ 4.84925052e-01 8.74520932e-01 -7.79961620e-03 1.48535429e+01] [ 1.71703605e-02 -6.03613912e-04 9.99852396e-01 1.38088767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.56, Y:14.88, Z:1.38 [[ 8.74939883e-01 -4.83990192e-01 -1.52871255e-02 5.95605895e+01] [ 4.83927789e-01 8.75073231e-01 -7.79331547e-03 1.48755565e+01] [ 1.71492426e-02 -5.79182326e-04 9.99852773e-01 1.38050621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.58, Y:14.89, Z:1.38 [[ 8.75228232e-01 -4.83456972e-01 -1.56492574e-02 5.95838430e+01] [ 4.83391405e-01 8.75367936e-01 -7.98292013e-03 1.48926316e+01] [ 1.75582566e-02 -5.77839477e-04 9.99845675e-01 1.38026242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.61, Y:14.91, Z:1.38 [[ 8.75898755e-01 -4.82218209e-01 -1.63392037e-02 5.96063214e+01] [ 4.82146402e-01 8.76050953e-01 -8.34117827e-03 1.49103764e+01] [ 1.83362430e-02 -5.71860634e-04 9.99831713e-01 1.38046625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.63, Y:14.92, Z:1.38 [[ 8.76035352e-01 -4.81972497e-01 -1.62657230e-02 5.96306822e+01] [ 4.81901259e-01 8.76186165e-01 -8.30546397e-03 1.49240861e+01] [ 1.82548067e-02 -5.62592359e-04 9.99833209e-01 1.38135567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.65, Y:14.94, Z:1.38 [[ 8.76008922e-01 -4.82008620e-01 -1.66149980e-02 5.96547070e+01] [ 4.81934280e-01 8.76166285e-01 -8.48470699e-03 1.49389905e+01] [ 1.86472030e-02 -5.74658084e-04 9.99825961e-01 1.38187342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.68, Y:14.95, Z:1.38 [[ 8.76110064e-01 -4.81822263e-01 -1.66872270e-02 5.96789969e+01] [ 4.81747117e-01 8.76268786e-01 -8.52821186e-03 1.49533277e+01] [ 1.87315784e-02 -5.67371241e-04 9.99824388e-01 1.38277100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.70, Y:14.97, Z:1.38 [[ 8.76390539e-01 -4.81327305e-01 -1.62372715e-02 5.97024447e+01] [ 4.81256036e-01 8.76540777e-01 -8.30020340e-03 1.49710501e+01] [ 1.82277451e-02 -5.40065204e-04 9.99833715e-01 1.38292367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:14.99, Z:1.38 [[ 8.76459392e-01 -4.81225531e-01 -1.55217014e-02 5.97246578e+01] [ 4.81160317e-01 8.76596673e-01 -7.93858183e-03 1.49886504e+01] [ 1.74265200e-02 -5.10582155e-04 9.99848016e-01 1.38327580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.75, Y:15.00, Z:1.38 [[ 8.76499321e-01 -4.81172532e-01 -1.48974687e-02 5.97480144e+01] [ 4.81112369e-01 8.76625781e-01 -7.62422383e-03 1.50042818e+01] [ 1.67280722e-02 -4.84729448e-04 9.99859959e-01 1.38350720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:15.02, Z:1.38 [[ 8.76608891e-01 -4.80978244e-01 -1.47234883e-02 5.97726546e+01] [ 4.80919360e-01 8.76732403e-01 -7.54067058e-03 1.50190223e+01] [ 1.65354578e-02 -4.70591721e-04 9.99863169e-01 1.38407688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:15.03, Z:1.38 [[ 8.76849443e-01 -4.80541402e-01 -1.46634110e-02 5.97970331e+01] [ 4.80482862e-01 8.76971922e-01 -7.51444888e-03 1.50337833e+01] [ 1.64704036e-02 -4.56477382e-04 9.99864250e-01 1.38487911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:15.05, Z:1.39 [[ 8.77069445e-01 -4.80137069e-01 -1.47506959e-02 5.98207594e+01] [ 4.80077696e-01 8.77193362e-01 -7.56379742e-03 1.50503044e+01] [ 1.65708721e-02 -4.47504492e-04 9.99862594e-01 1.38517760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:15.07, Z:1.39 [[ 8.76954108e-01 -4.80346290e-01 -1.47964220e-02 5.98449490e+01] [ 4.80286506e-01 8.77078811e-01 -7.59158768e-03 1.50656825e+01] [ 1.66242192e-02 -4.49047813e-04 9.99861707e-01 1.38562771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:15.08, Z:1.39 [[ 8.77394045e-01 -4.79544773e-01 -1.47139275e-02 5.98682835e+01] [ 4.79485430e-01 8.77517310e-01 -7.55596174e-03 1.50820923e+01] [ 1.65351481e-02 -4.25558037e-04 9.99863195e-01 1.38540638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.89, Y:15.10, Z:1.39 [[ 8.77540545e-01 -4.79268550e-01 -1.49749222e-02 5.98928664e+01] [ 4.79207033e-01 8.77668203e-01 -7.69057463e-03 1.50968751e+01] [ 1.68288636e-02 -4.27296995e-04 9.99858293e-01 1.38576752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.92, Y:15.11, Z:1.39 [[ 8.78058499e-01 -4.78332766e-01 -1.45271199e-02 5.99168250e+01] [ 4.78274676e-01 8.78178575e-01 -7.46487599e-03 1.51129111e+01] [ 1.63281003e-02 -3.93355764e-04 9.99866610e-01 1.38638848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.94, Y:15.13, Z:1.39 [[ 8.78292098e-01 -4.77917004e-01 -1.40828920e-02 5.99416571e+01] [ 4.77862292e-01 8.78404918e-01 -7.24081580e-03 1.51288742e+01] [ 1.58309906e-02 -3.70131749e-04 9.99874614e-01 1.38718704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:15.14, Z:1.39 [[ 8.78715445e-01 -4.77143820e-01 -1.38903780e-02 5.99657460e+01] [ 4.77090417e-01 8.78825156e-01 -7.14694609e-03 1.51429554e+01] [ 1.56173348e-02 -3.46834340e-04 9.99877982e-01 1.38775985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:15.16, Z:1.39 [[ 8.78934513e-01 -4.76738104e-01 -1.39607389e-02 5.99907578e+01] [ 4.76684104e-01 8.79045314e-01 -7.18340035e-03 1.51583019e+01] [ 1.56967228e-02 -3.41123822e-04 9.99876741e-01 1.38750833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.02, Y:15.17, Z:1.39 [[ 8.78803631e-01 -4.76979372e-01 -1.39591353e-02 6.00152205e+01] [ 4.76925353e-01 8.78914422e-01 -7.18651487e-03 1.51710046e+01] [ 1.56967046e-02 -3.41930149e-04 9.99876741e-01 1.38814664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:15.19, Z:1.39 [[ 8.78956256e-01 -4.76693627e-01 -1.41097851e-02 6.00389645e+01] [ 4.76638316e-01 8.79069436e-01 -7.26930564e-03 1.51871676e+01] [ 1.58687125e-02 -3.35862513e-04 9.99874028e-01 1.38720139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:15.20, Z:1.39 [[ 8.78927116e-01 -4.76746859e-01 -1.41264729e-02 6.00637985e+01] [ 4.76691358e-01 8.79040569e-01 -7.28199117e-03 1.52006318e+01] [ 1.58894091e-02 -3.33628039e-04 9.99873700e-01 1.38809168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.09, Y:15.22, Z:1.39 [[ 8.78722496e-01 -4.77139037e-01 -1.36056999e-02 6.00885330e+01] [ 4.77087526e-01 8.78827762e-01 -7.01835321e-03 1.52157153e+01] [ 1.53057971e-02 -3.23924849e-04 9.99882807e-01 1.38894513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.11, Y:15.23, Z:1.39 [[ 8.78512196e-01 -4.77522043e-01 -1.37484290e-02 6.01125548e+01] [ 4.77469405e-01 8.78619707e-01 -7.09767224e-03 1.52291431e+01] [ 1.54689356e-02 -3.29062575e-04 9.99880295e-01 1.38950079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:15.24, Z:1.39 [[ 8.78311229e-01 -4.77879724e-01 -1.41546335e-02 6.01362888e+01] [ 4.77823976e-01 8.78425210e-01 -7.30736592e-03 1.52435979e+01] [ 1.59258289e-02 -3.45281699e-04 9.99873116e-01 1.38928873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.16, Y:15.26, Z:1.39 [[ 8.77801322e-01 -4.78809666e-01 -1.43576797e-02 6.01617233e+01] [ 4.78752321e-01 8.77918660e-01 -7.41904038e-03 1.52554891e+01] [ 1.61571831e-02 -3.61329007e-04 9.99869399e-01 1.38921899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.19, Y:15.27, Z:1.39 [[ 8.77365734e-01 -4.79615101e-01 -1.40969360e-02 6.01866726e+01] [ 4.79559921e-01 8.77478899e-01 -7.28449688e-03 1.52704185e+01] [ 1.58635186e-02 -3.69157566e-04 9.99874098e-01 1.38937380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.21, Y:15.28, Z:1.39 [[ 8.76705735e-01 -4.80821349e-01 -1.40671513e-02 6.02121681e+01] [ 4.80766465e-01 8.76818500e-01 -7.27489267e-03 1.52822678e+01] [ 1.58322622e-02 -3.85074472e-04 9.99874588e-01 1.39033583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.24, Y:15.30, Z:1.39 [[ 8.75528256e-01 -4.82984774e-01 -1.32657871e-02 6.02373147e+01] [ 4.82936193e-01 8.75628659e-01 -6.86183385e-03 1.52952113e+01] [ 1.49300646e-02 -3.98799294e-04 9.99888461e-01 1.39096851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.26, Y:15.31, Z:1.39 [[ 8.74919270e-01 -4.84082001e-01 -1.34494451e-02 6.02628380e+01] [ 4.84032193e-01 8.75022535e-01 -6.95693422e-03 1.53078579e+01] [ 1.51362942e-02 -4.23208586e-04 9.99885350e-01 1.39181775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.29, Y:15.32, Z:1.39 [[ 8.74391779e-01 -4.85041245e-01 -1.31911938e-02 6.02882019e+01] [ 4.84993360e-01 8.74491171e-01 -6.82879333e-03 1.53198075e+01] [ 1.48478289e-02 -4.26600649e-04 9.99889674e-01 1.39237694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.31, Y:15.33, Z:1.39 [[ 8.73686932e-01 -4.86320592e-01 -1.27838491e-02 6.03140017e+01] [ 4.86275742e-01 8.73780347e-01 -6.61882832e-03 1.53315403e+01] [ 1.43891486e-02 -4.33691879e-04 9.99896377e-01 1.39349786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.34, Y:15.34, Z:1.39 [[ 8.73428395e-01 -4.86801380e-01 -1.21348762e-02 6.03389528e+01] [ 4.86760983e-01 8.73512589e-01 -6.28510443e-03 1.53438156e+01] [ 1.36595646e-02 -4.17195578e-04 9.99906617e-01 1.39454012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.36, Y:15.36, Z:1.39 [[ 8.73300445e-01 -4.87037353e-01 -1.18721792e-02 6.03634793e+01] [ 4.86998720e-01 8.73381043e-01 -6.14822178e-03 1.53565227e+01] [ 1.33633499e-02 -4.12491262e-04 9.99910621e-01 1.39480266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.39, Y:15.37, Z:1.39 [[ 8.73646807e-01 -4.86397900e-01 -1.25832902e-02 6.03866558e+01] [ 4.86354363e-01 8.73737320e-01 -6.52144369e-03 1.53742799e+01] [ 1.41665067e-02 -4.22499618e-04 9.99899561e-01 1.39244711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.41, Y:15.39, Z:1.39 [[ 8.73924262e-01 -4.85888574e-01 -1.29876357e-02 6.04119338e+01] [ 4.85842074e-01 8.74020660e-01 -6.73532475e-03 1.53883591e+01] [ 1.46240793e-02 -4.23776156e-04 9.99892973e-01 1.39238287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.44, Y:15.40, Z:1.39 [[ 8.74421639e-01 -4.84998291e-01 -1.27849346e-02 6.04367234e+01] [ 4.84953056e-01 8.74515008e-01 -6.63578335e-03 1.54011883e+01] [ 1.43989608e-02 -3.97620560e-04 9.99896251e-01 1.39317470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.46, Y:15.42, Z:1.39 [[ 8.76071132e-01 -4.82025751e-01 -1.22697476e-02 6.04616878e+01] [ 4.81983776e-01 8.76156986e-01 -6.36985973e-03 1.54157830e+01] [ 1.38206615e-02 -3.33369052e-04 9.99904435e-01 1.39463396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.49, Y:15.43, Z:1.40 [[ 8.76869206e-01 -4.80582234e-01 -1.18790883e-02 6.04858061e+01] [ 4.80542746e-01 8.76949615e-01 -6.16787688e-03 1.54294812e+01] [ 1.33815340e-02 -2.99988419e-04 9.99910418e-01 1.39535207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.51, Y:15.44, Z:1.40 [[ 8.77763995e-01 -4.78956100e-01 -1.14640067e-02 6.05103811e+01] [ 4.78919193e-01 8.77838814e-01 -5.95172832e-03 1.54442378e+01] [ 1.29141667e-02 -2.66120034e-04 9.99916573e-01 1.39568130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.54, Y:15.46, Z:1.40 [[ 8.78745437e-01 -4.77148521e-01 -1.16509671e-02 6.05351294e+01] [ 4.77110192e-01 8.78822639e-01 -6.05255841e-03 1.54588891e+01] [ 1.31271030e-02 -2.40137073e-04 9.99913807e-01 1.39570226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.56, Y:15.47, Z:1.40 [[ 8.80448581e-01 -4.74009367e-01 -1.11989304e-02 6.05597302e+01] [ 4.73973659e-01 8.80519782e-01 -5.82095954e-03 1.54746115e+01] [ 1.26200691e-02 -1.82942462e-04 9.99920347e-01 1.39556243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:15.49, Z:1.40 [[ 8.81094215e-01 -4.72821559e-01 -1.06187245e-02 6.05852219e+01] [ 4.72789333e-01 8.81158186e-01 -5.52244586e-03 1.54881508e+01] [ 1.19679075e-02 -1.54624553e-04 9.99928370e-01 1.39654932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.61, Y:15.50, Z:1.40 [[ 8.81425136e-01 -4.72219273e-01 -9.93416854e-03 6.06097701e+01] [ 4.72191006e-01 8.81481106e-01 -5.16860746e-03 1.55012391e+01] [ 1.11974979e-02 -1.35084501e-04 9.99937297e-01 1.39696555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.64, Y:15.51, Z:1.40 [[ 8.81885472e-01 -4.71361214e-01 -9.82955852e-03 6.06351074e+01] [ 4.71333423e-01 8.81940243e-01 -5.11983944e-03 1.55122211e+01] [ 1.10823770e-02 -1.17887443e-04 9.99938582e-01 1.39800653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.66, Y:15.53, Z:1.40 [[ 8.81561373e-01 -4.71970567e-01 -9.66070413e-03 6.06605013e+01] [ 4.71943765e-01 8.81614297e-01 -5.03135824e-03 1.55252680e+01] [ 1.08916679e-02 -1.23858004e-04 9.99940676e-01 1.39752629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.69, Y:15.54, Z:1.40 [[ 8.80719204e-01 -4.73540953e-01 -9.62547889e-03 6.06862977e+01] [ 4.73514378e-01 8.80771791e-01 -5.01869332e-03 1.55351973e+01] [ 1.08544071e-02 -1.37743062e-04 9.99941080e-01 1.39780999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.71, Y:15.55, Z:1.40 [[ 8.80138049e-01 -4.74622212e-01 -9.52735511e-03 6.07116998e+01] [ 4.74596216e-01 8.80189601e-01 -4.96975167e-03 1.55461477e+01] [ 1.07446334e-02 -1.47579140e-04 9.99942264e-01 1.39823137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:15.56, Z:1.40 [[ 8.79308094e-01 -4.76155953e-01 -9.63248623e-03 6.07382799e+01] [ 4.76129483e-01 8.79360836e-01 -5.02350373e-03 1.55574710e+01] [ 1.08624024e-02 -1.69103201e-04 9.99940988e-01 1.39842403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.77, Y:15.57, Z:1.40 [[ 8.77987594e-01 -4.78583390e-01 -9.78389856e-03 6.07658550e+01] [ 4.78556197e-01 8.78042083e-01 -5.10554227e-03 1.55674983e+01] [ 1.10341024e-02 -1.99542520e-04 9.99939103e-01 1.39825417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.79, Y:15.58, Z:1.40 [[ 8.77674727e-01 -4.79162442e-01 -9.50936819e-03 6.07919522e+01] [ 4.79136733e-01 8.77726219e-01 -4.96746495e-03 1.55774899e+01] [ 1.07268444e-02 -1.96469154e-04 9.99942446e-01 1.39995887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:15.59, Z:1.40 [[ 8.77355248e-01 -4.79749505e-01 -9.39048393e-03 6.08167976e+01] [ 4.79724482e-01 8.77405477e-01 -4.90406384e-03 1.55915428e+01] [ 1.05919842e-02 -2.02238895e-04 9.99943883e-01 1.39897505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.84, Y:15.60, Z:1.40 [[ 8.77456662e-01 -4.79565980e-01 -9.28858245e-03 6.08418800e+01] [ 4.79541437e-01 8.77505802e-01 -4.85561223e-03 1.56024731e+01] [ 1.04793714e-02 -1.93670881e-04 9.99945071e-01 1.39956457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.87, Y:15.62, Z:1.40 [[ 8.77612725e-01 -4.79276498e-01 -9.48383374e-03 6.08673085e+01] [ 4.79250896e-01 8.77663945e-01 -4.95757629e-03 1.56161090e+01] [ 1.06996687e-02 -1.94303784e-04 9.99942738e-01 1.39888837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.89, Y:15.63, Z:1.40 [[ 8.77863022e-01 -4.78811128e-01 -9.81927265e-03 6.08927204e+01] [ 4.78783619e-01 8.77917916e-01 -5.13609121e-03 1.56296455e+01] [ 1.10797330e-02 -1.92522341e-04 9.99938599e-01 1.39832144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.92, Y:15.64, Z:1.40 [[ 8.78703986e-01 -4.77242583e-01 -1.09005584e-02 6.09196183e+01] [ 4.77208509e-01 8.78771575e-01 -5.70589997e-03 1.56408322e+01] [ 1.23021993e-02 -1.88042196e-04 9.99924307e-01 1.39839681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.95, Y:15.65, Z:1.40 [[ 8.79204523e-01 -4.76317104e-01 -1.10191927e-02 6.09450130e+01] [ 4.76282141e-01 8.79273556e-01 -5.77370390e-03 1.56517862e+01] [ 1.24389986e-02 -1.71978086e-04 9.99922618e-01 1.39959788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.97, Y:15.66, Z:1.40 [[ 8.80121887e-01 -4.74608619e-01 -1.14944580e-02 6.09708742e+01] [ 4.74570435e-01 8.80196930e-01 -6.02227226e-03 1.56642770e+01] [ 1.29756089e-02 -1.54596286e-04 9.99915801e-01 1.39923467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.00, Y:15.68, Z:1.40 [[ 8.80925733e-01 -4.73098868e-01 -1.21372699e-02 6.09953056e+01] [ 4.73056067e-01 8.81009332e-01 -6.36513013e-03 1.56767468e+01] [ 1.37043839e-02 -1.34402237e-04 9.99906081e-01 1.39939779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.02, Y:15.69, Z:1.40 [[ 8.81451425e-01 -4.72116693e-01 -1.22152774e-02 6.10208469e+01] [ 4.72073250e-01 8.81536053e-01 -6.40573524e-03 1.56900607e+01] [ 1.37924619e-02 -1.20161230e-04 9.99904872e-01 1.39945919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.05, Y:15.70, Z:1.40 [[ 8.82138952e-01 -4.70839075e-01 -1.18926684e-02 6.10457634e+01] [ 4.70797706e-01 8.82219109e-01 -6.24201109e-03 1.57017977e+01] [ 1.34309220e-02 -9.27198736e-05 9.99909797e-01 1.40023545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.07, Y:15.71, Z:1.40 [[ 8.82872875e-01 -4.69454303e-01 -1.21714513e-02 6.10727904e+01] [ 4.69410845e-01 8.82956767e-01 -6.38803519e-03 1.57129025e+01] [ 1.37457559e-02 -7.35882568e-05 9.99905520e-01 1.40109221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.10, Y:15.72, Z:1.40 [[ 8.82980179e-01 -4.69251364e-01 -1.22131115e-02 6.10984929e+01] [ 4.69207539e-01 8.83064637e-01 -6.41348752e-03 1.57248083e+01] [ 1.37945046e-02 -6.75016058e-05 9.99904849e-01 1.40175364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.12, Y:15.74, Z:1.40 [[ 8.82745600e-01 -4.69664147e-01 -1.32587720e-02 6.11245631e+01] [ 4.69612433e-01 8.82845164e-01 -6.96990847e-03 1.57350117e+01] [ 1.49789589e-02 -7.38281455e-05 9.99887806e-01 1.40096124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.15, Y:15.75, Z:1.40 [[ 8.82237631e-01 -4.70583422e-01 -1.44224250e-02 6.11508142e+01] [ 4.70522348e-01 8.82355503e-01 -7.58194132e-03 1.57461782e+01] [ 1.62936420e-02 -9.69993345e-05 9.99867245e-01 1.40112130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.18, Y:15.75, Z:1.40 [[ 8.80827424e-01 -4.73184853e-01 -1.54642630e-02 6.11792924e+01] [ 4.73114927e-01 8.80963150e-01 -8.13597451e-03 1.57535179e+01] [ 1.74732657e-02 -1.49984172e-04 9.99847320e-01 1.40158015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.21, Y:15.76, Z:1.40 [[ 8.80109366e-01 -4.74495513e-01 -1.61713656e-02 6.12051266e+01] [ 4.74419172e-01 8.80257903e-01 -8.51312706e-03 1.57638146e+01] [ 1.82744130e-02 -1.79523022e-04 9.99832993e-01 1.40238273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:15.78, Z:1.40 [[ 8.79280855e-01 -4.76026577e-01 -1.62442594e-02 6.12321075e+01] [ 4.75949694e-01 8.79430870e-01 -8.55763726e-03 1.57755324e+01] [ 1.83593660e-02 -2.06883710e-04 9.99831431e-01 1.40268604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.328040942 meters Centerline goodness [0,1] 0.9999783718314733 Centerline is valid? [True, True] Translation: X:61.26, Y:15.79, Z:1.40 [[ 8.78726639e-01 -4.77026194e-01 -1.68968985e-02 6.12586566e+01] [ 4.76943074e-01 8.78889047e-01 -8.90772517e-03 1.57858862e+01] [ 1.90997172e-02 -2.31403293e-04 9.99817557e-01 1.40336827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:15.80, Z:1.40 [[ 8.78246849e-01 -4.77881466e-01 -1.76571894e-02 6.12837302e+01] [ 4.77790817e-01 8.78424292e-01 -9.31118168e-03 1.57979086e+01] [ 1.99601452e-02 -2.58926958e-04 9.99800743e-01 1.40301526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.31, Y:15.81, Z:1.40 [[ 8.77426468e-01 -4.79350641e-01 -1.85945483e-02 6.13107336e+01] [ 4.79250279e-01 8.77623423e-01 -9.81313590e-03 1.58063674e+01] [ 2.10229441e-02 -3.01137310e-04 9.99778948e-01 1.40328414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.34, Y:15.82, Z:1.40 [[ 8.77052442e-01 -4.80013287e-01 -1.91378770e-02 6.13361273e+01] [ 4.79907091e-01 8.77261158e-01 -1.01017513e-02 1.58174255e+01] [ 2.16378910e-02 -3.24637274e-04 9.99765821e-01 1.40391424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:15.83, Z:1.40 [[ 8.76760999e-01 -4.80501269e-01 -2.02158696e-02 6.13629192e+01] [ 4.80382721e-01 8.76993962e-01 -1.06785856e-02 1.58265327e+01] [ 2.28602695e-02 -3.48787056e-04 9.99738609e-01 1.40492865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.39, Y:15.84, Z:1.41 [[ 8.76425126e-01 -4.81089226e-01 -2.07883531e-02 6.13884008e+01] [ 4.80963976e-01 8.76671556e-01 -1.09834668e-02 1.58388911e+01] [ 2.35085854e-02 -3.72262643e-04 9.99723566e-01 1.40517258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50804094200001 meters Centerline goodness [0,1] 0.9999782054355644 Centerline is valid? [True, True] Translation: X:61.41, Y:15.85, Z:1.41 [[ 8.76297754e-01 -4.81229090e-01 -2.28212515e-02 6.14144348e+01] [ 4.81077967e-01 8.76594774e-01 -1.20661135e-02 1.58487158e+01] [ 2.58115546e-02 -4.05293103e-04 9.99666744e-01 1.40503501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.538040942 meters Centerline goodness [0,1] 0.9999781382536838 Centerline is valid? [True, True] Translation: X:61.44, Y:15.86, Z:1.41 [[ 8.76027710e-01 -4.81665433e-01 -2.39554260e-02 6.14396075e+01] [ 4.81498975e-01 8.76355077e-01 -1.26695007e-02 1.58602069e+01] [ 2.70959197e-02 -4.35679358e-04 9.99632743e-01 1.40537312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:15.87, Z:1.41 [[ 8.75737945e-01 -4.82154660e-01 -2.46968772e-02 6.14660310e+01] [ 4.81977675e-01 8.76085998e-01 -1.30707636e-02 1.58716383e+01] [ 2.79387179e-02 -4.56779775e-04 9.99609533e-01 1.40628212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:15.88, Z:1.41 [[ 8.74885641e-01 -4.83678914e-01 -2.50962654e-02 6.14923466e+01] [ 4.83496579e-01 8.75245366e-01 -1.32893680e-02 1.58807644e+01] [ 2.83931771e-02 -5.07281162e-04 9.99596704e-01 1.40730994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.628040942 meters Centerline goodness [0,1] 0.999912151626293 Centerline is valid? [True, True] Translation: X:61.52, Y:15.89, Z:1.41 [[ 8.74097149e-01 -4.85116932e-01 -2.48140313e-02 6.15181026e+01] [ 4.84939176e-01 8.74449121e-01 -1.31427112e-02 1.58923013e+01] [ 2.80743596e-02 -5.45289456e-04 9.99605689e-01 1.40580885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.54, Y:15.90, Z:1.41 [[ 8.73677539e-01 -4.85829075e-01 -2.56450211e-02 6.15435959e+01] [ 4.85639432e-01 8.74053641e-01 -1.35858184e-02 1.59047399e+01] [ 2.90155097e-02 -5.84609120e-04 9.99578791e-01 1.40804885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.57, Y:15.92, Z:1.41 [[ 8.72945360e-01 -4.87118672e-01 -2.61112538e-02 6.15705123e+01] [ 4.86922522e-01 8.73335557e-01 -1.38369589e-02 1.59163722e+01] [ 2.95441274e-02 -6.35248471e-04 9.99563275e-01 1.40868584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.60, Y:15.93, Z:1.41 [[ 8.71957270e-01 -4.88820677e-01 -2.72922120e-02 6.15976049e+01] [ 4.88606965e-01 8.72383993e-01 -1.44707342e-02 1.59258773e+01] [ 3.08828830e-02 -7.17302940e-04 9.99522753e-01 1.40954541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.62, Y:15.94, Z:1.41 [[ 8.71817228e-01 -4.89070539e-01 -2.72897217e-02 6.16219418e+01] [ 4.88856803e-01 8.72243939e-01 -1.44754292e-02 1.59388705e+01] [ 3.08828003e-02 -7.20837560e-04 9.99522753e-01 1.41018478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.65, Y:15.95, Z:1.41 [[ 8.71256434e-01 -4.90055910e-01 -2.75214592e-02 6.16481912e+01] [ 4.89838711e-01 8.71690678e-01 -1.46081970e-02 1.59506314e+01] [ 3.11490326e-02 -7.53590466e-04 9.99514467e-01 1.41060908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808040942 meters Centerline goodness [0,1] 0.9997577626073552 Centerline is valid? [True, True] Translation: X:61.67, Y:15.96, Z:1.41 [[ 8.71065410e-01 -4.90359859e-01 -2.81471258e-02 6.16748925e+01] [ 4.90132537e-01 8.71519713e-01 -1.49494743e-02 1.59629614e+01] [ 3.18613971e-02 -7.73852243e-04 9.99491997e-01 1.41098930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.838040942 meters Centerline goodness [0,1] 0.9998234619119075 Centerline is valid? [True, True] Translation: X:61.70, Y:15.97, Z:1.41 [[ 8.70710449e-01 -4.91034699e-01 -2.73539424e-02 6.17002932e+01] [ 4.90820122e-01 8.71139674e-01 -1.45353476e-02 1.59737841e+01] [ 3.09664645e-02 -7.69786276e-04 9.99520128e-01 1.40884571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.73, Y:15.99, Z:1.41 [[ 8.70976240e-01 -4.90566269e-01 -2.72969991e-02 6.17258817e+01] [ 4.90352216e-01 8.71403567e-01 -1.45095443e-02 1.59863489e+01] [ 3.09045954e-02 -7.47675701e-04 9.99522059e-01 1.41296507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.75, Y:16.00, Z:1.41 [[ 8.71961104e-01 -4.88810603e-01 -2.73500992e-02 6.17515603e+01] [ 4.88594586e-01 8.72389668e-01 -1.45463949e-02 1.60000725e+01] [ 3.09703760e-02 -6.79219823e-04 9.99520072e-01 1.41498502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928040942 meters Centerline goodness [0,1] 0.9999779049470824 Centerline is valid? [True, True] Translation: X:61.78, Y:16.01, Z:1.42 [[ 8.72594767e-01 -4.87670410e-01 -2.74944459e-02 6.17758473e+01] [ 4.87451313e-01 8.73027587e-01 -1.46304420e-02 1.60127614e+01] [ 3.11382434e-02 -6.35756641e-04 9.99514885e-01 1.41565060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.958040942 meters Centerline goodness [0,1] 0.9999559432549123 Centerline is valid? [True, True] Translation: X:61.80, Y:16.03, Z:1.42 [[ 8.73465529e-01 -4.86103215e-01 -2.75977182e-02 6.18003398e+01] [ 4.85881591e-01 8.73901212e-01 -1.46884702e-02 1.60266412e+01] [ 3.12577920e-02 -5.79350804e-04 9.99511188e-01 1.41589514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.83, Y:16.04, Z:1.42 [[ 8.74072989e-01 -4.85001125e-01 -2.77546332e-02 6.18253931e+01] [ 4.84776275e-01 8.74513361e-01 -1.47764822e-02 1.60415540e+01] [ 3.14384080e-02 -5.39063719e-04 9.99505546e-01 1.41643048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.85, Y:16.06, Z:1.42 [[ 8.75123444e-01 -4.83097334e-01 -2.78553945e-02 6.18490979e+01] [ 4.82869611e-01 8.75566531e-01 -1.48387681e-02 1.60578814e+01] [ 3.15578205e-02 -4.64769651e-04 9.99501820e-01 1.41694308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.048040942 meters Centerline goodness [0,1] 0.9999779585179307 Centerline is valid? [True, True] Translation: X:61.87, Y:16.07, Z:1.42 [[ 8.75260345e-01 -4.82833728e-01 -2.81232755e-02 6.18727762e+01] [ 4.82601200e-01 8.75711931e-01 -1.49898394e-02 1.60704400e+01] [ 3.18654880e-02 -4.52314484e-04 9.99492064e-01 1.41712533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.078040942 meters Centerline goodness [0,1] 0.9998897464167585 Centerline is valid? [True, True] Translation: X:61.90, Y:16.08, Z:1.42 [[ 8.74806849e-01 -4.83617132e-01 -2.87653663e-02 6.18980122e+01] [ 4.83374035e-01 8.75279518e-01 -1.53397521e-02 1.60838281e+01] [ 3.25963029e-02 -4.85110988e-04 9.99468482e-01 1.41788034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.108040942 meters Centerline goodness [0,1] 0.9999779852060585 Centerline is valid? [True, True] Translation: X:61.92, Y:16.10, Z:1.42 [[ 8.74348828e-01 -4.84426875e-01 -2.90642401e-02 6.19232901e+01] [ 4.84178846e-01 8.74831607e-01 -1.55082061e-02 1.60975752e+01] [ 3.29389077e-02 -5.12708404e-04 9.99457235e-01 1.41841234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.138040942 meters Centerline goodness [0,1] 0.9998679083283799 Centerline is valid? [True, True] Translation: X:61.95, Y:16.11, Z:1.42 [[ 8.73868121e-01 -4.85280246e-01 -2.92846415e-02 6.19480214e+01] [ 4.85028657e-01 8.74358502e-01 -1.56337072e-02 1.61102875e+01] [ 3.31920045e-02 -5.42091983e-04 9.99448847e-01 1.41930879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.97, Y:16.12, Z:1.42 [[ 8.73201761e-01 -4.86477361e-01 -2.92995267e-02 6.19720540e+01] [ 4.86226020e-01 8.73692988e-01 -1.56467327e-02 1.61234193e+01] [ 3.32105723e-02 -5.83437743e-04 9.99448207e-01 1.41854146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.198040942 meters Centerline goodness [0,1] 0.9999780485127867 Centerline is valid? [True, True] Translation: X:61.99, Y:16.14, Z:1.42 [[ 8.72924159e-01 -4.86974945e-01 -2.93055535e-02 6.19949111e+01] [ 4.86723543e-01 8.73415736e-01 -1.56570985e-02 1.61402204e+01] [ 3.32205463e-02 -5.96243292e-04 9.99447867e-01 1.42029822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.02, Y:16.15, Z:1.42 [[ 8.72231250e-01 -4.88242098e-01 -2.88496015e-02 6.20189463e+01] [ 4.87998865e-01 8.72708004e-01 -1.54222916e-02 1.61539756e+01] [ 3.27070902e-02 -6.26768104e-04 9.99464783e-01 1.42099619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.04, Y:16.17, Z:1.42 [[ 8.71736146e-01 -4.89127720e-01 -2.88125795e-02 6.20437025e+01] [ 4.88885393e-01 8.72211927e-01 -1.54086454e-02 1.61679902e+01] [ 3.26674711e-02 -6.53776094e-04 9.99466062e-01 1.42258421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288040942 meters Centerline goodness [0,1] 0.9999780205288261 Centerline is valid? [True, True] Translation: X:62.07, Y:16.18, Z:1.42 [[ 8.71449173e-01 -4.89627091e-01 -2.90112120e-02 6.20686749e+01] [ 4.89381436e-01 8.71931685e-01 -1.55224925e-02 1.61801522e+01] [ 3.28960278e-02 -6.70485374e-04 9.99458554e-01 1.42312103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.318040942 meters Centerline goodness [0,1] 0.9999559994719937 Centerline is valid? [True, True] Translation: X:62.09, Y:16.19, Z:1.42 [[ 8.71184823e-01 -4.90077595e-01 -2.93420371e-02 6.20936579e+01] [ 4.89826387e-01 8.71678538e-01 -1.57047000e-02 1.61947387e+01] [ 3.32733456e-02 -6.90807685e-04 9.99446050e-01 1.42440413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.12, Y:16.21, Z:1.43 [[ 8.71364929e-01 -4.89752205e-01 -2.94268431e-02 6.21175042e+01] [ 4.89499103e-01 8.71861413e-01 -1.57576633e-02 1.62083807e+01] [ 3.33734793e-02 -6.73738160e-04 9.99442723e-01 1.42537811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:16.22, Z:1.43 [[ 8.71757826e-01 -4.89059628e-01 -2.93082404e-02 6.21415869e+01] [ 4.88808046e-01 8.72250118e-01 -1.56979325e-02 1.62224520e+01] [ 3.32413412e-02 -6.41308207e-04 9.99447148e-01 1.42539126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:16.24, Z:1.43 [[ 8.72039646e-01 -4.88549934e-01 -2.94247863e-02 6.21657057e+01] [ 4.88295848e-01 8.72535718e-01 -1.57665888e-02 1.62387053e+01] [ 3.33769429e-02 -6.18910427e-04 9.99442643e-01 1.42594205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.19, Y:16.26, Z:1.42 [[ 8.72730855e-01 -4.87314957e-01 -2.94106836e-02 6.21883003e+01] [ 4.87060167e-01 8.73226095e-01 -1.57664291e-02 1.62554151e+01] [ 3.33653931e-02 -5.64923266e-04 9.99443061e-01 1.42474575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:16.27, Z:1.43 [[ 8.73122509e-01 -4.86627203e-01 -2.91727654e-02 6.22132645e+01] [ 4.86375969e-01 8.73609572e-01 -1.56439018e-02 1.62708495e+01] [ 3.30983552e-02 -5.29889239e-04 9.99451959e-01 1.42572594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:16.28, Z:1.43 [[ 8.73407156e-01 -4.86111623e-01 -2.92477321e-02 6.22386369e+01] [ 4.85858542e-01 8.73896582e-01 -1.56920963e-02 1.62833275e+01] [ 3.31876035e-02 -5.04671213e-04 9.99449012e-01 1.42588523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.26, Y:16.30, Z:1.43 [[ 8.73280448e-01 -4.86345826e-01 -2.91375263e-02 6.22632483e+01] [ 4.86094563e-01 8.73766262e-01 -1.56395139e-02 1.62966714e+01] [ 3.30655998e-02 -5.05911440e-04 9.99453056e-01 1.42733435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:16.31, Z:1.43 [[ 8.73189532e-01 -4.86540167e-01 -2.86130611e-02 6.22883001e+01] [ 4.86297648e-01 8.73658068e-01 -1.53680658e-02 1.63095625e+01] [ 3.24752130e-02 -4.95230156e-04 9.99472418e-01 1.42792341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588040942 meters Centerline goodness [0,1] 0.9999560700243811 Centerline is valid? [True, True] Translation: X:62.31, Y:16.32, Z:1.43 [[ 8.72980767e-01 -4.86940354e-01 -2.81721856e-02 6.23127696e+01] [ 4.86705145e-01 8.73435085e-01 -1.51411345e-02 1.63225751e+01] [ 3.19794047e-02 -4.93628450e-04 9.99488406e-01 1.42840280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61804094200001 meters Centerline goodness [0,1] 0.9998468606431853 Centerline is valid? [True, True] Translation: X:62.34, Y:16.33, Z:1.43 [[ 8.72949536e-01 -4.87053391e-01 -2.71680471e-02 6.23381477e+01] [ 4.86834460e-01 8.73372069e-01 -1.46095121e-02 1.63344657e+01] [ 3.08434259e-02 -4.72974747e-04 9.99524116e-01 1.42846776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648040942 meters Centerline goodness [0,1] 0.9999561999036398 Centerline is valid? [True, True] Translation: X:62.36, Y:16.35, Z:1.43 [[ 8.72791570e-01 -4.87364247e-01 -2.66639350e-02 6.23624297e+01] [ 4.87153343e-01 8.73198643e-01 -1.43440278e-02 1.63488945e+01] [ 3.02736782e-02 -4.70078485e-04 9.99541537e-01 1.43091371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.678040942 meters Centerline goodness [0,1] 0.9999781248632804 Centerline is valid? [True, True] Translation: X:62.39, Y:16.36, Z:1.43 [[ 8.72675748e-01 -4.87590965e-01 -2.63075880e-02 6.23877284e+01] [ 4.87385477e-01 8.73072068e-01 -1.41619416e-02 1.63611361e+01] [ 2.98736550e-02 -4.63153324e-04 9.99553575e-01 1.43241112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708040942 meters Centerline goodness [0,1] 0.9998243765367053 Centerline is valid? [True, True] Translation: X:62.41, Y:16.37, Z:1.43 [[ 8.72621102e-01 -4.87696122e-01 -2.61707045e-02 6.24127109e+01] [ 4.87492547e-01 8.73013336e-01 -1.40972606e-02 1.63716594e+01] [ 2.97225533e-02 -4.56456308e-04 9.99558083e-01 1.43193342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.738040942 meters Centerline goodness [0,1] 0.9998463598252891 Centerline is valid? [True, True] Translation: X:62.44, Y:16.39, Z:1.43 [[ 8.72662647e-01 -4.87620281e-01 -2.61985832e-02 6.24368042e+01] [ 4.87416021e-01 8.73055703e-01 -1.41195584e-02 1.63863314e+01] [ 2.97578055e-02 -4.47998023e-04 9.99557038e-01 1.43271936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.768040942 meters Centerline goodness [0,1] 0.9998682100731434 Centerline is valid? [True, True] Translation: X:62.46, Y:16.40, Z:1.43 [[ 8.72608514e-01 -4.87724486e-01 -2.60615761e-02 6.24625839e+01] [ 4.87522122e-01 8.72997498e-01 -1.40552377e-02 1.63985758e+01] [ 2.96067743e-02 -4.40874776e-04 9.99561526e-01 1.43325250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.798040942 meters Centerline goodness [0,1] 0.9999122518372272 Centerline is valid? [True, True] Translation: X:62.49, Y:16.41, Z:1.43 [[ 8.72441645e-01 -4.88036840e-01 -2.57995851e-02 6.24869927e+01] [ 4.87838418e-01 8.72822920e-01 -1.39222329e-02 1.64100033e+01] [ 2.93130317e-02 -4.39693024e-04 9.99570184e-01 1.43416248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.828040942 meters Centerline goodness [0,1] 0.9999780499582949 Centerline is valid? [True, True] Translation: X:62.51, Y:16.42, Z:1.43 [[ 8.72080634e-01 -4.88698325e-01 -2.54816603e-02 6.25120777e+01] [ 4.88504900e-01 8.72452717e-01 -1.37557169e-02 1.64217177e+01] [ 2.89539396e-02 -4.51821580e-04 9.99580645e-01 1.43469852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.858040942 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:62.54, Y:16.43, Z:1.44 [[ 8.71964994e-01 -4.88964042e-01 -2.43149163e-02 6.25368694e+01] [ 4.88787818e-01 8.72303834e-01 -1.31335512e-02 1.64324424e+01] [ 2.76318290e-02 -4.32838041e-04 9.99618074e-01 1.43681090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888040942 meters Centerline goodness [0,1] 0.9998680361580927 Centerline is valid? [True, True] Translation: X:62.56, Y:16.45, Z:1.44 [[ 8.72025494e-01 -4.88908255e-01 -2.32433938e-02 6.25611778e+01] [ 4.88747096e-01 8.72335114e-01 -1.25588639e-02 1.64467745e+01] [ 2.64161608e-02 -4.08491699e-04 9.99650949e-01 1.43823718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.918040942 meters Centerline goodness [0,1] 0.9999121998331797 Centerline is valid? [True, True] Translation: X:62.59, Y:16.46, Z:1.44 [[ 8.71942504e-01 -4.89077862e-01 -2.27840789e-02 6.25853027e+01] [ 4.88922859e-01 8.72240039e-01 -1.23187800e-02 1.64604015e+01] [ 2.58980284e-02 -3.98389113e-04 9.99664510e-01 1.43881661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.61, Y:16.47, Z:1.44 [[ 8.71768814e-01 -4.89401884e-01 -2.24706737e-02 6.26088966e+01] [ 4.89251030e-01 8.72058277e-01 -1.21569057e-02 1.64732816e+01] [ 2.55453496e-02 -3.95788988e-04 9.99673586e-01 1.43913436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.63, Y:16.49, Z:1.44 [[ 8.71342315e-01 -4.90176406e-01 -2.21282947e-02 6.26347965e+01] [ 4.90030272e-01 8.71623155e-01 -1.19753490e-02 1.64866308e+01] [ 2.51575676e-02 -4.08905919e-04 9.99683415e-01 1.43960169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.66, Y:16.50, Z:1.44 [[ 8.70635105e-01 -4.91428797e-01 -2.21867439e-02 6.26601573e+01] [ 4.91282120e-01 8.70917645e-01 -1.20139157e-02 1.64996743e+01] [ 2.52268109e-02 -4.40213847e-04 9.99681656e-01 1.44000050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.038040942 meters Centerline goodness [0,1] 0.9999780485127867 Centerline is valid? [True, True] Translation: X:62.68, Y:16.51, Z:1.44 [[ 8.69998798e-01 -4.92581464e-01 -2.15776192e-02 6.26848521e+01] [ 4.92442931e-01 8.70266220e-01 -1.16903719e-02 1.65129875e+01] [ 2.45367336e-02 -4.55136494e-04 9.99698825e-01 1.43976630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068040942 meters Centerline goodness [0,1] 0.9999560516832205 Centerline is valid? [True, True] Translation: X:62.71, Y:16.53, Z:1.44 [[ 8.69634381e-01 -4.93251369e-01 -2.09554334e-02 6.27090640e+01] [ 4.93120850e-01 8.69886703e-01 -1.13556344e-02 1.65284671e+01] [ 2.38300351e-02 -4.58311025e-04 9.99715919e-01 1.44044034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.098040942 meters Centerline goodness [0,1] 0.9999780745028394 Centerline is valid? [True, True] Translation: X:62.73, Y:16.54, Z:1.44 [[ 8.69112409e-01 -4.94220702e-01 -1.97361845e-02 6.27339111e+01] [ 4.94105049e-01 8.69336352e-01 -1.07008152e-02 1.65434968e+01] [ 2.24459470e-02 -4.51537097e-04 9.99747956e-01 1.44086401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.128040942 meters Centerline goodness [0,1] 0.9999561691869384 Centerline is valid? [True, True] Translation: X:62.76, Y:16.56, Z:1.44 [[ 8.68859252e-01 -4.94673965e-01 -1.95260914e-02 6.27579146e+01] [ 4.94560735e-01 8.69078514e-01 -1.05931770e-02 1.65566711e+01] [ 2.22098753e-02 -4.52858286e-04 9.99753228e-01 1.44138121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.158040942 meters Centerline goodness [0,1] 0.9999780706563453 Centerline is valid? [True, True] Translation: X:62.78, Y:16.57, Z:1.44 [[ 8.68473420e-01 -4.95360841e-01 -1.92757678e-02 6.27826153e+01] [ 4.95250624e-01 8.68687184e-01 -1.04592567e-02 1.65714473e+01] [ 2.19257186e-02 -4.62749598e-04 9.99759495e-01 1.44161925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.188040942 meters Centerline goodness [0,1] 0.9999122171747098 Centerline is valid? [True, True] Translation: X:62.81, Y:16.59, Z:1.44 [[ 8.68152089e-01 -4.95928606e-01 -1.91511618e-02 6.28081486e+01] [ 4.95819815e-01 8.68363172e-01 -1.03977786e-02 1.65851444e+01] [ 2.17867195e-02 -4.68672309e-04 9.99762531e-01 1.44234598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.218040942 meters Centerline goodness [0,1] 0.9999780364594772 Centerline is valid? [True, True] Translation: X:62.83, Y:16.60, Z:1.44 [[ 8.68078757e-01 -4.96092999e-01 -1.81936164e-02 6.28323733e+01] [ 4.95994727e-01 8.68269278e-01 -9.88386609e-03 1.65991633e+01] [ 2.07002750e-02 -4.43963616e-04 9.99785628e-01 1.44248296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.86, Y:16.61, Z:1.44 [[ 8.68360171e-01 -4.95617834e-01 -1.77080693e-02 6.28568088e+01] [ 4.95524612e-01 8.68540607e-01 -9.62149770e-03 1.66141315e+01] [ 2.01487631e-02 -4.19858784e-04 9.99796905e-01 1.44359866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.88, Y:16.63, Z:1.44 [[ 8.68738352e-01 -4.94976951e-01 -1.70731616e-02 6.28810807e+01] [ 4.94890070e-01 8.68906018e-01 -9.28167068e-03 1.66288990e+01] [ 1.94291859e-02 -3.85994839e-04 9.99811161e-01 1.44413479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308040942 meters Centerline goodness [0,1] 0.9999344376939552 Centerline is valid? [True, True] Translation: X:62.91, Y:16.65, Z:1.44 [[ 8.69835186e-01 -4.93053906e-01 -1.68699332e-02 6.29050658e+01] [ 4.92968618e-01 8.69998698e-01 -9.17646619e-03 1.66461541e+01] [ 1.92013124e-02 -3.34334462e-04 9.99815582e-01 1.44445969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.93, Y:16.66, Z:1.44 [[ 8.70467931e-01 -4.91949524e-01 -1.64695724e-02 6.29285840e+01] [ 4.91867940e-01 8.70623671e-01 -8.96398389e-03 1.66609654e+01] [ 1.87486272e-02 -2.97994110e-04 9.99824185e-01 1.44490011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.95, Y:16.68, Z:1.45 [[ 8.71441865e-01 -4.90275537e-01 -1.47977569e-02 6.29523560e+01] [ 4.90209430e-01 8.71567463e-01 -8.05431825e-03 1.66780023e+01] [ 1.68460787e-02 -2.35129882e-04 9.99858067e-01 1.44558097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.98, Y:16.69, Z:1.45 [[ 8.71708401e-01 -4.89823238e-01 -1.40591105e-02 6.29764919e+01] [ 4.89763446e-01 8.71821743e-01 -7.65608826e-03 1.66922627e+01] [ 1.60071682e-02 -2.11761970e-04 9.99871855e-01 1.44696340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:16.71, Z:1.45 [[ 8.72017314e-01 -4.89299655e-01 -1.31016305e-02 6.30007972e+01] [ 4.89247609e-01 8.72115711e-01 -7.13886149e-03 1.67064677e+01] [ 1.49191802e-02 -1.84730559e-04 9.99888686e-01 1.44794112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.03, Y:16.72, Z:1.45 [[ 8.72523977e-01 -4.88406624e-01 -1.26838213e-02 6.30250642e+01] [ 4.88357690e-01 8.72616149e-01 -6.91538007e-03 1.67215963e+01] [ 1.44456247e-02 -1.60406737e-04 9.99895644e-01 1.44838624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.05, Y:16.74, Z:1.45 [[ 8.73292461e-01 -4.87045858e-01 -1.21082221e-02 6.30489734e+01] [ 4.87001057e-01 8.73376388e-01 -6.60720148e-03 1.67358040e+01] [ 1.37930454e-02 -1.26697740e-04 9.99904863e-01 1.44923269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.518040942 meters Centerline goodness [0,1] 0.9998249950779866 Centerline is valid? [True, True] Translation: X:63.07, Y:16.75, Z:1.45 [[ 8.73392426e-01 -4.86869891e-01 -1.19741132e-02 6.30732557e+01] [ 4.86826055e-01 8.73474495e-01 -6.53439145e-03 1.67502773e+01] [ 1.36404810e-02 -1.22222306e-04 9.99906957e-01 1.44809334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:16.77, Z:1.45 [[ 8.73529232e-01 -4.86622790e-01 -1.20391134e-02 6.30966443e+01] [ 4.86578394e-01 8.73612183e-01 -6.57417166e-03 1.67659208e+01] [ 1.37166579e-02 -1.15241337e-04 9.99905916e-01 1.44819756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:16.78, Z:1.45 [[ 8.73495344e-01 -4.86676434e-01 -1.23260525e-02 6.31205336e+01] [ 4.86629812e-01 8.73582300e-01 -6.73729864e-03 1.67785305e+01] [ 1.40467058e-02 -1.13225611e-04 9.99901334e-01 1.44922906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.14, Y:16.79, Z:1.45 [[ 8.73021225e-01 -4.87518082e-01 -1.26515006e-02 6.31446995e+01] [ 4.87469045e-01 8.73112881e-01 -6.91570350e-03 1.67926187e+01] [ 1.44177186e-02 -1.29658972e-04 9.99896051e-01 1.44860108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.638040942 meters Centerline goodness [0,1] 0.999847071417648 Centerline is valid? [True, True] Translation: X:63.17, Y:16.81, Z:1.45 [[ 8.71919597e-01 -4.89489454e-01 -1.25016119e-02 6.31692241e+01] [ 4.89441688e-01 8.72009203e-01 -6.83983612e-03 1.68053412e+01] [ 1.42495483e-02 -1.55022881e-04 9.99898458e-01 1.44704976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:16.82, Z:1.45 [[ 8.71528786e-01 -4.90194791e-01 -1.21096052e-02 6.31946621e+01] [ 4.90150009e-01 8.71612896e-01 -6.62779737e-03 1.68176656e+01] [ 1.38037998e-02 -1.59206902e-04 9.99904710e-01 1.44997005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:16.83, Z:1.45 [[ 8.71399833e-01 -4.90423983e-01 -1.21098297e-02 6.32187918e+01] [ 4.90379228e-01 8.71483959e-01 -6.62738793e-03 1.68309986e+01] [ 1.38037523e-02 -1.63304227e-04 9.99904710e-01 1.45060941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:16.85, Z:1.45 [[ 8.70531425e-01 -4.91958221e-01 -1.23348068e-02 6.32438799e+01] [ 4.91911877e-01 8.70618788e-01 -6.75508798e-03 1.68452914e+01] [ 1.40621356e-02 -1.87121586e-04 9.99901106e-01 1.44984317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75804094200001 meters Centerline goodness [0,1] 0.999913120913968 Centerline is valid? [True, True] Translation: X:63.27, Y:16.86, Z:1.45 [[ 8.68893786e-01 -4.94844317e-01 -1.23567939e-02 6.32700533e+01] [ 4.94798045e-01 8.68981616e-01 -6.77103422e-03 1.68572292e+01] [ 1.40884345e-02 -2.30807887e-04 9.99900726e-01 1.45041164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788040942 meters Centerline goodness [0,1] 0.9999563375976946 Centerline is valid? [True, True] Translation: X:63.29, Y:16.87, Z:1.45 [[ 8.68103471e-01 -4.96242880e-01 -1.18054394e-02 6.32948106e+01] [ 4.96200705e-01 8.68183706e-01 -6.47399373e-03 1.68709932e+01] [ 1.34619634e-02 -2.37770932e-04 9.99909355e-01 1.45106138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.32, Y:16.88, Z:1.45 [[ 8.67207390e-01 -4.97810652e-01 -1.16574772e-02 6.33201488e+01] [ 4.97769652e-01 8.67285702e-01 -6.39416138e-03 1.68831097e+01] [ 1.32934450e-02 -2.57674395e-04 9.99911605e-01 1.45243155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.34, Y:16.90, Z:1.45 [[ 8.65646328e-01 -5.00538660e-01 -1.08390688e-02 6.33444548e+01] [ 5.00503424e-01 8.65714140e-01 -5.94557160e-03 1.68956098e+01] [ 1.23595235e-02 -2.78228814e-04 9.99923579e-01 1.45323805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.37, Y:16.91, Z:1.45 [[ 8.64979152e-01 -5.01700911e-01 -1.03567632e-02 6.33697587e+01] [ 5.01668816e-01 8.65041107e-01 -5.68167423e-03 1.69103263e+01] [ 1.18095270e-02 -2.81135356e-04 9.99930226e-01 1.45335488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.39, Y:16.92, Z:1.45 [[ 8.64652928e-01 -5.02267976e-01 -1.01091590e-02 6.33940209e+01] [ 5.02237385e-01 8.64711977e-01 -5.55028489e-03 1.69233044e+01] [ 1.15292413e-02 -2.78127523e-04 9.99933497e-01 1.45437681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.42, Y:16.94, Z:1.45 [[ 8.64415373e-01 -5.02683340e-01 -9.77361146e-03 6.34172515e+01] [ 5.02654774e-01 8.64470580e-01 -5.36594425e-03 1.69406159e+01] [ 1.11463703e-02 -2.74347766e-04 9.99937840e-01 1.45352510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.44, Y:16.96, Z:1.45 [[ 8.64577281e-01 -5.02403372e-01 -9.84766871e-03 6.34416576e+01] [ 5.02374319e-01 8.64633321e-01 -5.40972470e-03 1.69564779e+01] [ 1.12324864e-02 -2.70090784e-04 9.99936877e-01 1.45365131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.47, Y:16.97, Z:1.45 [[ 8.65051967e-01 -5.01579835e-01 -1.01371709e-02 6.34652513e+01] [ 5.01548954e-01 8.65111322e-01 -5.57208162e-03 1.69731234e+01] [ 1.15646251e-02 -2.64147268e-04 9.99933093e-01 1.45321751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.49, Y:16.99, Z:1.45 [[ 8.66580193e-01 -4.98921314e-01 -1.07838335e-02 6.34876125e+01] [ 4.98886088e-01 8.66647255e-01 -5.93345205e-03 1.69901687e+01] [ 1.23061054e-02 -2.38092499e-04 9.99924249e-01 1.45377293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.51, Y:17.01, Z:1.45 [[ 8.67528707e-01 -4.97258637e-01 -1.13044848e-02 6.35113486e+01] [ 4.97219791e-01 8.67602327e-01 -6.21947763e-03 1.70065672e+01] [ 1.29004862e-02 -2.25238166e-04 9.99916760e-01 1.45431242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.53, Y:17.03, Z:1.45 [[ 8.69840717e-01 -4.93182252e-01 -1.21816564e-02 6.35331807e+01] [ 4.93136656e-01 8.69925995e-01 -6.70835490e-03 1.70263660e+01] [ 1.39055811e-02 -1.72021065e-04 9.99903298e-01 1.45390617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.56, Y:17.04, Z:1.45 [[ 8.71082592e-01 -4.90983089e-01 -1.22769863e-02 6.35560466e+01] [ 4.90936544e-01 8.71169093e-01 -6.76182721e-03 1.70425635e+01] [ 1.40152739e-02 -1.37111267e-04 9.99901772e-01 1.45468547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.58, Y:17.06, Z:1.45 [[ 8.72289456e-01 -4.88828059e-01 -1.25790804e-02 6.35793938e+01] [ 4.88778973e-01 8.72380145e-01 -6.92809922e-03 1.70600307e+01] [ 1.43603893e-02 -1.05082109e-04 9.99896879e-01 1.45465013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.60, Y:17.08, Z:1.46 [[ 8.73557448e-01 -4.86568342e-01 -1.21915219e-02 6.36024432e+01] [ 4.86521937e-01 8.73642516e-01 -6.72013137e-03 1.70763614e+01] [ 1.39208351e-02 -6.10220568e-05 9.99903099e-01 1.45584573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.63, Y:17.10, Z:1.46 [[ 8.75909655e-01 -4.82312738e-01 -1.25179274e-02 6.36251335e+01] [ 4.82263381e-01 8.75999099e-01 -6.89991051e-03 1.70958409e+01] [ 1.42936078e-02 6.76024502e-06 9.99897841e-01 1.45682308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.65, Y:17.11, Z:1.46 [[ 8.76906692e-01 -4.80512960e-01 -1.19142170e-02 6.36476260e+01] [ 4.80468021e-01 8.76987624e-01 -6.57173915e-03 1.71116871e+01] [ 1.36064267e-02 3.84017878e-05 9.99907428e-01 1.45888283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.67, Y:17.13, Z:1.46 [[ 8.78541247e-01 -4.77539565e-01 -1.10109835e-02 6.36691302e+01] [ 4.77500911e-01 8.78610242e-01 -6.07634863e-03 1.71302323e+01] [ 1.25760598e-02 8.05682399e-05 9.99920915e-01 1.46107925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.69, Y:17.15, Z:1.46 [[ 8.79199826e-01 -4.76323339e-01 -1.11239794e-02 6.36936595e+01] [ 4.76283800e-01 8.79270190e-01 -6.13796804e-03 1.71457765e+01] [ 1.27046409e-02 9.83292452e-05 9.99919288e-01 1.46046928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.72, Y:17.16, Z:1.46 [[ 8.79484236e-01 -4.75795617e-01 -1.12253755e-02 6.37165596e+01] [ 4.75755241e-01 8.79555864e-01 -6.19933904e-03 1.71608696e+01] [ 1.28229632e-02 1.11689740e-04 9.99917776e-01 1.46133088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.358040942 meters Centerline goodness [0,1] 0.9999575118966689 Centerline is valid? [True, True] Translation: X:63.74, Y:17.18, Z:1.46 [[ 8.79391101e-01 -4.75945179e-01 -1.21440610e-02 6.37395993e+01] [ 4.75897909e-01 8.79474941e-01 -6.70880381e-03 1.71774746e+01] [ 1.38734201e-02 1.20329139e-04 9.99903752e-01 1.46322977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:17.19, Z:1.46 [[ 8.78817366e-01 -4.76994763e-01 -1.24913352e-02 6.37652574e+01] [ 4.76944859e-01 8.78906130e-01 -6.90050775e-03 1.71911807e+01] [ 1.42702172e-02 1.06607922e-04 9.99898170e-01 1.46228283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.79, Y:17.21, Z:1.46 [[ 8.78168731e-01 -4.78170512e-01 -1.31392775e-02 6.37892405e+01] [ 4.78115342e-01 8.78267016e-01 -7.26411717e-03 1.72054379e+01] [ 1.50132807e-02 9.70303862e-05 9.99887290e-01 1.46282299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.81, Y:17.22, Z:1.46 [[ 8.76176232e-01 -4.81773001e-01 -1.44908945e-02 6.38141926e+01] [ 4.81706355e-01 8.76296054e-01 -8.01333339e-03 1.72203686e+01] [ 1.65589214e-02 4.07362709e-05 9.99862891e-01 1.46231337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:17.23, Z:1.46 [[ 8.74980642e-01 -4.83909407e-01 -1.55100685e-02 6.38381663e+01] [ 4.83833299e-01 8.75118098e-01 -8.58212728e-03 1.72340760e+01] [ 1.77261138e-02 4.90762348e-06 9.99842880e-01 1.46188463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:17.25, Z:1.46 [[ 8.73409402e-01 -4.86722013e-01 -1.60530114e-02 6.38627118e+01] [ 4.86640842e-01 8.73556913e-01 -8.88881986e-03 1.72476201e+01] [ 1.83496033e-02 -4.84721232e-05 9.99831631e-01 1.46199187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:17.26, Z:1.46 [[ 8.69811958e-01 -4.93086144e-01 -1.71234585e-02 6.38884166e+01] [ 4.92994862e-01 8.69980471e-01 -9.48930375e-03 1.72586122e+01] [ 1.95761187e-02 -1.87867181e-04 9.99808352e-01 1.46219472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.91, Y:17.27, Z:1.46 [[ 8.67710150e-01 -4.96752818e-01 -1.77689049e-02 6.39142488e+01] [ 4.96655247e-01 8.67892021e-01 -9.84914440e-03 1.72705783e+01] [ 2.03140810e-02 -2.78817302e-04 9.99793609e-01 1.46263703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.94, Y:17.28, Z:1.46 [[ 8.65560202e-01 -5.00472352e-01 -1.82472168e-02 6.39398361e+01] [ 5.00370236e-01 8.65752439e-01 -1.01164281e-02 1.72831379e+01] [ 2.08605650e-02 -3.73986641e-04 9.99782325e-01 1.46306630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.97, Y:17.30, Z:1.46 [[ 8.61847675e-01 -5.06827235e-01 -1.85671207e-02 6.39655121e+01] [ 5.06722928e-01 8.62047486e-01 -1.02959806e-02 1.72955642e+01] [ 2.12240231e-02 -5.34818814e-04 9.99774602e-01 1.46322503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.99, Y:17.31, Z:1.46 [[ 8.60289708e-01 -5.09465395e-01 -1.86180081e-02 6.39900593e+01] [ 5.09361086e-01 8.60490937e-01 -1.03262552e-02 1.73099035e+01] [ 2.12814969e-02 -5.99717757e-04 9.99773343e-01 1.46327239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.02, Y:17.33, Z:1.46 [[ 8.57879228e-01 -5.13481946e-01 -1.94813144e-02 6.40153954e+01] [ 5.13368722e-01 8.58100086e-01 -1.08072755e-02 1.73258696e+01] [ 2.22662584e-02 -7.29760336e-04 9.99751810e-01 1.46246704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.04, Y:17.34, Z:1.46 [[ 8.56879637e-01 -5.15137704e-01 -1.97593964e-02 6.40405271e+01] [ 5.15021555e-01 8.57107075e-01 -1.09663138e-02 1.73406311e+01] [ 2.25850802e-02 -7.79704102e-04 9.99744620e-01 1.46317250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:17.36, Z:1.46 [[ 8.56350774e-01 -5.16039474e-01 -1.91471569e-02 6.40644721e+01] [ 5.15930504e-01 8.56564453e-01 -1.06326111e-02 1.73559914e+01] [ 2.18876210e-02 -7.73357559e-04 9.99760138e-01 1.46399341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:17.37, Z:1.47 [[ 8.56156046e-01 -5.16378078e-01 -1.87217933e-02 6.40885730e+01] [ 5.16273932e-01 8.56360379e-01 -1.03984960e-02 1.73691092e+01] [ 2.14021574e-02 -7.62838620e-04 9.99770657e-01 1.46508319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.11, Y:17.38, Z:1.47 [[ 8.55923763e-01 -5.16776979e-01 -1.83321105e-02 6.41131588e+01] [ 5.16677181e-01 8.56119725e-01 -1.01836996e-02 1.73839245e+01] [ 2.09571829e-02 -7.55312681e-04 9.99780089e-01 1.46632052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.14, Y:17.40, Z:1.47 [[ 8.56340495e-01 -5.16083847e-01 -1.83961904e-02 6.41361185e+01] [ 5.15983068e-01 8.56537752e-01 -1.02250921e-02 1.74019005e+01] [ 2.10340364e-02 -7.35962320e-04 9.99778489e-01 1.46656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.16, Y:17.42, Z:1.47 [[ 8.56796235e-01 -5.15338325e-01 -1.80727160e-02 6.41596540e+01] [ 5.15240779e-01 8.56986535e-01 -1.00508475e-02 1.74184909e+01] [ 2.06676612e-02 -7.00271943e-04 9.99786156e-01 1.46668221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.18, Y:17.44, Z:1.47 [[ 8.57661529e-01 -5.13880704e-01 -1.85289746e-02 6.41837038e+01] [ 5.13777703e-01 8.57861390e-01 -1.03105657e-02 1.74356418e+01] [ 2.11936926e-02 -6.76798492e-04 9.99775159e-01 1.46716083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.21, Y:17.45, Z:1.47 [[ 8.60057297e-01 -5.09857118e-01 -1.86323609e-02 6.42054639e+01] [ 5.09751897e-01 8.60258907e-01 -1.03738103e-02 1.74543617e+01] [ 2.13178154e-02 -5.75810091e-04 9.99772584e-01 1.46766452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:17.47, Z:1.47 [[ 8.61465834e-01 -5.07461454e-01 -1.89602186e-02 6.42290433e+01] [ 5.07351877e-01 8.61674299e-01 -1.05581703e-02 1.74701390e+01] [ 2.16953975e-02 -5.23999488e-04 9.99764490e-01 1.46826119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:17.49, Z:1.47 [[ 8.62737980e-01 -5.05292295e-01 -1.90492813e-02 6.42525815e+01] [ 5.05181088e-01 8.62948131e-01 -1.06108937e-02 1.74858474e+01] [ 2.18001445e-02 -4.68915650e-04 9.99762239e-01 1.46883500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.27, Y:17.51, Z:1.47 [[ 8.65441575e-01 -5.00650250e-01 -1.89791297e-02 6.42746911e+01] [ 5.00538676e-01 8.65649586e-01 -1.05748932e-02 1.75056573e+01] [ 2.17235987e-02 -3.47836224e-04 9.99763954e-01 1.46896669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.30, Y:17.52, Z:1.47 [[ 8.66798907e-01 -4.98279040e-01 -1.94332788e-02 6.42976449e+01] [ 4.98161427e-01 8.67016673e-01 -1.08296297e-02 1.75214757e+01] [ 2.22451542e-02 -2.93798747e-04 9.99752503e-01 1.46900692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.32, Y:17.54, Z:1.47 [[ 8.68812295e-01 -4.94769639e-01 -1.91885735e-02 6.43200781e+01] [ 4.94654072e-01 8.69024145e-01 -1.06950435e-02 1.75404312e+01] [ 2.19669165e-02 -1.99720729e-04 9.99758678e-01 1.46952693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.34, Y:17.55, Z:1.47 [[ 8.69617733e-01 -4.93363241e-01 -1.89132363e-02 6.43440149e+01] [ 4.93250501e-01 8.69823366e-01 -1.05477681e-02 1.75537433e+01] [ 2.16550559e-02 -1.56437055e-04 9.99765490e-01 1.47012625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.37, Y:17.57, Z:1.47 [[ 8.70446426e-01 -4.91884268e-01 -1.93102759e-02 6.43682501e+01] [ 4.91766304e-01 8.70660584e-01 -1.07726307e-02 1.75681428e+01] [ 2.21115836e-02 -1.19145129e-04 9.99755502e-01 1.47046657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:17.58, Z:1.47 [[ 8.71559781e-01 -4.89902354e-01 -1.94738900e-02 6.43916647e+01] [ 4.89781846e-01 8.71777310e-01 -1.08657560e-02 1.75830534e+01] [ 2.23000549e-02 -6.78018587e-05 9.99751321e-01 1.47021835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.41, Y:17.60, Z:1.47 [[ 8.72061523e-01 -4.89010069e-01 -1.94384087e-02 6.44149707e+01] [ 4.88889614e-01 8.72278139e-01 -1.08533160e-02 1.75965172e+01] [ 2.22630797e-02 -3.84768510e-05 9.99752146e-01 1.47092335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.44, Y:17.61, Z:1.47 [[ 8.72402977e-01 -4.88391068e-01 -1.96776560e-02 6.44382190e+01] [ 4.88267400e-01 8.72624870e-01 -1.09900999e-02 1.76098748e+01] [ 2.25386787e-02 -2.01621020e-05 9.99745972e-01 1.47137149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25804094200001 meters Centerline goodness [0,1] 0.9999789016182459 Centerline is valid? [True, True] Translation: X:64.46, Y:17.62, Z:1.47 [[ 8.72644196e-01 -4.87973803e-01 -1.93306659e-02 6.44621142e+01] [ 4.87854295e-01 8.72858274e-01 -1.07990707e-02 1.76237402e+01] [ 2.21425953e-02 -6.80199967e-06 9.99754823e-01 1.47194219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.49, Y:17.64, Z:1.47 [[ 8.73439001e-01 -4.86522723e-01 -1.99987880e-02 6.44867155e+01] [ 4.86394255e-01 8.73667923e-01 -1.11798724e-02 1.76375435e+01] [ 2.29115616e-02 3.76409701e-05 9.99737495e-01 1.47154743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.51, Y:17.65, Z:1.47 [[ 8.73830989e-01 -4.85810197e-01 -2.01954364e-02 6.45102046e+01] [ 4.85678828e-01 8.74064327e-01 -1.12972173e-02 1.76501084e+01] [ 2.31404139e-02 6.33626946e-05 9.99732223e-01 1.47197544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.54, Y:17.66, Z:1.47 [[ 8.74554017e-01 -4.84506568e-01 -2.02152757e-02 6.45357273e+01] [ 4.84374519e-01 8.74787617e-01 -1.13114948e-02 1.76627172e+01] [ 2.31645664e-02 1.00748790e-04 9.99731660e-01 1.47264720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.56, Y:17.68, Z:1.47 [[ 8.74855557e-01 -4.83949343e-01 -2.05131124e-02 6.45600695e+01] [ 4.83813046e-01 8.75096005e-01 -1.14855482e-02 1.76760406e+01] [ 2.35093662e-02 1.23684229e-04 9.99723609e-01 1.47311904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.59, Y:17.69, Z:1.47 [[ 8.75182894e-01 -4.83326872e-01 -2.12140534e-02 6.45854354e+01] [ 4.83180859e-01 8.75439954e-01 -1.18804423e-02 1.76883045e+01] [ 2.43137669e-02 1.47335323e-04 9.99704366e-01 1.47307295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.61, Y:17.70, Z:1.47 [[ 8.75229229e-01 -4.83212346e-01 -2.19003379e-02 6.46102352e+01] [ 4.83056623e-01 8.75503172e-01 -1.22676550e-02 1.77005238e+01] [ 2.51016976e-02 1.57906965e-04 9.99684890e-01 1.47313988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.64, Y:17.71, Z:1.47 [[ 8.74993746e-01 -4.83606698e-01 -2.25943661e-02 6.46356756e+01] [ 4.83440867e-01 8.75285403e-01 -1.26645691e-02 1.77125645e+01] [ 2.59011893e-02 1.58378823e-04 9.99664495e-01 1.47332320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.498040942 meters Centerline goodness [0,1] 0.999978784342845 Centerline is valid? [True, True] Translation: X:64.66, Y:17.72, Z:1.47 [[ 8.74722707e-01 -4.84081828e-01 -2.29122255e-02 6.46610408e+01] [ 4.83911243e-01 8.75022720e-01 -1.28510085e-02 1.77239202e+01] [ 2.62696576e-02 1.53585378e-04 9.99654881e-01 1.47379717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.69, Y:17.73, Z:1.48 [[ 8.73705311e-01 -4.85908620e-01 -2.30617141e-02 6.46880107e+01] [ 4.85736211e-01 8.74009612e-01 -1.29434101e-02 1.77334960e+01] [ 2.64454743e-02 1.06816514e-04 9.99650252e-01 1.47501522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.71, Y:17.74, Z:1.48 [[ 8.73135327e-01 -4.86925769e-01 -2.31947341e-02 6.47124999e+01] [ 4.86751500e-01 8.73443351e-01 -1.30264627e-02 1.77447113e+01] [ 2.66022067e-02 8.37930935e-05 9.99646095e-01 1.47588144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.74, Y:17.76, Z:1.48 [[ 8.73000405e-01 -4.87167754e-01 -2.31920722e-02 6.47364738e+01] [ 4.86993445e-01 8.73308406e-01 -1.30312002e-02 1.77582876e+01] [ 2.66022122e-02 8.18559316e-05 9.99646095e-01 1.47651987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.76, Y:17.77, Z:1.48 [[ 8.72209191e-01 -4.88581985e-01 -2.32114652e-02 6.47619903e+01] [ 4.88407658e-01 8.72517990e-01 -1.30505871e-02 1.77692673e+01] [ 2.66287027e-02 4.61846711e-05 9.99645392e-01 1.47721097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.79, Y:17.78, Z:1.48 [[ 8.70612830e-01 -4.91372112e-01 -2.42228849e-02 6.47898278e+01] [ 4.91183106e-01 8.70949738e-01 -1.36275482e-02 1.77773109e+01] [ 2.77931124e-02 -3.35535493e-05 9.99613696e-01 1.47783755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.82, Y:17.79, Z:1.48 [[ 8.69647797e-01 -4.93041639e-01 -2.49529791e-02 6.48155315e+01] [ 4.92841634e-01 8.70005710e-01 -1.40424095e-02 1.77880270e+01] [ 2.86327269e-02 -8.59165252e-05 9.99589996e-01 1.47828190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.84, Y:17.80, Z:1.48 [[ 8.67945411e-01 -4.95972383e-01 -2.61181771e-02 6.48437917e+01] [ 4.95754293e-01 8.68338276e-01 -1.47077874e-02 1.77972272e+01] [ 2.99740693e-02 -1.82641908e-04 9.99550660e-01 1.47932491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.87, Y:17.81, Z:1.48 [[ 8.67080901e-01 -4.97505408e-01 -2.56725768e-02 6.48694439e+01] [ 4.97295117e-01 8.67460846e-01 -1.44654057e-02 1.78082674e+01] [ 2.94665727e-02 -2.24170024e-04 9.99565741e-01 1.48020407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.90, Y:17.82, Z:1.48 [[ 8.66158120e-01 -4.99118581e-01 -2.55098538e-02 6.48960416e+01] [ 4.98911377e-01 8.66533652e-01 -1.43829301e-02 1.78202208e+01] [ 2.92839344e-02 -2.69264575e-04 9.99571097e-01 1.48111870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.92, Y:17.83, Z:1.48 [[ 8.65364856e-01 -5.00452050e-01 -2.62947045e-02 6.49226722e+01] [ 5.00232248e-01 8.65764197e-01 -1.48341938e-02 1.78325758e+01] [ 3.01888164e-02 -3.16469156e-04 9.99544164e-01 1.48163200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.95, Y:17.84, Z:1.48 [[ 8.64433234e-01 -5.02035336e-01 -2.67526634e-02 6.49498203e+01] [ 5.01808336e-01 8.64847029e-01 -1.51000406e-02 1.78419614e+01] [ 3.07177154e-02 -3.71732587e-04 9.99528031e-01 1.48092118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.98, Y:17.85, Z:1.48 [[ 8.64130620e-01 -5.02541932e-01 -2.70162664e-02 6.49756837e+01] [ 5.02310532e-01 8.64552748e-01 -1.52536892e-02 1.78532811e+01] [ 3.10226058e-02 -3.89375233e-04 9.99518607e-01 1.48232995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.00, Y:17.86, Z:1.48 [[ 8.64312151e-01 -5.02263900e-01 -2.63719797e-02 6.50029767e+01] [ 5.02042996e-01 8.64714313e-01 -1.48991938e-02 1.78640243e+01] [ 3.02875555e-02 -3.62313505e-04 9.99541161e-01 1.48479193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.918040942 meters Centerline goodness [0,1] 0.9998695680528684 Centerline is valid? [True, True] Translation: X:65.03, Y:17.88, Z:1.48 [[ 8.64504243e-01 -5.01894227e-01 -2.71034960e-02 6.50280531e+01] [ 5.01660420e-01 8.64928935e-01 -1.53219013e-02 1.78765379e+01] [ 3.11325717e-02 -3.50902563e-04 9.99515202e-01 1.48362904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:17.89, Z:1.49 [[ 8.64956487e-01 -5.01135135e-01 -2.67180148e-02 6.50536921e+01] [ 5.00907275e-01 8.65368985e-01 -1.51136149e-02 1.78901637e+01] [ 3.06949047e-02 -3.10628778e-04 9.99528752e-01 1.48601887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.08, Y:17.90, Z:1.49 [[ 8.65495363e-01 -5.00185630e-01 -2.70575762e-02 6.50789007e+01] [ 4.99951229e-01 8.65918161e-01 -1.53136401e-02 1.79026839e+01] [ 3.10893094e-02 -2.73584007e-04 9.99516573e-01 1.48627223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:17.91, Z:1.49 [[ 8.66138043e-01 -4.99068061e-01 -2.71285900e-02 6.51039952e+01] [ 4.98831748e-01 8.66562760e-01 -1.53580323e-02 1.79149305e+01] [ 3.11733292e-02 -2.30425971e-04 9.99513967e-01 1.48682405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.13, Y:17.93, Z:1.49 [[ 8.67084218e-01 -4.97379775e-01 -2.78983394e-02 6.51298752e+01] [ 4.97128814e-01 8.67532899e-01 -1.57991164e-02 1.79260052e+01] [ 3.20608882e-02 -1.69903843e-04 9.99485903e-01 1.48858492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.16, Y:17.94, Z:1.49 [[ 8.67452622e-01 -4.96755668e-01 -2.75636617e-02 6.51553624e+01] [ 4.96510052e-01 8.67890424e-01 -1.56198774e-02 1.79382170e+01] [ 3.16815007e-02 -1.36131484e-04 9.99498006e-01 1.48979245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.098040942 meters Centerline goodness [0,1] 0.9998904061547903 Centerline is valid? [True, True] Translation: X:65.18, Y:17.95, Z:1.49 [[ 8.67803056e-01 -4.96142657e-01 -2.75738917e-02 6.51806869e+01] [ 4.95896248e-01 8.68241011e-01 -1.56351590e-02 1.79475217e+01] [ 3.16980529e-02 -1.05550740e-04 9.99497485e-01 1.49087673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.21, Y:17.96, Z:1.49 [[ 8.67951751e-01 -4.95926520e-01 -2.67702127e-02 6.52062226e+01] [ 4.95693934e-01 8.68364485e-01 -1.51869940e-02 1.79600848e+01] [ 3.07779351e-02 -8.82539786e-05 9.99526243e-01 1.49440072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:17.97, Z:1.49 [[ 8.67887927e-01 -4.96058690e-01 -2.63879153e-02 6.52302593e+01] [ 4.95832498e-01 8.68288989e-01 -1.49788049e-02 1.79716974e+01] [ 3.03427027e-02 -8.40619871e-05 9.99539551e-01 1.49468264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:17.98, Z:1.49 [[ 8.67349504e-01 -4.96969717e-01 -2.69432533e-02 6.52568207e+01] [ 4.96734158e-01 8.67767877e-01 -1.52999375e-02 1.79819911e+01] [ 3.09840953e-02 -1.13241010e-04 9.99519871e-01 1.49487872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:17.99, Z:1.49 [[ 8.66923910e-01 -4.97664080e-01 -2.78100312e-02 6.52832962e+01] [ 4.97413153e-01 8.67369844e-01 -1.58021790e-02 1.79936720e+01] [ 3.19857593e-02 -1.33788498e-04 9.99488316e-01 1.49499905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.31, Y:18.01, Z:1.50 [[ 8.66460284e-01 -4.98435689e-01 -2.84330933e-02 6.53097307e+01] [ 4.98173504e-01 8.66926663e-01 -1.61654340e-02 1.80050213e+01] [ 3.27068360e-02 -1.57907225e-04 9.99464976e-01 1.49563153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.278040942 meters Centerline goodness [0,1] 0.999955859633635 Centerline is valid? [True, True] Translation: X:65.34, Y:18.01, Z:1.50 [[ 8.65016834e-01 -5.00871620e-01 -2.95549974e-02 6.53377536e+01] [ 5.00589414e-01 8.65521552e-01 -1.68131184e-02 1.80140611e+01] [ 3.40017011e-02 -2.51288399e-04 9.99421743e-01 1.49546134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:18.03, Z:1.50 [[ 8.64272235e-01 -5.02115434e-01 -3.02257193e-02 6.53643516e+01] [ 5.01820682e-01 8.64800556e-01 -1.72046965e-02 1.80262637e+01] [ 3.47779625e-02 -2.98349564e-04 9.99395019e-01 1.49748286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.39, Y:18.04, Z:1.50 [[ 8.63670314e-01 -5.03096984e-01 -3.10968486e-02 6.53900257e+01] [ 5.02785336e-01 8.64229893e-01 -1.77086706e-02 1.80376604e+01] [ 3.57840049e-02 -3.40586408e-04 9.99359489e-01 1.49754365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36804094200001 meters Centerline goodness [0,1] 0.999933768986224 Centerline is valid? [True, True] Translation: X:65.41, Y:18.06, Z:1.50 [[ 8.64585818e-01 -5.01573922e-01 -3.02483603e-02 6.54138652e+01] [ 5.01277937e-01 8.65114750e-01 -1.72307782e-02 1.80551529e+01] [ 3.48108116e-02 -2.65349192e-04 9.99393885e-01 1.49725242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.398040942 meters Centerline goodness [0,1] 0.9999558586594275 Centerline is valid? [True, True] Translation: X:65.44, Y:18.07, Z:1.50 [[ 8.64641466e-01 -5.01429141e-01 -3.10475665e-02 6.54380209e+01] [ 5.01116841e-01 8.65198677e-01 -1.76963600e-02 1.80703332e+01] [ 3.57357840e-02 -2.57451721e-04 9.99361240e-01 1.49901368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428040942 meters Centerline goodness [0,1] 0.9998677336155016 Centerline is valid? [True, True] Translation: X:65.46, Y:18.08, Z:1.50 [[ 8.64676923e-01 -5.01306174e-01 -3.20302867e-02 6.54620805e+01] [ 5.00973356e-01 8.65269933e-01 -1.82658139e-02 1.80841221e+01] [ 3.68716093e-02 -2.52292513e-04 9.99319979e-01 1.49648227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:18.10, Z:1.50 [[ 8.64687595e-01 -5.01160612e-01 -3.39617989e-02 6.54876963e+01] [ 5.00786041e-01 8.65354249e-01 -1.93743498e-02 1.80980943e+01] [ 3.90986480e-02 -2.54834931e-04 9.99235323e-01 1.49931436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488040942 meters Centerline goodness [0,1] 0.9999337602119673 Centerline is valid? [True, True] Translation: X:65.51, Y:18.11, Z:1.50 [[ 8.64418713e-01 -5.01634763e-01 -3.38061108e-02 6.55120976e+01] [ 5.01263525e-01 8.65079473e-01 -1.92972484e-02 1.81116771e+01] [ 3.89251432e-02 -2.64867630e-04 9.99242094e-01 1.49900031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.54, Y:18.13, Z:1.50 [[ 8.63859304e-01 -5.02624112e-01 -3.34081533e-02 6.55354513e+01] [ 5.02261821e-01 8.64505012e-01 -1.90826627e-02 1.81263915e+01] [ 3.84729224e-02 -2.94904226e-04 9.99259600e-01 1.50233304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.56, Y:18.14, Z:1.50 [[ 8.63161245e-01 -5.03811568e-01 -3.35644196e-02 6.55601667e+01] [ 5.03446300e-01 8.63813515e-01 -1.91842034e-02 1.81418576e+01] [ 3.86586228e-02 -3.38821985e-04 9.99252419e-01 1.50224070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.58, Y:18.16, Z:1.50 [[ 8.62341277e-01 -5.05206750e-01 -3.36698964e-02 6.55848426e+01] [ 5.04839809e-01 8.62998253e-01 -1.92557201e-02 1.81571424e+01] [ 3.87851816e-02 -3.92901807e-04 9.99247495e-01 1.50207273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.608040942 meters Centerline goodness [0,1] 0.9998457266275841 Centerline is valid? [True, True] Translation: X:65.61, Y:18.17, Z:1.50 [[ 8.61252812e-01 -5.07089976e-01 -3.32167076e-02 6.56099724e+01] [ 5.06733829e-01 8.61893000e-01 -1.90074421e-02 1.81714296e+01] [ 3.82677311e-02 -4.61816493e-04 9.99267415e-01 1.49992787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.638040942 meters Centerline goodness [0,1] 0.9999337616745049 Centerline is valid? [True, True] Translation: X:65.64, Y:18.18, Z:1.50 [[ 8.59807960e-01 -5.09575205e-01 -3.26095586e-02 6.56361117e+01] [ 5.09233346e-01 8.60425944e-01 -1.86706754e-02 1.81847534e+01] [ 3.75722235e-02 -5.52679293e-04 9.99293762e-01 1.50266203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668040942 meters Centerline goodness [0,1] 0.9999118379581671 Centerline is valid? [True, True] Translation: X:65.66, Y:18.20, Z:1.50 [[ 8.59190712e-01 -5.10640466e-01 -3.22123564e-02 6.56600511e+01] [ 5.10307216e-01 8.59794147e-01 -1.84545143e-02 1.81985164e+01] [ 3.71196173e-02 -5.82250655e-04 9.99310660e-01 1.50436708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.68, Y:18.21, Z:1.51 [[ 8.58923999e-01 -5.11070510e-01 -3.25038182e-02 6.56839153e+01] [ 5.10731131e-01 8.59538584e-01 -1.86315497e-02 1.82119917e+01] [ 3.74603214e-02 -5.97626656e-04 9.99297937e-01 1.50666593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728040942 meters Centerline goodness [0,1] 0.9998460421844415 Centerline is valid? [True, True] Translation: X:65.71, Y:18.23, Z:1.51 [[ 8.58888045e-01 -5.11171760e-01 -3.18552614e-02 6.57085700e+01] [ 5.10845589e-01 8.59478383e-01 -1.82672428e-02 1.82276247e+01] [ 3.67166072e-02 -5.83603336e-04 9.99325548e-01 1.50544095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75804094200001 meters Centerline goodness [0,1] 0.9998680535702504 Centerline is valid? [True, True] Translation: X:65.73, Y:18.24, Z:1.51 [[ 8.59221981e-01 -5.10625162e-01 -3.16153757e-02 6.57319282e+01] [ 5.10303224e-01 8.59803258e-01 -1.81377222e-02 1.82420157e+01] [ 3.64445803e-02 -5.49098577e-04 9.99335525e-01 1.50584325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.75, Y:18.26, Z:1.51 [[ 8.60610639e-01 -5.08259327e-01 -3.19653733e-02 6.57549375e+01] [ 5.07928421e-01 8.61203956e-01 -1.83429807e-02 1.82577662e+01] [ 3.68516970e-02 -4.49957222e-04 9.99320644e-01 1.50714268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.78, Y:18.27, Z:1.51 [[ 8.61286759e-01 -5.07119366e-01 -3.18601169e-02 6.57790818e+01] [ 5.06789586e-01 8.61875741e-01 -1.82899395e-02 1.82731850e+01] [ 3.67346444e-02 -3.93492722e-04 9.99324978e-01 1.50794043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.80, Y:18.29, Z:1.51 [[ 8.61915038e-01 -5.06061528e-01 -3.16890737e-02 6.58044863e+01] [ 5.05734195e-01 8.62497314e-01 -1.82018716e-02 1.82879671e+01] [ 3.65430079e-02 -3.37781361e-04 9.99332024e-01 1.50882924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.83, Y:18.30, Z:1.51 [[ 8.62805329e-01 -5.04574245e-01 -3.11736281e-02 6.58297082e+01] [ 5.04256160e-01 8.63368266e-01 -1.79154317e-02 1.83015472e+01] [ 3.59539866e-02 -2.61964052e-04 9.99353412e-01 1.51126177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.85, Y:18.32, Z:1.51 [[ 8.63060221e-01 -5.04140642e-01 -3.11330891e-02 6.58545474e+01] [ 5.03822719e-01 8.63621537e-01 -1.79027753e-02 1.83152588e+01] [ 3.59127228e-02 -2.34384417e-04 9.99354903e-01 1.51271395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.938040942 meters Centerline goodness [0,1] 0.9998904109589041 Centerline is valid? [True, True] Translation: X:65.88, Y:18.33, Z:1.51 [[ 8.63155074e-01 -5.04015824e-01 -3.05183061e-02 6.58798938e+01] [ 5.03709882e-01 8.63694392e-01 -1.75599748e-02 1.83292260e+01] [ 3.52089950e-02 -2.15390953e-04 9.99379948e-01 1.51280622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.968040942 meters Centerline goodness [0,1] 0.999978184991274 Centerline is valid? [True, True] Translation: X:65.90, Y:18.34, Z:1.52 [[ 8.63651710e-01 -5.03175782e-01 -3.03291502e-02 6.59042459e+01] [ 5.02872832e-01 8.64184068e-01 -1.74588649e-02 1.83433294e+01] [ 3.49948464e-02 -1.73327106e-04 9.99387478e-01 1.51627150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.998040942 meters Centerline goodness [0,1] 0.9998466694412196 Centerline is valid? [True, True] Translation: X:65.93, Y:18.36, Z:1.52 [[ 8.64742034e-01 -5.01373975e-01 -2.90749183e-02 6.59282924e+01] [ 5.01094442e-01 8.65230679e-01 -1.67401376e-02 1.83578701e+01] [ 3.35495806e-02 -9.33793272e-05 9.99437050e-01 1.51815206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028040942 meters Centerline goodness [0,1] 0.9998247382026902 Centerline is valid? [True, True] Translation: X:65.95, Y:18.37, Z:1.52 [[ 8.64868882e-01 -5.01161748e-01 -2.89606390e-02 6.59523367e+01] [ 5.00884102e-01 8.65353625e-01 -1.66799562e-02 1.83716855e+01] [ 3.34205499e-02 -7.99485390e-05 9.99441374e-01 1.51785444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.058040942 meters Centerline goodness [0,1] 0.9998028391167192 Centerline is valid? [True, True] Translation: X:65.98, Y:18.38, Z:1.52 [[ 8.65336406e-01 -5.00348665e-01 -2.90537029e-02 6.59767960e+01] [ 5.00068470e-01 8.65824007e-01 -1.67425580e-02 1.83835067e+01] [ 3.35325100e-02 -4.08958397e-05 9.99437626e-01 1.52035767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088040942 meters Centerline goodness [0,1] 0.999781363417727 Centerline is valid? [True, True] Translation: X:66.00, Y:18.40, Z:1.52 [[ 8.64865442e-01 -5.01139369e-01 -2.94465744e-02 6.60015582e+01] [ 5.00851772e-01 8.65366586e-01 -1.69756879e-02 1.83960297e+01] [ 3.39892671e-02 -6.66831171e-05 9.99422196e-01 1.52177624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11804094200001 meters Centerline goodness [0,1] 0.9997806151551051 Centerline is valid? [True, True] Translation: X:66.03, Y:18.41, Z:1.52 [[ 8.64263674e-01 -5.02145345e-01 -2.99725537e-02 6.60274436e+01] [ 5.01847613e-01 8.64783234e-01 -1.72896105e-02 1.84091445e+01] [ 3.46016594e-02 -9.88721917e-05 9.99401178e-01 1.52299429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.05, Y:18.42, Z:1.52 [[ 8.62653401e-01 -5.04925018e-01 -2.96620457e-02 6.60529497e+01] [ 5.04634806e-01 8.63163186e-01 -1.71180128e-02 1.84202437e+01] [ 3.42464988e-02 -2.01588700e-04 9.99413396e-01 1.52353423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.178040942 meters Centerline goodness [0,1] 0.9998679867986798 Centerline is valid? [True, True] Translation: X:66.08, Y:18.43, Z:1.52 [[ 8.61631604e-01 -5.06649223e-01 -2.99590433e-02 6.60788998e+01] [ 5.06354020e-01 8.62152245e-01 -1.72948790e-02 1.84335122e+01] [ 3.45916935e-02 -2.68067703e-04 9.99401492e-01 1.52469488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208040942 meters Centerline goodness [0,1] 0.99986753212346 Centerline is valid? [True, True] Translation: X:66.10, Y:18.45, Z:1.52 [[ 8.60394764e-01 -5.08718806e-01 -3.04306807e-02 6.61041749e+01] [ 5.08415255e-01 8.60932665e-01 -1.75748313e-02 1.84452480e+01] [ 3.51394142e-02 -3.50129429e-04 9.99382359e-01 1.52333680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.13, Y:18.46, Z:1.53 [[ 8.58250784e-01 -5.12300584e-01 -3.08820823e-02 6.61305112e+01] [ 5.11990061e-01 8.58806068e-01 -1.78413781e-02 1.84566377e+01] [ 3.56618681e-02 -4.98942497e-04 9.99363789e-01 1.52786523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.268040942 meters Centerline goodness [0,1] 0.9998673006745549 Centerline is valid? [True, True] Translation: X:66.16, Y:18.47, Z:1.53 [[ 8.56882418e-01 -5.14569368e-01 -3.11590741e-02 6.61560838e+01] [ 5.14254458e-01 8.57448550e-01 -1.80093489e-02 1.84687144e+01] [ 3.59843622e-02 -5.91798367e-04 9.99352178e-01 1.52593819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.298040942 meters Centerline goodness [0,1] 0.9997340248686748 Centerline is valid? [True, True] Translation: X:66.18, Y:18.48, Z:1.53 [[ 8.55632230e-01 -5.16630526e-01 -3.14067818e-02 6.61818555e+01] [ 5.16311755e-01 8.56208175e-01 -1.81585518e-02 1.84823904e+01] [ 3.62720055e-02 -6.78648420e-04 9.99341724e-01 1.52703378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.328040942 meters Centerline goodness [0,1] 0.9996465650541198 Centerline is valid? [True, True] Translation: X:66.21, Y:18.49, Z:1.53 [[ 8.54521005e-01 -5.18471383e-01 -3.13253314e-02 6.62076606e+01] [ 5.18155215e-01 8.55094653e-01 -1.81192692e-02 1.84939453e+01] [ 3.61804459e-02 -7.48087704e-04 9.99344993e-01 1.52632575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.358040942 meters Centerline goodness [0,1] 0.9998004876967413 Centerline is valid? [True, True] Translation: X:66.23, Y:18.51, Z:1.53 [[ 8.52984650e-01 -5.21064012e-01 -3.01576221e-02 6.62323138e+01] [ 5.20772409e-01 8.53517206e-01 -1.74492697e-02 1.85090144e+01] [ 3.48322358e-02 -8.21298289e-04 9.99392836e-01 1.52863447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388040942 meters Centerline goodness [0,1] 0.9996234939759037 Centerline is valid? [True, True] Translation: X:66.26, Y:18.52, Z:1.53 [[ 8.52816390e-01 -5.21387887e-01 -2.93065876e-02 6.62558340e+01] [ 5.21112381e-01 8.53319417e-01 -1.69664213e-02 1.85238701e+01] [ 3.38539668e-02 -8.02783445e-04 9.99426468e-01 1.52911643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.418040942 meters Centerline goodness [0,1] 0.9997567663187688 Centerline is valid? [True, True] Translation: X:66.28, Y:18.54, Z:1.53 [[ 8.52458883e-01 -5.22045128e-01 -2.79774306e-02 6.62799177e+01] [ 5.21794087e-01 8.52917506e-01 -1.62067537e-02 1.85391255e+01] [ 3.23230971e-02 -7.82866739e-04 9.99477166e-01 1.53073402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448040942 meters Centerline goodness [0,1] 0.9999116275987009 Centerline is valid? [True, True] Translation: X:66.30, Y:18.55, Z:1.53 [[ 8.52358332e-01 -5.22261072e-01 -2.69934632e-02 6.63038563e+01] [ 5.22027248e-01 8.52785319e-01 -1.56445522e-02 1.85542557e+01] [ 3.11901697e-02 -7.56558861e-04 9.99513182e-01 1.53071154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.478040942 meters Centerline goodness [0,1] 0.999823555359506 Centerline is valid? [True, True] Translation: X:66.33, Y:18.57, Z:1.53 [[ 8.52127415e-01 -5.22646292e-01 -2.68276310e-02 6.63258801e+01] [ 5.22415377e-01 8.52549279e-01 -1.55531756e-02 1.85714340e+01] [ 3.10006870e-02 -7.61879617e-04 9.99519073e-01 1.53039858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50804094200001 meters Centerline goodness [0,1] 0.999823555359506 Centerline is valid? [True, True] Translation: X:66.35, Y:18.59, Z:1.53 [[ 8.51982805e-01 -5.22882213e-01 -2.68233214e-02 6.63496953e+01] [ 5.22651181e-01 8.52404605e-01 -1.55606050e-02 1.85853513e+01] [ 3.10006863e-02 -7.61872661e-04 9.99519073e-01 1.53103669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.538040942 meters Centerline goodness [0,1] 0.9998904589768869 Centerline is valid? [True, True] Translation: X:66.37, Y:18.60, Z:1.53 [[ 8.52175711e-01 -5.22564425e-01 -2.68882527e-02 6.63734622e+01] [ 5.22331859e-01 8.52599476e-01 -1.56064978e-02 1.86004374e+01] [ 3.10803107e-02 -7.45112601e-04 9.99516613e-01 1.52846304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568040942 meters Centerline goodness [0,1] 0.9998680332556196 Centerline is valid? [True, True] Translation: X:66.40, Y:18.62, Z:1.53 [[ 8.52133391e-01 -5.22664325e-01 -2.62809262e-02 6.63956847e+01] [ 5.22442057e-01 8.52538254e-01 -1.52585483e-02 1.86189461e+01] [ 3.03805938e-02 -7.27942619e-04 9.99538138e-01 1.52966798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.598040942 meters Centerline goodness [0,1] 0.9998466761581426 Centerline is valid? [True, True] Translation: X:66.42, Y:18.63, Z:1.53 [[ 8.52475001e-01 -5.22160340e-01 -2.51982341e-02 6.64195232e+01] [ 5.21955536e-01 8.52847071e-01 -1.46387534e-02 1.86343073e+01] [ 2.91340166e-02 -6.73186443e-04 9.99575288e-01 1.53101087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.628040942 meters Centerline goodness [0,1] 0.9998470045680065 Centerline is valid? [True, True] Translation: X:66.44, Y:18.65, Z:1.53 [[ 8.52575155e-01 -5.22044672e-01 -2.41860381e-02 6.64411424e+01] [ 5.21855734e-01 8.52917907e-01 -1.40583267e-02 1.86542193e+01] [ 2.79677796e-02 -6.35842604e-04 9.99608623e-01 1.53116127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.658040942 meters Centerline goodness [0,1] 0.9999782168296774 Centerline is valid? [True, True] Translation: X:66.46, Y:18.67, Z:1.53 [[ 8.52435351e-01 -5.22321016e-01 -2.31242099e-02 6.64637177e+01] [ 5.22148222e-01 8.52748722e-01 -1.34480996e-02 1.86690247e+01] [ 2.67433655e-02 -6.10629577e-04 9.99642146e-01 1.53147480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.688040942 meters Centerline goodness [0,1] 0.9998689555759402 Centerline is valid? [True, True] Translation: X:66.49, Y:18.68, Z:1.53 [[ 8.52304117e-01 -5.22540424e-01 -2.30042835e-02 6.64882064e+01] [ 5.22369396e-01 8.52614292e-01 -1.33821682e-02 1.86816822e+01] [ 2.66065048e-02 -6.11056637e-04 9.99645798e-01 1.53115304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.718040942 meters Centerline goodness [0,1] 0.9999345992021103 Centerline is valid? [True, True] Translation: X:66.51, Y:18.70, Z:1.53 [[ 8.51933995e-01 -5.23148935e-01 -2.28836397e-02 6.65094808e+01] [ 5.22979803e-01 8.52241048e-01 -1.33162179e-02 1.87021629e+01] [ 2.64687423e-02 -6.23142714e-04 9.99649447e-01 1.53121825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.53, Y:18.72, Z:1.53 [[ 8.51782896e-01 -5.23430484e-01 -2.20550746e-02 6.65333816e+01] [ 5.23273289e-01 8.52068169e-01 -1.28413426e-02 1.87176760e+01] [ 2.55139772e-02 -6.02795484e-04 9.99674284e-01 1.53189515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:18.73, Z:1.53 [[ 8.51414364e-01 -5.24066826e-01 -2.11552072e-02 6.65580606e+01] [ 5.23922204e-01 8.51676942e-01 -1.23252137e-02 1.87335680e+01] [ 2.44766378e-02 -5.89818815e-04 9.99700228e-01 1.53252178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808040942 meters Centerline goodness [0,1] 0.9999781978328646 Centerline is valid? [True, True] Translation: X:66.58, Y:18.75, Z:1.53 [[ 8.50650894e-01 -5.25361248e-01 -1.97133350e-02 6.65820634e+01] [ 5.25235872e-01 8.50879089e-01 -1.14915201e-02 1.87478894e+01] [ 2.28108639e-02 -5.78878827e-04 9.99739631e-01 1.53289982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:18.76, Z:1.53 [[ 8.50086919e-01 -5.26288538e-01 -1.93029925e-02 6.66071977e+01] [ 5.26168515e-01 8.50305843e-01 -1.12546078e-02 1.87604381e+01] [ 2.23366184e-02 -5.89232018e-04 9.99750333e-01 1.53343989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:18.78, Z:1.53 [[ 8.49414570e-01 -5.27377149e-01 -1.91893151e-02 6.66312859e+01] [ 5.27258767e-01 8.49631077e-01 -1.11904172e-02 1.87766100e+01] [ 2.22054087e-02 -6.12431205e-04 9.99753242e-01 1.53358588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.898040942 meters Centerline goodness [0,1] 0.9999122960884056 Centerline is valid? [True, True] Translation: X:66.66, Y:18.79, Z:1.53 [[ 8.48579021e-01 -5.28738196e-01 -1.86966348e-02 6.66562725e+01] [ 5.28626006e-01 8.48784736e-01 -1.09095509e-02 1.87897589e+01] [ 2.16377145e-02 -6.25911387e-04 9.99765681e-01 1.53362951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928040942 meters Centerline goodness [0,1] 0.9998242800975246 Centerline is valid? [True, True] Translation: X:66.68, Y:18.80, Z:1.53 [[ 8.48233069e-01 -5.29290115e-01 -1.87785989e-02 6.66815061e+01] [ 5.29177030e-01 8.48440666e-01 -1.09593597e-02 1.88041131e+01] [ 2.17332077e-02 -6.41111893e-04 9.99763600e-01 1.53367388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.958040942 meters Centerline goodness [0,1] 0.9998905093505015 Centerline is valid? [True, True] Translation: X:66.71, Y:18.82, Z:1.53 [[ 8.48100193e-01 -5.29480254e-01 -1.94093648e-02 6.67051324e+01] [ 5.29359342e-01 8.48322004e-01 -1.13342311e-02 1.88171677e+01] [ 2.24666428e-02 -6.61965006e-04 9.99747374e-01 1.53352840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:18.83, Z:1.53 [[ 8.48186948e-01 -5.29395134e-01 -1.78799717e-02 6.67293057e+01] [ 5.29292463e-01 8.48375168e-01 -1.04433547e-02 1.88314137e+01] [ 2.06975851e-02 -6.05817065e-04 9.99785598e-01 1.53461784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.018040942 meters Centerline goodness [0,1] 0.9998245075242399 Centerline is valid? [True, True] Translation: X:66.75, Y:18.84, Z:1.53 [[ 8.48079367e-01 -5.29523104e-01 -1.91485996e-02 6.67532172e+01] [ 5.29405204e-01 8.48295270e-01 -1.11921762e-02 1.88448203e+01] [ 2.21701823e-02 -6.45514553e-04 9.99754003e-01 1.53361792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.048040942 meters Centerline goodness [0,1] 0.9998902714683872 Centerline is valid? [True, True] Translation: X:66.78, Y:18.86, Z:1.53 [[ 8.48351749e-01 -5.29125387e-01 -1.80453526e-02 6.67779506e+01] [ 5.29020542e-01 8.48543440e-01 -1.05497379e-02 1.88603620e+01] [ 2.08943997e-02 -5.96473670e-04 9.99781510e-01 1.53432073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.078040942 meters Centerline goodness [0,1] 0.9999780074774577 Centerline is valid? [True, True] Translation: X:66.80, Y:18.87, Z:1.53 [[ 8.48462889e-01 -5.28923413e-01 -1.87283166e-02 6.68022891e+01] [ 5.28810289e-01 8.48669343e-01 -1.09556187e-02 1.88741727e+01] [ 2.16888313e-02 -6.08290627e-04 9.99764585e-01 1.53431075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.108040942 meters Centerline goodness [0,1] 0.999890063982762 Centerline is valid? [True, True] Translation: X:66.83, Y:18.89, Z:1.53 [[ 8.48570017e-01 -5.28718868e-01 -1.96286908e-02 6.68267797e+01] [ 5.28594495e-01 8.48796773e-01 -1.14846829e-02 1.88874632e+01] [ 2.27329379e-02 -6.30060287e-04 9.99741375e-01 1.53332022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.138040942 meters Centerline goodness [0,1] 0.9998904109589041 Centerline is valid? [True, True] Translation: X:66.85, Y:18.90, Z:1.53 [[ 8.48356661e-01 -5.29053946e-01 -1.98216619e-02 6.68507843e+01] [ 5.28927156e-01 8.48587950e-01 -1.15998095e-02 1.89020492e+01] [ 2.29573484e-02 -6.43439608e-04 9.99736238e-01 1.53328734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168040942 meters Centerline goodness [0,1] 0.9999560284935362 Centerline is valid? [True, True] Translation: X:66.87, Y:18.92, Z:1.53 [[ 8.47913553e-01 -5.29777868e-01 -1.94426529e-02 6.68748277e+01] [ 5.29655910e-01 8.48136189e-01 -1.13851406e-02 1.89170412e+01] [ 2.25216130e-02 -6.44301012e-04 9.99746149e-01 1.53378379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.90, Y:18.93, Z:1.53 [[ 8.47650434e-01 -5.30197540e-01 -1.94759073e-02 6.68991314e+01] [ 5.30075227e-01 8.47873894e-01 -1.14067360e-02 1.89313440e+01] [ 2.25609368e-02 -6.54771275e-04 9.99745255e-01 1.53472747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:18.95, Z:1.54 [[ 8.47412315e-01 -5.30598722e-01 -1.89041185e-02 6.69224128e+01] [ 5.30483437e-01 8.47622904e-01 -1.10786162e-02 1.89479946e+01] [ 2.19018634e-02 -6.40165970e-04 9.99759920e-01 1.53550571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25804094200001 meters Centerline goodness [0,1] 0.9999122883957547 Centerline is valid? [True, True] Translation: X:66.95, Y:18.96, Z:1.54 [[ 8.47328820e-01 -5.30729443e-01 -1.89770618e-02 6.69463778e+01] [ 5.30613136e-01 8.47541060e-01 -1.11288454e-02 1.89614549e+01] [ 2.19902450e-02 -6.39686799e-04 9.99757981e-01 1.53649413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288040942 meters Centerline goodness [0,1] 0.999867978084362 Centerline is valid? [True, True] Translation: X:66.97, Y:18.97, Z:1.54 [[ 8.47469260e-01 -5.30515567e-01 -1.86838342e-02 6.69714331e+01] [ 5.30402708e-01 8.47674965e-01 -1.09599804e-02 1.89739614e+01] [ 2.16522588e-02 -6.21709765e-04 9.99765369e-01 1.53770777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.318040942 meters Centerline goodness [0,1] 0.9997145868095196 Centerline is valid? [True, True] Translation: X:67.00, Y:18.99, Z:1.54 [[ 8.47220890e-01 -5.30913652e-01 -1.86402108e-02 6.69950429e+01] [ 5.30801377e-01 8.47425689e-01 -1.09361820e-02 1.89895155e+01] [ 2.16023619e-02 -6.28887712e-04 9.99766444e-01 1.53894020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348040942 meters Centerline goodness [0,1] 0.9999120066874918 Centerline is valid? [True, True] Translation: X:67.02, Y:19.00, Z:1.54 [[ 8.47433257e-01 -5.30563551e-01 -1.89523931e-02 6.70200993e+01] [ 5.30447234e-01 8.47644931e-01 -1.11266652e-02 1.90048710e+01] [ 2.19683029e-02 -6.24138398e-04 9.99758473e-01 1.53879079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.378040942 meters Centerline goodness [0,1] 0.9999561037706861 Centerline is valid? [True, True] Translation: X:67.05, Y:19.02, Z:1.54 [[ 8.47621742e-01 -5.30253190e-01 -1.92077138e-02 6.70451046e+01] [ 5.30133507e-01 8.47839118e-01 -1.12824671e-02 1.90203023e+01] [ 2.22676154e-02 -6.19388251e-04 9.99751854e-01 1.53884759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.408040942 meters Centerline goodness [0,1] 0.9998908249268527 Centerline is valid? [True, True] Translation: X:67.07, Y:19.04, Z:1.54 [[ 8.47930831e-01 -5.29754803e-01 -1.93172087e-02 6.70698573e+01] [ 5.29633491e-01 8.48150625e-01 -1.13526148e-02 1.90353549e+01] [ 2.23980049e-02 -6.04808618e-04 9.99748950e-01 1.53910843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.09, Y:19.05, Z:1.54 [[ 8.48811325e-01 -5.28357480e-01 -1.89131850e-02 6.70934860e+01] [ 5.28240712e-01 8.49021831e-01 -1.11211291e-02 1.90516583e+01] [ 2.19336387e-02 -5.50973970e-04 9.99759277e-01 1.54026076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.12, Y:19.07, Z:1.54 [[ 8.49300382e-01 -5.27567872e-01 -1.90000593e-02 6.71173344e+01] [ 5.27449687e-01 8.49512721e-01 -1.11787705e-02 1.90652922e+01] [ 2.20383522e-02 -5.27441321e-04 9.99756987e-01 1.54126300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.14, Y:19.08, Z:1.54 [[ 8.49841639e-01 -5.26702245e-01 -1.88131328e-02 6.71418500e+01] [ 5.26586120e-01 8.50049703e-01 -1.10707302e-02 1.90800318e+01] [ 2.18230764e-02 -4.98367104e-04 9.99761724e-01 1.54200713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528040942 meters Centerline goodness [0,1] 0.9999562831974469 Centerline is valid? [True, True] Translation: X:67.17, Y:19.10, Z:1.54 [[ 8.51108768e-01 -5.24637440e-01 -1.92203227e-02 6.71665275e+01] [ 5.24515560e-01 8.51325645e-01 -1.13169354e-02 1.90959524e+01] [ 2.23000416e-02 -4.49415420e-04 9.99751222e-01 1.54320349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.19, Y:19.11, Z:1.54 [[ 8.52073860e-01 -5.23068072e-01 -1.92335322e-02 6.71902389e+01] [ 5.22945549e-01 8.52290812e-01 -1.13280901e-02 1.91097726e+01] [ 2.23179250e-02 -4.05720612e-04 9.99750842e-01 1.54379503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:19.13, Z:1.54 [[ 8.53985296e-01 -5.19949618e-01 -1.90133765e-02 6.72139463e+01] [ 5.19829065e-01 8.54196870e-01 -1.12004428e-02 1.91267781e+01] [ 2.20648326e-02 -3.18692295e-04 9.99756491e-01 1.54484628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61804094200001 meters Centerline goodness [0,1] 0.9999782016348774 Centerline is valid? [True, True] Translation: X:67.24, Y:19.14, Z:1.55 [[ 8.54937594e-01 -5.18393158e-01 -1.87147934e-02 6.72384000e+01] [ 5.18275858e-01 8.55142363e-01 -1.10305659e-02 1.91420552e+01] [ 2.17219826e-02 -2.68980112e-04 9.99764014e-01 1.54613932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648040942 meters Centerline goodness [0,1] 0.9997817118159394 Centerline is valid? [True, True] Translation: X:67.26, Y:19.16, Z:1.55 [[ 8.55559678e-01 -5.17383369e-01 -1.82232822e-02 6.72631339e+01] [ 5.17271798e-01 8.55753701e-01 -1.07466618e-02 1.91568305e+01] [ 2.11547853e-02 -2.31979425e-04 9.99776186e-01 1.54784204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.29, Y:19.17, Z:1.55 [[ 8.55737960e-01 -5.17115351e-01 -1.74429732e-02 6.72875693e+01] [ 5.17012969e-01 8.55915690e-01 -1.02917919e-02 1.91710379e+01] [ 2.02517581e-02 -2.11166371e-04 9.99794890e-01 1.54978584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708040942 meters Centerline goodness [0,1] 0.9999781997340368 Centerline is valid? [True, True] Translation: X:67.31, Y:19.18, Z:1.55 [[ 8.55817053e-01 -5.17007321e-01 -1.67511771e-02 6.73118451e+01] [ 5.16912764e-01 8.55980953e-01 -9.88951979e-03 1.91843247e+01] [ 1.94516427e-02 -1.95277560e-04 9.99810780e-01 1.55173693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.34, Y:19.20, Z:1.55 [[ 8.55608597e-01 -5.17359358e-01 -1.65294600e-02 6.73361108e+01] [ 5.17267220e-01 8.55768226e-01 -9.76559932e-03 1.91973568e+01] [ 1.91977108e-02 -1.94617053e-04 9.99815688e-01 1.55306572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.36, Y:19.21, Z:1.55 [[ 8.55356867e-01 -5.17773339e-01 -1.65951665e-02 6.73601451e+01] [ 5.17680524e-01 8.55517812e-01 -9.80549795e-03 1.92109647e+01] [ 1.92744860e-02 -2.03794512e-04 9.99814209e-01 1.55381573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:19.23, Z:1.55 [[ 8.54146646e-01 -5.19776799e-01 -1.62968182e-02 6.73852135e+01] [ 5.19687541e-01 8.54302067e-01 -9.63519324e-03 1.92252799e+01] [ 1.89305554e-02 -2.39385408e-04 9.99820772e-01 1.55454435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:19.24, Z:1.56 [[ 8.53296988e-01 -5.21165718e-01 -1.64482481e-02 6.74106581e+01] [ 5.21074946e-01 8.53455460e-01 -9.73025117e-03 1.92394305e+01] [ 1.91089205e-02 -2.67975972e-04 9.99817372e-01 1.55548454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:19.25, Z:1.55 [[ 8.51985794e-01 -5.23260624e-01 -1.78473366e-02 6.74357270e+01] [ 5.23154076e-01 8.52172639e-01 -1.05643556e-02 1.92537925e+01] [ 2.07369232e-02 -3.36225959e-04 9.99784910e-01 1.55476510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:19.27, Z:1.55 [[ 8.51465516e-01 -5.24083996e-01 -1.85051738e-02 6.74600064e+01] [ 5.23969499e-01 8.51666504e-01 -1.09604312e-02 1.92677316e+01] [ 2.15044232e-02 -3.63717384e-04 9.99768687e-01 1.55483560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.48, Y:19.28, Z:1.55 [[ 8.50945657e-01 -5.24904949e-01 -1.91385229e-02 6.74849392e+01] [ 5.24782611e-01 8.51160760e-01 -1.13389575e-02 1.92829634e+01] [ 2.22418346e-02 -3.94727353e-04 9.99752542e-01 1.55465461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.51, Y:19.30, Z:1.55 [[ 8.50374360e-01 -5.25812994e-01 -1.95995796e-02 6.75095817e+01] [ 5.25684780e-01 8.50600092e-01 -1.16188010e-02 1.92979743e+01] [ 2.27807207e-02 -4.22870188e-04 9.99740396e-01 1.55491792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.978040942 meters Centerline goodness [0,1] 0.9998474513478763 Centerline is valid? [True, True] Translation: X:67.53, Y:19.31, Z:1.55 [[ 8.49829124e-01 -5.26685078e-01 -1.98315137e-02 6.75330420e+01] [ 5.26553892e-01 8.50060369e-01 -1.17630064e-02 1.93126081e+01] [ 2.30533838e-02 -4.45815294e-04 9.99734136e-01 1.55434934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:19.33, Z:1.56 [[ 8.49488150e-01 -5.27242183e-01 -1.96357656e-02 6.75570170e+01] [ 5.27113671e-01 8.49714937e-01 -1.16491917e-02 1.93276621e+01] [ 2.28267486e-02 -4.54430231e-04 9.99739333e-01 1.55636779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:19.34, Z:1.56 [[ 8.49375171e-01 -5.27401313e-01 -2.02403793e-02 6.75809005e+01] [ 5.27264750e-01 8.49616168e-01 -1.20104231e-02 1.93430199e+01] [ 2.35308664e-02 -4.70683387e-04 9.99723000e-01 1.55804722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:19.36, Z:1.56 [[ 8.49252432e-01 -5.27580667e-01 -2.07110182e-02 6.76045070e+01] [ 5.27437539e-01 8.49504803e-01 -1.22976830e-02 1.93563267e+01] [ 2.40821292e-02 -4.79931295e-04 9.99709868e-01 1.55850412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:19.37, Z:1.56 [[ 8.49116473e-01 -5.27784641e-01 -2.10852742e-02 6.76275485e+01] [ 5.27636268e-01 8.49378085e-01 -1.25234785e-02 1.93698762e+01] [ 2.45190694e-02 -4.91463546e-04 9.99699242e-01 1.55932657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:19.39, Z:1.56 [[ 8.49020391e-01 -5.27906911e-01 -2.18785016e-02 6.76506400e+01] [ 5.27747098e-01 8.49302086e-01 -1.29987353e-02 1.93867770e+01] [ 2.54435792e-02 -5.10124374e-04 9.99676130e-01 1.55954939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.67, Y:19.40, Z:1.56 [[ 8.48778024e-01 -5.28272366e-01 -2.24538114e-02 6.76747249e+01] [ 5.28103934e-01 8.49074808e-01 -1.33493681e-02 1.94019491e+01] [ 2.61170679e-02 -5.27295889e-04 9.99658752e-01 1.56035201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.188040942 meters Centerline goodness [0,1] 0.9999565094483224 Centerline is valid? [True, True] Translation: X:67.70, Y:19.42, Z:1.56 [[ 8.48193091e-01 -5.29187369e-01 -2.30045520e-02 6.76990970e+01] [ 5.29010683e-01 8.48504810e-01 -1.36851934e-02 1.94159679e+01] [ 2.67615045e-02 -5.61967308e-04 9.99641689e-01 1.56075433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.72, Y:19.43, Z:1.56 [[ 8.48052307e-01 -5.29406732e-01 -2.31472768e-02 6.77228803e+01] [ 5.29227799e-01 8.48367956e-01 -1.37748829e-02 1.94304682e+01] [ 2.69299237e-02 -5.68361118e-04 9.99637162e-01 1.56268259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:19.45, Z:1.56 [[ 8.47357695e-01 -5.30504717e-01 -2.34453076e-02 6.77470315e+01] [ 5.30321324e-01 8.47681769e-01 -1.39610975e-02 1.94456369e+01] [ 2.72805879e-02 -6.03503195e-04 9.99627633e-01 1.56391361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.278040942 meters Centerline goodness [0,1] 0.9998912523380747 Centerline is valid? [True, True] Translation: X:67.77, Y:19.46, Z:1.56 [[ 8.46971876e-01 -5.31116293e-01 -2.35398565e-02 6.77719765e+01] [ 5.30931435e-01 8.47298708e-01 -1.40253646e-02 1.94607689e+01] [ 2.73943896e-02 -6.18960394e-04 9.99624512e-01 1.56368683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308040942 meters Centerline goodness [0,1] 0.9999348915945049 Centerline is valid? [True, True] Translation: X:67.80, Y:19.47, Z:1.56 [[ 8.46321696e-01 -5.32134602e-01 -2.39238965e-02 6.77957830e+01] [ 5.31943865e-01 8.46659515e-01 -1.42614594e-02 1.94746221e+01] [ 2.78444107e-02 -6.56387495e-04 9.99612054e-01 1.56474500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.338040942 meters Centerline goodness [0,1] 0.9999348675640469 Centerline is valid? [True, True] Translation: X:67.82, Y:19.49, Z:1.57 [[ 8.46056075e-01 -5.32546584e-01 -2.41506615e-02 6.78187608e+01] [ 5.32352270e-01 8.46400427e-01 -1.44006176e-02 1.94903563e+01] [ 2.81101299e-02 -6.72929460e-04 9.99604606e-01 1.56552949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36804094200001 meters Centerline goodness [0,1] 0.9998915142441798 Centerline is valid? [True, True] Translation: X:67.84, Y:19.51, Z:1.57 [[ 8.45671942e-01 -5.33114954e-01 -2.50482055e-02 6.78436190e+01] [ 5.32905898e-01 8.46042518e-01 -1.49452919e-02 1.95060206e+01] [ 2.91594054e-02 -7.09522450e-04 9.99574522e-01 1.56557478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.398040942 meters Centerline goodness [0,1] 0.9998915142441798 Centerline is valid? [True, True] Translation: X:67.87, Y:19.52, Z:1.57 [[ 8.45523357e-01 -5.33350755e-01 -2.50444571e-02 6.78672510e+01] [ 5.33141617e-01 8.45893887e-01 -1.49515710e-02 1.95202295e+01] [ 2.91593848e-02 -7.10339854e-04 9.99574522e-01 1.56621314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428040942 meters Centerline goodness [0,1] 0.9999135135135135 Centerline is valid? [True, True] Translation: X:67.89, Y:19.54, Z:1.57 [[ 8.45017692e-01 -5.34104049e-01 -2.60377582e-02 6.78907486e+01] [ 5.33878086e-01 8.45418411e-01 -1.55531232e-02 1.95354478e+01] [ 3.03197862e-02 -7.58324240e-04 9.99539962e-01 1.56660421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:19.55, Z:1.57 [[ 8.44782340e-01 -5.34484926e-01 -2.58585013e-02 6.79140981e+01] [ 5.34262105e-01 8.45177663e-01 -1.54506058e-02 1.95517085e+01] [ 3.01131436e-02 -7.62818376e-04 9.99546205e-01 1.56904791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488040942 meters Centerline goodness [0,1] 0.999827206358806 Centerline is valid? [True, True] Translation: X:67.94, Y:19.57, Z:1.57 [[ 8.44105619e-01 -5.35488554e-01 -2.71608632e-02 6.79382148e+01] [ 5.35242911e-01 8.44542077e-01 -1.62390620e-02 1.95682345e+01] [ 3.16343237e-02 -8.30175973e-04 9.99499165e-01 1.56807361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.518040942 meters Centerline goodness [0,1] 0.9999137373301704 Centerline is valid? [True, True] Translation: X:67.96, Y:19.58, Z:1.57 [[ 8.43914870e-01 -5.35761209e-01 -2.77059365e-02 6.79624617e+01] [ 5.35505454e-01 8.44369117e-01 -1.65741715e-02 1.95839426e+01] [ 3.22738352e-02 -8.49490336e-04 9.99478703e-01 1.56897118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:19.60, Z:1.57 [[ 8.43742559e-01 -5.36023813e-01 -2.78740913e-02 6.79858925e+01] [ 5.35764778e-01 8.44202427e-01 -1.66842766e-02 1.95994375e+01] [ 3.24745451e-02 -8.56722129e-04 9.99472196e-01 1.57060211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.578040942 meters Centerline goodness [0,1] 0.9999352555248618 Centerline is valid? [True, True] Translation: X:68.01, Y:19.61, Z:1.57 [[ 8.43587400e-01 -5.36193324e-01 -2.92748479e-02 6.80101936e+01] [ 5.35907325e-01 8.44094730e-01 -1.75335599e-02 1.96147998e+01] [ 3.41121226e-02 -8.97515208e-04 9.99417609e-01 1.57002559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:19.63, Z:1.57 [[ 8.43572318e-01 -5.36189180e-01 -2.97809886e-02 6.80332449e+01] [ 5.35892842e-01 8.44097356e-01 -1.78470301e-02 1.96315274e+01] [ 3.47074382e-02 -9.04158099e-04 9.99397106e-01 1.57214188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.638040942 meters Centerline goodness [0,1] 0.9998710038053877 Centerline is valid? [True, True] Translation: X:68.06, Y:19.65, Z:1.57 [[ 8.43218266e-01 -5.36636304e-01 -3.16928066e-02 6.80567080e+01] [ 5.36300651e-01 8.43813089e-01 -1.90021683e-02 1.96464574e+01] [ 3.69400584e-02 -9.73897455e-04 9.99317009e-01 1.57083993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668040942 meters Centerline goodness [0,1] 0.9998923666422698 Centerline is valid? [True, True] Translation: X:68.08, Y:19.66, Z:1.57 [[ 8.43354587e-01 -5.36377826e-01 -3.24325116e-02 6.80796010e+01] [ 5.36025859e-01 8.43977410e-01 -1.94527582e-02 1.96621052e+01] [ 3.78063353e-02 -9.79092050e-04 9.99284605e-01 1.57134137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.698040942 meters Centerline goodness [0,1] 0.9999142256722563 Centerline is valid? [True, True] Translation: X:68.10, Y:19.68, Z:1.57 [[ 8.44121075e-01 -5.35092296e-01 -3.37023196e-02 6.81013505e+01] [ 5.34710827e-01 8.44793071e-01 -2.02237156e-02 1.96798380e+01] [ 3.92930405e-02 -9.49730649e-04 9.99227279e-01 1.57090692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.12, Y:19.70, Z:1.57 [[ 8.44800981e-01 -5.34045186e-01 -3.32722472e-02 6.81246696e+01] [ 5.33672326e-01 8.45455474e-01 -1.99722382e-02 1.96963381e+01] [ 3.87962812e-02 -8.83911145e-04 9.99246750e-01 1.57288484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75804094200001 meters Centerline goodness [0,1] 0.9999144403328271 Centerline is valid? [True, True] Translation: X:68.15, Y:19.72, Z:1.58 [[ 8.45581828e-01 -5.32757960e-01 -3.40636022e-02 6.81472237e+01] [ 5.32365737e-01 8.46267249e-01 -2.04564330e-02 1.97157234e+01] [ 3.97252384e-02 -8.36706679e-04 9.99210291e-01 1.57511561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:19.73, Z:1.58 [[ 8.46260122e-01 -5.31725289e-01 -3.33469918e-02 6.81711823e+01] [ 5.31348367e-01 8.46916542e-01 -2.00320673e-02 1.97327391e+01] [ 3.88936758e-02 -7.66529917e-04 9.99243061e-01 1.57797913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:19.75, Z:1.58 [[ 8.46399387e-01 -5.31530014e-01 -3.29229808e-02 6.81950266e+01] [ 5.31162275e-01 8.47039132e-01 -1.97824700e-02 1.97475880e+01] [ 3.84020297e-02 -7.43574942e-04 9.99262093e-01 1.57788528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:19.77, Z:1.58 [[ 8.47141059e-01 -5.30362279e-01 -3.26784372e-02 6.82180235e+01] [ 5.29998865e-01 8.47770837e-01 -1.96420987e-02 1.97650148e+01] [ 3.81212542e-02 -6.79906374e-04 9.99272890e-01 1.57921900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:19.78, Z:1.58 [[ 8.47396985e-01 -5.29969941e-01 -3.24069494e-02 6.82419108e+01] [ 5.29611957e-01 8.48016178e-01 -1.94868334e-02 1.97791789e+01] [ 3.78090533e-02 -6.50023996e-04 9.99284771e-01 1.57851848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:19.80, Z:1.58 [[ 8.47894511e-01 -5.29197247e-01 -3.20183205e-02 6.82646206e+01] [ 5.28847013e-01 8.48498621e-01 -1.92594577e-02 1.97976765e+01] [ 3.73595528e-02 -6.02804704e-04 9.99301706e-01 1.58186995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:19.82, Z:1.58 [[ 8.49168459e-01 -5.27188033e-01 -3.13959516e-02 6.82873436e+01] [ 5.26849531e-01 8.49748511e-01 -1.88954766e-02 1.98158609e+01] [ 3.66401323e-02 -4.95499636e-04 9.99328402e-01 1.58387023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.31, Y:19.83, Z:1.58 [[ 8.49847054e-01 -5.26118699e-01 -3.09693329e-02 6.83109192e+01] [ 5.25788315e-01 8.50411033e-01 -1.86473451e-02 1.98315776e+01] [ 3.61473793e-02 -4.35922083e-04 9.99346375e-01 1.58405296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:19.85, Z:1.58 [[ 8.50605703e-01 -5.24900609e-01 -3.08105378e-02 6.83341124e+01] [ 5.24572548e-01 8.51163445e-01 -1.85588958e-02 1.98484432e+01] [ 3.59663792e-02 -3.76059721e-04 9.99352930e-01 1.58461183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028040942 meters Centerline goodness [0,1] 0.9999575443661374 Centerline is valid? [True, True] Translation: X:68.36, Y:19.86, Z:1.58 [[ 8.51261196e-01 -5.23816487e-01 -3.11554807e-02 6.83572753e+01] [ 5.23479912e-01 8.51831077e-01 -1.87776170e-02 1.98647400e+01] [ 3.63752320e-02 -3.24611546e-04 9.99338150e-01 1.58381642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:19.88, Z:1.58 [[ 8.53372207e-01 -5.20409090e-01 -3.05001007e-02 6.83801284e+01] [ 5.20083960e-01 8.53917064e-01 -1.83935414e-02 1.98828129e+01] [ 3.56167225e-02 -1.66076116e-04 9.99365509e-01 1.58471840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:19.90, Z:1.58 [[ 8.54248000e-01 -5.19008496e-01 -2.98418301e-02 6.84035161e+01] [ 5.18696129e-01 8.54769075e-01 -1.80042921e-02 1.98983234e+01] [ 3.48522540e-02 -9.87112515e-05 9.99392471e-01 1.58482516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:19.91, Z:1.59 [[ 8.55691916e-01 -5.16665212e-01 -2.91273565e-02 6.84272353e+01] [ 5.16366080e-01 8.56187514e-01 -1.75787600e-02 1.99146805e+01] [ 3.40208127e-02 1.62391144e-06 9.99421125e-01 1.58658978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:19.93, Z:1.59 [[ 8.56113925e-01 -5.15983768e-01 -2.88044974e-02 6.84499385e+01] [ 5.15690565e-01 8.56598360e-01 -1.73922737e-02 1.99293899e+01] [ 3.36480162e-02 3.55601274e-05 9.99433745e-01 1.58607000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.47, Y:19.94, Z:1.59 [[ 8.56347586e-01 -5.15632039e-01 -2.81498208e-02 6.84736855e+01] [ 5.15351612e-01 8.56810129e-01 -1.70034826e-02 1.99442931e+01] [ 3.28865920e-02 5.38357856e-05 9.99459088e-01 1.58628745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.50, Y:19.96, Z:1.59 [[ 8.55898365e-01 -5.16417767e-01 -2.73985209e-02 6.84979787e+01] [ 5.16152185e-01 8.56336784e-01 -1.65600067e-02 1.99591310e+01] [ 3.20142430e-02 3.18762693e-05 9.99487412e-01 1.58612372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:19.97, Z:1.59 [[ 8.55517221e-01 -5.17074037e-01 -2.69207229e-02 6.85212763e+01] [ 5.16817685e-01 8.55940676e-01 -1.62800688e-02 1.99731065e+01] [ 3.14605426e-02 1.47735114e-05 9.99504995e-01 1.58550765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:19.99, Z:1.59 [[ 8.54977269e-01 -5.18006306e-01 -2.61406925e-02 6.85457159e+01] [ 5.17764911e-01 8.55376798e-01 -1.58123351e-02 1.99870119e+01] [ 3.05510312e-02 -1.55462672e-05 9.99533208e-01 1.58584831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.57, Y:20.00, Z:1.59 [[ 8.54254605e-01 -5.19235258e-01 -2.53735436e-02 6.85702689e+01] [ 5.19008241e-01 8.54631350e-01 -1.53525750e-02 2.00009300e+01] [ 2.96566241e-02 -5.40703235e-05 9.99560144e-01 1.58766140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.328040942 meters Centerline goodness [0,1] 0.9999363435749449 Centerline is valid? [True, True] Translation: X:68.60, Y:20.01, Z:1.59 [[ 8.53088946e-01 -5.21213630e-01 -2.39917178e-02 6.85955055e+01] [ 5.21011206e-01 8.53426236e-01 -1.45252640e-02 2.00140787e+01] [ 2.80459269e-02 -1.08611667e-04 9.99606630e-01 1.58768054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:20.03, Z:1.59 [[ 8.52707641e-01 -5.21914050e-01 -2.22576710e-02 6.86184140e+01] [ 5.21739878e-01 8.52998072e-01 -1.34828893e-02 2.00274760e+01] [ 2.60226598e-02 -1.15751856e-04 9.99661347e-01 1.58904584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.64, Y:20.04, Z:1.59 [[ 8.52073325e-01 -5.23039268e-01 -2.00242995e-02 6.86419461e+01] [ 5.22898540e-01 8.52308575e-01 -1.21329915e-02 2.00413049e+01] [ 2.34129131e-02 -1.32478579e-04 9.99725871e-01 1.58854603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.67, Y:20.06, Z:1.59 [[ 8.51725312e-01 -5.23629917e-01 -1.93830668e-02 6.86660223e+01] [ 5.23498145e-01 8.51945826e-01 -1.17474534e-02 2.00554345e+01] [ 2.26646409e-02 -1.41396132e-04 9.99743114e-01 1.58884693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.69, Y:20.07, Z:1.59 [[ 8.51537899e-01 -5.23953866e-01 -1.88560919e-02 6.86900118e+01] [ 5.23829090e-01 8.51746633e-01 -1.14349305e-02 2.00695482e+01] [ 2.20519888e-02 -1.40092794e-04 9.99756816e-01 1.58864989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.71, Y:20.08, Z:1.59 [[ 8.51427846e-01 -5.24144802e-01 -1.85162039e-02 6.87142274e+01] [ 5.24024377e-01 8.51629149e-01 -1.12358531e-02 2.00822718e+01] [ 2.16581530e-02 -1.36424038e-04 9.99765425e-01 1.58840110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.74, Y:20.10, Z:1.59 [[ 8.51509287e-01 -5.24031125e-01 -1.79809573e-02 6.87383108e+01] [ 5.23917486e-01 8.51699104e-01 -1.09134851e-02 2.00959696e+01] [ 2.10333710e-02 -1.27604008e-04 9.99778766e-01 1.58862839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.76, Y:20.11, Z:1.59 [[ 8.52235331e-01 -5.22877891e-01 -1.71362578e-02 6.87629278e+01] [ 5.22774327e-01 8.52407592e-01 -1.04067211e-02 2.01103784e+01] [ 2.00485206e-02 -8.94202202e-05 9.99799004e-01 1.58863655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:20.13, Z:1.59 [[ 8.52612880e-01 -5.22274687e-01 -1.67459921e-02 6.87868578e+01] [ 5.22175554e-01 8.52777314e-01 -1.01756810e-02 2.01251423e+01] [ 1.95951028e-02 -6.84310091e-05 9.99807995e-01 1.58881485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:20.14, Z:1.59 [[ 8.53252815e-01 -5.21254374e-01 -1.59220108e-02 6.88096095e+01] [ 5.21164463e-01 8.53401357e-01 -9.68126157e-03 2.01392966e+01] [ 1.86342656e-02 -3.74225098e-05 9.99826366e-01 1.58929293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.83, Y:20.15, Z:1.59 [[ 8.53861455e-01 -5.20272410e-01 -1.54024400e-02 6.88338154e+01] [ 5.20188086e-01 8.54000363e-01 -9.36677703e-03 2.01538774e+01] [ 1.80269650e-02 -1.42359259e-05 9.99837501e-01 1.58996404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.86, Y:20.17, Z:1.59 [[ 8.55258204e-01 -5.17982959e-01 -1.50684671e-02 6.88578182e+01] [ 5.17901783e-01 8.55390936e-01 -9.17005978e-03 2.01670312e+01] [ 1.76393649e-02 3.87828597e-05 9.99844414e-01 1.59062685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.88, Y:20.18, Z:1.59 [[ 8.55536961e-01 -5.17536554e-01 -1.45747302e-02 6.88823343e+01] [ 5.17460534e-01 8.55661097e-01 -8.87031508e-03 2.01807467e+01] [ 1.70617419e-02 4.70347257e-05 9.99854437e-01 1.59191011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.91, Y:20.19, Z:1.59 [[ 8.56040398e-01 -5.16743042e-01 -1.30944738e-02 6.89067239e+01] [ 5.16681502e-01 8.56140540e-01 -7.97497948e-03 2.01933555e+01] [ 1.53317250e-02 6.12322325e-05 9.99882460e-01 1.59355056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.93, Y:20.21, Z:1.59 [[ 8.55980813e-01 -5.16830329e-01 -1.35372968e-02 6.89309853e+01] [ 5.16764566e-01 8.56087850e-01 -8.24473486e-03 2.02067035e+01] [ 1.58502443e-02 6.17395563e-05 9.99874375e-01 1.59421813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:20.22, Z:1.60 [[ 8.55643826e-01 -5.17404955e-01 -1.28745976e-02 6.89551799e+01] [ 5.17345465e-01 8.55740679e-01 -7.84603584e-03 2.02189987e+01] [ 1.50768947e-02 5.27974355e-05 9.99886336e-01 1.59519106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:20.23, Z:1.60 [[ 8.54915245e-01 -5.18605540e-01 -1.29698739e-02 6.89817467e+01] [ 5.18545268e-01 8.55013621e-01 -7.90646342e-03 2.02296285e+01] [ 1.51897546e-02 3.38893702e-05 9.99884628e-01 1.59620569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.01, Y:20.24, Z:1.60 [[ 8.54383886e-01 -5.19480093e-01 -1.29849274e-02 6.90072876e+01] [ 5.19419713e-01 8.54482553e-01 -7.92014513e-03 2.02424577e+01] [ 1.52097517e-02 2.22170852e-05 9.99884325e-01 1.59657130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.03, Y:20.25, Z:1.60 [[ 8.53809907e-01 -5.20416883e-01 -1.32253609e-02 6.90316740e+01] [ 5.20354276e-01 8.53912330e-01 -8.07217037e-03 2.02545183e+01] [ 1.54941925e-02 1.02259567e-05 9.99879958e-01 1.59652871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.06, Y:20.27, Z:1.60 [[ 8.53040342e-01 -5.21668634e-01 -1.35650540e-02 6.90564878e+01] [ 5.21602886e-01 8.53148191e-01 -8.28208199e-03 2.02668198e+01] [ 1.58935037e-02 -1.06212881e-05 9.99873690e-01 1.59608161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.08, Y:20.28, Z:1.60 [[ 8.51602389e-01 -5.24046206e-01 -1.22042863e-02 6.90841127e+01] [ 5.23993178e-01 8.51689833e-01 -7.45504559e-03 2.02770949e+01] [ 1.43010549e-02 -4.62281499e-05 9.99897734e-01 1.59711930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:20.29, Z:1.60 [[ 8.50235873e-01 -5.26276807e-01 -1.14753201e-02 6.91109789e+01] [ 5.26230068e-01 8.50313305e-01 -7.01415891e-03 2.02861309e+01] [ 1.34490065e-02 -7.49689661e-05 9.99909555e-01 1.59983307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:20.30, Z:1.60 [[ 8.49265336e-01 -5.27838576e-01 -1.16114669e-02 6.91371629e+01] [ 5.27790855e-01 8.49344705e-01 -7.09825726e-03 2.02977972e+01] [ 1.36088720e-02 -1.00122236e-04 9.99907390e-01 1.60019457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.16, Y:20.31, Z:1.60 [[ 8.48205606e-01 -5.29534135e-01 -1.18679911e-02 6.91633363e+01] [ 5.29484399e-01 8.48288620e-01 -7.25866322e-03 2.03098694e+01] [ 1.39111918e-02 -1.27077307e-04 9.99903227e-01 1.60015259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:20.32, Z:1.60 [[ 8.47113277e-01 -5.31281329e-01 -1.18002121e-02 6.91895035e+01] [ 5.31232280e-01 8.47195447e-01 -7.22068740e-03 2.03217149e+01] [ 1.38333024e-02 -1.51913405e-04 9.99904304e-01 1.60073431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:20.33, Z:1.60 [[ 8.44882157e-01 -5.34823069e-01 -1.17654380e-02 6.92173804e+01] [ 5.34774603e-01 8.44964048e-01 -7.20283831e-03 2.03314512e+01] [ 1.37936162e-02 -2.06307847e-04 9.99904842e-01 1.60021637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:20.34, Z:1.60 [[ 8.43650214e-01 -5.36758181e-01 -1.20403934e-02 6.92433531e+01] [ 5.36707552e-01 8.43736095e-01 -7.37603842e-03 2.03422980e+01] [ 1.41180635e-02 -2.39373667e-04 9.99900307e-01 1.60030415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:20.35, Z:1.60 [[ 8.42476212e-01 -5.38576950e-01 -1.29884749e-02 6.92703363e+01] [ 5.38518228e-01 8.42576278e-01 -7.95824718e-03 2.03539463e+01] [ 1.52299093e-02 -2.89896541e-04 9.99883976e-01 1.59994917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:20.36, Z:1.60 [[ 8.40479999e-01 -5.41670041e-01 -1.36724836e-02 6.92993654e+01] [ 5.41605309e-01 8.40591123e-01 -8.38170350e-03 2.03619160e+01] [ 1.60330860e-02 -3.60435527e-04 9.99871397e-01 1.59950503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.32, Y:20.38, Z:1.60 [[ 8.39649268e-01 -5.42954380e-01 -1.37712859e-02 6.93224792e+01] [ 5.42888820e-01 8.39762105e-01 -8.44607980e-03 2.03801492e+01] [ 1.61504400e-02 -3.84532421e-04 9.99869499e-01 1.59793955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:20.39, Z:1.60 [[ 8.39238030e-01 -5.43584206e-01 -1.39907031e-02 6.93515545e+01] [ 5.43516526e-01 8.39354546e-01 -8.58678979e-03 2.03858256e+01] [ 1.64108035e-02 -3.97817791e-04 9.99865255e-01 1.60075783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:20.40, Z:1.60 [[ 8.38565925e-01 -5.44621921e-01 -1.39338795e-02 6.93791265e+01] [ 5.44554922e-01 8.38681579e-01 -8.55260220e-03 2.03964691e+01] [ 1.63440227e-02 -4.15841862e-04 9.99866341e-01 1.60173821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.40, Y:20.41, Z:1.60 [[ 8.38435728e-01 -5.44822379e-01 -1.39321988e-02 6.94025486e+01] [ 5.44755362e-01 8.38551371e-01 -8.55533897e-03 2.04110166e+01] [ 1.63440045e-02 -4.16538114e-04 9.99866341e-01 1.60237657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.43, Y:20.42, Z:1.60 [[ 8.38226195e-01 -5.45149295e-01 -1.37510814e-02 6.94275093e+01] [ 5.45083981e-01 8.38338878e-01 -8.44856809e-03 2.04238783e+01] [ 1.61337971e-02 -4.13683097e-04 9.99869756e-01 1.60329852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.45, Y:20.44, Z:1.60 [[ 8.38577980e-01 -5.44598339e-01 -1.41287427e-02 6.94492253e+01] [ 5.44529231e-01 8.38696895e-01 -8.68539577e-03 2.04429670e+01] [ 1.65797847e-02 -4.10131747e-04 9.99862462e-01 1.60156260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.47, Y:20.46, Z:1.60 [[ 8.39025798e-01 -5.43908530e-01 -1.41145638e-02 6.94740004e+01] [ 5.43839385e-01 8.39144420e-01 -8.68137348e-03 2.04581005e+01] [ 1.65660305e-02 -3.92159366e-04 9.99862697e-01 1.60212861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.50, Y:20.48, Z:1.60 [[ 8.40167958e-01 -5.42149038e-01 -1.38644594e-02 6.94977034e+01] [ 5.42082009e-01 8.40282274e-01 -8.53204472e-03 2.04751381e+01] [ 1.62756993e-02 -3.47323439e-04 9.99867482e-01 1.60256478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.52, Y:20.49, Z:1.60 [[ 8.43184891e-01 -5.37419854e-01 -1.48033985e-02 6.95211193e+01] [ 5.37342590e-01 8.43314786e-01 -9.11658318e-03 2.04921878e+01] [ 1.73833577e-02 -2.67531324e-04 9.99848862e-01 1.60247952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.468040942 meters Centerline goodness [0,1] 0.9999558849479442 Centerline is valid? [True, True] Translation: X:69.55, Y:20.51, Z:1.60 [[ 8.44127442e-01 -5.35932379e-01 -1.50115732e-02 6.95454104e+01] [ 5.35852685e-01 8.44260876e-01 -9.24512243e-03 2.05073107e+01] [ 1.76284444e-02 -2.39930280e-04 9.99844578e-01 1.60313628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:20.52, Z:1.60 [[ 8.44955057e-01 -5.34621074e-01 -1.52071988e-02 6.95695630e+01] [ 5.34538984e-01 8.45091867e-01 -9.37080277e-03 2.05231330e+01] [ 1.78613087e-02 -2.10933426e-04 9.99840452e-01 1.60377661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528040942 meters Centerline goodness [0,1] 0.9998678326761681 Centerline is valid? [True, True] Translation: X:69.59, Y:20.54, Z:1.61 [[ 8.46600547e-01 -5.32020761e-01 -1.48803275e-02 6.95930132e+01] [ 5.31941654e-01 8.46731296e-01 -9.17543067e-03 2.05386691e+01] [ 1.74811586e-02 -1.47541413e-04 9.99847182e-01 1.60520013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.558040942 meters Centerline goodness [0,1] 0.9999778946903046 Centerline is valid? [True, True] Translation: X:69.62, Y:20.55, Z:1.61 [[ 8.47176460e-01 -5.31100040e-01 -1.49931028e-02 6.96172529e+01] [ 5.31019571e-01 8.47309112e-01 -9.24577463e-03 2.05541410e+01] [ 1.76142239e-02 -1.28828375e-04 9.99844849e-01 1.60650499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.64, Y:20.57, Z:1.61 [[ 8.47662370e-01 -5.30315985e-01 -1.52794686e-02 6.96405072e+01] [ 5.30232172e-01 8.47800061e-01 -9.42866103e-03 2.05692428e+01] [ 1.79541041e-02 -1.09344695e-04 9.99838806e-01 1.60762414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61804094200001 meters Centerline goodness [0,1] 0.9997799247342591 Centerline is valid? [True, True] Translation: X:69.66, Y:20.59, Z:1.61 [[ 8.47750076e-01 -5.30138944e-01 -1.65078388e-02 6.96642404e+01] [ 5.30041053e-01 8.47910778e-01 -1.01879835e-02 2.05851595e+01] [ 1.93982213e-02 -1.12968499e-04 9.99811830e-01 1.60722412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648040942 meters Centerline goodness [0,1] 0.9998678064686701 Centerline is valid? [True, True] Translation: X:69.69, Y:20.60, Z:1.61 [[ 8.47225954e-01 -5.30956897e-01 -1.71159710e-02 6.96870882e+01] [ 5.30851678e-01 8.47398818e-01 -1.05707083e-02 2.05989080e+01] [ 2.01166441e-02 -1.30263498e-04 9.99797631e-01 1.60734952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:20.61, Z:1.61 [[ 8.45708223e-01 -5.33356184e-01 -1.75722123e-02 6.97122486e+01] [ 5.33245733e-01 8.45890741e-01 -1.08555871e-02 2.06121000e+01] [ 2.06540661e-02 -1.89647927e-04 9.99786664e-01 1.60772800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708040942 meters Centerline goodness [0,1] 0.9999559548978154 Centerline is valid? [True, True] Translation: X:69.74, Y:20.63, Z:1.61 [[ 8.44732741e-01 -5.34885345e-01 -1.80073228e-02 6.97372559e+01] [ 5.34769664e-01 8.44924620e-01 -1.11262106e-02 2.06262985e+01] [ 2.11660774e-02 -2.31095568e-04 9.99775947e-01 1.60850270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.76, Y:20.64, Z:1.61 [[ 8.43512031e-01 -5.36806060e-01 -1.80750361e-02 6.97621044e+01] [ 5.36689818e-01 8.43705623e-01 -1.11741250e-02 2.06402633e+01] [ 2.12483476e-02 -2.75178961e-04 9.99774191e-01 1.60864438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.79, Y:20.65, Z:1.61 [[ 8.42434014e-01 -5.38456251e-01 -1.92301057e-02 6.97865084e+01] [ 5.38324947e-01 8.42653402e-01 -1.18951924e-02 2.06531080e+01] [ 2.26093547e-02 -3.31130959e-04 9.99744321e-01 1.60905389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.81, Y:20.67, Z:1.61 [[ 8.40489156e-01 -5.41484202e-01 -1.93089990e-02 6.98109480e+01] [ 5.41352564e-01 8.40710824e-01 -1.19462076e-02 2.06691769e+01] [ 2.27019671e-02 -4.12318139e-04 9.99742192e-01 1.60937155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:20.68, Z:1.61 [[ 8.39604111e-01 -5.42848173e-01 -1.95140192e-02 6.98350483e+01] [ 5.42713941e-01 8.39830733e-01 -1.20796793e-02 2.06833186e+01] [ 2.29459049e-02 -4.48381872e-04 9.99736608e-01 1.60993500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:20.70, Z:1.61 [[ 8.38142784e-01 -5.45079475e-01 -2.01256197e-02 6.98601579e+01] [ 5.44937278e-01 8.38384215e-01 -1.24607462e-02 2.06962674e+01] [ 2.36650989e-02 -5.23315858e-04 9.99719805e-01 1.61132734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.88, Y:20.71, Z:1.61 [[ 8.37534015e-01 -5.46009080e-01 -2.02696276e-02 6.98841898e+01] [ 5.45865028e-01 8.37779077e-01 -1.25534623e-02 2.07098629e+01] [ 2.38357743e-02 -5.50529134e-04 9.99715736e-01 1.61239984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.91, Y:20.73, Z:1.61 [[ 8.36743192e-01 -5.47219342e-01 -2.02934036e-02 6.99086054e+01] [ 5.47075248e-01 8.36989039e-01 -1.25706636e-02 2.07257248e+01] [ 2.38642666e-02 -5.83601625e-04 9.99715037e-01 1.61360243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.93, Y:20.74, Z:1.61 [[ 8.36344208e-01 -5.47805906e-01 -2.09058659e-02 6.99329400e+01] [ 5.47652991e-01 8.36605232e-01 -1.29571378e-02 2.07407957e+01] [ 2.45879534e-02 -6.12532808e-04 9.99697483e-01 1.61421033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.95, Y:20.76, Z:1.61 [[ 8.36239800e-01 -5.47919938e-01 -2.20621312e-02 6.99535350e+01] [ 5.47749477e-01 8.36530530e-01 -1.36815100e-02 2.07603637e+01] [ 2.59520184e-02 -6.43497645e-04 9.99662983e-01 1.61373193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:20.78, Z:1.61 [[ 8.36442553e-01 -5.47589591e-01 -2.25720224e-02 6.99764732e+01] [ 5.47410816e-01 8.36746813e-01 -1.40060481e-02 2.07755951e+01] [ 2.65566340e-02 -6.40914528e-04 9.99647105e-01 1.61387446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.00, Y:20.79, Z:1.61 [[ 8.37331188e-01 -5.46185463e-01 -2.36203585e-02 7.00001758e+01] [ 5.45989051e-01 8.37664046e-01 -1.46595428e-02 2.07896683e+01] [ 2.77927542e-02 -6.21564760e-04 9.99613514e-01 1.61375971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.02, Y:20.81, Z:1.62 [[ 8.37647732e-01 -5.45686806e-01 -2.39204071e-02 7.00221443e+01] [ 5.45485060e-01 8.37988984e-01 -1.48496161e-02 2.08083105e+01] [ 2.81482772e-02 -6.09477422e-04 9.99603573e-01 1.61549837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.05, Y:20.82, Z:1.62 [[ 8.38324049e-01 -5.44628943e-01 -2.43331804e-02 7.00477930e+01] [ 5.44419512e-01 8.38676923e-01 -1.51133720e-02 2.08202829e+01] [ 2.86388567e-02 -5.77555015e-04 9.99589657e-01 1.61552133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.07, Y:20.84, Z:1.62 [[ 8.38562022e-01 -5.44232922e-01 -2.49852529e-02 7.00711013e+01] [ 5.44011809e-01 8.38933964e-01 -1.55227450e-02 2.08356896e+01] [ 2.94089662e-02 -5.75488187e-04 9.99567297e-01 1.61602772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:20.85, Z:1.62 [[ 8.39109860e-01 -5.43317432e-01 -2.64728199e-02 7.00935875e+01] [ 5.43068440e-01 8.39527156e-01 -1.64567387e-02 2.08546652e+01] [ 3.11658842e-02 -5.67541278e-04 9.99514065e-01 1.61823110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.12, Y:20.87, Z:1.62 [[ 8.39122780e-01 -5.43278678e-01 -2.68558769e-02 7.01168341e+01] [ 5.43022100e-01 8.39552236e-01 -1.67045178e-02 2.08703595e+01] [ 3.16221198e-02 -5.66193212e-04 9.99499735e-01 1.61890035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.14, Y:20.89, Z:1.62 [[ 8.38875787e-01 -5.43628432e-01 -2.74871243e-02 7.01407841e+01] [ 5.43359549e-01 8.39325792e-01 -1.71060257e-02 2.08854817e+01] [ 3.23699743e-02 -5.85560658e-04 9.99475784e-01 1.61901343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.16, Y:20.90, Z:1.62 [[ 8.38591068e-01 -5.44056678e-01 -2.77011217e-02 7.01646963e+01] [ 5.43783644e-01 8.39048252e-01 -1.72447120e-02 2.09001157e+01] [ 3.26246785e-02 -6.02155434e-04 9.99467492e-01 1.62023683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.19, Y:20.91, Z:1.62 [[ 8.38455268e-01 -5.44265323e-01 -2.77132035e-02 7.01882246e+01] [ 5.43991871e-01 8.38912924e-01 -1.72612121e-02 2.09134747e+01] [ 3.26436438e-02 -6.03003267e-04 9.99466872e-01 1.62162740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.21, Y:20.93, Z:1.62 [[ 8.38079618e-01 -5.44849929e-01 -2.75882188e-02 7.02126945e+01] [ 5.44579102e-01 8.38533346e-01 -1.71880610e-02 2.09260299e+01] [ 3.24985552e-02 -6.19003769e-04 9.99471591e-01 1.62335189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.24, Y:20.94, Z:1.63 [[ 8.37741691e-01 -5.45370125e-01 -2.75732996e-02 7.02358413e+01] [ 5.45099659e-01 8.38195100e-01 -1.71853241e-02 2.09410815e+01] [ 3.24841670e-02 -6.33333737e-04 9.99472050e-01 1.62514329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.26, Y:20.95, Z:1.63 [[ 8.37454670e-01 -5.45829713e-01 -2.71955823e-02 7.02588594e+01] [ 5.45566547e-01 8.37895890e-01 -1.69593868e-02 2.09547415e+01] [ 3.20440039e-02 -6.34282229e-04 9.99486258e-01 1.62622127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.398040942 meters Centerline goodness [0,1] 0.9999125988725255 Centerline is valid? [True, True] Translation: X:70.28, Y:20.97, Z:1.63 [[ 8.36923248e-01 -5.46681392e-01 -2.64373384e-02 7.02828167e+01] [ 5.46432887e-01 8.37340459e-01 -1.64941190e-02 2.09687144e+01] [ 3.11540811e-02 -6.41919490e-04 9.99514388e-01 1.62798303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:20.98, Z:1.63 [[ 8.36247466e-01 -5.47719595e-01 -2.63328808e-02 7.03071667e+01] [ 5.47473264e-01 8.36661698e-01 -1.64386177e-02 2.09840785e+01] [ 3.10354658e-02 -6.69795827e-04 9.99518059e-01 1.62957502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.33, Y:21.00, Z:1.63 [[ 8.35074750e-01 -5.49522019e-01 -2.59944716e-02 7.03328299e+01] [ 5.49282588e-01 8.35478924e-01 -1.62359801e-02 2.09982410e+01] [ 3.06398617e-02 -7.20053574e-04 9.99530230e-01 1.63139518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.36, Y:21.01, Z:1.63 [[ 8.34419796e-01 -5.50515930e-01 -2.59964196e-02 7.03575356e+01] [ 5.50276679e-01 8.34824322e-01 -1.62458572e-02 2.10125353e+01] [ 3.06460466e-02 -7.49358566e-04 9.99530019e-01 1.63240945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:21.02, Z:1.63 [[ 8.33752780e-01 -5.51510064e-01 -2.63239438e-02 7.03835392e+01] [ 5.51265009e-01 8.34167864e-01 -1.64579429e-02 2.10240685e+01] [ 3.10353092e-02 -7.89613471e-04 9.99517977e-01 1.63231682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.41, Y:21.04, Z:1.63 [[ 8.33065255e-01 -5.52531584e-01 -2.66670212e-02 7.04066625e+01] [ 5.52280474e-01 8.33491543e-01 -1.66771081e-02 2.10416786e+01] [ 3.14413656e-02 -8.34555798e-04 9.99505250e-01 1.63389506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.578040942 meters Centerline goodness [0,1] 0.9999781267771993 Centerline is valid? [True, True] Translation: X:70.43, Y:21.06, Z:1.63 [[ 8.32093460e-01 -5.53947263e-01 -2.76207121e-02 7.04306918e+01] [ 5.53678338e-01 8.32551259e-01 -1.72829339e-02 2.10571921e+01] [ 3.25694926e-02 -9.11973717e-04 9.99469057e-01 1.63406604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.45, Y:21.07, Z:1.63 [[ 8.31822808e-01 -5.54336746e-01 -2.79568977e-02 7.04546167e+01] [ 5.54061146e-01 8.32291959e-01 -1.75025966e-02 2.10731810e+01] [ 3.29706336e-02 -9.30771696e-04 9.99455887e-01 1.63445371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:21.09, Z:1.64 [[ 8.31537532e-01 -5.54774484e-01 -2.77597584e-02 7.04765994e+01] [ 5.54502689e-01 8.32000240e-01 -1.73887136e-02 2.10906196e+01] [ 3.27429403e-02 -9.33492712e-04 9.99463370e-01 1.63634179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:21.10, Z:1.64 [[ 8.31484837e-01 -5.54854724e-01 -2.77344724e-02 7.05008114e+01] [ 5.54583176e-01 8.31946737e-01 -1.73818257e-02 2.11031177e+01] [ 3.27179919e-02 -9.28347323e-04 9.99464192e-01 1.63691211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:21.12, Z:1.64 [[ 8.31379379e-01 -5.55002523e-01 -2.79379066e-02 7.05227310e+01] [ 5.54726845e-01 8.31848137e-01 -1.75158100e-02 2.11200213e+01] [ 3.29614143e-02 -9.35623494e-04 9.99456187e-01 1.63909851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:21.13, Z:1.64 [[ 8.31241678e-01 -5.55208854e-01 -2.79356675e-02 7.05458529e+01] [ 5.54933017e-01 8.31710438e-01 -1.75240915e-02 2.11346738e+01] [ 3.29639170e-02 -9.35669012e-04 9.99456104e-01 1.63978990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:21.15, Z:1.64 [[ 8.31063376e-01 -5.55468170e-01 -2.80851701e-02 7.05690787e+01] [ 5.55189300e-01 8.31537262e-01 -1.76245150e-02 2.11504990e+01] [ 3.31437225e-02 -9.45496981e-04 9.99450149e-01 1.64163885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788040942 meters Centerline goodness [0,1] 0.9999780489946439 Centerline is valid? [True, True] Translation: X:70.59, Y:21.17, Z:1.64 [[ 8.31044338e-01 -5.55481487e-01 -2.83835411e-02 7.05921920e+01] [ 5.55196436e-01 8.31528361e-01 -1.78186044e-02 2.11670357e+01] [ 3.34996243e-02 -9.50390545e-04 9.99438278e-01 1.64318852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:21.19, Z:1.65 [[ 8.31585698e-01 -5.54630060e-01 -2.91671694e-02 7.06139091e+01] [ 5.54328145e-01 8.32096526e-01 -1.83215723e-02 2.11871225e+01] [ 3.44315951e-02 -9.32225418e-04 9.99406622e-01 1.64501985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848040942 meters Centerline goodness [0,1] 0.9998466929478756 Centerline is valid? [True, True] Translation: X:70.64, Y:21.20, Z:1.64 [[ 8.32178260e-01 -5.53665274e-01 -3.05631753e-02 7.06376540e+01] [ 5.53332799e-01 8.32738797e-01 -1.92070304e-02 2.12024694e+01] [ 3.60854076e-02 -9.27934155e-04 9.99348279e-01 1.64292745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.878040942 meters Centerline goodness [0,1] 0.9998468003151536 Centerline is valid? [True, True] Translation: X:70.66, Y:21.22, Z:1.64 [[ 8.32881448e-01 -5.52582544e-01 -3.10004110e-02 7.06609980e+01] [ 5.52239504e-01 8.33457703e-01 -1.94881215e-02 2.12196885e+01] [ 3.66063271e-02 -8.88356719e-04 9.99329369e-01 1.64372752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:21.24, Z:1.65 [[ 8.35276318e-01 -5.48948059e-01 -3.11368105e-02 7.06829324e+01] [ 5.48599145e-01 8.35856150e-01 -1.95825211e-02 2.12375412e+01] [ 3.67756815e-02 -7.24811479e-04 9.99323283e-01 1.64593398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.938040942 meters Centerline goodness [0,1] 0.9998687118443798 Centerline is valid? [True, True] Translation: X:70.71, Y:21.26, Z:1.65 [[ 8.36218035e-01 -5.47446606e-01 -3.22740133e-02 7.07052174e+01] [ 5.47070316e-01 8.36840341e-01 -2.03055143e-02 2.12559386e+01] [ 3.81243812e-02 -6.76317345e-04 9.99272773e-01 1.64532415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.73, Y:21.27, Z:1.65 [[ 8.37306780e-01 -5.45840639e-01 -3.12306353e-02 7.07282581e+01] [ 5.45486790e-01 8.37888815e-01 -1.96595044e-02 2.12724489e+01] [ 3.68987565e-02 -5.74862656e-04 9.99318844e-01 1.64756873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.75, Y:21.29, Z:1.65 [[ 8.38893573e-01 -5.43441966e-01 -3.04697058e-02 7.07510210e+01] [ 5.43103204e-01 8.39446620e-01 -1.91906650e-02 2.12910858e+01] [ 3.60067043e-02 -4.49269347e-04 9.99351447e-01 1.64990604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.78, Y:21.31, Z:1.65 [[ 8.39427509e-01 -5.42630154e-01 -3.02320018e-02 7.07752190e+01] [ 5.42295768e-01 8.39971639e-01 -1.90511394e-02 2.13075862e+01] [ 3.57317468e-02 -4.02636176e-04 9.99361336e-01 1.65180939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:21.32, Z:1.65 [[ 8.39916863e-01 -5.41904608e-01 -2.96489226e-02 7.07988192e+01] [ 5.41582276e-01 8.40439925e-01 -1.86914803e-02 2.13228247e+01] [ 3.50471375e-02 -3.58041481e-04 9.99385596e-01 1.65300310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.82, Y:21.34, Z:1.66 [[ 8.39860777e-01 -5.42049366e-01 -2.85720164e-02 7.08227573e+01] [ 5.41749933e-01 8.40346574e-01 -1.80179259e-02 2.13391304e+01] [ 3.37770014e-02 -3.46338776e-04 9.99429334e-01 1.65593228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.85, Y:21.35, Z:1.66 [[ 8.39717712e-01 -5.42260626e-01 -2.87676544e-02 7.08460089e+01] [ 5.41956919e-01 8.40210266e-01 -1.81495736e-02 2.13539044e+01] [ 3.40126777e-02 -3.50310920e-04 9.99421340e-01 1.65655468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.87, Y:21.37, Z:1.66 [[ 8.38822239e-01 -5.43670764e-01 -2.82728031e-02 7.08706689e+01] [ 5.43378015e-01 8.39298483e-01 -1.78434638e-02 2.13690613e+01] [ 3.34302904e-02 -3.95325398e-04 9.99440973e-01 1.65767860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:21.38, Z:1.66 [[ 8.38670494e-01 -5.43905054e-01 -2.82682523e-02 7.08939350e+01] [ 5.43612195e-01 8.39146671e-01 -1.78506710e-02 2.13838555e+01] [ 3.34302800e-02 -3.96135639e-04 9.99440973e-01 1.65831684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:21.40, Z:1.66 [[ 8.37841798e-01 -5.45188421e-01 -2.81195186e-02 7.09184099e+01] [ 5.44899004e-01 8.38313423e-01 -1.77673897e-02 2.13994254e+01] [ 3.32595450e-02 -4.36035967e-04 9.99446653e-01 1.65993426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:21.41, Z:1.66 [[ 8.36993974e-01 -5.46508948e-01 -2.77318618e-02 7.09432058e+01] [ 5.46227862e-01 8.37453130e-01 -1.75321847e-02 2.14140155e+01] [ 3.28056303e-02 -4.73582674e-04 9.99461638e-01 1.66126249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.97, Y:21.43, Z:1.66 [[ 8.36167740e-01 -5.47794086e-01 -2.72974349e-02 7.09677025e+01] [ 5.47522171e-01 8.36613041e-01 -1.72653284e-02 2.14272365e+01] [ 3.22952348e-02 -5.09240244e-04 9.99478243e-01 1.66183858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.99, Y:21.44, Z:1.66 [[ 8.34143364e-01 -5.50879280e-01 -2.71452848e-02 7.09928380e+01] [ 5.50611909e-01 8.34584706e-01 -1.71724700e-02 2.14405684e+01] [ 3.21149975e-02 -6.22215189e-04 9.99483987e-01 1.66252853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.02, Y:21.46, Z:1.66 [[ 8.32964306e-01 -5.52650270e-01 -2.73522139e-02 7.10179941e+01] [ 5.52379593e-01 8.33412983e-01 -1.73085161e-02 2.14556215e+01] [ 3.23612463e-02 -6.91428722e-04 9.99475999e-01 1.66243879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.358040942 meters Centerline goodness [0,1] 0.9998462585930465 Centerline is valid? [True, True] Translation: X:71.04, Y:21.47, Z:1.66 [[ 8.30674997e-01 -5.56023385e-01 -2.85839960e-02 7.10428723e+01] [ 5.55729480e-01 8.31166210e-01 -1.80963213e-02 2.14690365e+01] [ 3.38200294e-02 -8.52807619e-04 9.99427575e-01 1.66048521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.07, Y:21.48, Z:1.66 [[ 8.29411420e-01 -5.57914940e-01 -2.84186014e-02 7.10674859e+01] [ 5.57625343e-01 8.29897628e-01 -1.79973017e-02 2.14838034e+01] [ 3.36254934e-02 -9.19764784e-04 9.99434080e-01 1.66234835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.09, Y:21.50, Z:1.66 [[ 8.28306810e-01 -5.59534849e-01 -2.87850844e-02 7.10919102e+01] [ 5.59238436e-01 8.28806232e-01 -1.82373837e-02 2.14977957e+01] [ 3.40617090e-02 -9.91576414e-04 9.99419240e-01 1.66224862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448040942 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:71.12, Y:21.51, Z:1.66 [[ 8.26531016e-01 -5.62139949e-01 -2.90715764e-02 7.11168224e+01] [ 5.61839088e-01 8.27041385e-01 -1.84224631e-02 2.15115356e+01] [ 3.43993992e-02 -1.10681082e-03 9.99407553e-01 1.66160673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.478040942 meters Centerline goodness [0,1] 0.9999559965677323 Centerline is valid? [True, True] Translation: X:71.14, Y:21.53, Z:1.66 [[ 8.25642180e-01 -5.63447707e-01 -2.90115683e-02 7.11401967e+01] [ 5.63148699e-01 8.26150924e-01 -1.83900562e-02 2.15288147e+01] [ 3.43297689e-02 -1.15422086e-03 9.99409893e-01 1.66347100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.16, Y:21.54, Z:1.66 [[ 8.24714735e-01 -5.64804490e-01 -2.90085378e-02 7.11643355e+01] [ 5.64506100e-01 8.25223872e-01 -1.83962998e-02 2.15420171e+01] [ 3.43288506e-02 -1.20379703e-03 9.99409866e-01 1.66368715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.538040942 meters Centerline goodness [0,1] 0.9998680564718301 Centerline is valid? [True, True] Translation: X:71.19, Y:21.56, Z:1.66 [[ 8.23833192e-01 -5.66061156e-01 -2.95573770e-02 7.11867513e+01] [ 5.65752027e-01 8.24362261e-01 -1.87485060e-02 2.15595729e+01] [ 3.49787872e-02 -1.27650442e-03 9.99387240e-01 1.66336829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:21.58, Z:1.67 [[ 8.23542003e-01 -5.66512603e-01 -2.90179081e-02 7.12096171e+01] [ 5.66214731e-01 8.24052101e-01 -1.84123145e-02 2.15751135e+01] [ 3.43430764e-02 -1.26705265e-03 9.99409299e-01 1.66504711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:21.59, Z:1.67 [[ 8.23384385e-01 -5.66743602e-01 -2.89800469e-02 7.12325343e+01] [ 5.66446264e-01 8.23893250e-01 -1.83995407e-02 2.15920639e+01] [ 3.43042870e-02 -1.26574476e-03 9.99410633e-01 1.66556419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.26, Y:21.61, Z:1.67 [[ 8.24178104e-01 -5.65573469e-01 -2.92763564e-02 7.12554706e+01] [ 5.65268972e-01 8.24697010e-01 -1.85965575e-02 2.16077930e+01] [ 3.46618431e-02 -1.22214043e-03 9.99398351e-01 1.66520725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.658040942 meters Centerline goodness [0,1] 0.999890624316402 Centerline is valid? [True, True] Translation: X:71.28, Y:21.63, Z:1.66 [[ 8.24668299e-01 -5.64841332e-01 -2.96051769e-02 7.12778420e+01] [ 5.64529282e-01 8.25198661e-01 -1.88111805e-02 2.16264253e+01] [ 3.50554846e-02 -1.20000503e-03 9.99384647e-01 1.66490625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.30, Y:21.65, Z:1.67 [[ 8.26351861e-01 -5.62377675e-01 -2.95626815e-02 7.12989279e+01] [ 5.62064622e-01 8.26879780e-01 -1.87933656e-02 2.16459324e+01] [ 3.50137528e-02 -1.08620479e-03 9.99386240e-01 1.66538253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.32, Y:21.66, Z:1.67 [[ 8.27305157e-01 -5.60985465e-01 -2.93510750e-02 7.13213222e+01] [ 5.60675785e-01 8.27825029e-01 -1.86650969e-02 2.16632769e+01] [ 3.47684026e-02 -1.01470614e-03 9.99394881e-01 1.66513510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.748040942 meters Centerline goodness [0,1] 0.9998698594482041 Centerline is valid? [True, True] Translation: X:71.34, Y:21.68, Z:1.66 [[ 8.28284757e-01 -5.59531562e-01 -2.94752859e-02 7.13437732e+01] [ 5.59218194e-01 8.28808495e-01 -1.87480807e-02 2.16801564e+01] [ 3.49195102e-02 -9.54366650e-04 9.99389672e-01 1.66400777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.778040942 meters Centerline goodness [0,1] 0.999804079500185 Centerline is valid? [True, True] Translation: X:71.37, Y:21.70, Z:1.66 [[ 8.29217393e-01 -5.58182880e-01 -2.88164394e-02 7.13668055e+01] [ 5.57882340e-01 8.29717489e-01 -1.83352889e-02 2.16981764e+01] [ 3.41439481e-02 -8.72242186e-04 9.99416545e-01 1.66470511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:21.72, Z:1.67 [[ 8.31221313e-01 -5.55280477e-01 -2.71057411e-02 7.13880461e+01] [ 5.55012770e-01 8.31662852e-01 -1.72547047e-02 2.17182799e+01] [ 3.21240386e-02 -7.01554212e-04 9.99483644e-01 1.66768607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.41, Y:21.74, Z:1.67 [[ 8.31972025e-01 -5.54193866e-01 -2.63003346e-02 7.14108873e+01] [ 5.53941074e-01 8.32387384e-01 -1.67490296e-02 2.17355699e+01] [ 3.11742762e-02 -6.34111514e-04 9.99513763e-01 1.66899982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.43, Y:21.75, Z:1.67 [[ 8.32744222e-01 -5.53086043e-01 -2.51572900e-02 7.14341890e+01] [ 5.52854012e-01 8.33123949e-01 -1.60289381e-02 2.17534913e+01] [ 2.98245227e-02 -5.60303144e-04 9.99554993e-01 1.66993824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.46, Y:21.77, Z:1.67 [[ 8.33768539e-01 -5.51585110e-01 -2.41638093e-02 7.14562393e+01] [ 5.51370209e-01 8.34118478e-01 -1.54031424e-02 2.17715118e+01] [ 2.86516238e-02 -4.80549095e-04 9.99589342e-01 1.67070395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.48, Y:21.79, Z:1.67 [[ 8.33991603e-01 -5.51269249e-01 -2.36690021e-02 7.14802568e+01] [ 5.51062722e-01 8.34327279e-01 -1.50952715e-02 2.17883532e+01] [ 2.80692531e-02 -4.53775051e-04 9.99605878e-01 1.67153256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.50, Y:21.81, Z:1.67 [[ 8.34441705e-01 -5.50633649e-01 -2.25748969e-02 7.15020908e+01] [ 5.50445354e-01 8.34746920e-01 -1.44045956e-02 2.18070866e+01] [ 2.67759807e-02 -4.06451793e-04 9.99641377e-01 1.67318482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.52, Y:21.82, Z:1.67 [[ 8.34493281e-01 -5.50573528e-01 -2.21303941e-02 7.15247850e+01] [ 5.50392364e-01 8.34786583e-01 -1.41282440e-02 2.18218466e+01] [ 2.62527932e-02 -3.90475270e-04 9.99655260e-01 1.67397335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.018040942 meters Centerline goodness [0,1] 0.99984839624889 Centerline is valid? [True, True] Translation: X:71.55, Y:21.84, Z:1.67 [[ 8.34554934e-01 -5.50496227e-01 -2.17247746e-02 7.15474906e+01] [ 5.50321509e-01 8.34837566e-01 -1.38735494e-02 2.18386483e+01] [ 2.57739945e-02 -3.77371627e-04 9.99667724e-01 1.67331025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.57, Y:21.85, Z:1.67 [[ 8.34966391e-01 -5.49866624e-01 -2.18591458e-02 7.15707655e+01] [ 5.49689304e-01 8.35252400e-01 -1.39677241e-02 2.18547471e+01] [ 2.59382893e-02 -3.53158506e-04 9.99663484e-01 1.67273211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.078040942 meters Centerline goodness [0,1] 0.9998486551932889 Centerline is valid? [True, True] Translation: X:71.59, Y:21.87, Z:1.67 [[ 8.34869232e-01 -5.49997600e-01 -2.22711830e-02 7.15936574e+01] [ 5.49813451e-01 8.35166158e-01 -1.42358226e-02 2.18709631e+01] [ 2.64298066e-02 -3.59945690e-04 9.99650607e-01 1.67206250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:21.89, Z:1.67 [[ 8.34961932e-01 -5.49855003e-01 -2.23169578e-02 7.16165516e+01] [ 5.49669826e-01 8.35260051e-01 -1.42733626e-02 2.18853723e+01] [ 2.64887431e-02 -3.49243896e-04 9.99649051e-01 1.67274169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:21.90, Z:1.67 [[ 8.34417981e-01 -5.50680170e-01 -2.23155418e-02 7.16410235e+01] [ 5.50495195e-01 8.34716247e-01 -1.42768063e-02 2.19016271e+01] [ 2.64890994e-02 -3.71774694e-04 9.99649033e-01 1.67273821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:21.92, Z:1.67 [[ 8.33898481e-01 -5.51487920e-01 -2.17806526e-02 7.16645256e+01] [ 5.51311786e-01 8.34182791e-01 -1.39422285e-02 2.19170323e+01] [ 2.58580162e-02 -3.81527298e-04 9.99665553e-01 1.67283866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.69, Y:21.93, Z:1.67 [[ 8.33174214e-01 -5.52552320e-01 -2.25091519e-02 7.16887668e+01] [ 5.52364364e-01 8.33478108e-01 -1.44171382e-02 2.19313449e+01] [ 2.67271085e-02 -4.21265611e-04 9.99642678e-01 1.67312030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.71, Y:21.95, Z:1.67 [[ 8.31988890e-01 -5.54340305e-01 -2.23900117e-02 7.17130779e+01] [ 5.54154888e-01 8.32289975e-01 -1.43442760e-02 2.19473754e+01] [ 2.65865926e-02 -4.73256126e-04 9.99646402e-01 1.67219638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.74, Y:21.96, Z:1.67 [[ 8.31412836e-01 -5.55197328e-01 -2.25526710e-02 7.17370660e+01] [ 5.55009324e-01 8.31718510e-01 -1.44558139e-02 2.19611011e+01] [ 2.67833032e-02 -4.98193441e-04 9.99641139e-01 1.67195309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288040942 meters Centerline goodness [0,1] 0.9999141207033514 Centerline is valid? [True, True] Translation: X:71.76, Y:21.98, Z:1.67 [[ 8.30148713e-01 -5.57081724e-01 -2.26509959e-02 7.17624405e+01] [ 5.56892683e-01 8.30457489e-01 -1.45223608e-02 2.19751237e+01] [ 2.69008310e-02 -5.58454753e-04 9.99637951e-01 1.67190620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.79, Y:21.99, Z:1.67 [[ 8.29508150e-01 -5.58043587e-01 -2.24406896e-02 7.17863855e+01] [ 5.57858187e-01 8.29811437e-01 -1.43952317e-02 2.19912558e+01] [ 2.66547076e-02 -5.77760423e-04 9.99644533e-01 1.67367744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348040942 meters Centerline goodness [0,1] 0.9998501359481042 Centerline is valid? [True, True] Translation: X:71.81, Y:22.01, Z:1.67 [[ 8.29024855e-01 -5.58741939e-01 -2.29180157e-02 7.18110832e+01] [ 5.58548625e-01 8.29341352e-01 -1.47090214e-02 2.20051994e+01] [ 2.72254053e-02 -6.06681796e-04 9.99629136e-01 1.67286559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:22.02, Z:1.67 [[ 8.28695319e-01 -5.59238254e-01 -2.27298134e-02 7.18349671e+01] [ 5.59048188e-01 8.29006754e-01 -1.45919716e-02 2.20196822e+01] [ 2.70035576e-02 -6.14762456e-04 9.99635148e-01 1.67431243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.408040942 meters Centerline goodness [0,1] 0.9999139322216245 Centerline is valid? [True, True] Translation: X:71.86, Y:22.03, Z:1.67 [[ 8.28226985e-01 -5.59920575e-01 -2.30002556e-02 7.18598416e+01] [ 5.59725972e-01 8.28546042e-01 -1.47747083e-02 2.20349150e+01] [ 2.73294339e-02 -6.37028313e-04 9.99626278e-01 1.67437969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.438040942 meters Centerline goodness [0,1] 0.9999354394421968 Centerline is valid? [True, True] Translation: X:71.88, Y:22.05, Z:1.68 [[ 8.28001936e-01 -5.60270015e-01 -2.25898977e-02 7.18836677e+01] [ 5.60082212e-01 8.28309793e-01 -1.45190546e-02 2.20501190e+01] [ 2.68460244e-02 -6.30394528e-04 9.99639382e-01 1.67536205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.91, Y:22.06, Z:1.68 [[ 8.27846047e-01 -5.60509202e-01 -2.23686652e-02 7.19070950e+01] [ 5.60324929e-01 8.28147960e-01 -1.43850814e-02 2.20642073e+01] [ 2.65875349e-02 -6.25087904e-04 9.99646294e-01 1.67684154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:22.08, Z:1.68 [[ 8.27557808e-01 -5.60926547e-01 -2.25717303e-02 7.19314257e+01] [ 5.60738944e-01 8.27865326e-01 -1.45202804e-02 2.20789627e+01] [ 2.68311636e-02 -6.40476816e-04 9.99639774e-01 1.67768450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.96, Y:22.09, Z:1.68 [[ 8.27369222e-01 -5.61207434e-01 -2.25030438e-02 7.19558548e+01] [ 5.61020858e-01 8.27674939e-01 -1.44841961e-02 2.20930709e+01] [ 2.67538439e-02 -6.40898878e-04 9.99641846e-01 1.67836117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:22.11, Z:1.68 [[ 8.27252861e-01 -5.61375989e-01 -2.25766018e-02 7.19799452e+01] [ 5.61188156e-01 8.27560622e-01 -1.45351623e-02 2.21075958e+01] [ 2.68431977e-02 -6.45466963e-04 9.99639448e-01 1.67881897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588040942 meters Centerline goodness [0,1] 0.9998705222270177 Centerline is valid? [True, True] Translation: X:72.00, Y:22.12, Z:1.68 [[ 8.27546739e-01 -5.60931879e-01 -2.28434171e-02 7.20047122e+01] [ 5.60739167e-01 8.27861721e-01 -1.47159224e-02 2.21228913e+01] [ 2.71658205e-02 -6.31085091e-04 9.99630742e-01 1.67777182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.03, Y:22.14, Z:1.68 [[ 8.27470693e-01 -5.61056026e-01 -2.25474751e-02 7.20279721e+01] [ 5.60868129e-01 8.27777597e-01 -1.45324414e-02 2.21368058e+01] [ 2.68178085e-02 -6.20990833e-04 9.99640145e-01 1.67919663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.05, Y:22.15, Z:1.68 [[ 8.28218084e-01 -5.59970895e-01 -2.20771925e-02 7.20513421e+01] [ 5.59790261e-01 8.28512083e-01 -1.42334820e-02 2.21537284e+01] [ 2.62615564e-02 -5.70170207e-04 9.99654943e-01 1.68022441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.08, Y:22.17, Z:1.68 [[ 8.28453369e-01 -5.59642574e-01 -2.15686026e-02 7.20756994e+01] [ 5.59469871e-01 8.28733912e-01 -1.39128284e-02 2.21690296e+01] [ 2.56608436e-02 -5.40853725e-04 9.99670560e-01 1.68107035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708040942 meters Centerline goodness [0,1] 0.9999136106431687 Centerline is valid? [True, True] Translation: X:72.10, Y:22.18, Z:1.68 [[ 8.28974130e-01 -5.58860948e-01 -2.18250189e-02 7.21001625e+01] [ 5.58683647e-01 8.29261222e-01 -1.40857806e-02 2.21837021e+01] [ 2.59706346e-02 -5.16533454e-04 9.99662573e-01 1.68098939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.12, Y:22.20, Z:1.68 [[ 8.29657675e-01 -5.57884258e-01 -2.08157952e-02 7.21243797e+01] [ 5.57722509e-01 8.29918637e-01 -1.34409176e-02 2.21982192e+01] [ 2.47738927e-02 -4.58077098e-04 9.99692975e-01 1.68316861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.15, Y:22.21, Z:1.68 [[ 8.29914267e-01 -5.57515931e-01 -2.04522713e-02 7.21485398e+01] [ 5.57359607e-01 8.30166125e-01 -1.32088196e-02 2.22131903e+01] [ 2.43429101e-02 -4.37082003e-04 9.99703572e-01 1.68404356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.17, Y:22.23, Z:1.68 [[ 8.30270149e-01 -5.56992579e-01 -2.02668757e-02 7.21729100e+01] [ 5.56838762e-01 8.30517367e-01 -1.30956779e-02 2.22273768e+01] [ 2.41261876e-02 -4.12431519e-04 9.99708836e-01 1.68412242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.20, Y:22.24, Z:1.68 [[ 8.30515727e-01 -5.56615237e-01 -2.05695287e-02 7.21963770e+01] [ 5.56456607e-01 8.30770314e-01 -1.32939810e-02 2.22445453e+01] [ 2.44881861e-02 -4.05189860e-04 9.99700037e-01 1.68494094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.22, Y:22.26, Z:1.68 [[ 8.30532375e-01 -5.56594874e-01 -2.04479975e-02 7.22210346e+01] [ 5.56437937e-01 8.30783961e-01 -1.32224524e-02 2.22565682e+01] [ 2.43474176e-02 -3.96366697e-04 9.99703479e-01 1.68488484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.25, Y:22.27, Z:1.69 [[ 8.30689539e-01 -5.56360316e-01 -2.04472241e-02 7.22450618e+01] [ 5.56203228e-01 8.30941063e-01 -1.32257219e-02 2.22709046e+01] [ 2.43487049e-02 -3.86343214e-04 9.99703452e-01 1.68522242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.27, Y:22.29, Z:1.69 [[ 8.31194865e-01 -5.55614824e-01 -2.01807681e-02 7.22704225e+01] [ 5.55461408e-01 8.31439740e-01 -1.30607281e-02 2.22851567e+01] [ 2.40358267e-02 -3.53627720e-04 9.99711035e-01 1.68647802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948040942 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:72.29, Y:22.30, Z:1.69 [[ 8.31431275e-01 -5.55274707e-01 -1.97998455e-02 7.22942931e+01] [ 5.55126784e-01 8.31666934e-01 -1.28204804e-02 2.23003510e+01] [ 2.35857654e-02 -3.32076192e-04 9.99721762e-01 1.68726021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:22.32, Z:1.69 [[ 8.32553986e-01 -5.53590930e-01 -1.97722816e-02 7.23178467e+01] [ 5.53442773e-01 8.32788692e-01 -1.28098136e-02 2.23151327e+01] [ 2.35575291e-02 -2.77964956e-04 9.99722444e-01 1.68714390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00804094200001 meters Centerline goodness [0,1] 0.9999783545098379 Centerline is valid? [True, True] Translation: X:72.34, Y:22.33, Z:1.69 [[ 8.32974737e-01 -5.52954388e-01 -1.98628344e-02 7.23408120e+01] [ 5.52804609e-01 8.33211485e-01 -1.28719164e-02 2.23324130e+01] [ 2.36675245e-02 -2.58285223e-04 9.99719852e-01 1.68747183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:22.35, Z:1.69 [[ 8.33614565e-01 -5.51992174e-01 -1.97837451e-02 7.23661621e+01] [ 5.51843152e-01 8.33849260e-01 -1.28275790e-02 2.23452915e+01] [ 2.35773844e-02 -2.24267571e-04 9.99721990e-01 1.68798447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.39, Y:22.36, Z:1.69 [[ 8.34726182e-01 -5.50295781e-01 -2.01681312e-02 7.23901995e+01] [ 5.50140349e-01 8.34969773e-01 -1.30795477e-02 2.23616288e+01] [ 2.40373998e-02 -1.77461823e-04 9.99711044e-01 1.68854882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:22.38, Z:1.69 [[ 8.34571068e-01 -5.50531115e-01 -2.01648904e-02 7.24132774e+01] [ 5.50375631e-01 8.34814626e-01 -1.30845422e-02 2.23767053e+01] [ 2.40373930e-02 -1.78283898e-04 9.99711044e-01 1.68918699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.44, Y:22.39, Z:1.69 [[ 8.35050587e-01 -5.49802632e-01 -2.01886633e-02 7.24369436e+01] [ 5.49646373e-01 8.35294584e-01 -1.31080742e-02 2.23915037e+01] [ 2.40703348e-02 -1.50720539e-04 9.99710256e-01 1.68960058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.46, Y:22.40, Z:1.69 [[ 8.35622765e-01 -5.48926437e-01 -2.03558766e-02 7.24608359e+01] [ 5.48767117e-01 8.35870655e-01 -1.32249463e-02 2.24042620e+01] [ 2.42744025e-02 -1.19569537e-04 9.99705326e-01 1.69005379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.48, Y:22.42, Z:1.69 [[ 8.36409423e-01 -5.47727363e-01 -2.03472931e-02 7.24847518e+01] [ 5.47567681e-01 8.36656877e-01 -1.32251537e-02 2.24195056e+01] [ 2.42674813e-02 -7.98769068e-05 9.99705498e-01 1.69079763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.51, Y:22.43, Z:1.69 [[ 8.36589165e-01 -5.47447942e-01 -2.04772830e-02 7.25081084e+01] [ 5.47285926e-01 8.36839737e-01 -1.33180123e-02 2.24343936e+01] [ 2.44271226e-02 -6.52240116e-05 9.99701611e-01 1.69124402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.53, Y:22.45, Z:1.69 [[ 8.36723070e-01 -5.47240729e-01 -2.05448018e-02 7.25331394e+01] [ 5.47077374e-01 8.36975257e-01 -1.33703327e-02 2.24477256e+01] [ 2.45122814e-02 -5.23303607e-05 9.99699528e-01 1.69189416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.278040942 meters Centerline goodness [0,1] 0.9999564184698525 Centerline is valid? [True, True] Translation: X:72.56, Y:22.46, Z:1.69 [[ 8.36629673e-01 -5.47373697e-01 -2.08044799e-02 7.25568759e+01] [ 5.47206019e-01 8.36888304e-01 -1.35476400e-02 2.24604125e+01] [ 2.48266477e-02 -4.99789966e-05 9.99691770e-01 1.69220133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.58, Y:22.47, Z:1.69 [[ 8.36166281e-01 -5.48069226e-01 -2.11204737e-02 7.25817760e+01] [ 5.47896532e-01 8.36432973e-01 -1.37575965e-02 2.24742232e+01] [ 2.52059758e-02 -6.81959897e-05 9.99682277e-01 1.69251236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.61, Y:22.49, Z:1.69 [[ 8.35169986e-01 -5.49568734e-01 -2.15708245e-02 7.26074794e+01] [ 5.49388879e-01 8.35448499e-01 -1.40593150e-02 2.24857046e+01] [ 2.57478729e-02 -1.08853138e-04 9.99668463e-01 1.69231914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.63, Y:22.50, Z:1.69 [[ 8.34611635e-01 -5.50427575e-01 -2.12815220e-02 7.26314383e+01] [ 5.50252722e-01 8.34882907e-01 -1.38734848e-02 2.24983813e+01] [ 2.54039276e-02 -1.31243563e-04 9.99677260e-01 1.69269215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:22.51, Z:1.69 [[ 8.33969080e-01 -5.51402165e-01 -2.12420851e-02 7.26563627e+01] [ 5.51228173e-01 8.34239551e-01 -1.38518168e-02 2.25119711e+01] [ 2.53589093e-02 -1.57248873e-04 9.99678399e-01 1.69326058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428040942 meters Centerline goodness [0,1] 0.9999340050156188 Centerline is valid? [True, True] Translation: X:72.68, Y:22.52, Z:1.69 [[ 8.33612513e-01 -5.51932635e-01 -2.14603109e-02 7.26805484e+01] [ 5.51755005e-01 8.33888684e-01 -1.40027227e-02 2.25242664e+01] [ 2.56240701e-02 -1.67989084e-04 9.99671635e-01 1.69354660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.71, Y:22.54, Z:1.69 [[ 8.32644742e-01 -5.53372409e-01 -2.19479141e-02 7.27068808e+01] [ 5.53186945e-01 8.32933930e-01 -1.43272976e-02 2.25370850e+01] [ 2.62094936e-02 -2.11750512e-04 9.99656450e-01 1.69334712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488040942 meters Centerline goodness [0,1] 0.9999115826702034 Centerline is valid? [True, True] Translation: X:72.73, Y:22.55, Z:1.69 [[ 8.32763618e-01 -5.53187993e-01 -2.20862130e-02 7.27302310e+01] [ 5.52999909e-01 8.33056423e-01 -1.44255610e-02 2.25527619e+01] [ 2.63791087e-02 -2.00591438e-04 9.99651991e-01 1.69255309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.75, Y:22.57, Z:1.69 [[ 8.33848098e-01 -5.51604240e-01 -2.07391266e-02 7.27524670e+01] [ 5.51437718e-01 8.34105955e-01 -1.35535613e-02 2.25705181e+01] [ 2.47748309e-02 -1.34725359e-04 9.99693048e-01 1.69476321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:22.59, Z:1.70 [[ 8.34406552e-01 -5.50758719e-01 -2.07494272e-02 7.27748304e+01] [ 5.50591588e-01 8.34664497e-01 -1.35676386e-02 2.25867578e+01] [ 2.47913055e-02 -1.03533559e-04 9.99692643e-01 1.69531071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.80, Y:22.60, Z:1.70 [[ 8.35070672e-01 -5.49737731e-01 -2.11045013e-02 7.27976760e+01] [ 5.49564290e-01 8.35337311e-01 -1.38083061e-02 2.26040074e+01] [ 2.52203242e-02 -6.73688209e-05 9.99681915e-01 1.69562430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:22.62, Z:1.70 [[ 8.35989917e-01 -5.48308539e-01 -2.18770552e-02 7.28188113e+01] [ 5.48121456e-01 8.36276118e-01 -1.43221391e-02 2.26209199e+01] [ 2.61482100e-02 -1.81194292e-05 9.99658077e-01 1.69529203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:22.64, Z:1.70 [[ 8.35779717e-01 -5.48635173e-01 -2.17189430e-02 7.28422966e+01] [ 5.48450786e-01 8.36061868e-01 -1.42228218e-02 2.26362431e+01] [ 2.59615204e-02 -2.46253650e-05 9.99662943e-01 1.69641155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:22.65, Z:1.70 [[ 8.34666073e-01 -5.50333829e-01 -2.15690260e-02 7.28653721e+01] [ 5.50152338e-01 8.34944711e-01 -1.41327161e-02 2.26503789e+01] [ 2.57866560e-02 -7.01514171e-05 9.99667466e-01 1.69746366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.89, Y:22.67, Z:1.70 [[ 8.33786973e-01 -5.51670311e-01 -2.14278295e-02 7.28889036e+01] [ 5.51491479e-01 8.34062262e-01 -1.40460684e-02 2.26654327e+01] [ 2.56209428e-02 -1.05836508e-04 9.99671724e-01 1.69829129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:22.68, Z:1.70 [[ 8.32620317e-01 -5.53441876e-01 -2.11068168e-02 7.29126627e+01] [ 5.53268741e-01 8.32887788e-01 -1.38431780e-02 2.26796648e+01] [ 2.52410044e-02 -1.51630710e-04 9.99681384e-01 1.69902408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.94, Y:22.69, Z:1.70 [[ 8.31360537e-01 -5.55352071e-01 -2.05848027e-02 7.29376112e+01] [ 5.55187915e-01 8.31615317e-01 -1.35034401e-02 2.26940833e+01] [ 2.46178007e-02 -2.02206469e-04 9.99696916e-01 1.70041796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:22.71, Z:1.70 [[ 8.28351373e-01 -5.59862216e-01 -1.97053725e-02 7.29628698e+01] [ 5.59712912e-01 8.28585662e-01 -1.29327777e-02 2.27085619e+01] [ 2.35681627e-02 -3.16467320e-04 9.99722182e-01 1.70207983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:22.72, Z:1.70 [[ 8.26940354e-01 -5.61949553e-01 -1.95537899e-02 7.29869580e+01] [ 5.61802962e-01 8.27171424e-01 -1.28400830e-02 2.27225211e+01] [ 2.33898152e-02 -3.67394288e-04 9.99726353e-01 1.70265725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:22.73, Z:1.70 [[ 8.24166903e-01 -5.65997045e-01 -1.99063307e-02 7.30138048e+01] [ 5.65846234e-01 8.24407124e-01 -1.30741203e-02 2.27322772e+01] [ 2.38108343e-02 -4.88665037e-04 9.99716362e-01 1.70317330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:22.75, Z:1.70 [[ 8.22869010e-01 -5.67876235e-01 -2.00791836e-02 7.30387598e+01] [ 5.67723272e-01 8.23113774e-01 -1.31909892e-02 2.27461144e+01] [ 2.40183019e-02 -5.44963563e-04 9.99711370e-01 1.70343053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.06, Y:22.76, Z:1.70 [[ 8.21803958e-01 -5.69406816e-01 -2.03502240e-02 7.30608296e+01] [ 5.69250100e-01 8.22055669e-01 -1.33716426e-02 2.27645453e+01] [ 2.43429215e-02 -5.95498237e-04 9.99703490e-01 1.70401441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:22.78, Z:1.70 [[ 8.21208214e-01 -5.70252104e-01 -2.07269593e-02 7.30850641e+01] [ 5.70089620e-01 8.21469504e-01 -1.36263965e-02 2.27775683e+01] [ 2.47970463e-02 -6.26115609e-04 9.99692310e-01 1.70469572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:22.79, Z:1.71 [[ 8.21378000e-01 -5.70017863e-01 -2.04405658e-02 7.31100612e+01] [ 5.69859705e-01 8.21632074e-01 -1.34406551e-02 2.27900930e+01] [ 2.44560379e-02 -6.08396419e-04 9.99700721e-01 1.70532289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:22.81, Z:1.71 [[ 8.21409869e-01 -5.69982886e-01 -2.01329635e-02 7.31297803e+01] [ 5.69829379e-01 8.21656348e-01 -1.32410127e-02 2.28113647e+01] [ 2.40895279e-02 -5.96055562e-04 9.99709628e-01 1.70641358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:22.83, Z:1.71 [[ 8.22180817e-01 -5.68848374e-01 -2.07420338e-02 7.31523516e+01] [ 5.68684869e-01 8.22442216e-01 -1.36499246e-02 2.28272635e+01] [ 2.48238617e-02 -5.72974659e-04 9.99691676e-01 1.70701938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:22.84, Z:1.71 [[ 8.22521387e-01 -5.68365185e-01 -2.04837660e-02 7.31763522e+01] [ 5.68205509e-01 8.22776224e-01 -1.34827721e-02 2.28437533e+01] [ 2.45166939e-02 -5.49120232e-04 9.99699270e-01 1.70815569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.20, Y:22.86, Z:1.71 [[ 8.22898374e-01 -5.67837629e-01 -1.99672792e-02 7.32008031e+01] [ 5.67685586e-01 8.23140427e-01 -1.31496473e-02 2.28600157e+01] [ 2.39027393e-02 -5.14313197e-04 9.99714156e-01 1.70990320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:22.88, Z:1.71 [[ 8.22822880e-01 -5.67972072e-01 -1.92414616e-02 7.32242099e+01] [ 5.67830782e-01 8.23047678e-01 -1.26776463e-02 2.28754133e+01] [ 2.30371893e-02 -4.94436700e-04 9.99734486e-01 1.71076209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:22.89, Z:1.71 [[ 8.22804462e-01 -5.67998452e-01 -1.92503625e-02 7.32469662e+01] [ 5.67856860e-01 8.23029477e-01 -1.26912186e-02 2.28901382e+01] [ 2.30522083e-02 -4.89059115e-04 9.99734143e-01 1.71157729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.27, Y:22.91, Z:1.71 [[ 8.22452206e-01 -5.68515692e-01 -1.90335439e-02 7.32708100e+01] [ 5.68377338e-01 8.22672269e-01 -1.25514701e-02 2.29062003e+01] [ 2.27940765e-02 -4.95250694e-04 9.99740059e-01 1.71261387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:22.92, Z:1.71 [[ 8.22218215e-01 -5.68846006e-01 -1.92724909e-02 7.32933912e+01] [ 5.68704091e-01 8.22443898e-01 -1.27157618e-02 2.29234337e+01] [ 2.30838529e-02 -5.05213445e-04 9.99733405e-01 1.71250669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:22.94, Z:1.71 [[ 8.22592085e-01 -5.68260192e-01 -2.05576412e-02 7.33171183e+01] [ 5.68098321e-01 8.22848765e-01 -1.35723136e-02 2.29407866e+01] [ 2.46284352e-02 -5.14283678e-04 9.99696542e-01 1.71214101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:22.96, Z:1.71 [[ 8.22813753e-01 -5.67934056e-01 -2.06986664e-02 7.33408630e+01] [ 5.67769673e-01 8.23073907e-01 -1.36726974e-02 2.29573799e+01] [ 2.48017227e-02 -5.01991602e-04 9.99692264e-01 1.71281258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.36, Y:22.97, Z:1.71 [[ 8.23085746e-01 -5.67516745e-01 -2.13213187e-02 7.33636890e+01] [ 5.67341992e-01 8.23361704e-01 -1.40913977e-02 2.29725977e+01] [ 2.55522615e-02 -4.98050855e-04 9.99673364e-01 1.71352450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:22.99, Z:1.71 [[ 8.23394015e-01 -5.67059066e-01 -2.15942641e-02 7.33876381e+01] [ 5.66879549e-01 8.23676987e-01 -1.42757547e-02 2.29868703e+01] [ 2.58818945e-02 -4.86775758e-04 9.99664889e-01 1.71437749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.41, Y:23.00, Z:1.72 [[ 8.24356632e-01 -5.65645959e-01 -2.19269818e-02 7.34108524e+01] [ 5.65460280e-01 8.24648077e-01 -1.44990392e-02 2.30039966e+01] [ 2.62833663e-02 -4.46458138e-04 9.99654433e-01 1.71598772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:23.02, Z:1.72 [[ 8.24556802e-01 -5.65335576e-01 -2.24001535e-02 7.34336176e+01] [ 5.65141462e-01 8.24860894e-01 -1.48200507e-02 2.30201347e+01] [ 2.68553125e-02 -4.39281928e-04 9.99639235e-01 1.71609920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.46, Y:23.04, Z:1.72 [[ 8.25817057e-01 -5.63453485e-01 -2.33743155e-02 7.34567035e+01] [ 5.63241095e-01 8.26147699e-01 -1.54741140e-02 2.30382525e+01] [ 2.80295804e-02 -3.86587738e-04 9.99607019e-01 1.71582609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:23.05, Z:1.72 [[ 8.26156263e-01 -5.62917851e-01 -2.42759388e-02 7.34801339e+01] [ 5.62688288e-01 8.26512765e-01 -1.60791667e-02 2.30525587e+01] [ 2.91156233e-02 -3.75882135e-04 9.99575980e-01 1.71596530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:23.07, Z:1.72 [[ 8.26599782e-01 -5.62206665e-01 -2.56215925e-02 7.35045757e+01] [ 5.61950406e-01 8.26996694e-01 -1.69767051e-02 2.30660030e+01] [ 3.07333891e-02 -3.65123616e-04 9.99527551e-01 1.71699134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:23.08, Z:1.72 [[ 8.26498878e-01 -5.62332848e-01 -2.61031210e-02 7.35286864e+01] [ 5.62066587e-01 8.26910898e-01 -1.73066408e-02 2.30803110e+01] [ 3.13170478e-02 -3.67772951e-04 9.99509433e-01 1.71749836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:23.10, Z:1.72 [[ 8.26540857e-01 -5.62261893e-01 -2.63016164e-02 7.35525891e+01] [ 5.61991188e-01 8.26959150e-01 -1.74490678e-02 2.30951298e+01] [ 3.15613082e-02 -3.58909214e-04 9.99501753e-01 1.71834899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568040942 meters Centerline goodness [0,1] 0.9998458591152313 Centerline is valid? [True, True] Translation: X:73.58, Y:23.11, Z:1.72 [[ 8.27269218e-01 -5.61212581e-01 -2.58085283e-02 7.35755643e+01] [ 5.60951109e-01 8.27671642e-01 -1.71320449e-02 2.31120331e+01] [ 3.09757062e-02 -3.04509191e-04 9.99520091e-01 1.71919699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:23.13, Z:1.72 [[ 8.27615980e-01 -5.60716983e-01 -2.54608663e-02 7.35991218e+01] [ 5.60461998e-01 8.28007482e-01 -1.69103032e-02 2.31292156e+01] [ 3.05636820e-02 -2.74610880e-04 9.99532784e-01 1.71984148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.628040942 meters Centerline goodness [0,1] 0.9997372224412036 Centerline is valid? [True, True] Translation: X:73.62, Y:23.15, Z:1.72 [[ 8.27581864e-01 -5.60769953e-01 -2.54031280e-02 7.36215425e+01] [ 5.60515862e-01 8.27971611e-01 -1.68813696e-02 2.31457107e+01] [ 3.04996336e-02 -2.68140880e-04 9.99534742e-01 1.72008437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.658040942 meters Centerline goodness [0,1] 0.9994304365922583 Centerline is valid? [True, True] Translation: X:73.64, Y:23.16, Z:1.72 [[ 8.27519854e-01 -5.60844844e-01 -2.57672686e-02 7.36438688e+01] [ 5.60583121e-01 8.27920884e-01 -1.71339989e-02 2.31623642e+01] [ 3.09427747e-02 -2.65971581e-04 9.99521122e-01 1.71930451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.688040942 meters Centerline goodness [0,1] 0.9994310099573257 Centerline is valid? [True, True] Translation: X:73.67, Y:23.18, Z:1.72 [[ 8.27404434e-01 -5.61018216e-01 -2.56994827e-02 7.36666378e+01] [ 5.60757676e-01 8.27803413e-01 -1.70978926e-02 2.31773966e+01] [ 3.08663487e-02 -2.64310031e-04 9.99523486e-01 1.72002433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.718040942 meters Centerline goodness [0,1] 0.9991901061617599 Centerline is valid? [True, True] Translation: X:73.69, Y:23.19, Z:1.72 [[ 8.26630175e-01 -5.62172592e-01 -2.53876138e-02 7.36895422e+01] [ 5.61918756e-01 8.27019883e-01 -1.68945278e-02 2.31923729e+01] [ 3.04937019e-02 -3.00249917e-04 9.99534914e-01 1.72171832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.748040942 meters Centerline goodness [0,1] 0.9992779941364373 Centerline is valid? [True, True] Translation: X:73.71, Y:23.21, Z:1.72 [[ 8.25771591e-01 -5.63416402e-01 -2.57533931e-02 7.37135497e+01] [ 5.63155655e-01 8.26173007e-01 -1.71426672e-02 2.32091769e+01] [ 3.09352181e-02 -3.47241347e-04 9.99521331e-01 1.72227219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.778040942 meters Centerline goodness [0,1] 0.9991900884335873 Centerline is valid? [True, True] Translation: X:73.74, Y:23.22, Z:1.72 [[ 8.24784167e-01 -5.64828233e-01 -2.64602661e-02 7.37367105e+01] [ 5.64553445e-01 8.25208400e-01 -1.76211348e-02 2.32242365e+01] [ 3.17881483e-02 -4.04601450e-04 9.99494547e-01 1.72137130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808040942 meters Centerline goodness [0,1] 0.998928821266177 Centerline is valid? [True, True] Translation: X:73.76, Y:23.24, Z:1.72 [[ 8.23609591e-01 -5.66521689e-01 -2.68405790e-02 7.37608068e+01] [ 5.66239678e-01 8.24046693e-01 -1.78794455e-02 2.32403533e+01] [ 3.22469840e-02 -4.72517981e-04 9.99479819e-01 1.72065685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.838040942 meters Centerline goodness [0,1] 0.9990586483942293 Centerline is valid? [True, True] Translation: X:73.78, Y:23.26, Z:1.72 [[ 8.21138317e-01 -5.70033249e-01 -2.81772771e-02 7.37844782e+01] [ 5.69724157e-01 8.21621382e-01 -1.87800460e-02 2.32572673e+01] [ 3.38563040e-02 -6.32260033e-04 9.99426511e-01 1.72057067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86804094200001 meters Centerline goodness [0,1] 0.9989938537588311 Centerline is valid? [True, True] Translation: X:73.81, Y:23.27, Z:1.72 [[ 8.20063776e-01 -5.71563395e-01 -2.84726000e-02 7.38088310e+01] [ 5.71248425e-01 8.20557616e-01 -1.89851261e-02 2.32716903e+01] [ 3.42146119e-02 -6.95913746e-04 9.99414266e-01 1.72064477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.898040942 meters Centerline goodness [0,1] 0.9990585659551177 Centerline is valid? [True, True] Translation: X:73.83, Y:23.29, Z:1.72 [[ 8.17632083e-01 -5.75061951e-01 -2.79558619e-02 7.38336973e+01] [ 5.74760163e-01 8.18109453e-01 -1.86461279e-02 2.32863401e+01] [ 3.35936335e-02 -8.22243362e-04 9.99435236e-01 1.72169139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928040942 meters Centerline goodness [0,1] 0.9987052885670398 Centerline is valid? [True, True] Translation: X:73.86, Y:23.30, Z:1.72 [[ 8.16805694e-01 -5.76176052e-01 -2.91481717e-02 7.38581144e+01] [ 5.75848294e-01 8.17325121e-01 -1.94522005e-02 2.33016091e+01] [ 3.50314250e-02 -8.96256862e-04 9.99385809e-01 1.72154075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.958040942 meters Centerline goodness [0,1] 0.9989048536884528 Centerline is valid? [True, True] Translation: X:73.88, Y:23.32, Z:1.72 [[ 8.16016055e-01 -5.77307438e-01 -2.88776956e-02 7.38814637e+01] [ 5.76986161e-01 8.16526337e-01 -1.92798047e-02 2.33164742e+01] [ 3.47097736e-02 -9.29400521e-04 9.99397002e-01 1.72256266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988040942 meters Centerline goodness [0,1] 0.9989048536884528 Centerline is valid? [True, True] Translation: X:73.90, Y:23.33, Z:1.72 [[ 8.15853088e-01 -5.77537867e-01 -2.88747540e-02 7.39043599e+01] [ 5.77216579e-01 8.16363363e-01 -1.92842092e-02 2.33318589e+01] [ 3.47096524e-02 -9.33905076e-04 9.99397002e-01 1.72320237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.018040942 meters Centerline goodness [0,1] 0.9990156188476178 Centerline is valid? [True, True] Translation: X:73.93, Y:23.35, Z:1.72 [[ 8.15679483e-01 -5.77754508e-01 -2.94399219e-02 7.39277556e+01] [ 5.77420328e-01 8.16210033e-01 -1.96709778e-02 2.33478766e+01] [ 3.53941557e-02 -9.53996375e-04 9.99372975e-01 1.72235593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.048040942 meters Centerline goodness [0,1] 0.9988825101888776 Centerline is valid? [True, True] Translation: X:73.95, Y:23.37, Z:1.72 [[ 8.16163904e-01 -5.77067384e-01 -2.94909515e-02 7.39512074e+01] [ 5.76731380e-01 8.16696019e-01 -1.97111386e-02 2.33654558e+01] [ 3.54597979e-02 -9.20837267e-04 9.99370679e-01 1.72284170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.078040942 meters Centerline goodness [0,1] 0.9988646783983233 Centerline is valid? [True, True] Translation: X:73.97, Y:23.38, Z:1.72 [[ 8.16879757e-01 -5.76050679e-01 -2.95478951e-02 7.39745234e+01] [ 5.75712338e-01 8.17413517e-01 -1.97597024e-02 2.33820385e+01] [ 3.55354388e-02 -8.69786859e-04 9.99368038e-01 1.72377928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.108040942 meters Centerline goodness [0,1] 0.9988403640819185 Centerline is valid? [True, True] Translation: X:74.00, Y:23.40, Z:1.72 [[ 8.18008703e-01 -5.74466342e-01 -2.91579075e-02 7.39981072e+01] [ 5.74135510e-01 8.18527831e-01 -1.95091302e-02 2.33986780e+01] [ 3.50738975e-02 -7.81951799e-04 9.99384416e-01 1.72496477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.138040942 meters Centerline goodness [0,1] 0.9989725877672365 Centerline is valid? [True, True] Translation: X:74.02, Y:23.42, Z:1.73 [[ 8.20980865e-01 -5.70236562e-01 -2.86475794e-02 7.40205109e+01] [ 5.69914313e-01 8.21480325e-01 -1.91768493e-02 2.34165892e+01] [ 3.44687634e-02 -5.82839190e-04 9.99405606e-01 1.72664130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168040942 meters Centerline goodness [0,1] 0.9989094874591058 Centerline is valid? [True, True] Translation: X:74.04, Y:23.43, Z:1.73 [[ 8.22372962e-01 -5.68229995e-01 -2.85899324e-02 7.40432824e+01] [ 5.67907540e-01 8.22869633e-01 -1.91466522e-02 2.34337910e+01] [ 3.44054893e-02 -4.90749104e-04 9.99407835e-01 1.72767716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.198040942 meters Centerline goodness [0,1] 0.9993679163034002 Centerline is valid? [True, True] Translation: X:74.06, Y:23.45, Z:1.73 [[ 8.25613698e-01 -5.63525318e-01 -2.83061434e-02 7.40641167e+01] [ 5.63206195e-01 8.26098744e-01 -1.89643754e-02 2.34522930e+01] [ 3.40705752e-02 -2.84947206e-04 9.99419389e-01 1.72831430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228040942 meters Centerline goodness [0,1] 0.9994565217391305 Centerline is valid? [True, True] Translation: X:74.09, Y:23.47, Z:1.73 [[ 8.26922189e-01 -5.61610351e-01 -2.81692388e-02 7.40862748e+01] [ 5.61293010e-01 8.27401821e-01 -1.88781201e-02 2.34705050e+01] [ 3.39094272e-02 -2.00460483e-04 9.99424890e-01 1.72927727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.258040942 meters Centerline goodness [0,1] 0.9996302177364975 Centerline is valid? [True, True] Translation: X:74.11, Y:23.49, Z:1.73 [[ 8.29411313e-01 -5.57954471e-01 -2.76348013e-02 7.41079080e+01] [ 5.57646756e-01 8.29871560e-01 -1.85280845e-02 2.34887613e+01] [ 3.32711632e-02 -4.30544087e-05 9.99446361e-01 1.72988502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288040942 meters Centerline goodness [0,1] 0.9996519090612422 Centerline is valid? [True, True] Translation: X:74.13, Y:23.50, Z:1.73 [[ 8.30237529e-01 -5.56742416e-01 -2.72677037e-02 7.41297576e+01] [ 5.56442010e-01 8.30685188e-01 -1.82868144e-02 2.35040609e+01] [ 3.28319229e-02 9.50375813e-06 9.99460887e-01 1.73083567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.318040942 meters Centerline goodness [0,1] 0.9994559540389972 Centerline is valid? [True, True] Translation: X:74.15, Y:23.52, Z:1.73 [[ 8.30588433e-01 -5.56234831e-01 -2.69382350e-02 7.41530980e+01] [ 5.55941170e-01 8.31025157e-01 -1.80721630e-02 2.35195141e+01] [ 3.24387175e-02 3.44556218e-05 9.99473726e-01 1.73192395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348040942 meters Centerline goodness [0,1] 0.9996303946081095 Centerline is valid? [True, True] Translation: X:74.18, Y:23.53, Z:1.73 [[ 8.30547320e-01 -5.56350789e-01 -2.57865832e-02 7.41771332e+01] [ 5.56081460e-01 8.30947530e-01 -1.73092979e-02 2.35348476e+01] [ 3.10573392e-02 3.67501388e-05 9.99517604e-01 1.73419286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.378040942 meters Centerline goodness [0,1] 0.9994336005576856 Centerline is valid? [True, True] Translation: X:74.20, Y:23.55, Z:1.74 [[ 8.30020448e-01 -5.57213816e-01 -2.40586482e-02 7.42018078e+01] [ 5.56979505e-01 8.30369052e-01 -1.61576092e-02 2.35493155e+01] [ 2.89808000e-02 1.09721030e-05 9.99579968e-01 1.73564657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.408040942 meters Centerline goodness [0,1] 0.9992811553793539 Centerline is valid? [True, True] Translation: X:74.23, Y:23.56, Z:1.74 [[ 8.29386177e-01 -5.58175582e-01 -2.36344906e-02 7.42255372e+01] [ 5.57949605e-01 8.29722857e-01 -1.58814220e-02 2.35647874e+01] [ 2.84746990e-02 -1.50227995e-05 9.99594513e-01 1.73662326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.438040942 meters Centerline goodness [0,1] 0.9993682880606444 Centerline is valid? [True, True] Translation: X:74.25, Y:23.58, Z:1.74 [[ 8.28406837e-01 -5.59677909e-01 -2.24220954e-02 7.42496160e+01] [ 5.59474834e-01 8.28710224e-01 -1.50756309e-02 2.35798750e+01] [ 2.70189173e-02 -5.58423940e-05 9.99634921e-01 1.73767577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.468040942 meters Centerline goodness [0,1] 0.9992590978426672 Centerline is valid? [True, True] Translation: X:74.27, Y:23.60, Z:1.74 [[ 8.27874246e-01 -5.60484598e-01 -2.19373749e-02 7.42736101e+01] [ 5.60290257e-01 8.28164844e-01 -1.47586615e-02 2.35952374e+01] [ 2.64397652e-02 -7.29816676e-05 9.99650406e-01 1.73878052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.498040942 meters Centerline goodness [0,1] 0.9992587424784163 Centerline is valid? [True, True] Translation: X:74.30, Y:23.61, Z:1.74 [[ 8.27469062e-01 -5.61090258e-01 -2.17410871e-02 7.42962562e+01] [ 5.60899369e-01 8.27754623e-01 -1.46349835e-02 2.36097335e+01] [ 2.62078320e-02 -8.45660070e-05 9.99656512e-01 1.73990497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528040942 meters Centerline goodness [0,1] 0.9991505303739845 Centerline is valid? [True, True] Translation: X:74.32, Y:23.63, Z:1.74 [[ 8.26451294e-01 -5.62617099e-01 -2.09823470e-02 7.43192789e+01] [ 5.62439692e-01 8.26717597e-01 -1.41282994e-02 2.36250601e+01] [ 2.52952983e-02 -1.24953402e-04 9.99680015e-01 1.74059441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.558040942 meters Centerline goodness [0,1] 0.9990616885242325 Centerline is valid? [True, True] Translation: X:74.34, Y:23.64, Z:1.74 [[ 8.25925319e-01 -5.63394986e-01 -2.08196527e-02 7.43414757e+01] [ 5.63220361e-01 8.26187672e-01 -1.40269536e-02 2.36400557e+01] [ 2.51036557e-02 -1.40836117e-04 9.99684844e-01 1.74077662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588040942 meters Centerline goodness [0,1] 0.9991703419064669 Centerline is valid? [True, True] Translation: X:74.37, Y:23.66, Z:1.74 [[ 8.25037545e-01 -5.64693992e-01 -2.08265547e-02 7.43656307e+01] [ 5.64519566e-01 8.25300348e-01 -1.40355121e-02 2.36567414e+01] [ 2.51139321e-02 -1.77173189e-04 9.99684580e-01 1.74092230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61804094200001 meters Centerline goodness [0,1] 0.9990391334730957 Centerline is valid? [True, True] Translation: X:74.39, Y:23.67, Z:1.74 [[ 8.23368842e-01 -5.67101208e-01 -2.14469185e-02 7.43886567e+01] [ 5.66916857e-01 8.23648078e-01 -1.44610110e-02 2.36720919e+01] [ 2.58655700e-02 -2.51873747e-04 9.99665398e-01 1.74004406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648040942 meters Centerline goodness [0,1] 0.9991718065514461 Centerline is valid? [True, True] Translation: X:74.41, Y:23.69, Z:1.74 [[ 8.22153297e-01 -5.68860322e-01 -2.14916520e-02 7.44131423e+01] [ 5.68675717e-01 8.22434095e-01 -1.44944251e-02 2.36879432e+01] [ 2.59207707e-02 -3.05141279e-04 9.99663954e-01 1.74060002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.678040942 meters Centerline goodness [0,1] 0.9989954796584631 Centerline is valid? [True, True] Translation: X:74.44, Y:23.70, Z:1.74 [[ 8.19160354e-01 -5.73202496e-01 -2.03767745e-02 7.44378530e+01] [ 5.73037719e-01 8.19413649e-01 -1.37493533e-02 2.37031070e+01] [ 2.45781707e-02 -4.13735267e-04 9.99697826e-01 1.74187437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708040942 meters Centerline goodness [0,1] 0.9989512323020451 Centerline is valid? [True, True] Translation: X:74.46, Y:23.72, Z:1.74 [[ 8.17581852e-01 -5.75466393e-01 -1.99585867e-02 7.44611146e+01] [ 5.75308823e-01 8.17825295e-01 -1.34738597e-02 2.37178819e+01] [ 2.40763905e-02 -4.66367836e-04 9.99710013e-01 1.74299810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.738040942 meters Centerline goodness [0,1] 0.9989027387640449 Centerline is valid? [True, True] Translation: X:74.49, Y:23.73, Z:1.74 [[ 8.14801429e-01 -5.79450873e-01 -1.83116791e-02 7.44851128e+01] [ 5.79319193e-01 8.15006994e-01 -1.23641343e-02 2.37335643e+01] [ 2.20885549e-02 -5.33992878e-04 9.99755875e-01 1.74435284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.768040942 meters Centerline goodness [0,1] 0.9987751531058617 Centerline is valid? [True, True] Translation: X:74.51, Y:23.75, Z:1.75 [[ 8.13892238e-01 -5.80739383e-01 -1.79218785e-02 7.45088386e+01] [ 5.80613523e-01 8.14089344e-01 -1.21027605e-02 2.37475901e+01] [ 2.16185600e-02 -5.55342226e-04 9.99766137e-01 1.74541443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.798040942 meters Centerline goodness [0,1] 0.9988817506084592 Centerline is valid? [True, True] Translation: X:74.53, Y:23.76, Z:1.75 [[ 8.12957877e-01 -5.82058960e-01 -1.75173385e-02 7.45329651e+01] [ 5.81938987e-01 8.13146380e-01 -1.18313223e-02 2.37633232e+01] [ 2.11306875e-02 -5.75655576e-04 9.99776556e-01 1.74660739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.828040942 meters Centerline goodness [0,1] 0.998728237512608 Centerline is valid? [True, True] Translation: X:74.55, Y:23.78, Z:1.75 [[ 8.12451190e-01 -5.82775545e-01 -1.71967175e-02 7.45547764e+01] [ 5.82659966e-01 8.12632961e-01 -1.16204792e-02 2.37822916e+01] [ 2.07467505e-02 -5.78766629e-04 9.99784595e-01 1.74729874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.858040942 meters Centerline goodness [0,1] 0.9988164124145187 Centerline is valid? [True, True] Translation: X:74.58, Y:23.80, Z:1.75 [[ 8.12735186e-01 -5.82395298e-01 -1.66503797e-02 7.45783252e+01] [ 5.82286743e-01 8.12905541e-01 -1.12574711e-02 2.37978109e+01] [ 2.00914842e-02 -5.45952457e-04 9.99797997e-01 1.74802516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.888040942 meters Centerline goodness [0,1] 0.9989915376857982 Centerline is valid? [True, True] Translation: X:74.60, Y:23.82, Z:1.75 [[ 8.14085971e-01 -5.80521868e-01 -1.60745888e-02 7.45973020e+01] [ 5.80420304e-01 8.14244514e-01 -1.08693159e-02 2.38213763e+01] [ 1.93985213e-02 -4.81460149e-04 9.99811715e-01 1.74874072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.918040942 meters Centerline goodness [0,1] 0.9989085829040426 Centerline is valid? [True, True] Translation: X:74.62, Y:23.84, Z:1.75 [[ 8.15293713e-01 -5.78834341e-01 -1.57152255e-02 7.46193219e+01] [ 5.78736832e-01 8.15445047e-01 -1.06327078e-02 2.38381108e+01] [ 1.89694792e-02 -4.26200026e-04 9.99819972e-01 1.74982763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948040942 meters Centerline goodness [0,1] 0.9989936996849843 Centerline is valid? [True, True] Translation: X:74.64, Y:23.86, Z:1.75 [[ 8.16029951e-01 -5.77797778e-01 -1.56475752e-02 7.46420417e+01] [ 5.77700894e-01 8.16179863e-01 -1.05881236e-02 2.38566473e+01] [ 1.88890301e-02 -3.99392226e-04 9.99821507e-01 1.75043200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.978040942 meters Centerline goodness [0,1] 0.9990582566798073 Centerline is valid? [True, True] Translation: X:74.66, Y:23.88, Z:1.75 [[ 8.16902890e-01 -5.76562416e-01 -1.56667972e-02 7.46644879e+01] [ 5.76464959e-01 8.17053025e-01 -1.06068177e-02 2.38759181e+01] [ 1.89160965e-02 -3.66619538e-04 9.99821007e-01 1.75091521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008040942 meters Centerline goodness [0,1] 0.9992809674256455 Centerline is valid? [True, True] Translation: X:74.69, Y:23.90, Z:1.75 [[ 8.18948547e-01 -5.73614729e-01 -1.70123251e-02 7.46852088e+01] [ 5.73499046e-01 8.19125168e-01 -1.15240286e-02 2.38964350e+01] [ 2.05455762e-02 -3.18965731e-04 9.99788866e-01 1.75040444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.038040942 meters Centerline goodness [0,1] 0.9992601457947993 Centerline is valid? [True, True] Translation: X:74.71, Y:23.91, Z:1.75 [[ 8.19624956e-01 -5.72641046e-01 -1.72384542e-02 7.47073750e+01] [ 5.72521919e-01 8.19806164e-01 -1.16835370e-02 2.39148533e+01] [ 2.08226639e-02 -2.93274400e-04 9.99783142e-01 1.75049756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068040942 meters Centerline goodness [0,1] 0.9993051333275428 Centerline is valid? [True, True] Translation: X:74.73, Y:23.93, Z:1.75 [[ 8.20129494e-01 -5.71908138e-01 -1.75696777e-02 7.47289450e+01] [ 5.71784076e-01 8.20317625e-01 -1.19148781e-02 2.39324031e+01] [ 2.12269320e-02 -2.74318979e-04 9.99774646e-01 1.75065430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.098040942 meters Centerline goodness [0,1] 0.9994581825274701 Centerline is valid? [True, True] Translation: X:74.75, Y:23.95, Z:1.75 [[ 8.20234848e-01 -5.71758169e-01 -1.75325562e-02 7.47499592e+01] [ 5.71634551e-01 8.20422162e-01 -1.18918557e-02 2.39493295e+01] [ 2.11833633e-02 -2.68100443e-04 9.99775571e-01 1.75118311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.128040942 meters Centerline goodness [0,1] 0.9992855287087555 Centerline is valid? [True, True] Translation: X:74.77, Y:23.97, Z:1.75 [[ 8.19707772e-01 -5.72530489e-01 -1.69707826e-02 7.47718549e+01] [ 5.72414781e-01 8.19883383e-01 -1.15132941e-02 2.39692371e+01] [ 2.05057745e-02 -2.76790094e-04 9.99789696e-01 1.75190688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.158040942 meters Centerline goodness [0,1] 0.9994158878504673 Centerline is valid? [True, True] Translation: X:74.79, Y:23.99, Z:1.75 [[ 8.19337031e-01 -5.73063352e-01 -1.68885796e-02 7.47945521e+01] [ 5.72948754e-01 8.19511021e-01 -1.14635237e-02 2.39864914e+01] [ 2.04097024e-02 -2.83801200e-04 9.99791660e-01 1.75298740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.188040942 meters Centerline goodness [0,1] 0.999332098073857 Centerline is valid? [True, True] Translation: X:74.82, Y:24.00, Z:1.75 [[ 8.18404856e-01 -5.74397280e-01 -1.67706682e-02 7.48156407e+01] [ 5.74284400e-01 8.18576612e-01 -1.13911924e-02 2.40042330e+01] [ 2.02711467e-02 -3.08525872e-04 9.99794472e-01 1.75403017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.218040942 meters Centerline goodness [0,1] 0.999247311827957 Centerline is valid? [True, True] Translation: X:74.84, Y:24.02, Z:1.75 [[ 8.17875669e-01 -5.75149842e-01 -1.67943444e-02 7.48387318e+01] [ 5.75036767e-01 8.18048014e-01 -1.14089082e-02 2.40217369e+01] [ 2.03004118e-02 -3.26297113e-04 9.99793872e-01 1.75491396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.248040942 meters Centerline goodness [0,1] 0.9992898185809284 Centerline is valid? [True, True] Translation: X:74.86, Y:24.04, Z:1.76 [[ 8.17317729e-01 -5.75949125e-01 -1.65630887e-02 7.48608196e+01] [ 5.75839177e-01 8.17485469e-01 -1.12583038e-02 2.40386491e+01] [ 2.00242946e-02 -3.36064112e-04 9.99799437e-01 1.75534748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.278040942 meters Centerline goodness [0,1] 0.9994398121216038 Centerline is valid? [True, True] Translation: X:74.88, Y:24.06, Z:1.76 [[ 8.16300436e-01 -5.77367701e-01 -1.73244056e-02 7.48817857e+01] [ 5.77247683e-01 8.16484163e-01 -1.17781162e-02 2.40570927e+01] [ 2.09454067e-02 -3.85991620e-04 9.99780546e-01 1.75535916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308040942 meters Centerline goodness [0,1] 0.9993761696818465 Centerline is valid? [True, True] Translation: X:74.90, Y:24.07, Z:1.75 [[ 8.15537289e-01 -5.78418826e-01 -1.81821673e-02 7.49048877e+01] [ 5.78286840e-01 8.15739833e-01 -1.23634607e-02 2.40739683e+01] [ 2.19831766e-02 -4.31644853e-04 9.99758248e-01 1.75492810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.338040942 meters Centerline goodness [0,1] 0.9995704467353952 Centerline is valid? [True, True] Translation: X:74.93, Y:24.09, Z:1.75 [[ 8.14728398e-01 -5.79531670e-01 -1.89915898e-02 7.49285300e+01] [ 5.79387811e-01 8.14949579e-01 -1.29208344e-02 2.40907701e+01] [ 2.29652209e-02 -4.76524886e-04 9.99736151e-01 1.75476891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36804094200001 meters Centerline goodness [0,1] 0.999614857925368 Centerline is valid? [True, True] Translation: X:74.95, Y:24.11, Z:1.75 [[ 8.13341533e-01 -5.81452572e-01 -1.97093028e-02 7.49513908e+01] [ 5.81298025e-01 8.13580119e-01 -1.34163072e-02 2.41089806e+01] [ 2.38360432e-02 -5.44938894e-04 9.99715733e-01 1.75492536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.398040942 meters Centerline goodness [0,1] 0.9995110336323824 Centerline is valid? [True, True] Translation: X:74.97, Y:24.13, Z:1.76 [[ 8.12807148e-01 -5.82189362e-01 -2.00021783e-02 7.49743385e+01] [ 5.82030237e-01 8.13053026e-01 -1.36228072e-02 2.41270271e+01] [ 2.41938850e-02 -5.69157545e-04 9.99707123e-01 1.75527161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428040942 meters Centerline goodness [0,1] 0.999468548712825 Centerline is valid? [True, True] Translation: X:75.00, Y:24.14, Z:1.76 [[ 8.12371435e-01 -5.82808733e-01 -1.96629864e-02 7.49968249e+01] [ 5.82654980e-01 8.12609164e-01 -1.33985609e-02 2.41448117e+01] [ 2.37871213e-02 -5.72128848e-04 9.99716883e-01 1.75604657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.458040942 meters Centerline goodness [0,1] 0.9996609163735006 Centerline is valid? [True, True] Translation: X:75.02, Y:24.17, Z:1.76 [[ 8.12511493e-01 -5.82605906e-01 -1.98854775e-02 7.50177833e+01] [ 5.82448423e-01 8.12754598e-01 -1.35571782e-02 2.41657563e+01] [ 2.40605054e-02 -5.66901930e-04 9.99710343e-01 1.75628651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488040942 meters Centerline goodness [0,1] 0.9996397083757206 Centerline is valid? [True, True] Translation: X:75.04, Y:24.18, Z:1.76 [[ 8.12939508e-01 -5.81998786e-01 -2.01685545e-02 7.50396355e+01] [ 5.81836425e-01 8.13189468e-01 -1.37573326e-02 2.41825927e+01] [ 2.44076070e-02 -5.50920485e-04 9.99701938e-01 1.75744051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.518040942 meters Centerline goodness [0,1] 0.9996398152464088 Centerline is valid? [True, True] Translation: X:75.06, Y:24.20, Z:1.76 [[ 8.14127746e-01 -5.80340725e-01 -2.00163958e-02 7.50611202e+01] [ 5.80180241e-01 8.14373623e-01 -1.36561386e-02 2.42030847e+01] [ 2.42260381e-02 -4.95276022e-04 9.99706384e-01 1.75824409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.548040942 meters Centerline goodness [0,1] 0.9996613183184454 Centerline is valid? [True, True] Translation: X:75.08, Y:24.22, Z:1.76 [[ 8.15038864e-01 -5.79057619e-01 -2.00978784e-02 7.50829258e+01] [ 5.78895339e-01 8.15286494e-01 -1.37156951e-02 2.42215797e+01] [ 2.43277066e-02 -4.55743615e-04 9.99703934e-01 1.75874818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.578040942 meters Centerline goodness [0,1] 0.9996411079209593 Centerline is valid? [True, True] Translation: X:75.11, Y:24.24, Z:1.76 [[ 8.15817934e-01 -5.77954212e-01 -2.02491396e-02 7.51052944e+01] [ 5.77788959e-01 8.16069085e-01 -1.38263043e-02 2.42404620e+01] [ 2.45156677e-02 -4.19982237e-04 9.99699358e-01 1.75953257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.608040942 meters Centerline goodness [0,1] 0.9997457680981335 Centerline is valid? [True, True] Translation: X:75.13, Y:24.26, Z:1.76 [[ 8.18203667e-01 -5.74574581e-01 -2.01695455e-02 7.51253954e+01] [ 5.74409418e-01 8.18452170e-01 -1.37792146e-02 2.42611503e+01] [ 2.44249948e-02 -3.11372948e-04 9.99701617e-01 1.76058427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.638040942 meters Centerline goodness [0,1] 0.9998312378702219 Centerline is valid? [True, True] Translation: X:75.15, Y:24.28, Z:1.76 [[ 8.19564483e-01 -5.72627587e-01 -2.02905096e-02 7.51474439e+01] [ 5.72459660e-01 8.19815579e-01 -1.38691713e-02 2.42800234e+01] [ 2.45763459e-02 -2.48818011e-04 9.99697925e-01 1.76148626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668040942 meters Centerline goodness [0,1] 0.9998531478800847 Centerline is valid? [True, True] Translation: X:75.17, Y:24.30, Z:1.76 [[ 8.21189841e-01 -5.70294750e-01 -2.02766388e-02 7.51685037e+01] [ 5.70126168e-01 8.21440118e-01 -1.38666666e-02 2.42979144e+01] [ 2.45641318e-02 -1.73076645e-04 9.99698241e-01 1.76247237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.698040942 meters Centerline goodness [0,1] 0.9998730454285775 Centerline is valid? [True, True] Translation: X:75.19, Y:24.32, Z:1.76 [[ 8.24724228e-01 -5.65188619e-01 -1.97932584e-02 7.51875176e+01] [ 5.65026445e-01 8.24961711e-01 -1.35385390e-02 2.43186027e+01] [ 2.39805085e-02 -1.81532824e-05 9.99712426e-01 1.76403964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728040942 meters Centerline goodness [0,1] 0.9998734470903377 Centerline is valid? [True, True] Translation: X:75.21, Y:24.34, Z:1.77 [[ 8.26337317e-01 -5.62842329e-01 -1.93687976e-02 7.52089813e+01] [ 5.62686334e-01 8.26564281e-01 -1.32506400e-02 2.43374313e+01] [ 2.34675773e-02 5.09405575e-05 9.99724597e-01 1.76525498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.758040942 meters Centerline goodness [0,1] 0.9999160246047908 Centerline is valid? [True, True] Translation: X:75.23, Y:24.36, Z:1.77 [[ 8.27717027e-01 -5.60803333e-01 -1.95996039e-02 7.52309837e+01] [ 5.60642836e-01 8.27949037e-01 -1.34164904e-02 2.43559209e+01] [ 2.37514857e-02 1.16679998e-04 9.99717887e-01 1.76571221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788040942 meters Centerline goodness [0,1] 0.9999366580803175 Centerline is valid? [True, True] Translation: X:75.25, Y:24.38, Z:1.77 [[ 8.30361954e-01 -5.56879729e-01 -1.95957504e-02 7.52516297e+01] [ 5.56718035e-01 8.30593109e-01 -1.34207833e-02 2.43757324e+01] [ 2.37498574e-02 2.34800173e-04 9.99717905e-01 1.76643839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.818040942 meters Centerline goodness [0,1] 0.9999156296140055 Centerline is valid? [True, True] Translation: X:75.27, Y:24.39, Z:1.77 [[ 8.31352025e-01 -5.55390953e-01 -1.98670499e-02 7.52741133e+01] [ 5.55224233e-01 8.31589327e-01 -1.36103619e-02 2.43930857e+01] [ 2.40802985e-02 2.84334367e-04 9.99709987e-01 1.76722531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848040942 meters Centerline goodness [0,1] 0.9999789597710823 Centerline is valid? [True, True] Translation: X:75.30, Y:24.41, Z:1.77 [[ 8.32158227e-01 -5.54170954e-01 -2.01801854e-02 7.52962861e+01] [ 5.53998514e-01 8.32402816e-01 -1.38274816e-02 2.44098887e+01] [ 2.44608318e-02 3.26859847e-04 9.99700736e-01 1.76745080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.878040942 meters Centerline goodness [0,1] 0.9999789069585944 Centerline is valid? [True, True] Translation: X:75.32, Y:24.43, Z:1.77 [[ 8.33616987e-01 -5.51944338e-01 -2.09801541e-02 7.53191402e+01] [ 5.51757167e-01 8.33880854e-01 -1.43787709e-02 2.44272101e+01] [ 2.54312300e-02 4.10437273e-04 9.99676490e-01 1.76824877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.908040942 meters Centerline goodness [0,1] 0.9999789069585944 Centerline is valid? [True, True] Translation: X:75.34, Y:24.44, Z:1.77 [[ 8.33466320e-01 -5.52171959e-01 -2.09766775e-02 7.53417987e+01] [ 5.51984733e-01 8.33730148e-01 -1.43838411e-02 2.44428705e+01] [ 2.54312421e-02 4.09641438e-04 9.99676490e-01 1.76888694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.36, Y:24.46, Z:1.77 [[ 8.33975303e-01 -5.51396745e-01 -2.11382104e-02 7.53638865e+01] [ 5.51206170e-01 8.34243030e-01 -1.45025974e-02 2.44591468e+01] [ 2.56310897e-02 4.43296091e-04 9.99671371e-01 1.76968669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.968040942 meters Centerline goodness [0,1] 0.9999789610990721 Centerline is valid? [True, True] Translation: X:75.39, Y:24.48, Z:1.77 [[ 8.34299957e-01 -5.50866067e-01 -2.21395282e-02 7.53872411e+01] [ 5.50656724e-01 8.34593519e-01 -1.51931078e-02 2.44756473e+01] [ 2.68468742e-02 4.84329085e-04 9.99639440e-01 1.76983830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.41, Y:24.49, Z:1.77 [[ 8.34759197e-01 -5.50127241e-01 -2.31754420e-02 7.54130614e+01] [ 5.49897325e-01 8.35080672e-01 -1.59123625e-02 2.44893390e+01] [ 2.81071878e-02 5.38877412e-04 9.99604770e-01 1.77035696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.44, Y:24.51, Z:1.77 [[ 8.35065218e-01 -5.49648958e-01 -2.34969310e-02 7.54351092e+01] [ 5.49412208e-01 8.35395535e-01 -1.61408162e-02 2.45063449e+01] [ 2.85010140e-02 5.69133432e-04 9.99593602e-01 1.77005878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:24.52, Z:1.77 [[ 8.35160470e-01 -5.49488459e-01 -2.38626013e-02 7.54625899e+01] [ 5.49244091e-01 8.35501101e-01 -1.63963071e-02 2.45166858e+01] [ 2.89468111e-02 5.87154769e-04 9.99580781e-01 1.77214843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088040942 meters Centerline goodness [0,1] 0.9999788476182419 Centerline is valid? [True, True] Translation: X:75.49, Y:24.53, Z:1.77 [[ 8.35246202e-01 -5.49342775e-01 -2.42135943e-02 7.54863376e+01] [ 5.49090871e-01 8.35596880e-01 -1.66453930e-02 2.45314866e+01] [ 2.93768302e-02 6.07537679e-04 9.99568223e-01 1.77302406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11804094200001 meters Centerline goodness [0,1] 0.9999789327322139 Centerline is valid? [True, True] Translation: X:75.51, Y:24.55, Z:1.77 [[ 8.35275104e-01 -5.49291072e-01 -2.43888954e-02 7.55102903e+01] [ 5.49035389e-01 8.35630862e-01 -1.67691346e-02 2.45466249e+01] [ 2.95912496e-02 6.16473955e-04 9.99561893e-01 1.77368094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.54, Y:24.56, Z:1.77 [[ 8.35206021e-01 -5.49387410e-01 -2.45840497e-02 7.55350123e+01] [ 5.49127516e-01 8.35567523e-01 -1.69081453e-02 2.45605614e+01] [ 2.98307556e-02 6.22006619e-04 9.99554770e-01 1.77471863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:24.57, Z:1.77 [[ 8.34875841e-01 -5.49833019e-01 -2.58066305e-02 7.55588462e+01] [ 5.49546532e-01 8.35274348e-01 -1.77587355e-02 2.45735692e+01] [ 3.13199556e-02 6.44394938e-04 9.99509202e-01 1.77423485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.58, Y:24.59, Z:1.78 [[ 8.34621384e-01 -5.50198995e-01 -2.62337708e-02 7.55839692e+01] [ 5.49902919e-01 8.35033322e-01 -1.80591177e-02 2.45872529e+01] [ 3.18421812e-02 6.46498622e-04 9.99492700e-01 1.77549760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:24.60, Z:1.78 [[ 8.33678689e-01 -5.51652801e-01 -2.56716056e-02 7.56107080e+01] [ 5.51369708e-01 8.34073645e-01 -1.76805095e-02 2.45975185e+01] [ 3.11655122e-02 5.85318336e-04 9.99514066e-01 1.77771955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:24.61, Z:1.78 [[ 8.32803288e-01 -5.52984053e-01 -2.54424905e-02 7.56369563e+01] [ 5.52706469e-01 8.33191666e-01 -1.75273419e-02 2.46103290e+01] [ 3.08908116e-02 5.34598857e-04 9.99522622e-01 1.77945079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:24.62, Z:1.78 [[ 8.31969494e-01 -5.54247667e-01 -2.52246776e-02 7.56627532e+01] [ 5.53975123e-01 8.32351658e-01 -1.73862238e-02 2.46237875e+01] [ 3.06320762e-02 4.90963917e-04 9.99530607e-01 1.78069783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:24.63, Z:1.78 [[ 8.30349449e-01 -5.56647302e-01 -2.57599174e-02 7.56896991e+01] [ 5.56363975e-01 8.30748823e-01 -1.77629017e-02 2.46340515e+01] [ 3.12876924e-02 4.17525549e-04 9.99510333e-01 1.78173612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:24.65, Z:1.78 [[ 8.29519280e-01 -5.57884194e-01 -2.57486042e-02 7.57159247e+01] [ 5.57601561e-01 8.29918722e-01 -1.77598899e-02 2.46469819e+01] [ 3.12772106e-02 3.74709200e-04 9.99510678e-01 1.78281317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.388040942 meters Centerline goodness [0,1] 0.9999785467573423 Centerline is valid? [True, True] Translation: X:75.74, Y:24.66, Z:1.78 [[ 8.27985576e-01 -5.60143224e-01 -2.60663520e-02 7.57427885e+01] [ 5.59854424e-01 8.28395726e-01 -1.79873408e-02 2.46568455e+01] [ 3.16687417e-02 2.99896295e-04 9.99498375e-01 1.78370506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:24.67, Z:1.78 [[ 8.27251151e-01 -5.61225585e-01 -2.61031744e-02 7.57671618e+01] [ 5.60936364e-01 8.27662838e-01 -1.80172566e-02 2.46701433e+01] [ 3.17163727e-02 2.62576546e-04 9.99496875e-01 1.78416777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:24.68, Z:1.79 [[ 8.26456922e-01 -5.62403547e-01 -2.59076706e-02 7.57930727e+01] [ 5.62119070e-01 8.26862868e-01 -1.78871049e-02 2.46833806e+01] [ 3.14818620e-02 2.19725929e-04 9.99504299e-01 1.78587668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:24.70, Z:1.79 [[ 8.25445328e-01 -5.63902508e-01 -2.55728664e-02 7.58188396e+01] [ 5.63625774e-01 8.25841349e-01 -1.76650414e-02 2.46962496e+01] [ 3.10804916e-02 1.67999267e-04 9.99516871e-01 1.78794654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:24.71, Z:1.79 [[ 8.23752440e-01 -5.66387721e-01 -2.52362186e-02 7.58460577e+01] [ 5.66119104e-01 8.24138910e-01 -1.74417991e-02 2.47067594e+01] [ 3.06769706e-02 8.10191064e-05 9.99529348e-01 1.78821680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:24.72, Z:1.79 [[ 8.22771410e-01 -5.67808825e-01 -2.53050374e-02 7.58715685e+01] [ 5.67539117e-01 8.23160456e-01 -1.74989782e-02 2.47194847e+01] [ 3.07661804e-02 3.60604360e-05 9.99526608e-01 1.78963531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:24.73, Z:1.79 [[ 8.21735023e-01 -5.69339991e-01 -2.45667623e-02 7.58967317e+01] [ 5.69086184e-01 8.22102168e-01 -1.69982680e-02 2.47325183e+01] [ 2.98741823e-02 -1.25328728e-05 9.99553667e-01 1.79105848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:24.74, Z:1.79 [[ 8.19990487e-01 -5.71857114e-01 -2.43934809e-02 7.59234609e+01] [ 5.71607691e-01 8.20353236e-01 -1.68883232e-02 2.47429003e+01] [ 2.96689788e-02 -9.52368781e-05 9.99559774e-01 1.79245469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:24.76, Z:1.79 [[ 8.19033416e-01 -5.73222484e-01 -2.44999614e-02 7.59488408e+01] [ 5.72971232e-01 8.19399759e-01 -1.69706196e-02 2.47558334e+01] [ 2.98032032e-02 -1.38268503e-04 9.99555776e-01 1.79248231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:24.77, Z:1.79 [[ 8.17536959e-01 -5.75282380e-01 -2.61439209e-02 7.59761575e+01] [ 5.74997211e-01 8.17954848e-01 -1.81128174e-02 2.47653078e+01] [ 3.18045315e-02 -2.24783979e-04 9.99494083e-01 1.79123579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.00, Y:24.78, Z:1.79 [[ 8.16977878e-01 -5.76037093e-01 -2.69891572e-02 7.60016635e+01] [ 5.75733426e-01 8.17423514e-01 -1.87035248e-02 2.47786889e+01] [ 3.28354957e-02 -2.58193907e-04 9.99460736e-01 1.79095181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:24.79, Z:1.79 [[ 8.16436829e-01 -5.76775099e-01 -2.75932632e-02 7.60271864e+01] [ 5.76457780e-01 8.16902933e-01 -1.91317926e-02 2.47932216e+01] [ 3.35757592e-02 -2.86451140e-04 9.99436134e-01 1.79195780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.05, Y:24.81, Z:1.79 [[ 8.16247787e-01 -5.77047729e-01 -2.74857896e-02 7.60516717e+01] [ 5.76732759e-01 8.16710374e-01 -1.90654155e-02 2.48056344e+01] [ 3.34495842e-02 -2.89852044e-04 9.99440364e-01 1.79155316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.08, Y:24.82, Z:1.79 [[ 8.15989200e-01 -5.77436943e-01 -2.69852258e-02 7.60777756e+01] [ 5.77133349e-01 8.16435233e-01 -1.87245117e-02 2.48175631e+01] [ 3.28439139e-02 -2.95074438e-04 9.99460450e-01 1.79325609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.10, Y:24.83, Z:1.80 [[ 8.16209850e-01 -5.77152804e-01 -2.63841120e-02 7.61024327e+01] [ 5.76862129e-01 8.16636129e-01 -1.83170981e-02 2.48325539e+01] [ 3.21179837e-02 -2.69399137e-04 9.99484048e-01 1.79511017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.838040942 meters Centerline goodness [0,1] 0.9999340702810804 Centerline is valid? [True, True] Translation: X:76.13, Y:24.85, Z:1.80 [[ 8.16592906e-01 -5.76639372e-01 -2.57499523e-02 7.61266761e+01] [ 5.76361974e-01 8.16998763e-01 -1.78856385e-02 2.48479673e+01] [ 3.13512426e-02 -2.36007870e-04 9.99508401e-01 1.79778473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86804094200001 meters Centerline goodness [0,1] 0.9999559694427933 Centerline is valid? [True, True] Translation: X:76.15, Y:24.86, Z:1.80 [[ 8.18246796e-01 -5.74325674e-01 -2.49439609e-02 7.61519362e+01] [ 5.74064069e-01 8.18626900e-01 -1.73332806e-02 2.48607599e+01] [ 3.03747455e-02 -1.36530418e-04 9.99538572e-01 1.79894045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.18, Y:24.88, Z:1.80 [[ 8.18993009e-01 -5.73265325e-01 -2.48458727e-02 7.61751004e+01] [ 5.73005140e-01 8.19369793e-01 -1.72699443e-02 2.48766697e+01] [ 3.02582178e-02 -9.28490882e-05 9.99542111e-01 1.80076600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.20, Y:24.89, Z:1.80 [[ 8.21110807e-01 -5.70236806e-01 -2.46379437e-02 7.61982624e+01] [ 5.69979329e-01 8.21480362e-01 -1.71341815e-02 2.48915549e+01] [ 3.00101278e-02 2.59429636e-05 9.99549594e-01 1.80051363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.22, Y:24.91, Z:1.80 [[ 8.21856025e-01 -5.69192336e-01 -2.39323818e-02 7.62217112e+01] [ 5.68948806e-01 8.22204403e-01 -1.66486301e-02 2.49074730e+01] [ 2.91535823e-02 6.64769044e-05 9.99574942e-01 1.80168873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988040942 meters Centerline goodness [0,1] 0.9998894270107698 Centerline is valid? [True, True] Translation: X:76.25, Y:24.92, Z:1.80 [[ 8.22359838e-01 -5.68478708e-01 -2.35850673e-02 7.62452726e+01] [ 5.68241648e-01 8.22697970e-01 -1.64158490e-02 2.49225940e+01] [ 2.87354476e-02 9.77174348e-05 9.99587047e-01 1.80369168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.27, Y:24.94, Z:1.81 [[ 8.22940906e-01 -5.67684971e-01 -2.24062206e-02 7.62685076e+01] [ 5.67470519e-01 8.23245867e-01 -1.56029661e-02 2.49357724e+01] [ 2.73033978e-02 1.25449429e-04 9.99627185e-01 1.80598096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:24.95, Z:1.81 [[ 8.22821454e-01 -5.67881712e-01 -2.17994631e-02 7.62927641e+01] [ 5.67678676e-01 8.23110167e-01 -1.51846289e-02 2.49505239e+01] [ 2.65664328e-02 1.19148095e-04 9.99647043e-01 1.80709427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.32, Y:24.96, Z:1.81 [[ 8.22719074e-01 -5.68019061e-01 -2.20832853e-02 7.63168472e+01] [ 5.67810521e-01 8.23015389e-01 -1.53909360e-02 2.49642589e+01] [ 2.69172287e-02 1.23294939e-04 9.99637658e-01 1.80846957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.34, Y:24.98, Z:1.81 [[ 8.22511274e-01 -5.68321724e-01 -2.20368561e-02 7.63410334e+01] [ 5.68113928e-01 8.22806419e-01 -1.53675250e-02 2.49781943e+01] [ 2.68657650e-02 1.20517726e-04 9.99639043e-01 1.80917825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.138040942 meters Centerline goodness [0,1] 0.9999554297684576 Centerline is valid? [True, True] Translation: X:76.37, Y:24.99, Z:1.81 [[ 8.21747924e-01 -5.69395201e-01 -2.27915504e-02 7.63673980e+01] [ 5.69173072e-01 8.22063924e-01 -1.59034097e-02 2.49902998e+01] [ 2.77914365e-02 9.62571868e-05 9.99613739e-01 1.80945592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.39, Y:25.00, Z:1.81 [[ 8.20625153e-01 -5.70984810e-01 -2.34671022e-02 7.63923177e+01] [ 5.70749702e-01 8.20960622e-01 -1.63839680e-02 2.50026360e+01] [ 2.86205637e-02 5.12546511e-05 9.99590346e-01 1.80841646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.42, Y:25.02, Z:1.81 [[ 8.19914776e-01 -5.71987053e-01 -2.38866141e-02 7.64157651e+01] [ 5.71743744e-01 8.20262647e-01 -1.66817591e-02 2.50162343e+01] [ 2.91350475e-02 2.05986036e-05 9.99575484e-01 1.80824078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.44, Y:25.03, Z:1.81 [[ 8.19431387e-01 -5.72666552e-01 -2.41913624e-02 7.64401011e+01] [ 5.72417070e-01 8.19788400e-01 -1.69020034e-02 2.50303130e+01] [ 2.95110103e-02 2.48332365e-06 9.99564455e-01 1.80909994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.47, Y:25.04, Z:1.81 [[ 8.18411456e-01 -5.74107437e-01 -2.45629658e-02 7.64652609e+01] [ 5.73850605e-01 8.18779976e-01 -1.71707183e-02 2.50419403e+01] [ 2.99695016e-02 -4.27602410e-05 9.99550813e-01 1.80912664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.49, Y:25.06, Z:1.81 [[ 8.17839895e-01 -5.74913845e-01 -2.47381749e-02 7.64898591e+01] [ 5.74653526e-01 8.18213949e-01 -1.72990718e-02 2.50564997e+01] [ 3.01865957e-02 -6.80083914e-05 9.99544279e-01 1.81011562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.51, Y:25.07, Z:1.81 [[ 8.17416383e-01 -5.75503514e-01 -2.50232434e-02 7.65144913e+01] [ 5.75237113e-01 8.17799302e-01 -1.75090208e-02 2.50706993e+01] [ 3.05404940e-02 -8.21378473e-05 9.99533527e-01 1.81105345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348040942 meters Centerline goodness [0,1] 0.9999100860925664 Centerline is valid? [True, True] Translation: X:76.54, Y:25.08, Z:1.81 [[ 8.16744895e-01 -5.76480349e-01 -2.44577895e-02 7.65386378e+01] [ 5.76226012e-01 8.17111006e-01 -1.71227142e-02 2.50833349e+01] [ 2.98556372e-02 -1.08325098e-04 9.99554215e-01 1.81256530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.378040942 meters Centerline goodness [0,1] 0.9999775895298283 Centerline is valid? [True, True] Translation: X:76.56, Y:25.10, Z:1.81 [[ 8.16614870e-01 -5.76667051e-01 -2.43980858e-02 7.65611920e+01] [ 5.76413848e-01 8.16979253e-01 -1.70872821e-02 2.50980430e+01] [ 2.97864025e-02 -1.09665873e-04 9.99556281e-01 1.81354974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.408040942 meters Centerline goodness [0,1] 0.9999551489056333 Centerline is valid? [True, True] Translation: X:76.58, Y:25.11, Z:1.82 [[ 8.16644307e-01 -5.76633614e-01 -2.42023018e-02 7.65845859e+01] [ 5.76384282e-01 8.17002855e-01 -1.69556738e-02 2.51137244e+01] [ 2.95505611e-02 -1.03071848e-04 9.99563281e-01 1.81521010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.438040942 meters Centerline goodness [0,1] 0.9998425303129148 Centerline is valid? [True, True] Translation: X:76.61, Y:25.13, Z:1.82 [[ 8.16702776e-01 -5.76554807e-01 -2.41066414e-02 7.66079366e+01] [ 5.76307115e-01 8.17058472e-01 -1.68986212e-02 2.51297473e+01] [ 2.94395169e-02 -9.16780536e-05 9.99566559e-01 1.81601295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.468040942 meters Centerline goodness [0,1] 0.9999551035984466 Centerline is valid? [True, True] Translation: X:76.63, Y:25.15, Z:1.82 [[ 8.16711196e-01 -5.76534766e-01 -2.42999259e-02 7.66308293e+01] [ 5.76282774e-01 8.17072614e-01 -1.70442848e-02 2.51457998e+01] [ 2.96814267e-02 -8.33705342e-05 9.99559406e-01 1.81727762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.498040942 meters Centerline goodness [0,1] 0.9997309236047268 Centerline is valid? [True, True] Translation: X:76.65, Y:25.16, Z:1.82 [[ 8.17269022e-01 -5.75760563e-01 -2.38981141e-02 7.66533221e+01] [ 5.75516216e-01 8.17618354e-01 -1.67723762e-02 2.51626836e+01] [ 2.91964094e-02 -4.62087334e-05 9.99573693e-01 1.81870237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528040942 meters Centerline goodness [0,1] 0.9997978618273291 Centerline is valid? [True, True] Translation: X:76.68, Y:25.18, Z:1.82 [[ 8.17601023e-01 -5.75297586e-01 -2.36908229e-02 7.66755620e+01] [ 5.75056976e-01 8.17944183e-01 -1.66369276e-02 2.51798580e+01] [ 2.89489551e-02 -2.12039613e-05 9.99580891e-01 1.81972054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.558040942 meters Centerline goodness [0,1] 0.9996632543103449 Centerline is valid? [True, True] Translation: X:76.70, Y:25.20, Z:1.82 [[ 8.18009102e-01 -5.74711851e-01 -2.38201261e-02 7.66969338e+01] [ 5.74468095e-01 8.18355845e-01 -1.67367627e-02 2.51966514e+01] [ 2.91121553e-02 6.92171864e-06 9.99576151e-01 1.81990889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588040942 meters Centerline goodness [0,1] 0.9997538984719332 Centerline is valid? [True, True] Translation: X:76.72, Y:25.21, Z:1.82 [[ 8.18595406e-01 -5.73844821e-01 -2.45699603e-02 7.67184474e+01] [ 5.73584942e-01 8.18964053e-01 -1.72683329e-02 2.52140677e+01] [ 3.00312577e-02 4.28187583e-05 9.99548959e-01 1.81963612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61804094200001 meters Centerline goodness [0,1] 0.9997544313970621 Centerline is valid? [True, True] Translation: X:76.74, Y:25.23, Z:1.82 [[ 8.18419408e-01 -5.74068497e-01 -2.51998669e-02 7.67410308e+01] [ 5.73795026e-01 8.18807278e-01 -1.77174985e-02 2.52305685e+01] [ 3.08048922e-02 4.07863854e-05 9.99525416e-01 1.82051475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648040942 meters Centerline goodness [0,1] 0.9998432075260387 Centerline is valid? [True, True] Translation: X:76.76, Y:25.25, Z:1.82 [[ 8.17732857e-01 -5.75021689e-01 -2.57494120e-02 7.67638489e+01] [ 5.74736278e-01 8.18138165e-01 -1.81150180e-02 2.52463201e+01] [ 3.14831050e-02 1.41242251e-05 9.99504284e-01 1.82160321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:25.26, Z:1.82 [[ 8.16924371e-01 -5.76187002e-01 -2.53596150e-02 7.67858147e+01] [ 5.75910447e-01 8.17317893e-01 -1.78498941e-02 2.52615401e+01] [ 3.10117440e-02 -2.28536914e-05 9.99519020e-01 1.82248875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.81, Y:25.28, Z:1.82 [[ 8.15905708e-01 -5.77634862e-01 -2.52159297e-02 7.68088202e+01] [ 5.77361935e-01 8.16295266e-01 -1.77548369e-02 2.52771644e+01] [ 3.08394568e-02 -7.24452118e-05 9.99524348e-01 1.82356710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.83, Y:25.29, Z:1.82 [[ 8.14836861e-01 -5.79148349e-01 -2.50615208e-02 7.68322747e+01] [ 5.78879150e-01 8.15222163e-01 -1.76565553e-02 2.52930668e+01] [ 3.06564721e-02 -1.20379788e-04 9.99529973e-01 1.82469748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:25.31, Z:1.83 [[ 8.13785172e-01 -5.80651570e-01 -2.44427573e-02 7.68548328e+01] [ 5.80395918e-01 8.14152152e-01 -1.72293675e-02 2.53088443e+01] [ 2.99043828e-02 -1.65472766e-04 9.99552750e-01 1.82556987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:25.32, Z:1.83 [[ 8.13620143e-01 -5.80882905e-01 -2.44399975e-02 7.68773334e+01] [ 5.80627240e-01 8.13987114e-01 -1.72332815e-02 2.53248082e+01] [ 2.99043617e-02 -1.69183295e-04 9.99552750e-01 1.82620925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:25.34, Z:1.83 [[ 8.11391814e-01 -5.84020095e-01 -2.37455579e-02 7.69014070e+01] [ 5.83779849e-01 8.11739155e-01 -1.67520885e-02 2.53396673e+01] [ 2.90587554e-02 -2.69670729e-04 9.99577669e-01 1.82721592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.858040942 meters Centerline goodness [0,1] 0.9999777580071174 Centerline is valid? [True, True] Translation: X:76.93, Y:25.36, Z:1.83 [[ 8.10132602e-01 -5.85766744e-01 -2.37168401e-02 7.69253824e+01] [ 5.85527702e-01 8.10479620e-01 -1.67360677e-02 2.53552576e+01] [ 2.90254474e-02 -3.28432778e-04 9.99578619e-01 1.82807091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:25.37, Z:1.83 [[ 8.08030356e-01 -5.88682292e-01 -2.32401092e-02 7.69500370e+01] [ 5.88453758e-01 8.08364388e-01 -1.64070280e-02 2.53688457e+01] [ 2.84450036e-02 -4.18352896e-04 9.99595271e-01 1.82914515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.918040942 meters Centerline goodness [0,1] 0.9999552792808908 Centerline is valid? [True, True] Translation: X:76.97, Y:25.38, Z:1.83 [[ 8.06938108e-01 -5.90170653e-01 -2.34411954e-02 7.69744714e+01] [ 5.89938655e-01 8.07278377e-01 -1.65531147e-02 2.53849012e+01] [ 2.86927327e-02 -4.71528255e-04 9.99588168e-01 1.83011975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948040942 meters Centerline goodness [0,1] 0.9999776641129302 Centerline is valid? [True, True] Translation: X:77.00, Y:25.40, Z:1.83 [[ 8.06390994e-01 -5.90931575e-01 -2.30962761e-02 7.69979408e+01] [ 5.90706451e-01 8.06721537e-01 -1.63171961e-02 2.53999430e+01] [ 2.82746098e-02 -4.85079257e-04 9.99600076e-01 1.83112259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:25.42, Z:1.83 [[ 8.05766246e-01 -5.91800058e-01 -2.26594062e-02 7.70221775e+01] [ 5.91583576e-01 8.06084636e-01 -1.60135105e-02 2.54153157e+01] [ 2.77421956e-02 -5.01786340e-04 9.99614985e-01 1.83234134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:25.43, Z:1.83 [[ 8.05632940e-01 -5.91993589e-01 -2.23418057e-02 7.70456087e+01] [ 5.91782986e-01 8.05942520e-01 -1.57972105e-02 2.54314445e+01] [ 2.73580585e-02 -4.94747310e-04 9.99625576e-01 1.83346771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:25.45, Z:1.83 [[ 8.06003974e-01 -5.91469302e-01 -2.28398618e-02 7.70687354e+01] [ 5.91248748e-01 8.06327374e-01 -1.61581102e-02 2.54463639e+01] [ 2.79734320e-02 -4.80538696e-04 9.99608551e-01 1.83357870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068040942 meters Centerline goodness [0,1] 0.9999776000716798 Centerline is valid? [True, True] Translation: X:77.09, Y:25.46, Z:1.83 [[ 8.06113780e-01 -5.91308448e-01 -2.31277540e-02 7.70912016e+01] [ 5.91082079e-01 8.06445344e-01 -1.63671358e-02 2.54624923e+01] [ 2.83292952e-02 -4.76627213e-04 9.99598531e-01 1.83384906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.098040942 meters Centerline goodness [0,1] 0.9999776346394704 Centerline is valid? [True, True] Translation: X:77.11, Y:25.48, Z:1.83 [[ 8.06223785e-01 -5.91173493e-01 -2.27400359e-02 7.71129774e+01] [ 5.90954348e-01 8.06544291e-01 -1.61017274e-02 2.54797494e+01] [ 2.78597606e-02 -4.56727473e-04 9.99611737e-01 1.83411330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.14, Y:25.50, Z:1.83 [[ 8.06606263e-01 -5.90639835e-01 -2.30417335e-02 7.71356806e+01] [ 5.90414354e-01 8.06935186e-01 -1.63247328e-02 2.54975500e+01] [ 2.82352230e-02 -4.36538471e-04 9.99601211e-01 1.83472797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:25.51, Z:1.83 [[ 8.07608530e-01 -5.89277471e-01 -2.28150091e-02 7.71586293e+01] [ 5.89055654e-01 8.07930639e-01 -1.61715164e-02 2.55137322e+01] [ 2.79624552e-02 -3.79055599e-04 9.99608902e-01 1.83486895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.188040942 meters Centerline goodness [0,1] 0.999955337204109 Centerline is valid? [True, True] Translation: X:77.18, Y:25.53, Z:1.84 [[ 8.07964022e-01 -5.88795615e-01 -2.26685323e-02 7.71818499e+01] [ 5.88576342e-01 8.08281879e-01 -1.60715101e-02 2.55316433e+01] [ 2.77853986e-02 -3.56959877e-04 9.99613848e-01 1.83596209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.218040942 meters Centerline goodness [0,1] 0.9999329309188464 Centerline is valid? [True, True] Translation: X:77.20, Y:25.55, Z:1.84 [[ 8.08329983e-01 -5.88303287e-01 -2.24026996e-02 7.72048131e+01] [ 5.88088715e-01 8.08640300e-01 -1.58911626e-02 2.55487939e+01] [ 2.74645489e-02 -3.29471669e-04 9.99622724e-01 1.83722102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.23, Y:25.57, Z:1.84 [[ 8.09409651e-01 -5.86853774e-01 -2.14164769e-02 7.72269297e+01] [ 5.86656989e-01 8.09692892e-01 -1.51986260e-02 2.55657365e+01] [ 2.62601401e-02 -2.62211260e-04 9.99655109e-01 1.83818952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.278040942 meters Centerline goodness [0,1] 0.9999776661083194 Centerline is valid? [True, True] Translation: X:77.25, Y:25.58, Z:1.84 [[ 8.09690334e-01 -5.86464238e-01 -2.14769748e-02 7.72494993e+01] [ 5.86266109e-01 8.09975084e-01 -1.52451091e-02 2.55824097e+01] [ 2.63365258e-02 -2.47404917e-04 9.99653103e-01 1.83888093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.27, Y:25.60, Z:1.84 [[ 8.10685657e-01 -5.85082913e-01 -2.16044166e-02 7.72722660e+01] [ 5.84881698e-01 8.10973456e-01 -1.53444894e-02 2.56005010e+01] [ 2.64984070e-02 -1.96470412e-04 9.99648836e-01 1.83970407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.29, Y:25.62, Z:1.84 [[ 8.10867475e-01 -5.84834777e-01 -2.14993645e-02 7.72949992e+01] [ 5.84635210e-01 8.11152422e-01 -1.52780645e-02 2.56174419e+01] [ 2.63744051e-02 -1.80799900e-04 9.99652119e-01 1.84042130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36804094200001 meters Centerline goodness [0,1] 0.999977674086312 Centerline is valid? [True, True] Translation: X:77.32, Y:25.63, Z:1.84 [[ 8.11040356e-01 -5.84586250e-01 -2.17360607e-02 7.73174758e+01] [ 5.84381922e-01 8.11331553e-01 -1.54557849e-02 2.56338834e+01] [ 2.66703913e-02 -1.66895640e-04 9.99644268e-01 1.84127303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.398040942 meters Centerline goodness [0,1] 0.9999106883693929 Centerline is valid? [True, True] Translation: X:77.34, Y:25.65, Z:1.84 [[ 8.10826658e-01 -5.84877979e-01 -2.18604740e-02 7.73395447e+01] [ 5.84671173e-01 8.11121274e-01 -1.55531028e-02 2.56489754e+01] [ 2.68281629e-02 -1.70318637e-04 9.99640046e-01 1.84132955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428040942 meters Centerline goodness [0,1] 0.9999776850467498 Centerline is valid? [True, True] Translation: X:77.36, Y:25.66, Z:1.84 [[ 8.10244667e-01 -5.85686804e-01 -2.17840908e-02 7.73623314e+01] [ 5.85481615e-01 8.10537433e-01 -1.55031656e-02 2.56644625e+01] [ 2.67368205e-02 -1.92827391e-04 9.99642489e-01 1.84243613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:25.68, Z:1.84 [[ 8.09518785e-01 -5.86678596e-01 -2.20808211e-02 7.73861869e+01] [ 5.86467960e-01 8.09819842e-01 -1.57211858e-02 2.56804544e+01] [ 2.71047702e-02 -2.23098864e-04 9.99632573e-01 1.84339432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:25.70, Z:1.84 [[ 8.08540893e-01 -5.88012099e-01 -2.24364876e-02 7.74101203e+01] [ 5.87794899e-01 8.08852088e-01 -1.59830039e-02 2.56963693e+01] [ 2.75459995e-02 -2.65140770e-04 9.99620502e-01 1.84420386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.518040942 meters Centerline goodness [0,1] 0.9999776106036181 Centerline is valid? [True, True] Translation: X:77.43, Y:25.71, Z:1.84 [[ 8.06930326e-01 -5.90191970e-01 -2.31708505e-02 7.74342651e+01] [ 5.89960985e-01 8.07262857e-01 -1.65140948e-02 2.57106376e+01] [ 2.84514531e-02 -3.44173919e-04 9.99595116e-01 1.84419448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.46, Y:25.73, Z:1.84 [[ 8.06205814e-01 -5.91178672e-01 -2.32370918e-02 7.74576099e+01] [ 5.90946685e-01 8.06540535e-01 -1.65644238e-02 2.57267133e+01] [ 2.85341906e-02 -3.77547597e-04 9.99592746e-01 1.84496243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.578040942 meters Centerline goodness [0,1] 0.9999329608938547 Centerline is valid? [True, True] Translation: X:77.48, Y:25.74, Z:1.85 [[ 8.05407386e-01 -5.92261804e-01 -2.33430611e-02 7.74812731e+01] [ 5.92028052e-01 8.05745483e-01 -1.66433809e-02 2.57423348e+01] [ 2.86658049e-02 -4.15045098e-04 9.99588965e-01 1.84547837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.50, Y:25.76, Z:1.85 [[ 8.03746543e-01 -5.94506237e-01 -2.35335410e-02 7.75049539e+01] [ 5.94269487e-01 8.04090846e-01 -1.67835744e-02 2.57564522e+01] [ 2.89010446e-02 -4.95525433e-04 9.99582155e-01 1.84591325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.638040942 meters Centerline goodness [0,1] 0.9999776116061434 Centerline is valid? [True, True] Translation: X:77.53, Y:25.77, Z:1.85 [[ 8.02889760e-01 -5.95666691e-01 -2.34355806e-02 7.75283696e+01] [ 5.95432314e-01 8.03231541e-01 -1.67167689e-02 2.57724205e+01] [ 2.87818200e-02 -5.32579393e-04 9.99585576e-01 1.84684119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668040942 meters Centerline goodness [0,1] 0.9999776586237712 Centerline is valid? [True, True] Translation: X:77.55, Y:25.79, Z:1.85 [[ 8.01500653e-01 -5.97528096e-01 -2.35982422e-02 7.75515881e+01] [ 5.97291155e-01 8.01847749e-01 -1.68363622e-02 2.57869911e+01] [ 2.89823969e-02 -6.00666019e-04 9.99579742e-01 1.84771477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.698040942 meters Centerline goodness [0,1] 0.9999552972731337 Centerline is valid? [True, True] Translation: X:77.57, Y:25.80, Z:1.85 [[ 8.00985629e-01 -5.98222749e-01 -2.34853932e-02 7.75748502e+01] [ 5.97988196e-01 8.01329620e-01 -1.67617898e-02 2.58033985e+01] [ 2.88468252e-02 -6.18035154e-04 9.99583653e-01 1.84858566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.60, Y:25.82, Z:1.85 [[ 8.00799118e-01 -5.98466000e-01 -2.36478400e-02 7.75969683e+01] [ 5.98228038e-01 8.01147963e-01 -1.68865834e-02 2.58203893e+01] [ 2.90514649e-02 -6.24039789e-04 9.99577722e-01 1.84927567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.62, Y:25.84, Z:1.85 [[ 8.00683184e-01 -5.98628326e-01 -2.34641528e-02 7.76188722e+01] [ 5.98393852e-01 8.01026683e-01 -1.67645948e-02 2.58358142e+01] [ 2.88311738e-02 -6.17675633e-04 9.99584104e-01 1.85001536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788040942 meters Centerline goodness [0,1] 0.9999776945039258 Centerline is valid? [True, True] Translation: X:77.64, Y:25.85, Z:1.85 [[ 8.00745110e-01 -5.98547628e-01 -2.34095218e-02 7.76414029e+01] [ 5.98314002e-01 8.01086992e-01 -1.67327900e-02 2.58530563e+01] [ 2.87684352e-02 -6.07544948e-04 9.99585918e-01 1.85093939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.66, Y:25.87, Z:1.85 [[ 8.01295331e-01 -5.97753076e-01 -2.48405468e-02 7.76633882e+01] [ 5.97489310e-01 8.01680044e-01 -1.77660193e-02 2.58722409e+01] [ 3.05338634e-02 -6.06132836e-04 9.99533549e-01 1.85127240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.69, Y:25.89, Z:1.85 [[ 8.01606437e-01 -5.97326210e-01 -2.50702889e-02 7.76861058e+01] [ 5.97057049e-01 8.01998163e-01 -1.79395252e-02 2.58897278e+01] [ 3.08220743e-02 -5.87953807e-04 9.99524714e-01 1.85166813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.878040942 meters Centerline goodness [0,1] 0.9999777802466393 Centerline is valid? [True, True] Translation: X:77.71, Y:25.91, Z:1.85 [[ 8.02000524e-01 -5.96789928e-01 -2.52376823e-02 7.77092056e+01] [ 5.96516614e-01 8.02397323e-01 -1.80683498e-02 2.59079680e+01] [ 3.10336579e-02 -5.63870729e-04 9.99518181e-01 1.85181501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.73, Y:25.93, Z:1.85 [[ 8.01912378e-01 -5.96895490e-01 -2.55404059e-02 7.77307780e+01] [ 5.96615344e-01 8.02318797e-01 -1.82942482e-02 2.59257992e+01] [ 3.14113019e-02 -5.67413995e-04 9.99506382e-01 1.85174524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.75, Y:25.94, Z:1.85 [[ 8.01509806e-01 -5.97440217e-01 -2.54404839e-02 7.77529142e+01] [ 5.97162203e-01 8.01913245e-01 -1.82332277e-02 2.59435420e+01] [ 3.12943245e-02 -5.77984589e-04 9.99510046e-01 1.85374147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:25.96, Z:1.85 [[ 8.01214762e-01 -5.97859432e-01 -2.48797902e-02 7.77753818e+01] [ 5.97593467e-01 8.01600755e-01 -1.78403418e-02 2.59592716e+01] [ 3.06096752e-02 -5.74054877e-04 9.99531249e-01 1.85485012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.998040942 meters Centerline goodness [0,1] 0.9999777451373125 Centerline is valid? [True, True] Translation: X:77.80, Y:25.98, Z:1.86 [[ 8.00097979e-01 -5.99423799e-01 -2.31156328e-02 7.77982854e+01] [ 5.99194737e-01 8.00431613e-01 -1.65801269e-02 2.59771219e+01] [ 2.84410059e-02 -5.85039445e-04 9.99595302e-01 1.85795032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:25.99, Z:1.86 [[ 7.99384497e-01 -6.00409262e-01 -2.22068587e-02 7.78215765e+01] [ 6.00198022e-01 7.99692673e-01 -1.59362084e-02 2.59947744e+01] [ 2.73269093e-02 -5.89354708e-04 9.99626377e-01 1.85935274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:26.01, Z:1.86 [[ 7.98382172e-01 -6.01787514e-01 -2.09211708e-02 7.78435494e+01] [ 6.01600324e-01 7.98656018e-01 -1.50204758e-02 2.60110348e+01] [ 2.57479538e-02 -5.94103071e-04 9.99668290e-01 1.86069598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088040942 meters Centerline goodness [0,1] 0.9999556629497439 Centerline is valid? [True, True] Translation: X:77.87, Y:26.03, Z:1.86 [[ 7.98074680e-01 -6.02203154e-01 -2.06921696e-02 7.78661317e+01] [ 6.02020099e-01 7.98342660e-01 -1.48592394e-02 2.60272211e+01] [ 2.54677226e-02 -5.98319279e-04 9.99675466e-01 1.86129200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11804094200001 meters Centerline goodness [0,1] 0.999933532735128 Centerline is valid? [True, True] Translation: X:77.89, Y:26.04, Z:1.86 [[ 7.97725131e-01 -6.02668536e-01 -2.06215971e-02 7.78882450e+01] [ 6.02486803e-01 7.97991394e-01 -1.48117300e-02 2.60438710e+01] [ 2.53824206e-02 -6.08550865e-04 9.99677629e-01 1.86181652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148040942 meters Centerline goodness [0,1] 0.9999779064115594 Centerline is valid? [True, True] Translation: X:77.91, Y:26.06, Z:1.86 [[ 7.97615333e-01 -6.02807704e-01 -2.08003119e-02 7.79089786e+01] [ 6.02622630e-01 7.97886269e-01 -1.49488223e-02 2.60627629e+01] [ 2.56075485e-02 -6.11328777e-04 9.99671886e-01 1.86155680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:26.08, Z:1.86 [[ 7.97711294e-01 -6.02676024e-01 -2.09356427e-02 7.79307380e+01] [ 6.02488269e-01 7.97985742e-01 -1.50545938e-02 2.60792571e+01] [ 2.57793871e-02 -6.04259624e-04 9.99667474e-01 1.86192237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208040942 meters Centerline goodness [0,1] 0.9999779156820742 Centerline is valid? [True, True] Translation: X:77.95, Y:26.10, Z:1.86 [[ 7.97960160e-01 -6.02348113e-01 -2.08885806e-02 7.79529704e+01] [ 6.02160981e-01 7.98233301e-01 -1.50249455e-02 2.60981507e+01] [ 2.57242082e-02 -5.88980301e-04 9.99668904e-01 1.86226998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.238040942 meters Centerline goodness [0,1] 0.9999779376075542 Centerline is valid? [True, True] Translation: X:77.98, Y:26.12, Z:1.86 [[ 7.98316226e-01 -6.01873356e-01 -2.09682492e-02 7.79752364e+01] [ 6.01684425e-01 7.98591347e-01 -1.50901845e-02 2.61159604e+01] [ 2.58274424e-02 -5.69529872e-04 9.99666254e-01 1.86252712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:26.13, Z:1.86 [[ 7.99126738e-01 -6.00784715e-01 -2.13115785e-02 7.79967112e+01] [ 6.00588960e-01 7.99410682e-01 -1.53448104e-02 2.61332103e+01] [ 2.62556311e-02 -5.37050490e-04 9.99655117e-01 1.86258069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.298040942 meters Centerline goodness [0,1] 0.9999779049470824 Centerline is valid? [True, True] Translation: X:78.02, Y:26.15, Z:1.86 [[ 7.99205137e-01 -6.00677038e-01 -2.14066624e-02 7.80180806e+01] [ 6.00479398e-01 7.99491596e-01 -1.54168948e-02 2.61507916e+01] [ 2.63750214e-02 -5.32998203e-04 9.99651977e-01 1.86405120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.328040942 meters Centerline goodness [0,1] 0.9999780263244633 Centerline is valid? [True, True] Translation: X:78.04, Y:26.17, Z:1.87 [[ 7.99600385e-01 -6.00173764e-01 -2.07527897e-02 7.80395391e+01] [ 5.99987628e-01 7.99869495e-01 -1.49545113e-02 2.61697158e+01] [ 2.55748287e-02 -4.93784085e-04 9.99672789e-01 1.86597947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.358040942 meters Centerline goodness [0,1] 0.9999559092612597 Centerline is valid? [True, True] Translation: X:78.06, Y:26.19, Z:1.87 [[ 7.99697889e-01 -6.00052871e-01 -2.04899590e-02 7.80609299e+01] [ 5.99871189e-01 7.99960201e-01 -1.47727416e-02 2.61872217e+01] [ 2.52555778e-02 -4.77605816e-04 9.99680913e-01 1.86645697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:26.21, Z:1.87 [[ 7.99680767e-01 -6.00076441e-01 -2.04679494e-02 7.80825435e+01] [ 5.99894937e-01 7.99942525e-01 -1.47655205e-02 2.62053967e+01] [ 2.52336241e-02 -4.70916417e-04 9.99681470e-01 1.86666418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.418040942 meters Centerline goodness [0,1] 0.9999120357135003 Centerline is valid? [True, True] Translation: X:78.10, Y:26.22, Z:1.87 [[ 7.99285476e-01 -6.00625814e-01 -1.97828177e-02 7.81041320e+01] [ 6.00456230e-01 7.99530122e-01 -1.42793929e-02 2.62231065e+01] [ 2.43935306e-02 -4.65404807e-04 9.99702325e-01 1.86758497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448040942 meters Centerline goodness [0,1] 0.9999123825378398 Centerline is valid? [True, True] Translation: X:78.13, Y:26.24, Z:1.87 [[ 7.98841019e-01 -6.01223691e-01 -1.95729491e-02 7.81270832e+01] [ 6.01057673e-01 7.99080629e-01 -1.41358690e-02 2.62395456e+01] [ 2.41391838e-02 -4.72159241e-04 9.99708496e-01 1.86869753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.478040942 meters Centerline goodness [0,1] 0.9999560400914366 Centerline is valid? [True, True] Translation: X:78.15, Y:26.26, Z:1.87 [[ 7.97912904e-01 -6.02461815e-01 -1.93586785e-02 7.81499882e+01] [ 6.02299717e-01 7.98147549e-01 -1.39836245e-02 2.62563301e+01] [ 2.38756816e-02 -5.02012169e-04 9.99714809e-01 1.86985290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508040942 meters Centerline goodness [0,1] 0.9999121052978531 Centerline is valid? [True, True] Translation: X:78.17, Y:26.27, Z:1.87 [[ 7.96275075e-01 -6.04635868e-01 -1.90124320e-02 7.81723915e+01] [ 6.04480078e-01 7.96501826e-01 -1.37359536e-02 2.62723209e+01] [ 2.34486870e-02 -5.55038852e-04 9.99724888e-01 1.87047880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.538040942 meters Centerline goodness [0,1] 0.9998024409517956 Centerline is valid? [True, True] Translation: X:78.20, Y:26.29, Z:1.87 [[ 7.95670542e-01 -6.05441342e-01 -1.86861143e-02 7.81958295e+01] [ 6.05291021e-01 7.95889729e-01 -1.35025776e-02 2.62878058e+01] [ 2.30471052e-02 -5.66933967e-04 9.99734219e-01 1.87176900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568040942 meters Centerline goodness [0,1] 0.9998460150905212 Centerline is valid? [True, True] Translation: X:78.22, Y:26.31, Z:1.87 [[ 7.94774572e-01 -6.06632690e-01 -1.81702766e-02 7.82168964e+01] [ 6.06490815e-01 7.94982037e-01 -1.31320899e-02 2.63071174e+01] [ 2.24113985e-02 -5.83054738e-04 9.99748663e-01 1.87253845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.598040942 meters Centerline goodness [0,1] 0.999780316344464 Centerline is valid? [True, True] Translation: X:78.24, Y:26.32, Z:1.87 [[ 7.94160836e-01 -6.07428271e-01 -1.84245137e-02 7.82397233e+01] [ 6.07282555e-01 7.94374295e-01 -1.33183280e-02 2.63224967e+01] [ 2.27258890e-02 -6.11991305e-04 9.99741546e-01 1.87329635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.628040942 meters Centerline goodness [0,1] 0.9999340064673662 Centerline is valid? [True, True] Translation: X:78.26, Y:26.34, Z:1.87 [[ 7.93174818e-01 -6.08711365e-01 -1.85521709e-02 7.82614381e+01] [ 6.08563915e-01 7.93391486e-01 -1.34130804e-02 2.63407986e+01] [ 2.28838290e-02 -6.51264166e-04 9.99737919e-01 1.87361387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.658040942 meters Centerline goodness [0,1] 0.999912039582188 Centerline is valid? [True, True] Translation: X:78.28, Y:26.36, Z:1.87 [[ 7.92608745e-01 -6.09443418e-01 -1.87108737e-02 7.82842530e+01] [ 6.09293581e-01 7.92829277e-01 -1.35302904e-02 2.63592871e+01] [ 2.30804749e-02 -6.76188688e-04 9.99733382e-01 1.87420645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.688040942 meters Centerline goodness [0,1] 0.9998899865783626 Centerline is valid? [True, True] Translation: X:78.31, Y:26.38, Z:1.88 [[ 7.91858345e-01 -6.10426142e-01 -1.84468703e-02 7.83065061e+01] [ 6.10280614e-01 7.92072882e-01 -1.33462496e-02 2.63785115e+01] [ 2.27581653e-02 -6.89428228e-04 9.99740762e-01 1.87501442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.718040942 meters Centerline goodness [0,1] 0.9998899865783626 Centerline is valid? [True, True] Translation: X:78.33, Y:26.39, Z:1.88 [[ 7.91684966e-01 -6.10651087e-01 -1.84435622e-02 7.83288114e+01] [ 6.10505513e-01 7.91899472e-01 -1.33508195e-02 2.63947552e+01] [ 2.27581396e-02 -6.90253376e-04 9.99740762e-01 1.87565290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.748040942 meters Centerline goodness [0,1] 0.9999126198746096 Centerline is valid? [True, True] Translation: X:78.35, Y:26.41, Z:1.88 [[ 7.91656755e-01 -6.10688089e-01 -1.84293140e-02 7.83497891e+01] [ 6.10542567e-01 7.91870942e-01 -1.33485706e-02 2.64118159e+01] [ 2.27454513e-02 -6.84394544e-04 9.99741054e-01 1.87593931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.778040942 meters Centerline goodness [0,1] 0.9998901364505285 Centerline is valid? [True, True] Translation: X:78.37, Y:26.43, Z:1.88 [[ 7.91505614e-01 -6.10878716e-01 -1.86026381e-02 7.83717586e+01] [ 6.10730416e-01 7.91723887e-01 -1.34775877e-02 2.64301563e+01] [ 2.29613244e-02 -6.93610592e-04 9.99736113e-01 1.87636863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808040942 meters Centerline goodness [0,1] 0.9998904541769822 Centerline is valid? [True, True] Translation: X:78.39, Y:26.45, Z:1.88 [[ 7.92218699e-01 -6.09940892e-01 -1.90168611e-02 7.83940054e+01] [ 6.09785448e-01 7.92446625e-01 -1.37860217e-02 2.64494865e+01] [ 2.34785058e-02 -6.74660996e-04 9.99724114e-01 1.87671546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.838040942 meters Centerline goodness [0,1] 0.9998907079936173 Centerline is valid? [True, True] Translation: X:78.42, Y:26.47, Z:1.88 [[ 7.92483583e-01 -6.09607319e-01 -1.86731459e-02 7.84163959e+01] [ 6.09457205e-01 7.92703284e-01 -1.35432268e-02 2.64663226e+01] [ 2.30583142e-02 -6.47698351e-04 9.99733912e-01 1.87800856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86804094200001 meters Centerline goodness [0,1] 0.9998466694412196 Centerline is valid? [True, True] Translation: X:78.44, Y:26.48, Z:1.88 [[ 7.92420086e-01 -6.09704185e-01 -1.81992791e-02 7.84376347e+01] [ 6.09561567e-01 7.92628795e-01 -1.32018533e-02 2.64826243e+01] [ 2.24744978e-02 -6.32167399e-04 9.99747217e-01 1.87948473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.898040942 meters Centerline goodness [0,1] 0.9999562066171801 Centerline is valid? [True, True] Translation: X:78.46, Y:26.50, Z:1.88 [[ 7.92726933e-01 -6.09321856e-01 -1.76319451e-02 7.84579949e+01] [ 6.09187834e-01 7.92922768e-01 -1.27932071e-02 2.65034047e+01] [ 2.17759514e-02 -5.99646579e-04 9.99762696e-01 1.88104964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928040942 meters Centerline goodness [0,1] 0.9999123518197953 Centerline is valid? [True, True] Translation: X:78.48, Y:26.52, Z:1.88 [[ 7.92938911e-01 -6.09054595e-01 -1.73315824e-02 7.84809033e+01] [ 6.08924891e-01 7.93128090e-01 -1.25821234e-02 2.65189490e+01] [ 2.14093650e-02 -5.76776660e-04 9.99770627e-01 1.88192893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.958040942 meters Centerline goodness [0,1] 0.9999344720632563 Centerline is valid? [True, True] Translation: X:78.50, Y:26.54, Z:1.88 [[ 7.92979401e-01 -6.08982150e-01 -1.80113937e-02 7.85013318e+01] [ 6.08841995e-01 7.93183703e-01 -1.30781439e-02 2.65361926e+01] [ 2.22507001e-02 -5.95394159e-04 9.99752245e-01 1.88184289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988040942 meters Centerline goodness [0,1] 0.9999563213872328 Centerline is valid? [True, True] Translation: X:78.52, Y:26.56, Z:1.88 [[ 7.92928926e-01 -6.09025862e-01 -1.87408081e-02 7.85217888e+01] [ 6.08874057e-01 7.93150123e-01 -1.36112043e-02 2.65563519e+01] [ 2.31538496e-02 -6.18074256e-04 9.99731723e-01 1.88152189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.018040942 meters Centerline goodness [0,1] 0.9999782509406469 Centerline is valid? [True, True] Translation: X:78.54, Y:26.57, Z:1.88 [[ 7.92988067e-01 -6.08925268e-01 -1.94921446e-02 7.85433996e+01] [ 6.08760811e-01 7.93227343e-01 -1.41653743e-02 2.65726748e+01] [ 2.40873564e-02 -6.33080986e-04 9.99709657e-01 1.88067538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.048040942 meters Centerline goodness [0,1] 0.9999565302440827 Centerline is valid? [True, True] Translation: X:78.56, Y:26.59, Z:1.88 [[ 7.92713258e-01 -6.09277346e-01 -1.96673862e-02 7.85645605e+01] [ 6.09109934e-01 7.92956933e-01 -1.42965439e-02 2.65918648e+01] [ 2.43059506e-02 -6.46540417e-04 9.99704358e-01 1.88104196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.078040942 meters Centerline goodness [0,1] 0.9999347925315712 Centerline is valid? [True, True] Translation: X:78.59, Y:26.61, Z:1.88 [[ 7.92412730e-01 -6.09664091e-01 -1.97929725e-02 7.85869367e+01] [ 6.09494456e-01 7.92659615e-01 -1.43959210e-02 2.66091204e+01] [ 2.44657660e-02 -6.56195992e-04 9.99700453e-01 1.88163311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.108040942 meters Centerline goodness [0,1] 0.9999782286858835 Centerline is valid? [True, True] Translation: X:78.61, Y:26.63, Z:1.88 [[ 7.90723300e-01 -6.11843487e-01 -2.01049947e-02 7.86082736e+01] [ 6.11669096e-01 7.90978515e-01 -1.46255514e-02 2.66262949e+01] [ 2.48511671e-02 -7.32839666e-04 9.99690893e-01 1.88118295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.138040942 meters Centerline goodness [0,1] 0.9999783390373869 Centerline is valid? [True, True] Translation: X:78.63, Y:26.64, Z:1.88 [[ 7.89579871e-01 -6.13297540e-01 -2.07305413e-02 7.86315127e+01] [ 6.13112531e-01 7.89851561e-01 -1.50843165e-02 2.66435784e+01] [ 2.56252246e-02 -7.99881914e-04 9.99671300e-01 1.88131633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168040942 meters Centerline goodness [0,1] 0.9999130567087617 Centerline is valid? [True, True] Translation: X:78.65, Y:26.66, Z:1.88 [[ 7.87701852e-01 -6.15713360e-01 -2.05633366e-02 7.86544466e+01] [ 6.15531966e-01 7.87969739e-01 -1.49696287e-02 2.66603139e+01] [ 2.54202873e-02 -8.65786694e-04 9.99676477e-01 1.88197946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.198040942 meters Centerline goodness [0,1] 0.9999131058153933 Centerline is valid? [True, True] Translation: X:78.68, Y:26.68, Z:1.88 [[ 7.86907667e-01 -6.16727635e-01 -2.05754202e-02 7.86779276e+01] [ 6.16546280e-01 7.87176105e-01 -1.49821278e-02 2.66776482e+01] [ 2.54363714e-02 -8.96147511e-04 9.99676041e-01 1.88287583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228040942 meters Centerline goodness [0,1] 0.9998911031253404 Centerline is valid? [True, True] Translation: X:78.70, Y:26.70, Z:1.88 [[ 7.86168564e-01 -6.17680003e-01 -2.02583762e-02 7.87007583e+01] [ 6.17504334e-01 7.86429012e-01 -1.47583046e-02 2.66950193e+01] [ 2.50476843e-02 -9.07119957e-04 9.99685846e-01 1.88320869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.258040942 meters Centerline goodness [0,1] 0.9999349240780911 Centerline is valid? [True, True] Translation: X:78.72, Y:26.71, Z:1.88 [[ 7.85648697e-01 -6.18327183e-01 -2.06789947e-02 7.87230921e+01] [ 6.18144176e-01 7.85920231e-01 -1.50721015e-02 2.67131400e+01] [ 2.55715303e-02 -9.41223273e-04 9.99672552e-01 1.88346153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288040942 meters Centerline goodness [0,1] 0.9999130529290294 Centerline is valid? [True, True] Translation: X:78.74, Y:26.73, Z:1.88 [[ 7.84821320e-01 -6.19377282e-01 -2.06707230e-02 7.87443210e+01] [ 6.19194609e-01 7.85092888e-01 -1.50729398e-02 2.67305173e+01] [ 2.55642741e-02 -9.69635745e-04 9.99672710e-01 1.88383557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.318040942 meters Centerline goodness [0,1] 0.9999131246877918 Centerline is valid? [True, True] Translation: X:78.76, Y:26.75, Z:1.88 [[ 7.84593789e-01 -6.19675078e-01 -2.03809736e-02 7.87631245e+01] [ 6.19497504e-01 7.84857867e-01 -1.48651000e-02 2.67522480e+01] [ 2.52076994e-02 -9.62897140e-04 9.99681772e-01 1.88487484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348040942 meters Centerline goodness [0,1] 0.999935036812473 Centerline is valid? [True, True] Translation: X:78.79, Y:26.77, Z:1.89 [[ 7.84377624e-01 -6.19945134e-01 -2.04883904e-02 7.87874492e+01] [ 6.19765566e-01 7.84644563e-01 -1.49517161e-02 2.67658884e+01] [ 2.53453478e-02 -9.70207304e-04 9.99678284e-01 1.88519650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.378040942 meters Centerline goodness [0,1] 0.9996974935177182 Centerline is valid? [True, True] Translation: X:78.81, Y:26.79, Z:1.89 [[ 7.84436214e-01 -6.19872485e-01 -2.04432723e-02 7.88059799e+01] [ 6.19693574e-01 7.84701966e-01 -1.49230749e-02 2.67895155e+01] [ 2.52922795e-02 -9.62364079e-04 9.99679636e-01 1.88523654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.408040942 meters Centerline goodness [0,1] 0.9996972842068846 Centerline is valid? [True, True] Translation: X:78.83, Y:26.81, Z:1.89 [[ 7.84816089e-01 -6.19383776e-01 -2.06747198e-02 7.88281679e+01] [ 6.19200428e-01 7.85087787e-01 -1.50995594e-02 2.68081248e+01] [ 2.55838921e-02 -9.51418184e-04 9.99672226e-01 1.88539206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.438040942 meters Centerline goodness [0,1] 0.999762956577955 Centerline is valid? [True, True] Translation: X:78.85, Y:26.83, Z:1.89 [[ 7.85697248e-01 -6.18256246e-01 -2.09534949e-02 7.88482628e+01] [ 6.18067335e-01 7.85976059e-01 -1.53102624e-02 2.68279262e+01] [ 2.59346107e-02 -9.21439743e-04 9.99663217e-01 1.88520859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.468040942 meters Centerline goodness [0,1] 0.9994610442806019 Centerline is valid? [True, True] Translation: X:78.87, Y:26.85, Z:1.89 [[ 7.85938907e-01 -6.17962775e-01 -2.05437113e-02 7.88706713e+01] [ 6.17781006e-01 7.86206852e-01 -1.50138197e-02 2.68468210e+01] [ 2.54295883e-02 -8.91569632e-04 9.99676218e-01 1.88565450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.498040942 meters Centerline goodness [0,1] 0.999547939897533 Centerline is valid? [True, True] Translation: X:78.89, Y:26.86, Z:1.89 [[ 7.86452482e-01 -6.17297705e-01 -2.08815139e-02 7.88916997e+01] [ 6.17109492e-01 7.86729160e-01 -1.52677176e-02 2.68645492e+01] [ 2.58528229e-02 -8.78846055e-04 9.99665374e-01 1.88613291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.528040942 meters Centerline goodness [0,1] 0.99991391184573 Centerline is valid? [True, True] Translation: X:78.91, Y:26.88, Z:1.89 [[ 7.86813776e-01 -6.16840890e-01 -2.07701278e-02 7.89134229e+01] [ 6.16654443e-01 7.87087404e-01 -1.51893344e-02 2.68837404e+01] [ 2.57173085e-02 -8.56814080e-04 9.99668888e-01 1.88683246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.558040942 meters Centerline goodness [0,1] 0.9997847193817141 Centerline is valid? [True, True] Translation: X:78.93, Y:26.90, Z:1.89 [[ 7.87589698e-01 -6.15864427e-01 -2.03340750e-02 7.89339370e+01] [ 6.15685232e-01 7.87851740e-01 -1.48772263e-02 2.69023748e+01] [ 2.51825908e-02 -8.02239528e-04 9.99682546e-01 1.88796460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588040942 meters Centerline goodness [0,1] 0.9997858351358876 Centerline is valid? [True, True] Translation: X:78.96, Y:26.92, Z:1.89 [[ 7.87681592e-01 -6.15741423e-01 -2.04990251e-02 7.89553225e+01] [ 6.15559162e-01 7.87947877e-01 -1.50020002e-02 2.69229039e+01] [ 2.53895162e-02 -8.01563346e-04 9.99677313e-01 1.88871273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61804094200001 meters Centerline goodness [0,1] 0.9998712308187574 Centerline is valid? [True, True] Translation: X:78.98, Y:26.94, Z:1.89 [[ 7.88146201e-01 -6.15137008e-01 -2.07852752e-02 7.89785104e+01] [ 6.14949237e-01 7.88419838e-01 -1.52182151e-02 2.69384687e+01] [ 2.57488106e-02 -7.87710730e-04 9.99668134e-01 1.88877220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648040942 meters Centerline goodness [0,1] 0.9999358727715788 Centerline is valid? [True, True] Translation: X:79.00, Y:26.96, Z:1.89 [[ 7.88537589e-01 -6.14633452e-01 -2.08372298e-02 7.90005540e+01] [ 6.14444496e-01 7.88812478e-01 -1.52589471e-02 2.69559875e+01] [ 2.58153262e-02 -7.71067822e-04 9.99666432e-01 1.88849892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.678040942 meters Centerline goodness [0,1] 0.9998067881754363 Centerline is valid? [True, True] Translation: X:79.02, Y:26.98, Z:1.89 [[ 7.89285178e-01 -6.13686513e-01 -2.04394735e-02 7.90200001e+01] [ 6.13504314e-01 7.89549454e-01 -1.49705243e-02 2.69784887e+01] [ 2.53251840e-02 -7.23692273e-04 9.99679004e-01 1.88951328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708040942 meters Centerline goodness [0,1] 0.9997001948733323 Centerline is valid? [True, True] Translation: X:79.04, Y:27.00, Z:1.89 [[ 7.91124515e-01 -6.11331111e-01 -1.99066678e-02 7.90410340e+01] [ 6.11157371e-01 7.91374678e-01 -1.45872158e-02 2.69986953e+01] [ 2.46712516e-02 -6.25802726e-04 9.99695422e-01 1.89022582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.738040942 meters Centerline goodness [0,1] 0.9998929519568382 Centerline is valid? [True, True] Translation: X:79.06, Y:27.02, Z:1.89 [[ 7.92026818e-01 -6.10167787e-01 -1.97177718e-02 7.90637331e+01] [ 6.09996820e-01 7.92272009e-01 -1.44548976e-02 2.70167407e+01] [ 2.44417515e-02 -5.79111507e-04 9.99701088e-01 1.89113963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.768040942 meters Centerline goodness [0,1] 0.9999359207125617 Centerline is valid? [True, True] Translation: X:79.09, Y:27.03, Z:1.89 [[ 7.92717273e-01 -6.09276585e-01 -1.95286653e-02 7.90872949e+01] [ 6.09108448e-01 7.92957597e-01 -1.43229738e-02 2.70320366e+01] [ 2.42120561e-02 -5.41006338e-04 9.99706699e-01 1.89192716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.798040942 meters Centerline goodness [0,1] 0.9998936803606362 Centerline is valid? [True, True] Translation: X:79.11, Y:27.05, Z:1.89 [[ 7.94243632e-01 -6.07304373e-01 -1.89328138e-02 7.91078722e+01] [ 6.07145725e-01 7.94469121e-01 -1.38882846e-02 2.70536918e+01] [ 2.34759519e-02 -4.64295332e-04 9.99724294e-01 1.89309533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.828040942 meters Centerline goodness [0,1] 0.9998082699559021 Centerline is valid? [True, True] Translation: X:79.13, Y:27.07, Z:1.89 [[ 7.95133126e-01 -6.06164883e-01 -1.80954554e-02 7.91303635e+01] [ 6.06019599e-01 7.95338900e-01 -1.32770309e-02 2.70721465e+01] [ 2.24400895e-02 -4.09193588e-04 9.99748106e-01 1.89396800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.858040942 meters Centerline goodness [0,1] 0.9998939059582413 Centerline is valid? [True, True] Translation: X:79.15, Y:27.09, Z:1.89 [[ 7.96373683e-01 -6.04559002e-01 -1.72444098e-02 7.91518282e+01] [ 6.04426564e-01 7.96560290e-01 -1.26582893e-02 2.70909652e+01] [ 2.13888948e-02 -3.42250908e-04 9.99771173e-01 1.89442345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.888040942 meters Centerline goodness [0,1] 0.9998941866124902 Centerline is valid? [True, True] Translation: X:79.17, Y:27.11, Z:1.90 [[ 7.96828011e-01 -6.03971341e-01 -1.68446001e-02 7.91741414e+01] [ 6.03844724e-01 7.97005973e-01 -1.23704727e-02 2.71088485e+01] [ 2.08966579e-02 -3.14383719e-04 9.99781592e-01 1.89520278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.918040942 meters Centerline goodness [0,1] 0.9997871525264995 Centerline is valid? [True, True] Translation: X:79.20, Y:27.13, Z:1.90 [[ 7.97486186e-01 -6.03108149e-01 -1.66236284e-02 7.91965043e+01] [ 6.02984529e-01 7.97659376e-01 -1.22138250e-02 2.71265469e+01] [ 2.06262504e-02 -2.83433992e-04 9.99787216e-01 1.89571201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948040942 meters Centerline goodness [0,1] 0.9997668898872595 Centerline is valid? [True, True] Translation: X:79.22, Y:27.14, Z:1.90 [[ 7.98511351e-01 -6.01754486e-01 -1.64669569e-02 7.92184444e+01] [ 6.01632773e-01 7.98681088e-01 -1.21047719e-02 2.71438632e+01] [ 2.04359479e-02 -2.41263183e-04 9.99791135e-01 1.89648289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.978040942 meters Centerline goodness [0,1] 0.9998090307248345 Centerline is valid? [True, True] Translation: X:79.24, Y:27.16, Z:1.90 [[ 7.98807246e-01 -6.01352916e-01 -1.67825440e-02 7.92385977e+01] [ 6.01226374e-01 7.98983489e-01 -1.23382248e-02 2.71630800e+01] [ 2.08286030e-02 -2.34244739e-04 9.99783034e-01 1.89584690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008040942 meters Centerline goodness [0,1] 0.9997660221640823 Centerline is valid? [True, True] Translation: X:79.26, Y:27.18, Z:1.90 [[ 7.99294572e-01 -6.00698215e-01 -1.70247094e-02 7.92621561e+01] [ 6.00567675e-01 7.99475833e-01 -1.25243518e-02 2.71781368e+01] [ 2.11341995e-02 -2.13843708e-04 9.99776625e-01 1.89641238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.038040942 meters Centerline goodness [0,1] 0.9997455848368563 Centerline is valid? [True, True] Translation: X:79.28, Y:27.19, Z:1.90 [[ 7.99904760e-01 -5.99879831e-01 -1.72209992e-02 7.92840900e+01] [ 5.99746022e-01 8.00090089e-01 -1.26711442e-02 2.71948094e+01] [ 2.13795146e-02 -1.92517180e-04 9.99771414e-01 1.89597800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068040942 meters Centerline goodness [0,1] 0.9998514368182011 Centerline is valid? [True, True] Translation: X:79.31, Y:27.21, Z:1.90 [[ 7.99715872e-01 -6.00126053e-01 -1.74139144e-02 7.93068300e+01] [ 5.99989249e-01 7.99905420e-01 -1.28148442e-02 2.72113907e+01] [ 2.16200064e-02 -1.99927070e-04 9.99766240e-01 1.89628062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.098040942 meters Centerline goodness [0,1] 0.9998514431239389 Centerline is valid? [True, True] Translation: X:79.33, Y:27.23, Z:1.90 [[ 7.98924129e-01 -6.01169278e-01 -1.77689327e-02 7.93289821e+01] [ 6.01026945e-01 7.99121673e-01 -1.30829334e-02 2.72293893e+01] [ 2.20645968e-02 -2.27336198e-04 9.99756521e-01 1.89622465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.128040942 meters Centerline goodness [0,1] 0.9997672253258846 Centerline is valid? [True, True] Translation: X:79.35, Y:27.25, Z:1.90 [[ 7.98113834e-01 -6.02250425e-01 -1.75708303e-02 7.93528216e+01] [ 6.02111362e-01 7.98307187e-01 -1.29438397e-02 2.72453438e+01] [ 2.18223531e-02 -2.48939027e-04 9.99761833e-01 1.89687960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.158040942 meters Centerline goodness [0,1] 0.9997248851924746 Centerline is valid? [True, True] Translation: X:79.38, Y:27.26, Z:1.90 [[ 7.97096220e-01 -6.03599218e-01 -1.74814131e-02 7.93764712e+01] [ 6.03461739e-01 7.97287844e-01 -1.28849927e-02 2.72603715e+01] [ 2.17150897e-02 -2.78785000e-04 9.99764161e-01 1.89776782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.188040942 meters Centerline goodness [0,1] 0.999787111745045 Centerline is valid? [True, True] Translation: X:79.40, Y:27.28, Z:1.90 [[ 7.95026240e-01 -6.06313902e-01 -1.77968992e-02 7.94016450e+01] [ 6.06172044e-01 7.95225329e-01 -1.31197920e-02 2.72751634e+01] [ 2.21072574e-02 -3.57403872e-04 9.99755541e-01 1.89815837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.218040942 meters Centerline goodness [0,1] 0.9997871615869232 Centerline is valid? [True, True] Translation: X:79.43, Y:27.29, Z:1.90 [[ 7.93855544e-01 -6.07848457e-01 -1.77095885e-02 7.94258443e+01] [ 6.07708222e-01 7.94052958e-01 -1.30620836e-02 2.72913797e+01] [ 2.20021185e-02 -3.92855078e-04 9.99757847e-01 1.89853495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.248040942 meters Centerline goodness [0,1] 0.9998093785741518 Centerline is valid? [True, True] Translation: X:79.45, Y:27.31, Z:1.90 [[ 7.93144792e-01 -6.08769567e-01 -1.79151759e-02 7.94496690e+01] [ 6.08626137e-01 7.93346986e-01 -1.32206329e-02 2.73071755e+01] [ 2.22612698e-02 -4.17768161e-04 9.99752100e-01 1.89935539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.278040942 meters Centerline goodness [0,1] 0.9999361403210013 Centerline is valid? [True, True] Translation: X:79.47, Y:27.32, Z:1.90 [[ 7.92375562e-01 -6.09777610e-01 -1.76701753e-02 7.94740692e+01] [ 6.09638182e-01 7.92572443e-01 -1.30464644e-02 2.73234717e+01] [ 2.19603359e-02 -4.34714011e-04 9.99758748e-01 1.89992632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308040942 meters Centerline goodness [0,1] 0.9999787455631363 Centerline is valid? [True, True] Translation: X:79.50, Y:27.34, Z:1.90 [[ 7.92434893e-01 -6.09704304e-01 -1.75385883e-02 7.94957348e+01] [ 6.09566778e-01 7.92628843e-01 -1.29561096e-02 2.73393643e+01] [ 2.18009867e-02 -4.24067422e-04 9.99762240e-01 1.90054562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.338040942 meters Centerline goodness [0,1] 0.9998722289656935 Centerline is valid? [True, True] Translation: X:79.52, Y:27.36, Z:1.90 [[ 7.93019058e-01 -6.08958806e-01 -1.70277922e-02 7.95189793e+01] [ 6.08828944e-01 7.93201753e-01 -1.25815478e-02 2.73568654e+01] [ 2.11681189e-02 -3.89605558e-04 9.99775854e-01 1.90154488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36804094200001 meters Centerline goodness [0,1] 0.9998509401418199 Centerline is valid? [True, True] Translation: X:79.54, Y:27.37, Z:1.90 [[ 7.93287709e-01 -6.08617383e-01 -1.67180030e-02 7.95420468e+01] [ 6.08491999e-01 7.93463765e-01 -1.23588806e-02 2.73733811e+01] [ 2.07869591e-02 -3.68622968e-04 9.99783860e-01 1.90235821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.398040942 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:79.56, Y:27.39, Z:1.90 [[ 7.93880101e-01 -6.07830923e-01 -1.72033124e-02 7.95642979e+01] [ 6.07697818e-01 7.94066398e-01 -1.27246947e-02 2.73899973e+01] [ 2.13950352e-02 -3.52533500e-04 9.99771038e-01 1.90262104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428040942 meters Centerline goodness [0,1] 0.9998511999659886 Centerline is valid? [True, True] Translation: X:79.59, Y:27.41, Z:1.90 [[ 7.94845215e-01 -6.06553832e-01 -1.77068682e-02 7.95868001e+01] [ 6.06412453e-01 7.95042353e-01 -1.30993674e-02 2.74084419e+01] [ 2.20231816e-02 -3.25695893e-04 9.99757407e-01 1.90215495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.458040942 meters Centerline goodness [0,1] 0.9998085880176099 Centerline is valid? [True, True] Translation: X:79.61, Y:27.43, Z:1.90 [[ 7.95201071e-01 -6.06086233e-01 -1.77407781e-02 7.96091980e+01] [ 6.05944050e-01 7.95398883e-01 -1.31310365e-02 2.74260579e+01] [ 2.20695356e-02 -3.08104630e-04 9.99756391e-01 1.90256349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488040942 meters Centerline goodness [0,1] 0.9998726141695505 Centerline is valid? [True, True] Translation: X:79.63, Y:27.44, Z:1.90 [[ 7.96091853e-01 -6.04904319e-01 -1.81253008e-02 7.96318903e+01] [ 6.04755438e-01 7.96298115e-01 -1.34227796e-02 2.74421389e+01] [ 2.25526402e-02 -2.75608784e-04 9.99745619e-01 1.90278067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.518040942 meters Centerline goodness [0,1] 0.9998507303550486 Centerline is valid? [True, True] Translation: X:79.65, Y:27.46, Z:1.90 [[ 7.96568897e-01 -6.04275154e-01 -1.81529752e-02 7.96540421e+01] [ 6.04125603e-01 7.96775672e-01 -1.34455805e-02 2.74604524e+01] [ 2.25886793e-02 -2.56345906e-04 9.99744810e-01 1.90319863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.548040942 meters Centerline goodness [0,1] 0.9998517451711284 Centerline is valid? [True, True] Translation: X:79.68, Y:27.48, Z:1.90 [[ 7.97056304e-01 -6.03621800e-01 -1.84924435e-02 7.96777751e+01] [ 6.03466258e-01 7.97270761e-01 -1.37043139e-02 2.74777088e+01] [ 2.30157071e-02 -2.36455915e-04 9.99735076e-01 1.90437958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.578040942 meters Centerline goodness [0,1] 0.9998514273585907 Centerline is valid? [True, True] Translation: X:79.70, Y:27.49, Z:1.91 [[ 7.97711662e-01 -6.02768053e-01 -1.80769988e-02 7.97006653e+01] [ 6.02619047e-01 7.97916433e-01 -1.34034050e-02 2.74938147e+01] [ 2.25030788e-02 -2.01491293e-04 9.99746753e-01 1.90541421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.608040942 meters Centerline goodness [0,1] 0.9998514273585907 Centerline is valid? [True, True] Translation: X:79.72, Y:27.51, Z:1.91 [[ 7.97543038e-01 -6.02991181e-01 -1.80758952e-02 7.97227513e+01] [ 6.02842198e-01 7.97747825e-01 -1.34048932e-02 2.75103011e+01] [ 2.25030385e-02 -2.05933166e-04 9.99746753e-01 1.90605346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.638040942 meters Centerline goodness [0,1] 0.9998937345915158 Centerline is valid? [True, True] Translation: X:79.75, Y:27.53, Z:1.91 [[ 7.98720896e-01 -6.01440677e-01 -1.77212092e-02 7.97456268e+01] [ 6.01296931e-01 7.98917448e-01 -1.31496046e-02 2.75263439e+01] [ 2.20664903e-02 -1.52844773e-04 9.99756494e-01 1.90763435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668040942 meters Centerline goodness [0,1] 0.9998934628824683 Centerline is valid? [True, True] Translation: X:79.77, Y:27.54, Z:1.91 [[ 7.99451466e-01 -6.00472329e-01 -1.76163540e-02 7.97673150e+01] [ 6.00329972e-01 7.99645526e-01 -1.30750831e-02 2.75442089e+01] [ 2.19380642e-02 -1.22730967e-04 9.99759324e-01 1.90780287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.698040942 meters Centerline goodness [0,1] 0.9999152129215507 Centerline is valid? [True, True] Translation: X:79.79, Y:27.56, Z:1.91 [[ 8.00569038e-01 -5.98981114e-01 -1.76306686e-02 7.97898574e+01] [ 5.98837989e-01 8.00763148e-01 -1.30936465e-02 2.75606645e+01] [ 2.19608366e-02 -7.55461375e-05 9.99758829e-01 1.90832511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728040942 meters Centerline goodness [0,1] 0.9997242198604128 Centerline is valid? [True, True] Translation: X:79.81, Y:27.58, Z:1.91 [[ 8.01016361e-01 -5.98389226e-01 -1.74104289e-02 7.98130196e+01] [ 5.98249473e-01 8.01205549e-01 -1.29320317e-02 2.75771231e+01] [ 2.16877207e-02 -5.70109408e-05 9.99764792e-01 1.90938323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.758040942 meters Centerline goodness [0,1] 0.9998512410744644 Centerline is valid? [True, True] Translation: X:79.84, Y:27.59, Z:1.91 [[ 8.01777879e-01 -5.97388892e-01 -1.66956210e-02 7.98360226e+01] [ 5.97260017e-01 8.01951689e-01 -1.24081186e-02 2.75920611e+01] [ 2.08015537e-02 -2.30718959e-05 9.99783624e-01 1.91155313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788040942 meters Centerline goodness [0,1] 0.9998935762632497 Centerline is valid? [True, True] Translation: X:79.86, Y:27.61, Z:1.91 [[ 8.01816066e-01 -5.97337235e-01 -1.67100227e-02 7.98586619e+01] [ 5.97208031e-01 8.01990167e-01 -1.24233503e-02 2.76080900e+01] [ 2.08222036e-02 -1.81178711e-05 9.99783194e-01 1.91211002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.818040942 meters Centerline goodness [0,1] 0.9997872249882974 Centerline is valid? [True, True] Translation: X:79.88, Y:27.62, Z:1.91 [[ 8.01927470e-01 -5.97192810e-01 -1.65251364e-02 7.98808719e+01] [ 5.97066259e-01 8.02097717e-01 -1.22936900e-02 2.76239027e+01] [ 2.05964775e-02 -7.95366168e-06 9.99787870e-01 1.91339026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848040942 meters Centerline goodness [0,1] 0.9997025453618323 Centerline is valid? [True, True] Translation: X:79.90, Y:27.64, Z:1.91 [[ 8.02081497e-01 -5.96982657e-01 -1.66426872e-02 7.99038369e+01] [ 5.96854196e-01 8.02254141e-01 -1.23839382e-02 2.76405092e+01] [ 2.07446610e-02 -3.30017059e-07 9.99784806e-01 1.91383639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.878040942 meters Centerline goodness [0,1] 0.9998723594358288 Centerline is valid? [True, True] Translation: X:79.93, Y:27.66, Z:1.91 [[ 8.01997113e-01 -5.97099460e-01 -1.65186616e-02 7.99265899e+01] [ 5.96972793e-01 8.02167211e-01 -1.22983750e-02 2.76563360e+01] [ 2.05940818e-02 2.06968719e-06 9.99787919e-01 1.91402501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.908040942 meters Centerline goodness [0,1] 0.9998297836124173 Centerline is valid? [True, True] Translation: X:79.95, Y:27.67, Z:1.91 [[ 8.02244264e-01 -5.96776709e-01 -1.61771684e-02 7.99498227e+01] [ 5.96655004e-01 8.02407352e-01 -1.20518614e-02 2.76705338e+01] [ 2.01729491e-02 1.63481975e-05 9.99796505e-01 1.91487547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.938040942 meters Centerline goodness [0,1] 0.9998932673013704 Centerline is valid? [True, True] Translation: X:79.97, Y:27.69, Z:1.92 [[ 8.02123099e-01 -5.96941357e-01 -1.61105708e-02 7.99730606e+01] [ 5.96820635e-01 8.02284872e-01 -1.20047402e-02 2.76864923e+01] [ 2.00913932e-02 1.41582946e-05 9.99798147e-01 1.91577194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:27.70, Z:1.92 [[ 8.01947415e-01 -5.97178092e-01 -1.60832499e-02 7.99957741e+01] [ 5.97057675e-01 8.02108675e-01 -1.19919106e-02 2.77007318e+01] [ 2.00618205e-02 1.42539193e-05 9.99798741e-01 1.91680993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.998040942 meters Centerline goodness [0,1] 0.9999573369739115 Centerline is valid? [True, True] Translation: X:80.02, Y:27.72, Z:1.92 [[ 8.01561130e-01 -5.97693485e-01 -1.61941897e-02 8.00187983e+01] [ 5.97571413e-01 8.01724702e-01 -1.20792444e-02 2.77164891e+01] [ 2.02029677e-02 5.06797822e-06 9.99795899e-01 1.91666062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.028040942 meters Centerline goodness [0,1] 0.999935809654228 Centerline is valid? [True, True] Translation: X:80.04, Y:27.73, Z:1.92 [[ 8.00401882e-01 -5.99243465e-01 -1.62510702e-02 8.00426921e+01] [ 5.99120708e-01 8.00566842e-01 -1.21288123e-02 2.77315942e+01] [ 2.02781795e-02 -2.84284665e-05 9.99794376e-01 1.91649641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.058040942 meters Centerline goodness [0,1] 0.9999358069071768 Centerline is valid? [True, True] Translation: X:80.07, Y:27.75, Z:1.92 [[ 7.99378207e-01 -6.00607153e-01 -1.62951061e-02 8.00655108e+01] [ 6.00483857e-01 7.99544273e-01 -1.21693467e-02 2.77465430e+01] [ 2.03376554e-02 -5.70376199e-05 9.99793167e-01 1.91739016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088040942 meters Centerline goodness [0,1] 0.9998927475921835 Centerline is valid? [True, True] Translation: X:80.09, Y:27.76, Z:1.92 [[ 7.98471047e-01 -6.01802435e-01 -1.66677992e-02 8.00882900e+01] [ 6.01673591e-01 7.98644991e-01 -1.24526166e-02 2.77623500e+01] [ 2.08056693e-02 -8.55208277e-05 9.99783535e-01 1.91709125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11804094200001 meters Centerline goodness [0,1] 0.999892431478852 Centerline is valid? [True, True] Translation: X:80.11, Y:27.78, Z:1.92 [[ 7.95914363e-01 -6.05167037e-01 -1.71225962e-02 8.01142954e+01] [ 6.05031671e-01 7.96098504e-01 -1.28003851e-02 2.77765297e+01] [ 2.13776443e-02 -1.71702650e-04 9.99771457e-01 1.91713057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148040942 meters Centerline goodness [0,1] 0.9999356154093787 Centerline is valid? [True, True] Translation: X:80.14, Y:27.79, Z:1.92 [[ 7.94680024e-01 -6.06776670e-01 -1.74852155e-02 8.01376524e+01] [ 6.06635738e-01 7.94872334e-01 -1.30787685e-02 2.77911449e+01] [ 2.18344056e-02 -2.13720594e-04 9.99761578e-01 1.91792194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.178040942 meters Centerline goodness [0,1] 0.9999568937646831 Centerline is valid? [True, True] Translation: X:80.16, Y:27.81, Z:1.92 [[ 7.93321378e-01 -6.08555116e-01 -1.73741444e-02 8.01617669e+01] [ 6.08416350e-01 7.93511564e-01 -1.29977840e-02 2.78073928e+01] [ 2.16964524e-02 -2.59293603e-04 9.99764571e-01 1.91830218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208040942 meters Centerline goodness [0,1] 0.9999784464177947 Centerline is valid? [True, True] Translation: X:80.19, Y:27.82, Z:1.92 [[ 7.90986775e-01 -6.11594639e-01 -1.70856635e-02 8.01868267e+01] [ 6.11461010e-01 7.91171213e-01 -1.27884780e-02 2.78226837e+01] [ 2.13390497e-02 -3.31700124e-04 9.99772242e-01 1.91914828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.238040942 meters Centerline goodness [0,1] 0.9999567211979572 Centerline is valid? [True, True] Translation: X:80.21, Y:27.84, Z:1.92 [[ 7.90132751e-01 -6.12696329e-01 -1.71302068e-02 8.02097605e+01] [ 6.12562112e-01 7.90318341e-01 -1.28288150e-02 2.78384089e+01] [ 2.13984845e-02 -3.56848813e-04 9.99770963e-01 1.91994709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.268040942 meters Centerline goodness [0,1] 0.9999783582574069 Centerline is valid? [True, True] Translation: X:80.23, Y:27.86, Z:1.92 [[ 7.89135211e-01 -6.13986251e-01 -1.69263944e-02 8.02336280e+01] [ 6.13855466e-01 7.89316625e-01 -1.26780395e-02 2.78551824e+01] [ 2.11444265e-02 -3.85672354e-04 9.99776357e-01 1.92045879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.298040942 meters Centerline goodness [0,1] 0.9999137540697298 Centerline is valid? [True, True] Translation: X:80.26, Y:27.87, Z:1.92 [[ 7.89082500e-01 -6.14054921e-01 -1.68926709e-02 8.02565069e+01] [ 6.13924525e-01 7.89263207e-01 -1.26597343e-02 2.78701273e+01] [ 2.11065358e-02 -3.81250223e-04 9.99777160e-01 1.92134991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.328040942 meters Centerline goodness [0,1] 0.9999783193131558 Centerline is valid? [True, True] Translation: X:80.28, Y:27.89, Z:1.92 [[ 7.88778976e-01 -6.14451536e-01 -1.66444372e-02 8.02787702e+01] [ 6.14324977e-01 7.88954474e-01 -1.24763994e-02 2.78877298e+01] [ 2.07978460e-02 -3.83971907e-04 9.99783628e-01 1.92236797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.30, Y:27.90, Z:1.92 [[ 7.89068893e-01 -6.14094174e-01 -1.60818946e-02 8.03013413e+01] [ 6.13975799e-01 7.89232677e-01 -1.20623094e-02 2.79037979e+01] [ 2.00997507e-02 -3.55900953e-04 9.99797916e-01 1.92350586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.388040942 meters Centerline goodness [0,1] 0.9999132452772898 Centerline is valid? [True, True] Translation: X:80.32, Y:27.92, Z:1.92 [[ 7.89436807e-01 -6.13625015e-01 -1.59332871e-02 8.03236721e+01] [ 6.13508670e-01 7.89597509e-01 -1.19534574e-02 2.79213897e+01] [ 1.99158243e-02 -3.38710521e-04 9.99801603e-01 1.92407031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.418040942 meters Centerline goodness [0,1] 0.9999351000540833 Centerline is valid? [True, True] Translation: X:80.35, Y:27.94, Z:1.92 [[ 7.90675557e-01 -6.12033914e-01 -1.57051695e-02 8.03457856e+01] [ 6.11920445e-01 7.90831464e-01 -1.17883367e-02 2.79399188e+01] [ 1.96350041e-02 -2.89564588e-04 9.99807173e-01 1.92456688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448040942 meters Centerline goodness [0,1] 0.999978390993366 Centerline is valid? [True, True] Translation: X:80.37, Y:27.96, Z:1.93 [[ 7.91346697e-01 -6.11176834e-01 -1.52735868e-02 8.03689156e+01] [ 6.11069246e-01 7.91494038e-01 -1.14701423e-02 2.79579551e+01] [ 1.90992382e-02 -2.56359989e-04 9.99817560e-01 1.92538620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.478040942 meters Centerline goodness [0,1] 0.9999783516983093 Centerline is valid? [True, True] Translation: X:80.39, Y:27.98, Z:1.93 [[ 7.91892337e-01 -6.10475222e-01 -1.50509122e-02 8.03917048e+01] [ 6.10370514e-01 7.92035321e-01 -1.13086765e-02 2.79754884e+01] [ 1.88245209e-02 -2.31378739e-04 9.99822776e-01 1.92625928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508040942 meters Centerline goodness [0,1] 0.9999784645202972 Centerline is valid? [True, True] Translation: X:80.41, Y:27.99, Z:1.93 [[ 7.93633897e-01 -6.08212123e-01 -1.49415959e-02 8.04139585e+01] [ 6.08108404e-01 7.93774517e-01 -1.12332091e-02 2.79920765e+01] [ 1.86924320e-02 -1.71054552e-04 9.99825267e-01 1.92745092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.538040942 meters Centerline goodness [0,1] 0.9999783975286772 Centerline is valid? [True, True] Translation: X:80.44, Y:28.01, Z:1.93 [[ 7.94390980e-01 -6.07219333e-01 -1.50881351e-02 8.04368910e+01] [ 6.07113368e-01 7.94534241e-01 -1.13445844e-02 2.80100998e+01] [ 1.88766909e-02 -1.48173004e-04 9.99821808e-01 1.92827032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568040942 meters Centerline goodness [0,1] 0.9999783348137877 Centerline is valid? [True, True] Translation: X:80.46, Y:28.03, Z:1.93 [[ 7.95302960e-01 -6.06024204e-01 -1.50952015e-02 8.04588427e+01] [ 6.05917798e-01 7.95446196e-01 -1.13565337e-02 2.80268903e+01] [ 1.88897549e-02 -1.14566364e-04 9.99821566e-01 1.92922916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:28.04, Z:1.93 [[ 7.97198753e-01 -6.03512200e-01 -1.57217251e-02 8.04802423e+01] [ 6.03396214e-01 7.97353762e-01 -1.18315905e-02 2.80441658e+01] [ 1.96762859e-02 -5.43002595e-05 9.99806402e-01 1.92875330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:28.06, Z:1.93 [[ 7.97649689e-01 -6.02903870e-01 -1.61832323e-02 8.05022495e+01] [ 6.02780819e-01 7.97813839e-01 -1.21804200e-02 2.80610178e+01] [ 2.02548291e-02 -3.92338349e-05 9.99794849e-01 1.92866803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:28.08, Z:1.93 [[ 7.98241490e-01 -6.02117959e-01 -1.62630513e-02 8.05257665e+01] [ 6.01993376e-01 7.98407142e-01 -1.22479132e-02 2.80771136e+01] [ 2.03592248e-02 -1.34566535e-05 9.99792729e-01 1.92923580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.55, Y:28.09, Z:1.93 [[ 7.98148392e-01 -6.02246861e-01 -1.60581121e-02 8.05483176e+01] [ 6.02125268e-01 7.98309914e-01 -1.21013539e-02 2.80926336e+01] [ 2.01073525e-02 -1.03189477e-05 9.99797827e-01 1.93007251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:28.11, Z:1.93 [[ 7.97763321e-01 -6.02743279e-01 -1.65596949e-02 8.05706551e+01] [ 6.02614008e-01 7.97935172e-01 -1.24827009e-02 2.81078503e+01] [ 2.07374271e-02 -2.08631908e-05 9.99784956e-01 1.93071027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:28.12, Z:1.93 [[ 7.96751575e-01 -6.04059637e-01 -1.72882361e-02 8.05955609e+01] [ 6.03918981e-01 7.96939114e-01 -1.30350653e-02 2.81222561e+01] [ 2.16516284e-02 -5.49851269e-05 9.99765575e-01 1.93073975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:28.14, Z:1.93 [[ 7.96122856e-01 -6.04879711e-01 -1.75765311e-02 8.06180951e+01] [ 6.04734342e-01 7.96316853e-01 -1.32606590e-02 2.81367847e+01] [ 2.20175915e-02 -7.20182424e-05 9.99757581e-01 1.93125987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:28.15, Z:1.93 [[ 7.95094720e-01 -6.06202326e-01 -1.85236545e-02 8.06422645e+01] [ 6.06041137e-01 7.95310460e-01 -1.39789921e-02 2.81505893e+01] [ 2.32061537e-02 -1.11473822e-04 9.99730695e-01 1.93153407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:28.17, Z:1.93 [[ 7.94677694e-01 -6.06738159e-01 -1.88724136e-02 8.06656185e+01] [ 6.06570798e-01 7.94901749e-01 -1.42504664e-02 2.81665849e+01] [ 2.36480164e-02 -1.22927161e-04 9.99720339e-01 1.93206692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86804094200001 meters Centerline goodness [0,1] 0.9999563709343164 Centerline is valid? [True, True] Translation: X:80.69, Y:28.18, Z:1.93 [[ 7.94147603e-01 -6.07419799e-01 -1.92554546e-02 8.06890639e+01] [ 6.07245566e-01 7.94380997e-01 -1.45483419e-02 2.81822225e+01] [ 2.41331181e-02 -1.39258587e-04 9.99708744e-01 1.93270505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:28.20, Z:1.93 [[ 7.93783145e-01 -6.07885063e-01 -1.95976630e-02 8.07124978e+01] [ 6.07704508e-01 7.94025017e-01 -1.48156467e-02 2.81979284e+01] [ 2.45672450e-02 -1.49177494e-04 9.99698169e-01 1.93323454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:28.21, Z:1.93 [[ 7.92611693e-01 -6.09368935e-01 -2.08854949e-02 8.07377171e+01] [ 6.09164128e-01 7.92886789e-01 -1.57988900e-02 2.82120801e+01] [ 2.61871857e-02 -2.00309334e-04 9.99657037e-01 1.93312447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.958040942 meters Centerline goodness [0,1] 0.9999121381188771 Centerline is valid? [True, True] Translation: X:80.76, Y:28.23, Z:1.93 [[ 7.91609522e-01 -6.10662761e-01 -2.11034716e-02 8.07618889e+01] [ 6.10453897e-01 7.91890734e-01 -1.59719977e-02 2.82278287e+01] [ 2.64651478e-02 -2.39110988e-04 9.99649708e-01 1.93132753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988040942 meters Centerline goodness [0,1] 0.9999781090606598 Centerline is valid? [True, True] Translation: X:80.79, Y:28.24, Z:1.93 [[ 7.90104245e-01 -6.12603096e-01 -2.12774333e-02 8.07879836e+01] [ 6.12391255e-01 7.90390636e-01 -1.61119367e-02 2.82412296e+01] [ 2.66877063e-02 -3.00004482e-04 9.99643775e-01 1.93443418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.81, Y:28.26, Z:1.93 [[ 7.88957853e-01 -6.14072354e-01 -2.14627500e-02 8.08129812e+01] [ 6.13857123e-01 7.89249659e-01 -1.62606429e-02 2.82562149e+01] [ 2.69246794e-02 -3.46100114e-04 9.99637405e-01 1.93490383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.048040942 meters Centerline goodness [0,1] 0.9999558216076517 Centerline is valid? [True, True] Translation: X:80.84, Y:28.27, Z:1.94 [[ 7.88146726e-01 -6.15088928e-01 -2.21438172e-02 8.08376352e+01] [ 6.14859998e-01 7.88457647e-01 -1.67845620e-02 2.82702609e+01] [ 2.77834602e-02 -3.86649830e-04 9.99613890e-01 1.93564544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.86, Y:28.28, Z:1.94 [[ 7.87491426e-01 -6.15900341e-01 -2.28915895e-02 8.08623999e+01] [ 6.15655935e-01 7.87823958e-01 -1.73545920e-02 2.82830071e+01] [ 2.87232417e-02 -4.26750526e-04 9.99587311e-01 1.93581372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.108040942 meters Centerline goodness [0,1] 0.9999559529577589 Centerline is valid? [True, True] Translation: X:80.89, Y:28.30, Z:1.94 [[ 7.87892648e-01 -6.15405676e-01 -2.23836987e-02 8.08850799e+01] [ 6.15171686e-01 7.88210440e-01 -1.69734906e-02 2.83012666e+01] [ 2.80886474e-02 -3.96529218e-04 9.99605357e-01 1.93619412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.138040942 meters Centerline goodness [0,1] 0.9999779580320931 Centerline is valid? [True, True] Translation: X:80.91, Y:28.32, Z:1.94 [[ 7.88178701e-01 -6.15035344e-01 -2.24913380e-02 8.09066599e+01] [ 6.14798701e-01 7.88499450e-01 -1.70638705e-02 2.83197021e+01] [ 2.82292911e-02 -3.78266048e-04 9.99601403e-01 1.93656394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:28.34, Z:1.94 [[ 7.88925699e-01 -6.14077149e-01 -2.24832397e-02 8.09285095e+01] [ 6.13840018e-01 7.89245933e-01 -1.70672144e-02 2.83394097e+01] [ 2.82253918e-02 -3.36348195e-04 9.99601528e-01 1.93643169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.198040942 meters Centerline goodness [0,1] 0.9999559587774156 Centerline is valid? [True, True] Translation: X:80.95, Y:28.36, Z:1.94 [[ 7.88775514e-01 -6.14258783e-01 -2.27889214e-02 8.09503993e+01] [ 6.14015008e-01 7.89104575e-01 -1.73072082e-02 2.83560412e+01] [ 2.86139468e-02 -3.41237680e-04 9.99590479e-01 1.93660086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:28.37, Z:1.94 [[ 7.87720869e-01 -6.15599102e-01 -2.30992862e-02 8.09744094e+01] [ 6.15349063e-01 7.88059384e-01 -1.75481930e-02 2.83726458e+01] [ 2.90062611e-02 -3.91046238e-04 9.99579153e-01 1.93748888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:28.39, Z:1.94 [[ 7.87037347e-01 -6.16463062e-01 -2.33561300e-02 8.09986269e+01] [ 6.16207549e-01 7.87383716e-01 -1.77521628e-02 2.83892038e+01] [ 2.93337891e-02 -4.20608529e-04 9.99569583e-01 1.93854492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.02, Y:28.40, Z:1.94 [[ 7.86542487e-01 -6.17094546e-01 -2.33503339e-02 8.10213157e+01] [ 6.16839217e-01 7.86888893e-01 -1.77552923e-02 2.84047662e+01] [ 2.93308124e-02 -4.38109936e-04 9.99569663e-01 1.93917477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.318040942 meters Centerline goodness [0,1] 0.9999558830017206 Centerline is valid? [True, True] Translation: X:81.04, Y:28.42, Z:1.94 [[ 7.86025595e-01 -6.17746027e-01 -2.35289250e-02 8.10423485e+01] [ 6.17486969e-01 7.86377537e-01 -1.78944695e-02 2.84225563e+01] [ 2.95568555e-02 -4.63293542e-04 9.99562993e-01 1.93865109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.06, Y:28.44, Z:1.94 [[ 7.85852908e-01 -6.17962579e-01 -2.36105625e-02 8.10619725e+01] [ 6.17701651e-01 7.86207372e-01 -1.79621559e-02 2.84429775e+01] [ 2.96627385e-02 -4.68670973e-04 9.99559854e-01 1.93881191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:28.46, Z:1.94 [[ 7.85818234e-01 -6.17998363e-01 -2.38270258e-02 8.10819435e+01] [ 6.17732372e-01 7.86179245e-01 -1.81359184e-02 2.84614550e+01] [ 2.99402810e-02 -4.67189864e-04 9.99551580e-01 1.93727454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:28.48, Z:1.94 [[ 7.85600739e-01 -6.18278659e-01 -2.37271586e-02 8.11032081e+01] [ 6.18014850e-01 7.85958827e-01 -1.80656447e-02 2.84792753e+01] [ 2.98181723e-02 -4.71352486e-04 9.99555228e-01 1.93816281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:28.50, Z:1.94 [[ 7.85521347e-01 -6.18374776e-01 -2.38505566e-02 8.11251592e+01] [ 6.18107948e-01 7.85883208e-01 -1.81700031e-02 2.84963352e+01] [ 2.99796235e-02 -4.69293244e-04 9.99550400e-01 1.93900422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:28.51, Z:1.94 [[ 7.85750618e-01 -6.18099318e-01 -2.34349940e-02 8.11479738e+01] [ 6.17841300e-01 7.86099890e-01 -1.78631400e-02 2.85141561e+01] [ 2.94634409e-02 -4.43133879e-04 9.99565760e-01 1.94066794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.17, Y:28.53, Z:1.94 [[ 7.86028842e-01 -6.17744864e-01 -2.34508650e-02 8.11701694e+01] [ 6.17486071e-01 7.86378474e-01 -1.78843142e-02 2.85319898e+01] [ 2.94891987e-02 -4.22995749e-04 9.99565010e-01 1.94158070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.19, Y:28.55, Z:1.94 [[ 7.86422915e-01 -6.17260464e-01 -2.29895239e-02 8.11915504e+01] [ 6.17011307e-01 7.86758773e-01 -1.75408220e-02 2.85497234e+01] [ 2.89144656e-02 -3.90291804e-04 9.99581813e-01 1.94235665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.21, Y:28.57, Z:1.94 [[ 7.86257230e-01 -6.17471576e-01 -2.29874142e-02 8.12134100e+01] [ 6.17222428e-01 7.86593095e-01 -1.75435864e-02 2.85665311e+01] [ 2.89144072e-02 -3.94575945e-04 9.99581813e-01 1.94299613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.23, Y:28.58, Z:1.94 [[ 7.86871422e-01 -6.16675312e-01 -2.33436296e-02 8.12345679e+01] [ 6.16417777e-01 7.87217522e-01 -1.78240488e-02 2.85849891e+01] [ 2.93681651e-02 -3.64193662e-04 9.99568596e-01 1.94292565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:28.60, Z:1.94 [[ 7.87078588e-01 -6.16403117e-01 -2.35477117e-02 8.12556624e+01] [ 6.16140836e-01 7.87430678e-01 -1.79832568e-02 2.86011166e+01] [ 2.96271261e-02 -3.54470393e-04 9.99560957e-01 1.94365857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.28, Y:28.62, Z:1.94 [[ 7.87442078e-01 -6.15945713e-01 -2.33634630e-02 8.12782845e+01] [ 6.15687203e-01 7.87788530e-01 -1.78465421e-02 2.86169822e+01] [ 2.93979693e-02 -3.31466938e-04 9.99567731e-01 1.94438487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.30, Y:28.63, Z:1.95 [[ 7.87371844e-01 -6.16031963e-01 -2.34563215e-02 8.13007895e+01] [ 6.15771299e-01 7.87721086e-01 -1.79219829e-02 2.86333118e+01] [ 2.95175533e-02 -3.32464855e-04 9.99564207e-01 1.94533728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:28.65, Z:1.95 [[ 7.87335569e-01 -6.16080125e-01 -2.34089918e-02 8.13229772e+01] [ 6.15820277e-01 7.87683421e-01 -1.78945263e-02 2.86491949e+01] [ 2.94633367e-02 -3.26734776e-04 9.99565808e-01 1.94590811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:28.66, Z:1.95 [[ 7.87269955e-01 -6.16155092e-01 -2.36415048e-02 8.13455830e+01] [ 6.15889929e-01 7.87624780e-01 -1.80776374e-02 2.86646440e+01] [ 2.97592634e-02 -3.28583984e-04 9.99557041e-01 1.94640520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:28.68, Z:1.95 [[ 7.86828793e-01 -6.16722362e-01 -2.35367546e-02 8.13670559e+01] [ 6.16459611e-01 7.87180672e-01 -1.80038486e-02 2.86819725e+01] [ 2.96310543e-02 -3.43512163e-04 9.99560845e-01 1.94750123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:28.70, Z:1.95 [[ 7.86512725e-01 -6.17131986e-01 -2.33633379e-02 8.13898481e+01] [ 6.16872986e-01 7.86859574e-01 -1.78809832e-02 2.86989741e+01] [ 2.94185928e-02 -3.48591182e-04 9.99567119e-01 1.94804253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:28.72, Z:1.95 [[ 7.86260653e-01 -6.17497370e-01 -2.21626643e-02 8.14105312e+01] [ 6.17264232e-01 7.86572873e-01 -1.69700674e-02 2.87161607e+01] [ 2.79115226e-02 -3.37323662e-04 9.99610341e-01 1.94960764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:28.73, Z:1.95 [[ 7.85781081e-01 -6.18117790e-01 -2.18743988e-02 8.14325754e+01] [ 6.17890789e-01 7.86085412e-01 -1.67540736e-02 2.87332575e+01] [ 2.75511367e-02 -3.50955489e-04 9.99620334e-01 1.95048985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.888040942 meters Centerline goodness [0,1] 0.999911834071723 Centerline is valid? [True, True] Translation: X:81.45, Y:28.75, Z:1.95 [[ 7.85829386e-01 -6.18074996e-01 -2.13418683e-02 8.14519228e+01] [ 6.17858663e-01 7.86119067e-01 -1.63549418e-02 2.87537450e+01] [ 2.68858302e-02 -3.34064358e-04 9.99638455e-01 1.95188406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:28.77, Z:1.95 [[ 7.85421766e-01 -6.18583283e-01 -2.16187802e-02 8.14747660e+01] [ 6.18361251e-01 7.85719161e-01 -1.65759759e-02 2.87698770e+01] [ 2.72399115e-02 -3.49083697e-04 9.99628864e-01 1.95112423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:28.79, Z:1.95 [[ 7.84985767e-01 -6.19121770e-01 -2.20358511e-02 8.14948771e+01] [ 6.18891182e-01 7.85294910e-01 -1.68999641e-02 2.87890272e+01] [ 2.77677774e-02 -3.71562644e-04 9.99614332e-01 1.95161790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:28.81, Z:1.95 [[ 7.83455208e-01 -6.21072990e-01 -2.15934720e-02 8.15164772e+01] [ 6.20852072e-01 7.83752614e-01 -1.65694028e-02 2.88059352e+01] [ 2.72147486e-02 -4.24966924e-04 9.99629520e-01 1.95098903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:28.82, Z:1.95 [[ 7.82305763e-01 -6.22529096e-01 -2.13358204e-02 8.15393700e+01] [ 6.22313812e-01 7.82596516e-01 -1.63771643e-02 2.88233985e+01] [ 2.68926000e-02 -4.65625753e-04 9.99638220e-01 1.95146309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.56, Y:28.84, Z:1.95 [[ 7.79700027e-01 -6.25793866e-01 -2.12109587e-02 8.15624024e+01] [ 6.25582099e-01 7.79988278e-01 -1.62887569e-02 2.88385779e+01] [ 2.67377033e-02 -5.68851887e-04 9.99642322e-01 1.95140398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:28.86, Z:1.95 [[ 7.78062514e-01 -6.27830868e-01 -2.11453568e-02 8.15846170e+01] [ 6.27621051e-01 7.78349536e-01 -1.62424220e-02 2.88566497e+01] [ 2.66559725e-02 -6.33651354e-04 9.99644466e-01 1.95207895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:28.87, Z:1.95 [[ 7.76578288e-01 -6.29673783e-01 -2.09067034e-02 8.16082080e+01] [ 6.29469144e-01 7.76859357e-01 -1.60666220e-02 2.88715703e+01] [ 2.63582988e-02 -6.83134894e-04 9.99652326e-01 1.95279947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.63, Y:28.89, Z:1.95 [[ 7.74250606e-01 -6.32548977e-01 -2.04399309e-02 8.16316548e+01] [ 6.32354300e-01 7.74519988e-01 -1.57107073e-02 2.88863958e+01] [ 2.57689269e-02 -7.61253496e-04 9.99667636e-01 1.95356219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:28.91, Z:1.95 [[ 7.73354233e-01 -6.33654221e-01 -2.01384576e-02 8.16533648e+01] [ 6.33465537e-01 7.73615999e-01 -1.54822287e-02 2.89060254e+01] [ 2.53898126e-02 -7.83771705e-04 9.99677319e-01 1.95453344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:28.92, Z:1.96 [[ 7.72877674e-01 -6.34248507e-01 -1.97213566e-02 8.16756149e+01] [ 6.34067572e-01 7.73128851e-01 -1.51688426e-02 2.89219176e+01] [ 2.48679655e-02 -7.81012941e-04 9.99690439e-01 1.95546283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:28.94, Z:1.96 [[ 7.72166580e-01 -6.35138310e-01 -1.89235385e-02 8.16985291e+01] [ 6.34971911e-01 7.72398037e-01 -1.45583354e-02 2.89392370e+01] [ 2.38630605e-02 -7.74455341e-04 9.99714937e-01 1.95709232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:28.96, Z:1.96 [[ 7.72245471e-01 -6.35055028e-01 -1.84943996e-02 8.17205504e+01] [ 6.34895906e-01 7.72466536e-01 -1.42351408e-02 2.89555291e+01] [ 2.33264026e-02 -7.48995512e-04 9.99727622e-01 1.95782736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.74, Y:28.97, Z:1.96 [[ 7.72850295e-01 -6.34320386e-01 -1.84409623e-02 8.17430211e+01] [ 6.34161882e-01 7.73069936e-01 -1.41979272e-02 2.89731602e+01] [ 2.32621883e-02 -7.21683110e-04 9.99729138e-01 1.95879713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:28.99, Z:1.96 [[ 7.72987585e-01 -6.34159408e-01 -1.82219227e-02 8.17653337e+01] [ 6.34004445e-01 7.73202012e-01 -1.40361253e-02 2.89915855e+01] [ 2.29903682e-02 -7.03029372e-04 9.99735439e-01 1.95965492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.79, Y:29.01, Z:1.96 [[ 7.73154784e-01 -6.33966489e-01 -1.78373415e-02 8.17876329e+01] [ 6.33817797e-01 7.73360221e-01 -1.37465874e-02 2.90100549e+01] [ 2.25095661e-02 -6.77384698e-04 9.99746398e-01 1.96081665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:29.03, Z:1.96 [[ 7.73227703e-01 -6.33882364e-01 -1.76654725e-02 8.18095900e+01] [ 6.33736347e-01 7.73429188e-01 -1.36210429e-02 2.90259783e+01] [ 2.22971310e-02 -6.63084308e-04 9.99751168e-01 1.96160972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.83, Y:29.04, Z:1.96 [[ 7.73115981e-01 -6.34038752e-01 -1.69275137e-02 8.18315962e+01] [ 6.33904662e-01 7.73301011e-01 -1.30546889e-02 2.90440054e+01] [ 2.13672421e-02 -6.37641270e-04 9.99771491e-01 1.96327013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.85, Y:29.06, Z:1.96 [[ 7.72847745e-01 -6.34382475e-01 -1.62861611e-02 8.18541067e+01] [ 6.34258290e-01 7.73019078e-01 -1.25669145e-02 2.90616938e+01] [ 2.05617435e-02 -6.17321135e-04 9.99788394e-01 1.96435013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.88, Y:29.08, Z:1.97 [[ 7.72304484e-01 -6.35060909e-01 -1.56020928e-02 8.18754279e+01] [ 6.34946967e-01 7.72461828e-01 -1.20446153e-02 2.90812413e+01] [ 1.97010854e-02 -6.04391090e-04 9.99805732e-01 1.96549470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:29.10, Z:1.97 [[ 7.71950145e-01 -6.35488679e-01 -1.57198120e-02 8.18981868e+01] [ 6.35372976e-01 7.72109941e-01 -1.21416897e-02 2.90986524e+01] [ 1.98533294e-02 -6.15164640e-04 9.99802714e-01 1.96642929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:29.12, Z:1.97 [[ 7.71737571e-01 -6.35744822e-01 -1.58001112e-02 8.19206463e+01] [ 6.35627850e-01 7.71899046e-01 -1.22105942e-02 2.91150655e+01] [ 1.99589128e-02 -6.19616419e-04 9.99800609e-01 1.96736381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:29.13, Z:1.97 [[ 7.71535182e-01 -6.35989502e-01 -1.58371643e-02 8.19419915e+01] [ 6.35872003e-01 7.71697454e-01 -1.22407136e-02 2.91326248e+01] [ 2.00064647e-02 -6.26268213e-04 9.99799655e-01 1.96754384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.96, Y:29.15, Z:1.97 [[ 7.71530398e-01 -6.35991431e-01 -1.59920544e-02 8.19629229e+01] [ 6.35871479e-01 7.71695864e-01 -1.23674913e-02 2.91519828e+01] [ 2.02066207e-02 -6.26995827e-04 9.99795629e-01 1.96746121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:29.17, Z:1.97 [[ 7.71727079e-01 -6.35734563e-01 -1.66997388e-02 8.19854559e+01] [ 6.35603531e-01 7.71907478e-01 -1.29227259e-02 2.91707885e+01] [ 2.11060767e-02 -6.41595433e-04 9.99777036e-01 1.96756608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:29.19, Z:1.97 [[ 7.72184783e-01 -6.35160892e-01 -1.73580337e-02 8.20078043e+01] [ 6.35019025e-01 7.72379586e-01 -1.34392081e-02 2.91896867e+01] [ 2.19430503e-02 -6.45129606e-04 9.99759014e-01 1.96727072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:29.21, Z:1.97 [[ 7.72365165e-01 -6.34953030e-01 -1.69322290e-02 8.20301667e+01] [ 6.34817852e-01 7.72550494e-01 -1.31159326e-02 2.92080441e+01] [ 2.14090030e-02 -6.18591813e-04 9.99770610e-01 1.96789930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:29.23, Z:1.97 [[ 7.72561847e-01 -6.34722080e-01 -1.66155003e-02 8.20522932e+01] [ 6.34591725e-01 7.72740271e-01 -1.28769688e-02 2.92260240e+01] [ 2.10127626e-02 -5.95804173e-04 9.99779030e-01 1.96890264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.07, Y:29.24, Z:1.97 [[ 7.72479661e-01 -6.34828979e-01 -1.63505684e-02 8.20746570e+01] [ 6.34702645e-01 7.72652461e-01 -1.26778137e-02 2.92435662e+01] [ 2.06815504e-02 -5.84395796e-04 9.99785943e-01 1.96967871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.10, Y:29.26, Z:1.97 [[ 7.72329168e-01 -6.35019685e-01 -1.60516347e-02 8.20965251e+01] [ 6.34897827e-01 7.72495741e-01 -1.24530511e-02 2.92608313e+01] [ 2.03077520e-02 -5.73293391e-04 9.99793612e-01 1.97017837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:29.28, Z:1.97 [[ 7.72870202e-01 -6.34372077e-01 -1.56114995e-02 8.21175952e+01] [ 6.34256529e-01 7.73027672e-01 -1.21191420e-02 2.92797406e+01] [ 1.97561664e-02 -5.35171762e-04 9.99804685e-01 1.96967369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.14, Y:29.30, Z:1.97 [[ 7.73331338e-01 -6.33812744e-01 -1.54934576e-02 8.21394351e+01] [ 6.33698797e-01 7.73486354e-01 -1.20289211e-02 2.92980230e+01] [ 1.96080615e-02 -5.15843767e-04 9.99807610e-01 1.96987426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.16, Y:29.32, Z:1.97 [[ 7.74074099e-01 -6.32906263e-01 -1.54580473e-02 8.21616519e+01] [ 6.32792540e-01 7.74228277e-01 -1.20073503e-02 2.93163777e+01] [ 1.95675845e-02 -4.87158157e-04 9.99808418e-01 1.97025834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:29.34, Z:1.97 [[ 7.75949399e-01 -6.30610794e-01 -1.52498383e-02 8.21824009e+01] [ 6.30499560e-01 7.76099125e-01 -1.18513207e-02 2.93369127e+01] [ 1.93089569e-02 -4.18991203e-04 9.99813477e-01 1.97016378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:29.36, Z:1.97 [[ 7.76812980e-01 -6.29552155e-01 -1.50226227e-02 8.22040978e+01] [ 6.29443901e-01 7.76958132e-01 -1.16806302e-02 2.93568572e+01] [ 1.90255148e-02 -3.82233117e-04 9.99818925e-01 1.97063391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:29.38, Z:1.97 [[ 7.78580198e-01 -6.27378156e-01 -1.44749667e-02 8.22250202e+01] [ 6.27277182e-01 7.78714679e-01 -1.12599218e-02 2.93760503e+01] [ 1.83360980e-02 -3.13064202e-04 9.99831831e-01 1.97084372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:29.39, Z:1.97 [[ 7.79368079e-01 -6.26398034e-01 -1.45224093e-02 8.22465555e+01] [ 6.26296100e-01 7.79503318e-01 -1.13037045e-02 2.93933092e+01] [ 1.84008845e-02 -2.85581838e-04 9.99830649e-01 1.97185525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:29.41, Z:1.97 [[ 7.79733785e-01 -6.25944060e-01 -1.44657522e-02 8.22683483e+01] [ 6.25842823e-01 7.79867911e-01 -1.12606530e-02 2.94122386e+01] [ 1.83299148e-02 -2.72975557e-04 9.99831956e-01 1.97157091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:29.43, Z:1.97 [[ 7.80915347e-01 -6.24460980e-01 -1.48224430e-02 8.22904028e+01] [ 6.24354306e-01 7.81055969e-01 -1.15444004e-02 2.94302297e+01] [ 1.87861851e-02 -2.39256698e-04 9.99823495e-01 1.97209460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.31, Y:29.45, Z:1.97 [[ 7.81310321e-01 -6.23964849e-01 -1.49013209e-02 8.23127791e+01] [ 6.23856834e-01 7.81452377e-01 -1.16117909e-02 2.94479976e+01] [ 1.88900220e-02 -2.23878777e-04 9.99821543e-01 1.97254939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088040942 meters Centerline goodness [0,1] 0.9999123249238323 Centerline is valid? [True, True] Translation: X:82.33, Y:29.47, Z:1.97 [[ 7.81510176e-01 -6.23713146e-01 -1.49584691e-02 8.23338228e+01] [ 6.23604146e-01 7.81653290e-01 -1.16620305e-02 2.94661712e+01] [ 1.89660983e-02 -2.14167823e-04 9.99820104e-01 1.97221516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:29.48, Z:1.97 [[ 7.81985851e-01 -6.23131664e-01 -1.43198363e-02 8.23549720e+01] [ 6.23031544e-01 7.82116932e-01 -1.11714340e-02 2.94830411e+01] [ 1.81610607e-02 -1.85806353e-04 9.99835057e-01 1.97368715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:29.50, Z:1.97 [[ 7.81584208e-01 -6.23637829e-01 -1.42121091e-02 8.23761942e+01] [ 6.23539261e-01 7.81713388e-01 -1.10891609e-02 2.95009658e+01] [ 1.80254162e-02 -1.94694966e-04 9.99837510e-01 1.97346837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:29.52, Z:1.97 [[ 7.79679288e-01 -6.26000556e-01 -1.49503423e-02 8.23993286e+01] [ 6.25891773e-01 7.79822569e-01 -1.16726247e-02 2.95177175e+01] [ 1.89656838e-02 -2.56392567e-04 9.99820102e-01 1.97250324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:29.53, Z:1.97 [[ 7.78547184e-01 -6.27405994e-01 -1.50333038e-02 8.24222617e+01] [ 6.27296132e-01 7.78692260e-01 -1.17442214e-02 2.95334319e+01] [ 1.90747122e-02 -2.86902888e-04 9.99818020e-01 1.97307976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:29.55, Z:1.97 [[ 7.77109850e-01 -6.29181419e-01 -1.51994286e-02 8.24460528e+01] [ 6.29069428e-01 7.77258407e-01 -1.18753674e-02 2.95503645e+01] [ 1.92856442e-02 -3.33030880e-04 9.99813959e-01 1.97349249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.47, Y:29.56, Z:1.97 [[ 7.74590204e-01 -6.32267849e-01 -1.57284028e-02 8.24703279e+01] [ 6.32148423e-01 7.74749761e-01 -1.22955186e-02 2.95638367e+01] [ 1.99596374e-02 -4.18696773e-04 9.99800699e-01 1.97438960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.49, Y:29.58, Z:1.98 [[ 7.73581647e-01 -6.33493422e-01 -1.60474143e-02 8.24938465e+01] [ 6.33369289e-01 7.73747941e-01 -1.25486205e-02 2.95812024e+01] [ 2.03661223e-02 -4.56556895e-04 9.99792485e-01 1.97510155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.52, Y:29.60, Z:1.98 [[ 7.72004364e-01 -6.35419467e-01 -1.58544269e-02 8.25168190e+01] [ 6.35298571e-01 7.72166986e-01 -1.24044796e-02 2.95971731e+01] [ 2.01243129e-02 -4.95982363e-04 9.99797362e-01 1.97536300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:29.62, Z:1.98 [[ 7.71441645e-01 -6.36110484e-01 -1.55319208e-02 8.25391071e+01] [ 6.35994568e-01 7.71597822e-01 -1.21535750e-02 2.96159385e+01] [ 1.97154127e-02 -5.02443362e-04 9.99805506e-01 1.97543984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:29.63, Z:1.98 [[ 7.71522031e-01 -6.36016180e-01 -1.54004823e-02 8.25603536e+01] [ 6.35902072e-01 7.71675565e-01 -1.20572323e-02 2.96321126e+01] [ 1.95527707e-02 -4.90778222e-04 9.99808706e-01 1.97608594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.58, Y:29.65, Z:1.98 [[ 7.71639246e-01 -6.35872087e-01 -1.54778492e-02 8.25827697e+01] [ 6.35756752e-01 7.71794306e-01 -1.21202504e-02 2.96507854e+01] [ 1.96526448e-02 -4.87686330e-04 9.99806749e-01 1.97670759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:29.67, Z:1.98 [[ 7.71465569e-01 -6.36082856e-01 -1.54750283e-02 8.26044196e+01] [ 6.35967491e-01 7.71620608e-01 -1.21238509e-02 2.96678674e+01] [ 1.96526244e-02 -4.88481432e-04 9.99806749e-01 1.97734595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.63, Y:29.69, Z:1.98 [[ 7.72284076e-01 -6.35093594e-01 -1.52785030e-02 8.26260513e+01] [ 6.34980816e-01 7.72435061e-01 -1.19766736e-02 2.96869478e+01] [ 1.94079601e-02 -4.52162030e-04 9.99811546e-01 1.97852492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.65, Y:29.71, Z:1.98 [[ 7.72753653e-01 -6.34533022e-01 -1.48201213e-02 8.26477461e+01] [ 6.34426703e-01 7.72895638e-01 -1.16228854e-02 2.97065347e+01] [ 1.88295117e-02 -4.20653520e-04 9.99822621e-01 1.97869147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.67, Y:29.73, Z:1.98 [[ 7.73351877e-01 -6.33809665e-01 -1.45665178e-02 8.26696598e+01] [ 6.33706720e-01 7.73488950e-01 -1.14296651e-02 2.97253944e+01] [ 1.85112728e-02 -3.91747220e-04 9.99828575e-01 1.97947932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.69, Y:29.74, Z:1.98 [[ 7.73380469e-01 -6.33780734e-01 -1.43049646e-02 8.26912673e+01] [ 6.33681352e-01 7.73512661e-01 -1.12297523e-02 2.97426332e+01] [ 1.81822719e-02 -3.79918183e-04 9.99834617e-01 1.98028865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.71, Y:29.76, Z:1.98 [[ 7.73997558e-01 -6.33040146e-01 -1.37096434e-02 8.27131834e+01] [ 6.32948642e-01 7.74118891e-01 -1.07684830e-02 2.97614852e+01] [ 1.74297760e-02 -3.42720631e-04 9.99848031e-01 1.98118269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:29.78, Z:1.98 [[ 7.74353177e-01 -6.32607985e-01 -1.35755133e-02 8.27346647e+01] [ 6.32518107e-01 7.74472099e-01 -1.06683223e-02 2.97806956e+01] [ 1.72627222e-02 -3.25708700e-04 9.99850935e-01 1.98161409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:29.80, Z:1.98 [[ 7.74994166e-01 -6.31828642e-01 -1.32894852e-02 8.27564599e+01] [ 6.31742310e-01 7.75108043e-01 -1.04486587e-02 2.97997539e+01] [ 1.69025487e-02 -2.97880574e-04 9.99857097e-01 1.98257216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.78, Y:29.82, Z:1.98 [[ 7.76876439e-01 -6.29528092e-01 -1.25451259e-02 8.27761019e+01] [ 6.29450764e-01 7.76977689e-01 -9.86946805e-03 2.98195069e+01] [ 1.59603904e-02 -2.29181917e-04 9.99872599e-01 1.98331340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:29.84, Z:1.98 [[ 7.77613432e-01 -6.28616087e-01 -1.26161249e-02 8.27976338e+01] [ 6.28537755e-01 7.77715739e-01 -9.92568727e-03 2.98393663e+01] [ 1.60512056e-02 -2.11363096e-04 9.99871149e-01 1.98393044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:29.86, Z:1.98 [[ 7.78274606e-01 -6.27809505e-01 -1.19942971e-02 8.28182060e+01] [ 6.27738549e-01 7.78367004e-01 -9.44040391e-03 2.98589078e+01] [ 1.52627404e-02 -1.82056009e-04 9.99883501e-01 1.98443289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.84, Y:29.88, Z:1.99 [[ 7.79857506e-01 -6.25850104e-01 -1.15723081e-02 8.28382146e+01] [ 6.25783731e-01 7.79943351e-01 -9.11546197e-03 2.98789353e+01] [ 1.47306575e-02 -1.33000688e-04 9.99891489e-01 1.98562420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.86, Y:29.90, Z:1.99 [[ 7.80374110e-01 -6.25201086e-01 -1.18258151e-02 8.28598757e+01] [ 6.25131698e-01 7.80463700e-01 -9.31522090e-03 2.98985818e+01] [ 1.50535057e-02 -1.23334666e-04 9.99886682e-01 1.98611137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.88, Y:29.92, Z:1.99 [[ 7.81060966e-01 -6.24343274e-01 -1.18001713e-02 8.28798429e+01] [ 6.24273996e-01 7.81150092e-01 -9.30117398e-03 2.99178869e+01] [ 1.50248303e-02 -1.01756144e-04 9.99887116e-01 1.98699198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:29.94, Z:1.99 [[ 7.81081944e-01 -6.24323167e-01 -1.14708351e-02 8.29012190e+01] [ 6.24257698e-01 7.81166163e-01 -9.04176193e-03 2.99368693e+01] [ 1.46056097e-02 -9.84001064e-05 9.99893328e-01 1.98710739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:29.95, Z:1.99 [[ 7.81107630e-01 -6.24294183e-01 -1.12979161e-02 8.29214097e+01] [ 6.24230568e-01 7.81189327e-01 -8.91255962e-03 2.99544219e+01] [ 1.43898706e-02 -9.08362409e-05 9.99896456e-01 1.98787401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:29.97, Z:1.99 [[ 7.80829833e-01 -6.24646332e-01 -1.10331779e-02 8.29424236e+01] [ 6.24585662e-01 7.80907774e-01 -8.70632769e-03 2.99735153e+01] [ 1.40542701e-02 -9.30043265e-05 9.99901230e-01 1.98878109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:29.99, Z:1.99 [[ 7.80198024e-01 -6.25429855e-01 -1.13375576e-02 8.29641642e+01] [ 6.25365880e-01 7.80280388e-01 -8.94604522e-03 2.99918458e+01] [ 1.44415976e-02 -1.10434898e-04 9.99895709e-01 1.98883398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:30.01, Z:1.99 [[ 7.78692024e-01 -6.27297141e-01 -1.17059307e-02 8.29867629e+01] [ 6.27229060e-01 7.78779992e-01 -9.24281055e-03 3.00103818e+01] [ 1.49143333e-02 -1.44997072e-04 9.99888765e-01 1.98881638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:30.03, Z:1.99 [[ 7.77616351e-01 -6.28623106e-01 -1.20748142e-02 8.30085413e+01] [ 6.28550723e-01 7.77710075e-01 -9.54080069e-03 3.00274165e+01] [ 1.53882725e-02 -1.70550611e-04 9.99881579e-01 1.98900514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:30.05, Z:1.99 [[ 7.75986213e-01 -6.30628154e-01 -1.23906714e-02 8.30315842e+01] [ 6.30552184e-01 7.76085101e-01 -9.79073105e-03 3.00455258e+01] [ 1.57905262e-02 -2.15492639e-04 9.99875299e-01 1.98900673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:30.06, Z:1.99 [[ 7.72384620e-01 -6.35037778e-01 -1.22073348e-02 8.30550035e+01] [ 6.34964497e-01 7.72481024e-01 -9.65169808e-03 3.00605175e+01] [ 1.55591274e-02 -2.96401051e-04 9.99878906e-01 1.98939414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:30.08, Z:1.99 [[ 7.70347510e-01 -6.37510565e-01 -1.20413189e-02 8.30772736e+01] [ 6.37439542e-01 7.70441538e-01 -9.52192762e-03 3.00789316e+01] [ 1.53474617e-02 -3.40419585e-04 9.99882163e-01 1.98956635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:30.10, Z:1.99 [[ 7.66846322e-01 -6.41708577e-01 -1.25228043e-02 8.31005478e+01] [ 6.41632231e-01 7.66948441e-01 -9.90806269e-03 3.00966251e+01] [ 1.59624340e-02 -4.37073425e-04 9.99872497e-01 1.98945335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:30.11, Z:1.99 [[ 7.65399626e-01 -6.43425001e-01 -1.29491281e-02 8.31226148e+01] [ 6.43343534e-01 7.65509002e-01 -1.02500871e-02 3.01148197e+01] [ 1.65078364e-02 -4.85325000e-04 9.99863619e-01 1.98928862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.14, Y:30.13, Z:1.99 [[ 7.64504268e-01 -6.44486430e-01 -1.30562678e-02 8.31444757e+01] [ 6.44403656e-01 7.64615579e-01 -1.03413864e-02 3.01322018e+01] [ 1.66479089e-02 -5.07472653e-04 9.99861285e-01 1.98913505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:30.15, Z:1.99 [[ 7.63719004e-01 -6.45410498e-01 -1.33630337e-02 8.31662645e+01] [ 6.45323897e-01 7.63835714e-01 -1.05862949e-02 3.01500823e+01] [ 1.70396682e-02 -5.38530395e-04 9.99854669e-01 1.98933549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:30.17, Z:1.99 [[ 7.63808192e-01 -6.45310770e-01 -1.30788335e-02 8.31841889e+01] [ 6.45227797e-01 7.63919979e-01 -1.03612613e-02 3.01728940e+01] [ 1.66774157e-02 -5.24810648e-04 9.99860784e-01 1.98802604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:30.19, Z:1.99 [[ 7.64210856e-01 -6.44834590e-01 -1.30429554e-02 8.32045745e+01] [ 6.44751877e-01 7.64321983e-01 -1.03403587e-02 3.01914046e+01] [ 1.66368385e-02 -5.07255631e-04 9.99861470e-01 1.98837831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.22, Y:30.21, Z:1.99 [[ 7.64908493e-01 -6.44010336e-01 -1.28718500e-02 8.32225853e+01] [ 6.43929656e-01 7.65016636e-01 -1.02050867e-02 3.02148823e+01] [ 1.64193607e-02 -4.82608418e-04 9.99865077e-01 1.98764613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:30.23, Z:1.99 [[ 7.65218580e-01 -6.43628284e-01 -1.35335513e-02 8.32429197e+01] [ 6.43538913e-01 7.65338088e-01 -1.07367630e-02 3.02334190e+01] [ 1.72682266e-02 -4.93396350e-04 9.99850771e-01 1.98761854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:30.25, Z:1.99 [[ 7.65284665e-01 -6.43549437e-01 -1.35463420e-02 8.32635025e+01] [ 6.43459877e-01 7.65404390e-01 -1.07474129e-02 3.02521626e+01] [ 1.72849211e-02 -4.91697249e-04 9.99850484e-01 1.98778817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:30.27, Z:1.99 [[ 7.65896768e-01 -6.42813637e-01 -1.38841006e-02 8.32836050e+01] [ 6.42719299e-01 7.66022452e-01 -1.10229549e-02 3.02721668e+01] [ 1.77212385e-02 -4.81133846e-04 9.99842851e-01 1.98869837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:30.29, Z:1.99 [[ 7.65956773e-01 -6.42747527e-01 -1.36322681e-02 8.33042059e+01] [ 6.42656541e-01 7.66077931e-01 -1.08247079e-02 3.02910711e+01] [ 1.74009340e-02 -4.69608000e-04 9.99848482e-01 1.98938904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.468040942 meters Centerline goodness [0,1] 0.9999359822457429 Centerline is valid? [True, True] Translation: X:83.32, Y:30.31, Z:1.99 [[ 7.66254005e-01 -6.42393339e-01 -1.36234353e-02 8.33246410e+01] [ 6.42302306e-01 7.66374966e-01 -1.08239815e-02 3.03118546e+01] [ 1.73939134e-02 -4.56444762e-04 9.99848610e-01 1.98991975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:30.33, Z:1.99 [[ 7.67074764e-01 -6.41410688e-01 -1.37344809e-02 8.33446615e+01] [ 6.41317887e-01 7.67197590e-01 -1.09190111e-02 3.03318804e+01] [ 1.75406310e-02 -4.32470433e-04 9.99846058e-01 1.99091575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:30.35, Z:1.99 [[ 7.67300266e-01 -6.41140133e-01 -1.37706526e-02 8.33659103e+01] [ 6.41046785e-01 7.67423708e-01 -1.09486322e-02 3.03521728e+01] [ 1.75875327e-02 -4.26744189e-04 9.99845236e-01 1.99102173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.558040942 meters Centerline goodness [0,1] 0.9999788525387527 Centerline is valid? [True, True] Translation: X:83.39, Y:30.37, Z:1.99 [[ 7.67658775e-01 -6.40700593e-01 -1.42392088e-02 8.33850390e+01] [ 6.40600582e-01 7.67790706e-01 -1.13281259e-02 3.03724278e+01] [ 1.81906692e-02 -4.25510149e-04 9.99834446e-01 1.99055073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:30.39, Z:1.99 [[ 7.67608371e-01 -6.40757757e-01 -1.43835325e-02 8.34062314e+01] [ 6.40655701e-01 7.67742998e-01 -1.14438409e-02 3.03910319e+01] [ 1.83755862e-02 -4.30504010e-04 9.99831062e-01 1.99092099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:30.41, Z:1.99 [[ 7.67417424e-01 -6.40987887e-01 -1.43187132e-02 8.34271792e+01] [ 6.40886671e-01 7.67550874e-01 -1.13986990e-02 3.04089733e+01] [ 1.82967688e-02 -4.29112197e-04 9.99832508e-01 1.99129763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:30.43, Z:1.99 [[ 7.67549985e-01 -6.40830683e-01 -1.42497558e-02 8.34473000e+01] [ 6.40730279e-01 7.67682135e-01 -1.13511700e-02 3.04273286e+01] [ 1.82134610e-02 -4.17659687e-04 9.99834034e-01 1.99234804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:30.45, Z:1.99 [[ 7.67457253e-01 -6.40943394e-01 -1.41750195e-02 8.34688803e+01] [ 6.40844029e-01 7.67588036e-01 -1.12932829e-02 3.04458651e+01] [ 1.81189304e-02 -4.16864699e-04 9.99835752e-01 1.99288138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.49, Y:30.47, Z:1.99 [[ 7.67615990e-01 -6.40738868e-01 -1.48119760e-02 8.34879241e+01] [ 6.40630203e-01 7.67758765e-01 -1.18076729e-02 3.04681168e+01] [ 1.89376594e-02 -4.25240684e-04 9.99820576e-01 1.99235974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.51, Y:30.49, Z:1.99 [[ 7.67637933e-01 -6.40711660e-01 -1.48516963e-02 8.35093106e+01] [ 6.40602293e-01 7.67781474e-01 -1.18452705e-02 3.04870136e+01] [ 1.89922602e-02 -4.21151765e-04 9.99819542e-01 1.99285216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:30.51, Z:1.99 [[ 7.67858668e-01 -6.40451219e-01 -1.46731464e-02 8.35308178e+01] [ 6.40344288e-01 7.67998745e-01 -1.17098401e-02 3.05056272e+01] [ 1.87685394e-02 -4.04363276e-04 9.99823774e-01 1.99309897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:30.53, Z:1.99 [[ 7.68700176e-01 -6.39439269e-01 -1.47465683e-02 8.35524214e+01] [ 6.39330965e-01 7.68841518e-01 -1.17744768e-02 3.05253918e+01] [ 1.88668368e-02 -3.76895372e-04 9.99821934e-01 1.99400563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.57, Y:30.54, Z:2.00 [[ 7.69265441e-01 -6.38768291e-01 -1.43440447e-02 8.35741375e+01] [ 6.38665599e-01 7.69399084e-01 -1.14587111e-02 3.05440658e+01] [ 1.83557562e-02 -3.46257396e-04 9.99831459e-01 1.99508203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:30.56, Z:2.00 [[ 7.70786224e-01 -6.36934049e-01 -1.42693510e-02 8.35945890e+01] [ 6.36831984e-01 7.70918238e-01 -1.14058844e-02 3.05623846e+01] [ 1.82652991e-02 -2.95680601e-04 9.99833132e-01 1.99596743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.62, Y:30.58, Z:2.00 [[ 7.71416461e-01 -6.36165758e-01 -1.44835442e-02 8.36167841e+01] [ 6.36060447e-01 7.71552364e-01 -1.15783061e-02 3.05812463e+01] [ 1.85405346e-02 -2.80713729e-04 9.99828070e-01 1.99660775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.64, Y:30.60, Z:2.00 [[ 7.72927091e-01 -6.34337384e-01 -1.41348975e-02 8.36379590e+01] [ 6.34236663e-01 7.73056293e-01 -1.13058536e-02 3.05990306e+01] [ 1.80987971e-02 -2.26269689e-04 9.99836178e-01 1.99711769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:30.62, Z:2.00 [[ 7.73161415e-01 -6.34047621e-01 -1.43192702e-02 8.36602189e+01] [ 6.33944167e-01 7.73293971e-01 -1.14554759e-02 3.06161758e+01] [ 1.83363225e-02 -2.20685803e-04 9.99831851e-01 1.99774357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.68, Y:30.63, Z:2.00 [[ 7.73085218e-01 -6.34131547e-01 -1.47114326e-02 8.36825970e+01] [ 6.34022234e-01 7.73225149e-01 -1.17760576e-02 3.06333465e+01] [ 1.88428193e-02 -2.23479309e-04 9.99822433e-01 1.99819132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.71, Y:30.65, Z:2.00 [[ 7.72733293e-01 -6.34555108e-01 -1.49356136e-02 8.37056134e+01] [ 6.34442382e-01 7.72877585e-01 -1.19625733e-02 3.06498415e+01] [ 1.91343130e-02 -2.31907636e-04 9.99816895e-01 1.99915944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.73, Y:30.67, Z:2.00 [[ 7.72127987e-01 -6.35291294e-01 -1.49447026e-02 8.37301310e+01] [ 6.35178432e-01 7.72272563e-01 -1.19769457e-02 3.06657570e+01] [ 1.91502331e-02 -2.44817793e-04 9.99816587e-01 1.99993371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.75, Y:30.68, Z:2.00 [[ 7.71722883e-01 -6.35779911e-01 -1.50896102e-02 8.37532938e+01] [ 6.35664811e-01 7.71870352e-01 -1.20999039e-02 3.06820654e+01] [ 1.93400986e-02 -2.54161487e-04 9.99812930e-01 2.00107216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.78, Y:30.70, Z:2.00 [[ 7.71306640e-01 -6.36290141e-01 -1.48635063e-02 8.37763642e+01] [ 6.36178518e-01 7.71449797e-01 -1.19207498e-02 3.06981243e+01] [ 1.90515045e-02 -2.61289940e-04 9.99818469e-01 2.00182167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.128040942 meters Centerline goodness [0,1] 0.9999575983717774 Centerline is valid? [True, True] Translation: X:83.80, Y:30.71, Z:2.00 [[ 7.70999446e-01 -6.36655986e-01 -1.51330967e-02 8.37990774e+01] [ 6.36540189e-01 7.71147900e-01 -1.21451443e-02 3.07128725e+01] [ 1.94021346e-02 -2.68924717e-04 9.99811725e-01 2.00233619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.82, Y:30.73, Z:2.00 [[ 7.70791358e-01 -6.36924153e-01 -1.44327892e-02 8.38214938e+01] [ 6.36818840e-01 7.70926427e-01 -1.15849058e-02 3.07301582e+01] [ 1.85053249e-02 -2.61526830e-04 9.99828728e-01 2.00400646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.84, Y:30.75, Z:2.00 [[ 7.70707332e-01 -6.37016847e-01 -1.48238361e-02 8.38446098e+01] [ 6.36905630e-01 7.70849834e-01 -1.19059371e-02 3.07457560e+01] [ 1.90112341e-02 -2.65391667e-04 9.99819235e-01 2.00496241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.87, Y:30.76, Z:2.01 [[ 7.70478619e-01 -6.37287016e-01 -1.50982587e-02 8.38676818e+01] [ 6.37171555e-01 7.70626489e-01 -1.21335768e-02 3.07625457e+01] [ 1.93676891e-02 -2.71519488e-04 9.99812392e-01 2.00576004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.248040942 meters Centerline goodness [0,1] 0.9999355019026939 Centerline is valid? [True, True] Translation: X:83.89, Y:30.78, Z:2.00 [[ 7.70413618e-01 -6.37322410e-01 -1.68226877e-02 8.38910459e+01] [ 6.37178884e-01 7.70597208e-01 -1.35282078e-02 3.07783413e+01] [ 2.15853462e-02 -2.96745800e-04 9.99766965e-01 2.00483024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:30.79, Z:2.01 [[ 7.70377979e-01 -6.37362443e-01 -1.69376999e-02 8.39138154e+01] [ 6.37216781e-01 7.70564099e-01 -1.36287772e-02 3.07939406e+01] [ 2.17380542e-02 -2.93676745e-04 9.99763657e-01 2.00691725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:30.81, Z:2.01 [[ 7.70191901e-01 -6.37575360e-01 -1.73808913e-02 8.39368651e+01] [ 6.37421842e-01 7.70387934e-01 -1.39937716e-02 3.08106139e+01] [ 2.23121129e-02 -3.01070160e-04 9.99751008e-01 2.00762425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:30.83, Z:2.01 [[ 7.70194295e-01 -6.37553077e-01 -1.80782033e-02 8.39599888e+01] [ 6.37386786e-01 7.70406374e-01 -1.45638094e-02 3.08261682e+01] [ 2.32127646e-02 -3.05844968e-04 9.99730501e-01 2.00785503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.98, Y:30.84, Z:2.01 [[ 7.70011047e-01 -6.37774504e-01 -1.80740128e-02 8.39813960e+01] [ 6.37608152e-01 7.70223077e-01 -1.45690080e-02 3.08435243e+01] [ 2.32127636e-02 -3.05840833e-04 9.99730501e-01 2.00849298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.00, Y:30.86, Z:2.01 [[ 7.70016462e-01 -6.37755555e-01 -1.85067507e-02 8.40042119e+01] [ 6.37580923e-01 7.70238767e-01 -1.49267457e-02 3.08590446e+01] [ 2.37742319e-02 -3.05711265e-04 9.99717306e-01 2.00884260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.03, Y:30.87, Z:2.01 [[ 7.69819878e-01 -6.37975816e-01 -1.90843659e-02 8.40288341e+01] [ 6.37790020e-01 7.70056334e-01 -1.53991037e-02 3.08737535e+01] [ 2.45202926e-02 -3.17282013e-04 9.99699282e-01 2.00975818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:30.89, Z:2.01 [[ 7.69739347e-01 -6.38068015e-01 -1.92495623e-02 8.40518467e+01] [ 6.37878795e-01 7.69979940e-01 -1.55413795e-02 3.08898325e+01] [ 2.47382340e-02 -3.16076301e-04 9.99693913e-01 2.01057752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:30.91, Z:2.01 [[ 7.69210010e-01 -6.38705887e-01 -1.92548878e-02 8.40753549e+01] [ 6.38516540e-01 7.69450896e-01 -1.55546513e-02 3.09059791e+01] [ 2.47505380e-02 -3.29770818e-04 9.99693604e-01 2.01147305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.10, Y:30.92, Z:2.01 [[ 7.68255642e-01 -6.39850381e-01 -1.93586775e-02 8.41011786e+01] [ 6.39659126e-01 7.68499421e-01 -1.56474541e-02 3.09206535e+01] [ 2.48891619e-02 -3.61709787e-04 9.99690151e-01 2.01273215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:30.94, Z:2.01 [[ 7.67749173e-01 -6.40453395e-01 -1.95104031e-02 8.41241938e+01] [ 6.40259123e-01 7.67996944e-01 -1.57781472e-02 3.09360872e+01] [ 2.50890978e-02 -3.78054111e-04 9.99685148e-01 2.01379006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:30.95, Z:2.01 [[ 7.67163202e-01 -6.41140984e-01 -1.99714903e-02 8.41491272e+01] [ 6.40937413e-01 7.67423010e-01 -1.61603589e-02 3.09506472e+01] [ 2.56876496e-02 -4.02842665e-04 9.99669937e-01 2.01455688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:30.97, Z:2.01 [[ 7.66871460e-01 -6.41474190e-01 -2.04701636e-02 8.41720751e+01] [ 6.41260234e-01 7.67144503e-01 -1.65717650e-02 3.09662638e+01] [ 2.63339330e-02 -4.18288310e-04 9.99653114e-01 2.01494949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.638040942 meters Centerline goodness [0,1] 0.9999346874795898 Centerline is valid? [True, True] Translation: X:84.20, Y:30.98, Z:2.01 [[ 7.66465749e-01 -6.41932769e-01 -2.12738120e-02 8.41958385e+01] [ 6.41701748e-01 7.66760797e-01 -1.72263675e-02 3.09830150e+01] [ 2.73700948e-02 -4.48021655e-04 9.99625268e-01 2.01412372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:31.00, Z:2.02 [[ 7.66559263e-01 -6.41838276e-01 -2.07490589e-02 8.42199894e+01] [ 6.41618276e-01 7.66839908e-01 -1.68090563e-02 3.09968027e+01] [ 2.66999021e-02 -4.27837543e-04 9.99643403e-01 2.01547485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:31.01, Z:2.02 [[ 7.66450744e-01 -6.41971181e-01 -2.06460609e-02 8.42426586e+01] [ 6.41753283e-01 7.66728649e-01 -1.67303114e-02 3.10126301e+01] [ 2.65703041e-02 -4.26717703e-04 9.99646856e-01 2.01657502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:31.03, Z:2.02 [[ 7.66131533e-01 -6.42349253e-01 -2.07342833e-02 8.42667460e+01] [ 6.42129382e-01 7.66411931e-01 -1.68109925e-02 3.10263852e+01] [ 2.66895306e-02 -4.34661061e-04 9.99643677e-01 2.01702251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:31.04, Z:2.02 [[ 7.65879032e-01 -6.42626094e-01 -2.14711835e-02 8.42895680e+01] [ 6.42390247e-01 7.66179807e-01 -1.74147801e-02 3.10423544e+01] [ 2.76419793e-02 -4.55263954e-04 9.99617784e-01 2.01735056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788040942 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:84.31, Y:31.06, Z:2.02 [[ 7.65392885e-01 -6.43168486e-01 -2.25395225e-02 8.43116647e+01] [ 6.42908719e-01 7.65724528e-01 -1.82845807e-02 3.10601535e+01] [ 2.90191313e-02 -4.95967557e-04 9.99578733e-01 2.01734283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:31.07, Z:2.02 [[ 7.64948553e-01 -6.43687703e-01 -2.28002922e-02 8.43375340e+01] [ 6.43422021e-01 7.65288097e-01 -1.84994831e-02 3.10720900e+01] [ 2.93566820e-02 -5.19057244e-04 9.99568865e-01 2.01785920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.36, Y:31.09, Z:2.02 [[ 7.64877514e-01 -6.43772069e-01 -2.28015541e-02 8.43589143e+01] [ 6.43506252e-01 7.65217129e-01 -1.85053855e-02 3.10894646e+01] [ 2.93613901e-02 -5.18589344e-04 9.99568727e-01 2.01971778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:31.10, Z:2.02 [[ 7.64677766e-01 -6.44003883e-01 -2.29545853e-02 8.43825960e+01] [ 6.43734306e-01 7.65022042e-01 -1.86391803e-02 3.11034234e+01] [ 2.95644682e-02 -5.23687323e-04 9.99562738e-01 2.02008641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:31.12, Z:2.02 [[ 7.64752073e-01 -6.43900582e-01 -2.33732111e-02 8.44045973e+01] [ 6.43620846e-01 7.65108989e-01 -1.89853034e-02 3.11204589e+01] [ 3.01077019e-02 -5.24435766e-04 9.99546523e-01 2.02024074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:31.13, Z:2.02 [[ 7.64826430e-01 -6.43786013e-01 -2.40852874e-02 8.44271842e+01] [ 6.43488607e-01 7.65205391e-01 -1.95735319e-02 3.11349021e+01] [ 3.10313578e-02 -5.28253544e-04 9.99518272e-01 2.01861295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:31.15, Z:2.02 [[ 7.64886168e-01 -6.43705384e-01 -2.43419069e-02 8.44474113e+01] [ 6.43401354e-01 7.65273221e-01 -1.97887413e-02 3.11544649e+01] [ 3.13663288e-02 -5.25481390e-04 9.99507818e-01 2.01991917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:31.17, Z:2.02 [[ 7.65505180e-01 -6.42977465e-01 -2.41205063e-02 8.44710073e+01] [ 6.42678291e-01 7.65884942e-01 -1.96181039e-02 3.11697622e+01] [ 3.10875313e-02 -4.83965610e-04 9.99516549e-01 2.01975647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:31.19, Z:2.02 [[ 7.65886306e-01 -6.42552220e-01 -2.33411858e-02 8.44936235e+01] [ 6.42271730e-01 7.66241766e-01 -1.89889629e-02 3.11873979e+01] [ 3.00863917e-02 -4.47997151e-04 9.99547202e-01 2.02227565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.52, Y:31.21, Z:2.02 [[ 7.65910701e-01 -6.42523581e-01 -2.33290745e-02 8.45154555e+01] [ 6.42243074e-01 7.66265786e-01 -1.89889068e-02 3.12052903e+01] [ 3.00770920e-02 -4.39129677e-04 9.99547485e-01 2.02426377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:31.22, Z:2.03 [[ 7.66117084e-01 -6.42278613e-01 -2.32979848e-02 8.45365594e+01] [ 6.41998453e-01 7.66471138e-01 -1.89731708e-02 3.12220048e+01] [ 3.00432948e-02 -4.21599899e-04 9.99548509e-01 2.02521370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:31.24, Z:2.02 [[ 7.66054036e-01 -6.42348549e-01 -2.34426153e-02 8.45595161e+01] [ 6.42064788e-01 7.66412528e-01 -1.90956838e-02 3.12363446e+01] [ 3.02327989e-02 -4.23352178e-04 9.99542795e-01 2.02426769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.58, Y:31.26, Z:2.03 [[ 7.66192313e-01 -6.42160814e-01 -2.40588593e-02 8.45791614e+01] [ 6.41861639e-01 7.66569835e-01 -1.96042060e-02 3.12562307e+01] [ 3.10318487e-02 -4.21866946e-04 9.99518307e-01 2.02634970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.60, Y:31.27, Z:2.03 [[ 7.66410669e-01 -6.41905708e-01 -2.39112484e-02 8.46007100e+01] [ 6.41609730e-01 7.66783477e-01 -1.94949689e-02 3.12743314e+01] [ 3.08486820e-02 -4.00537449e-04 9.99523986e-01 2.02767091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:31.29, Z:2.03 [[ 7.66647067e-01 -6.41610395e-01 -2.42564703e-02 8.46220442e+01] [ 6.41305297e-01 7.67030608e-01 -1.97879419e-02 3.12922557e+01] [ 3.13016044e-02 -3.85435280e-04 9.99509910e-01 2.02842602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:31.31, Z:2.03 [[ 7.66831812e-01 -6.41383433e-01 -2.44185080e-02 8.46429547e+01] [ 6.41073764e-01 7.67220409e-01 -1.99317178e-02 3.13106421e+01] [ 3.15182512e-02 -3.69789601e-04 9.99503108e-01 2.02894361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:31.33, Z:2.03 [[ 7.67217229e-01 -6.40918599e-01 -2.45168004e-02 8.46640264e+01] [ 6.40605880e-01 7.67608775e-01 -2.00218649e-02 3.13279876e+01] [ 3.16516967e-02 -3.44486762e-04 9.99498900e-01 2.02925657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.69, Y:31.35, Z:2.03 [[ 7.67296533e-01 -6.40812983e-01 -2.47941888e-02 8.46852628e+01] [ 6.40492905e-01 7.67696949e-01 -2.02541990e-02 3.13454726e+01] [ 3.20135768e-02 -3.39525308e-04 9.99487376e-01 2.02914196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:31.36, Z:2.03 [[ 7.66821108e-01 -6.41373365e-01 -2.50118752e-02 8.47068578e+01] [ 6.41047645e-01 7.67228830e-01 -2.04411299e-02 3.13637732e+01] [ 3.23002280e-02 -3.59113757e-04 9.99478147e-01 2.03060383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.358040942 meters Centerline goodness [0,1] 0.9999560555457901 Centerline is valid? [True, True] Translation: X:84.73, Y:31.38, Z:2.03 [[ 7.65404056e-01 -6.43061433e-01 -2.50723760e-02 8.47296495e+01] [ 6.42734726e-01 7.65814477e-01 -2.05002096e-02 3.13799251e+01] [ 3.23836827e-02 -4.23943128e-04 9.99475421e-01 2.03144387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.388040942 meters Centerline goodness [0,1] 0.9999119543923752 Centerline is valid? [True, True] Translation: X:84.75, Y:31.40, Z:2.03 [[ 7.64430415e-01 -6.44208039e-01 -2.53405405e-02 8.47519826e+01] [ 6.43874810e-01 7.64850166e-01 -2.07232158e-02 3.13968720e+01] [ 3.27317788e-02 -4.74679252e-04 9.99464059e-01 2.03238684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:31.41, Z:2.04 [[ 7.62641205e-01 -6.46374624e-01 -2.40465839e-02 8.47752543e+01] [ 6.46075484e-01 7.63020025e-01 -1.96700240e-02 3.14139568e+01] [ 3.10622294e-02 -5.34737557e-04 9.99517309e-01 2.03583802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:31.43, Z:2.04 [[ 7.61529414e-01 -6.47696492e-01 -2.37108678e-02 8.47975187e+01] [ 6.47405988e-01 7.61898239e-01 -1.94051878e-02 3.14317730e+01] [ 3.06339404e-02 -5.72936483e-04 9.99530507e-01 2.03722498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.82, Y:31.45, Z:2.04 [[ 7.60761332e-01 -6.48615263e-01 -2.32472976e-02 8.48198199e+01] [ 6.48336149e-01 7.61116214e-01 -1.90353909e-02 3.14504435e+01] [ 3.00405402e-02 -5.90674057e-04 9.99548507e-01 2.03850783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508040942 meters Centerline goodness [0,1] 0.9999779847213967 Centerline is valid? [True, True] Translation: X:84.84, Y:31.47, Z:2.04 [[ 7.60366716e-01 -6.49106381e-01 -2.24357692e-02 8.48396239e+01] [ 6.48846358e-01 7.60697422e-01 -1.83803088e-02 3.14698545e+01] [ 2.89976075e-02 -5.81592129e-04 9.99579312e-01 2.03869774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:31.49, Z:2.04 [[ 7.60619219e-01 -6.48816988e-01 -2.22468073e-02 8.48612134e+01] [ 6.48560906e-01 7.60944285e-01 -1.82358335e-02 3.14890633e+01] [ 2.87602994e-02 -5.57884100e-04 9.99586181e-01 2.03870016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.88, Y:31.51, Z:2.04 [[ 7.60952897e-01 -6.48427754e-01 -2.21841306e-02 8.48819964e+01] [ 6.48172683e-01 7.61276009e-01 -1.81937004e-02 3.15093990e+01] [ 2.86855467e-02 -5.34598402e-04 9.99588342e-01 2.03865334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:31.53, Z:2.04 [[ 7.60996011e-01 -6.48389009e-01 -2.18349330e-02 8.49030108e+01] [ 6.48141630e-01 7.61309021e-01 -1.79165311e-02 3.15279865e+01] [ 2.82400133e-02 -5.17720392e-04 9.99601037e-01 2.03880962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.92, Y:31.55, Z:2.04 [[ 7.60733748e-01 -6.48697509e-01 -2.18107123e-02 8.49240707e+01] [ 6.48450513e-01 7.61046169e-01 -1.79070251e-02 3.15459487e+01] [ 2.82152016e-02 -5.20689250e-04 9.99601736e-01 2.03883680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:31.56, Z:2.04 [[ 7.60129237e-01 -6.49427001e-01 -2.11686872e-02 8.49456086e+01] [ 6.49194355e-01 7.60423761e-01 -1.73894796e-02 3.15646592e+01] [ 2.73903703e-02 -5.24340358e-04 9.99624676e-01 2.03867762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:31.58, Z:2.04 [[ 7.59758123e-01 -6.49881781e-01 -2.05247420e-02 8.49661030e+01] [ 6.49663039e-01 7.60035132e-01 -1.68681472e-02 3.15820136e+01] [ 2.65618265e-02 -5.18454410e-04 9.99647038e-01 2.03894915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.99, Y:31.60, Z:2.04 [[ 7.59281628e-01 -6.50460138e-01 -1.98247118e-02 8.49862636e+01] [ 6.50256152e-01 7.59540218e-01 -1.62970716e-02 3.16017615e+01] [ 2.56582614e-02 -5.17073789e-04 9.99670639e-01 2.03848225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:31.62, Z:2.04 [[ 7.59086228e-01 -6.50699598e-01 -1.94456111e-02 8.50074592e+01] [ 6.50503198e-01 7.59335087e-01 -1.59941908e-02 3.16180733e+01] [ 2.51731483e-02 -5.08462241e-04 9.99682977e-01 2.03803317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:31.64, Z:2.04 [[ 7.58843834e-01 -6.50989110e-01 -1.92149789e-02 8.50291959e+01] [ 6.50797328e-01 7.59086899e-01 -1.58087765e-02 3.16359044e+01] [ 2.48771801e-02 -5.08664398e-04 9.99690386e-01 2.03796845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:31.65, Z:2.04 [[ 7.58410032e-01 -6.51513760e-01 -1.85484296e-02 8.50508257e+01] [ 6.51335012e-01 7.58636652e-01 -1.52686740e-02 3.16545355e+01] [ 2.40192697e-02 -5.01326061e-04 9.99711370e-01 2.03807477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.07, Y:31.67, Z:2.04 [[ 7.58248270e-01 -6.51718465e-01 -1.79611928e-02 8.50724752e+01] [ 6.51550723e-01 7.58460814e-01 -1.47935270e-02 3.16725749e+01] [ 2.32640756e-02 -4.85461954e-04 9.99729237e-01 2.03823780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86804094200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:31.69, Z:2.04 [[ 7.58546319e-01 -6.51396565e-01 -1.70293030e-02 8.50940943e+01] [ 6.51245523e-01 7.58737318e-01 -1.40339315e-02 3.16905491e+01] [ 2.20624225e-02 -4.44870242e-04 9.99756496e-01 2.03869477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.12, Y:31.71, Z:2.04 [[ 7.58775532e-01 -6.51151673e-01 -1.61614080e-02 8.51150284e+01] [ 6.51015546e-01 7.58947513e-01 -1.33203590e-02 3.17098050e+01] [ 2.09392344e-02 -4.14165362e-04 9.99780664e-01 2.03930835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.14, Y:31.73, Z:2.04 [[ 7.59401201e-01 -6.50427352e-01 -1.59397621e-02 8.51368934e+01] [ 6.50294607e-01 7.59568373e-01 -1.31457677e-02 3.17276538e+01] [ 2.06577061e-02 -3.82629528e-04 9.99786534e-01 2.04033208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:31.75, Z:2.04 [[ 7.59933593e-01 -6.49818960e-01 -1.53705053e-02 8.51584454e+01] [ 6.49695334e-01 7.60088940e-01 -1.26797729e-02 3.17460161e+01] [ 1.99225079e-02 -3.50360227e-04 9.99801466e-01 2.04106108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:31.76, Z:2.04 [[ 7.60876407e-01 -6.48732866e-01 -1.45863682e-02 8.51800766e+01] [ 6.48621296e-01 7.61016147e-01 -1.20349079e-02 3.17633898e+01] [ 1.89079020e-02 -3.03951530e-04 9.99821183e-01 2.04251693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:31.78, Z:2.04 [[ 7.60862282e-01 -6.48752711e-01 -1.44398133e-02 8.52010991e+01] [ 6.48643340e-01 7.60999231e-01 -1.19158575e-02 3.17799763e+01] [ 1.87191317e-02 -2.99962199e-04 9.99824737e-01 2.04262590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.22, Y:31.80, Z:2.04 [[ 7.60510314e-01 -6.49163009e-01 -1.45412928e-02 8.52232560e+01] [ 6.49052131e-01 7.60649256e-01 -1.20016932e-02 3.17979334e+01] [ 1.88518789e-02 -3.10645588e-04 9.99822239e-01 2.04303614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:31.82, Z:2.04 [[ 7.60037329e-01 -6.49722161e-01 -1.42958421e-02 8.52456746e+01] [ 6.49614972e-01 7.60171701e-01 -1.18056607e-02 3.18162623e+01] [ 1.85376940e-02 -3.14050259e-04 9.99828113e-01 2.04329247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:31.83, Z:2.04 [[ 7.59164087e-01 -6.50741159e-01 -1.43468948e-02 8.52680901e+01] [ 6.50633278e-01 7.59299566e-01 -1.18535402e-02 3.18349759e+01] [ 1.86071775e-02 -3.35785155e-04 9.99826815e-01 2.04325574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.29, Y:31.85, Z:2.04 [[ 7.57692849e-01 -6.52450757e-01 -1.44760553e-02 8.52896664e+01] [ 6.52341106e-01 7.57831029e-01 -1.19671270e-02 3.18533583e+01] [ 1.87783650e-02 -3.75919394e-04 9.99823600e-01 2.04331967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:31.87, Z:2.04 [[ 7.56095159e-01 -6.54306296e-01 -1.42611748e-02 8.53120086e+01] [ 6.54200186e-01 7.56229528e-01 -1.17906003e-02 3.18717338e+01] [ 1.84993855e-02 -4.14847395e-04 9.99828786e-01 2.04377901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:31.89, Z:2.04 [[ 7.55265052e-01 -6.55263114e-01 -1.43161429e-02 8.53343999e+01] [ 6.55156244e-01 7.55400597e-01 -1.18420480e-02 3.18899595e+01] [ 1.85740801e-02 -4.35425411e-04 9.99827392e-01 2.04466260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:31.91, Z:2.04 [[ 7.54595790e-01 -6.56030949e-01 -1.44425819e-02 8.53568454e+01] [ 6.55922209e-01 7.54733853e-01 -1.19527434e-02 3.19086809e+01] [ 1.87416750e-02 -4.53720399e-04 9.99824256e-01 2.04486483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.38, Y:31.93, Z:2.05 [[ 7.54411157e-01 -6.56243325e-01 -1.44397214e-02 8.53780316e+01] [ 6.56134557e-01 7.54549198e-01 -1.19561978e-02 3.19263341e+01] [ 1.87416552e-02 -4.54511249e-04 9.99824256e-01 2.04550317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.40, Y:31.94, Z:2.05 [[ 7.53498412e-01 -6.57284864e-01 -1.47224350e-02 8.54005839e+01] [ 6.57171838e-01 7.53642072e-01 -1.21984735e-02 3.19427855e+01] [ 1.91133184e-02 -4.83639263e-04 9.99817207e-01 2.04633070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.318040942 meters Centerline goodness [0,1] 0.999956136503202 Centerline is valid? [True, True] Translation: X:85.42, Y:31.96, Z:2.05 [[ 7.52935027e-01 -6.57939968e-01 -1.42773988e-02 8.54213878e+01] [ 6.57833770e-01 7.53070225e-01 -1.18308050e-02 3.19632526e+01] [ 1.85358434e-02 -4.84327642e-04 9.99828079e-01 2.04638687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.44, Y:31.98, Z:2.05 [[ 7.52390694e-01 -6.58570390e-01 -1.39027344e-02 8.54426831e+01] [ 6.58469700e-01 7.52518976e-01 -1.15258492e-02 3.19825390e+01] [ 1.80526545e-02 -4.82587683e-04 9.99836921e-01 2.04672791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:32.00, Z:2.05 [[ 7.52252734e-01 -6.58724050e-01 -1.40872397e-02 8.54638903e+01] [ 6.58620593e-01 7.52384468e-01 -1.16844748e-02 3.20013806e+01] [ 1.82958649e-02 -4.88468021e-04 9.99832497e-01 2.04652036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:32.02, Z:2.05 [[ 7.52150853e-01 -6.58836414e-01 -1.42714606e-02 8.54848091e+01] [ 6.58730126e-01 7.52286074e-01 -1.18441371e-02 3.20197423e+01] [ 1.85395699e-02 -4.92463253e-04 9.99828006e-01 2.04673858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:32.04, Z:2.05 [[ 7.52423184e-01 -6.58512188e-01 -1.48677714e-02 8.55056786e+01] [ 6.58396624e-01 7.52569896e-01 -1.23465481e-02 3.20391674e+01] [ 1.93193896e-02 -4.99061512e-04 9.99813239e-01 2.04652744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:32.06, Z:2.05 [[ 7.52726179e-01 -6.58167919e-01 -1.47746205e-02 8.55278246e+01] [ 6.58053612e-01 7.52871010e-01 -1.22754340e-02 3.20585425e+01] [ 1.92026803e-02 -4.82451863e-04 9.99815495e-01 2.04690801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:32.08, Z:2.05 [[ 7.53120223e-01 -6.57712461e-01 -1.49748950e-02 8.55492081e+01] [ 6.57594831e-01 7.53268939e-01 -1.24476406e-02 3.20774452e+01] [ 1.94670916e-02 -4.72843649e-04 9.99810386e-01 2.04773833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.57, Y:32.10, Z:2.05 [[ 7.54681346e-01 -6.55921708e-01 -1.49257710e-02 8.55696858e+01] [ 6.55804363e-01 7.54828813e-01 -1.24137440e-02 3.20964493e+01] [ 1.94088462e-02 -4.19964738e-04 9.99811542e-01 2.04830006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:32.12, Z:2.05 [[ 7.54956946e-01 -6.55606078e-01 -1.48553207e-02 8.55912784e+01] [ 6.55489750e-01 7.55102975e-01 -1.23565357e-02 3.21154067e+01] [ 1.93183167e-02 -4.08857994e-04 9.99813300e-01 2.04873069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:32.14, Z:2.05 [[ 7.56054288e-01 -6.54335204e-01 -1.50782774e-02 8.56123908e+01] [ 6.54214982e-01 7.56204534e-01 -1.25483050e-02 3.21360594e+01] [ 1.96130595e-02 -3.77235210e-04 9.99807574e-01 2.04902798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.63, Y:32.15, Z:2.05 [[ 7.56424665e-01 -6.53909435e-01 -1.49725460e-02 8.56340390e+01] [ 6.53790683e-01 7.56572747e-01 -1.24667728e-02 3.21535372e+01] [ 1.94799606e-02 -3.58736583e-04 9.99810183e-01 2.04976080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:32.17, Z:2.05 [[ 7.56568691e-01 -6.53743730e-01 -1.49315501e-02 8.56558036e+01] [ 6.53625571e-01 7.56715938e-01 -1.24339218e-02 3.21718409e+01] [ 1.94275404e-02 -3.52527061e-04 9.99811205e-01 2.05049614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:32.19, Z:2.05 [[ 7.56276955e-01 -6.54090430e-01 -1.45215742e-02 8.56776385e+01] [ 6.53978591e-01 7.56416280e-01 -1.21001125e-02 3.21896057e+01] [ 1.88989229e-02 -3.45762389e-04 9.99821340e-01 2.05189820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.70, Y:32.21, Z:2.05 [[ 7.55847394e-01 -6.54587706e-01 -1.44793771e-02 8.56994895e+01] [ 6.54476588e-01 7.55985984e-01 -1.20659634e-02 3.22073773e+01] [ 1.88444374e-02 -3.56386315e-04 9.99822364e-01 2.05231386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:32.23, Z:2.05 [[ 7.55111850e-01 -6.55430367e-01 -1.47352765e-02 8.57209987e+01] [ 6.55315311e-01 7.55255513e-01 -1.22862735e-02 3.22270360e+01] [ 1.91816956e-02 -3.78741549e-04 9.99815943e-01 2.05250785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:32.25, Z:2.05 [[ 7.54873711e-01 -6.55701241e-01 -1.48850113e-02 8.57418604e+01] [ 6.55583767e-01 7.55020354e-01 -1.24173421e-02 3.22454481e+01] [ 1.93805531e-02 -3.84846651e-04 9.99812105e-01 2.05320567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.798040942 meters Centerline goodness [0,1] 0.9999563414101724 Centerline is valid? [True, True] Translation: X:85.76, Y:32.26, Z:2.05 [[ 7.54905822e-01 -6.55663427e-01 -1.49221384e-02 8.57626316e+01] [ 6.55545199e-01 7.55053195e-01 -1.24565282e-02 3.22620949e+01] [ 1.94342982e-02 -3.78630489e-04 9.99811064e-01 2.05395049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:32.28, Z:2.05 [[ 7.54916111e-01 -6.55630028e-01 -1.58408439e-02 8.57837052e+01] [ 6.55496722e-01 7.55082186e-01 -1.32265073e-02 3.22807863e+01] [ 2.06328344e-02 -3.98717845e-04 9.99787041e-01 2.05413632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:32.30, Z:2.05 [[ 7.55080887e-01 -6.55422995e-01 -1.65394037e-02 8.58045697e+01] [ 6.55277429e-01 7.55261898e-01 -1.38187126e-02 3.22978501e+01] [ 2.15486835e-02 -4.03652168e-04 9.99767719e-01 2.05407869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:32.32, Z:2.05 [[ 7.55980704e-01 -6.54352473e-01 -1.77768657e-02 8.58257836e+01] [ 6.54183921e-01 7.56189581e-01 -1.48564715e-02 3.23160466e+01] [ 2.31640494e-02 -3.98133921e-04 9.99731598e-01 2.05399660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.85, Y:32.33, Z:2.05 [[ 7.56204812e-01 -6.54087274e-01 -1.80033483e-02 8.58464593e+01] [ 6.53914259e-01 7.56418987e-01 -1.50485544e-02 3.23348552e+01] [ 2.34611424e-02 -3.92856892e-04 9.99724672e-01 2.05442388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.87, Y:32.35, Z:2.05 [[ 7.56544543e-01 -6.53693659e-01 -1.80264840e-02 8.58678333e+01] [ 6.53519881e-01 7.56759182e-01 -1.50766703e-02 3.23519445e+01] [ 2.34972311e-02 -3.74493027e-04 9.99723832e-01 2.05470831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:32.37, Z:2.06 [[ 7.57370164e-01 -6.52730747e-01 -1.82484677e-02 8.58897337e+01] [ 6.52552310e-01 7.57589897e-01 -1.52653376e-02 3.23707219e+01] [ 2.37890100e-02 -3.46568550e-04 9.99716941e-01 2.05577325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:32.39, Z:2.06 [[ 7.57890634e-01 -6.52127439e-01 -1.82095974e-02 8.59115727e+01] [ 6.51949407e-01 7.58109293e-01 -1.52404197e-02 3.23880197e+01] [ 2.37435608e-02 -3.21164879e-04 9.99718030e-01 2.05687277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:32.41, Z:2.06 [[ 7.59447968e-01 -6.50336351e-01 -1.73612735e-02 8.59326393e+01] [ 6.50174000e-01 7.59646344e-01 -1.45327826e-02 3.24073909e+01] [ 2.26396247e-02 -2.50956412e-04 9.99743659e-01 2.05862698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:32.42, Z:2.06 [[ 7.59893146e-01 -6.49823941e-01 -1.70661176e-02 8.59542616e+01] [ 6.49666777e-01 7.60084728e-01 -1.42928460e-02 3.24244593e+01] [ 2.22595288e-02 -2.26253897e-04 9.99752200e-01 2.05992766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:32.44, Z:2.06 [[ 7.60286340e-01 -6.49368810e-01 -1.68768968e-02 8.59751252e+01] [ 6.49214820e-01 7.60473607e-01 -1.41425208e-02 3.24429611e+01] [ 2.20181465e-02 -2.04366187e-04 9.99757550e-01 2.06122628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:32.46, Z:2.06 [[ 7.60584865e-01 -6.49033339e-01 -1.63214088e-02 8.59964847e+01] [ 6.48889074e-01 7.60759944e-01 -1.36849403e-02 3.24594822e+01] [ 2.12986565e-02 -1.82225371e-04 9.99773141e-01 2.06354203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:32.48, Z:2.06 [[ 7.60470115e-01 -6.49176397e-01 -1.59753032e-02 8.60180648e+01] [ 6.49038161e-01 7.60637873e-01 -1.33974721e-02 3.24775088e+01] [ 2.08487434e-02 -1.80204252e-04 9.99782625e-01 2.06470035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.04, Y:32.49, Z:2.07 [[ 7.60296440e-01 -6.49396769e-01 -1.52695917e-02 8.60395162e+01] [ 6.49270369e-01 7.60449740e-01 -1.28133304e-02 3.24938904e+01] [ 1.99326924e-02 -1.72163953e-04 9.99801309e-01 2.06668022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:32.51, Z:2.07 [[ 7.59715255e-01 -6.50083169e-01 -1.49868044e-02 8.60612698e+01] [ 6.49961496e-01 7.59863040e-01 -1.25783575e-02 3.25109118e+01] [ 1.95648973e-02 -1.84875728e-04 9.99808572e-01 2.06764992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.08, Y:32.53, Z:2.07 [[ 7.59273772e-01 -6.50598638e-01 -1.49916985e-02 8.60825302e+01] [ 6.50476847e-01 7.59421737e-01 -1.25895731e-02 3.25288046e+01] [ 1.95757808e-02 -1.92820062e-04 9.99808357e-01 2.06793456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.10, Y:32.55, Z:2.07 [[ 7.58735039e-01 -6.51224091e-01 -1.51104216e-02 8.61039574e+01] [ 6.51100326e-01 7.58885460e-01 -1.26974024e-02 3.25473978e+01] [ 1.97359335e-02 -2.04436319e-04 9.99805207e-01 2.06829893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.13, Y:32.57, Z:2.07 [[ 7.58107682e-01 -6.51949632e-01 -1.53107753e-02 8.61253073e+01] [ 6.51822651e-01 7.58262241e-01 -1.28687749e-02 3.25655539e+01] [ 1.99993759e-02 -2.23993006e-04 9.99799967e-01 2.06860910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.15, Y:32.58, Z:2.07 [[ 7.57857808e-01 -6.52242020e-01 -1.52279366e-02 8.61461910e+01] [ 6.52116306e-01 7.58010750e-01 -1.28073193e-02 3.25824453e+01] [ 1.98964114e-02 -2.24258809e-04 9.99802022e-01 2.06912634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.17, Y:32.60, Z:2.07 [[ 7.57758874e-01 -6.52337437e-01 -1.60423559e-02 8.61672899e+01] [ 6.52197870e-01 7.57928633e-01 -1.34954383e-02 3.26005119e+01] [ 2.09625405e-02 -2.36502208e-04 9.99780234e-01 2.06994401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.398040942 meters Centerline goodness [0,1] 0.999956205658229 Centerline is valid? [True, True] Translation: X:86.19, Y:32.62, Z:2.07 [[ 7.57993072e-01 -6.52051925e-01 -1.65767872e-02 8.61882595e+01] [ 6.51902653e-01 7.58174277e-01 -1.39533757e-02 3.26193600e+01] [ 2.16664191e-02 -2.29889425e-04 9.99765229e-01 2.06973417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.21, Y:32.64, Z:2.07 [[ 7.59321167e-01 -6.50484864e-01 -1.73437601e-02 8.62085406e+01] [ 6.50320847e-01 7.59519194e-01 -1.46078558e-02 3.26393467e+01] [ 2.26751078e-02 -1.86954576e-04 9.99742869e-01 2.06972745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:32.66, Z:2.07 [[ 7.59943546e-01 -6.49748966e-01 -1.76660267e-02 8.62288833e+01] [ 6.49578421e-01 7.60148837e-01 -1.48868956e-02 3.26581817e+01] [ 2.31015547e-02 -1.62269445e-04 9.99733110e-01 2.06975738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:32.68, Z:2.07 [[ 7.60761487e-01 -6.48784063e-01 -1.79220404e-02 8.62490154e+01] [ 6.48608067e-01 7.60972550e-01 -1.51113348e-02 3.26775050e+01] [ 2.34421740e-02 -1.28258447e-04 9.99725186e-01 2.07028889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:32.70, Z:2.07 [[ 7.62273658e-01 -6.47009648e-01 -1.78153474e-02 8.62693448e+01] [ 6.46835057e-01 7.62481811e-01 -1.50299050e-02 3.26970048e+01] [ 2.33083719e-02 -6.66905899e-05 9.99728321e-01 2.07070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:32.71, Z:2.07 [[ 7.63206710e-01 -6.45910714e-01 -1.77444884e-02 8.62900986e+01] [ 6.45737010e-01 7.63412961e-01 -1.49788261e-02 3.27144766e+01] [ 2.32213567e-02 -2.63322991e-05 9.99730348e-01 2.07256135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:32.73, Z:2.07 [[ 7.63341077e-01 -6.45755157e-01 -1.76260656e-02 8.63109825e+01] [ 6.45583637e-01 7.63544548e-01 -1.48825689e-02 3.27325515e+01] [ 2.30687819e-02 -1.86233714e-05 9.99733880e-01 2.07331182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.33, Y:32.75, Z:2.07 [[ 7.63190294e-01 -6.45942144e-01 -1.73009329e-02 8.63323216e+01] [ 6.45776761e-01 7.63386368e-01 -1.46160461e-02 3.27512759e+01] [ 2.26484164e-02 -1.77158753e-05 9.99743492e-01 2.07379908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:32.77, Z:2.07 [[ 7.62261756e-01 -6.47033711e-01 -1.74468445e-02 8.63536029e+01] [ 6.46865609e-01 7.62461393e-01 -1.47481770e-02 3.27687198e+01] [ 2.28451131e-02 -4.37923753e-05 9.99739015e-01 2.07401262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:32.79, Z:2.07 [[ 7.61501084e-01 -6.47931176e-01 -1.73577364e-02 8.63750203e+01] [ 6.47764936e-01 7.61698882e-01 -1.46765452e-02 3.27858176e+01] [ 2.27307596e-02 -6.75279173e-05 9.99741621e-01 2.07491292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.40, Y:32.80, Z:2.08 [[ 7.59654195e-01 -6.50110235e-01 -1.67983890e-02 8.63975891e+01] [ 6.49954955e-01 7.59839895e-01 -1.42087839e-02 3.28043473e+01] [ 2.20013620e-02 -1.24433853e-04 9.99757933e-01 2.07648909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.42, Y:32.82, Z:2.08 [[ 7.58760893e-01 -6.51164989e-01 -1.63114720e-02 8.64191330e+01] [ 6.51018670e-01 7.58936187e-01 -1.38042077e-02 3.28214671e+01] [ 2.13681831e-02 -1.44979841e-04 9.99771664e-01 2.07751207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:32.84, Z:2.08 [[ 7.57722942e-01 -6.52376657e-01 -1.61443657e-02 8.64411077e+01] [ 6.52233552e-01 7.57894891e-01 -1.36648125e-02 3.28396722e+01] [ 2.11503370e-02 -1.75755039e-04 9.99776291e-01 2.07836274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:32.86, Z:2.08 [[ 7.56114345e-01 -6.54237693e-01 -1.62523527e-02 8.64625232e+01] [ 6.54092937e-01 7.56288960e-01 -1.37636689e-02 3.28573389e+01] [ 2.12961859e-02 -2.23641672e-04 9.99773186e-01 2.07909004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:32.88, Z:2.08 [[ 7.55223644e-01 -6.55268784e-01 -1.61266370e-02 8.64840545e+01] [ 6.55126451e-01 7.55395763e-01 -1.36592119e-02 3.28763997e+01] [ 2.11324484e-02 -2.49226750e-04 9.99776654e-01 2.07913022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.50, Y:32.90, Z:2.08 [[ 7.53915313e-01 -6.56746350e-01 -1.72026932e-02 8.65040314e+01] [ 6.56584593e-01 7.54111490e-01 -1.45785103e-02 3.28953276e+01] [ 2.25471320e-02 -3.04061152e-04 9.99745735e-01 2.07825666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:32.91, Z:2.08 [[ 7.53131652e-01 -6.57625782e-01 -1.79177732e-02 8.65264074e+01] [ 6.57450446e-01 7.53344685e-01 -1.51886675e-02 3.29126651e+01] [ 2.34867185e-02 -3.40981725e-04 9.99724091e-01 2.07802583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:32.93, Z:2.08 [[ 7.52329996e-01 -6.58532908e-01 -1.82752817e-02 8.65475802e+01] [ 6.58350703e-01 7.52551838e-01 -1.54946410e-02 3.29326655e+01] [ 2.39568278e-02 -3.74461334e-04 9.99712924e-01 2.07786342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:32.95, Z:2.08 [[ 7.51018261e-01 -6.60010820e-01 -1.89020901e-02 8.65690843e+01] [ 6.59816171e-01 7.51255970e-01 -1.60339641e-02 3.29496009e+01] [ 2.47828978e-02 -4.30104855e-04 9.99692764e-01 2.07798649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:32.97, Z:2.08 [[ 7.50010858e-01 -6.61163443e-01 -1.86176160e-02 8.65916141e+01] [ 6.60974845e-01 7.50241756e-01 -1.57975086e-02 3.29681804e+01] [ 2.44124481e-02 -4.57472910e-04 9.99701867e-01 2.07881336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:32.99, Z:2.08 [[ 7.49249481e-01 -6.62033777e-01 -1.83437545e-02 8.66121469e+01] [ 6.61850770e-01 7.49473852e-01 -1.55725221e-02 3.29882986e+01] [ 2.40577000e-02 -4.73123903e-04 9.99710460e-01 2.07953036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:33.01, Z:2.08 [[ 7.49153483e-01 -6.62134401e-01 -1.86304670e-02 8.66313482e+01] [ 6.61945466e-01 7.49384952e-01 -1.58238028e-02 3.30084560e+01] [ 2.44388758e-02 -4.77896193e-04 9.99701212e-01 2.07977736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:33.03, Z:2.08 [[ 7.49219865e-01 -6.62050847e-01 -1.89280313e-02 8.66509898e+01] [ 6.61855576e-01 7.49458771e-01 -1.60855893e-02 3.30266659e+01] [ 2.48352571e-02 -4.75980070e-04 9.99691444e-01 2.07982578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:33.04, Z:2.08 [[ 7.49773837e-01 -6.61411856e-01 -1.93274105e-02 8.66724465e+01] [ 6.61207942e-01 7.50022762e-01 -1.64290653e-02 3.30448368e+01] [ 2.53623764e-02 -4.61354037e-04 9.99678217e-01 2.08016771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:33.06, Z:2.08 [[ 7.50698275e-01 -6.60364485e-01 -1.92574047e-02 8.66923861e+01] [ 6.60161628e-01 7.50945117e-01 -1.63723946e-02 3.30648582e+01] [ 2.52730019e-02 -4.22271289e-04 9.99680497e-01 2.08136726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:33.08, Z:2.08 [[ 7.50524974e-01 -6.60561486e-01 -1.92558200e-02 8.67133126e+01] [ 6.60358647e-01 7.50771830e-01 -1.63742581e-02 3.30827934e+01] [ 2.52729315e-02 -4.26457578e-04 9.99680497e-01 2.08200653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:33.10, Z:2.08 [[ 7.50730460e-01 -6.60327618e-01 -1.92668968e-02 8.67336571e+01] [ 6.60124247e-01 7.50977541e-01 -1.63923942e-02 3.31019890e+01] [ 2.52933574e-02 -4.12276074e-04 9.99679987e-01 2.08262452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:33.12, Z:2.08 [[ 7.51142627e-01 -6.59872898e-01 -1.87753355e-02 8.67522293e+01] [ 6.59679430e-01 7.51377145e-01 -1.59823651e-02 3.31240466e+01] [ 2.46536876e-02 -3.80666972e-04 9.99695979e-01 2.08372911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:33.14, Z:2.08 [[ 7.50952261e-01 -6.60096061e-01 -1.85443161e-02 8.67724895e+01] [ 6.59907208e-01 7.51181102e-01 -1.57932984e-02 3.31430425e+01] [ 2.43552339e-02 -3.77514719e-04 9.99703296e-01 2.08436161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:33.16, Z:2.09 [[ 7.50437069e-01 -6.60689998e-01 -1.82464219e-02 8.67938570e+01] [ 6.60507140e-01 7.50658763e-01 -1.55479612e-02 3.31625330e+01] [ 2.39692190e-02 -3.84125571e-04 9.99712623e-01 2.08522518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:33.18, Z:2.09 [[ 7.49707446e-01 -6.61499171e-01 -1.89101096e-02 8.68143245e+01] [ 6.61302825e-01 7.49945779e-01 -1.61215150e-02 3.31833348e+01] [ 2.48459257e-02 -4.18889002e-04 9.99691205e-01 2.08588431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:33.20, Z:2.09 [[ 7.49390283e-01 -6.61848686e-01 -1.92488987e-02 8.68367165e+01] [ 6.61645155e-01 7.49637332e-01 -1.64182599e-02 3.32006297e+01] [ 2.52960968e-02 -4.32256156e-04 9.99679909e-01 2.08584147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:33.22, Z:2.09 [[ 7.48613510e-01 -6.62721524e-01 -1.94420617e-02 8.68567644e+01] [ 6.62514101e-01 7.48865787e-01 -1.65861469e-02 3.32199304e+01] [ 2.55514913e-02 -4.64026393e-04 9.99673400e-01 2.08624956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:33.24, Z:2.09 [[ 7.48021725e-01 -6.63392446e-01 -1.93380765e-02 8.68779152e+01] [ 6.63187347e-01 7.48271496e-01 -1.65018492e-02 3.32398259e+01] [ 2.54173335e-02 -4.81025964e-04 9.99676812e-01 2.08658540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:33.26, Z:2.09 [[ 7.46722547e-01 -6.64851461e-01 -1.94415461e-02 8.68966891e+01] [ 6.64644454e-01 7.46975406e-01 -1.65979608e-02 3.32628901e+01] [ 2.55575353e-02 -5.27644228e-04 9.99673214e-01 2.08669377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.92, Y:33.28, Z:2.09 [[ 7.45974981e-01 -6.65685489e-01 -1.95999648e-02 8.69193799e+01] [ 6.65475179e-01 7.46232217e-01 -1.67410644e-02 3.32786751e+01] [ 2.57704088e-02 -5.54874958e-04 9.99667734e-01 2.08654792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:33.30, Z:2.09 [[ 7.45023172e-01 -6.66746993e-01 -1.97210822e-02 8.69388448e+01] [ 6.66534355e-01 7.45283903e-01 -1.68480592e-02 3.33003156e+01] [ 2.59311979e-02 -5.92584293e-04 9.99663554e-01 2.08738567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.96, Y:33.32, Z:2.09 [[ 7.43012455e-01 -6.68999004e-01 -1.93086535e-02 8.69603365e+01] [ 6.68795730e-01 7.43263014e-01 -1.65034304e-02 3.33173831e+01] [ 2.53921865e-02 -6.51290678e-04 9.99677354e-01 2.08811356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:33.34, Z:2.09 [[ 7.42088127e-01 -6.70031790e-01 -1.90423786e-02 8.69825602e+01] [ 6.69834295e-01 7.42332101e-01 -1.62809828e-02 3.33363743e+01] [ 2.50445449e-02 -6.73314190e-04 9.99686109e-01 2.08916205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.00, Y:33.36, Z:2.09 [[ 7.40950132e-01 -6.71304840e-01 -1.85125128e-02 8.70032635e+01] [ 6.71118403e-01 7.41181040e-01 -1.58352515e-02 3.33551797e+01] [ 2.43514045e-02 -6.90956291e-04 9.99703222e-01 2.08975032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.02, Y:33.37, Z:2.09 [[ 7.41026110e-01 -6.71204630e-01 -1.90957647e-02 8.70228284e+01] [ 6.71006118e-01 7.41271776e-01 -1.63384417e-02 3.33738220e+01] [ 2.51215891e-02 -7.06163077e-04 9.99684154e-01 2.08959151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:33.40, Z:2.09 [[ 7.41391523e-01 -6.70790620e-01 -1.94564653e-02 8.70421026e+01] [ 6.70584283e-01 7.41646446e-01 -1.66513898e-02 3.33956619e+01] [ 2.55994145e-02 -7.02000603e-04 9.99672035e-01 2.08946987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.06, Y:33.41, Z:2.09 [[ 7.42309149e-01 -6.69766535e-01 -1.97462776e-02 8.70634449e+01] [ 6.69553439e-01 7.42571437e-01 -1.69072059e-02 3.34140136e+01] [ 2.59869024e-02 -6.70814502e-04 9.99662058e-01 2.09005271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:33.44, Z:2.09 [[ 7.44516980e-01 -6.67304238e-01 -1.99880223e-02 8.70817803e+01] [ 6.67084924e-01 7.44785007e-01 -1.71171671e-02 3.34352226e+01] [ 2.63091375e-02 -5.89686761e-04 9.99653681e-01 2.09028171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.10, Y:33.46, Z:2.09 [[ 7.45498946e-01 -6.66199291e-01 -2.02441643e-02 8.71004031e+01] [ 6.65973815e-01 7.45773556e-01 -1.73401629e-02 3.34574950e+01] [ 2.66495666e-02 -5.55010202e-04 9.99644683e-01 2.09119998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.12, Y:33.48, Z:2.09 [[ 7.47437252e-01 -6.64005866e-01 -2.08270103e-02 8.71196997e+01] [ 6.63766135e-01 7.47727206e-01 -1.78477578e-02 3.34775892e+01] [ 2.74239381e-02 -4.84185135e-04 9.99623776e-01 2.09075080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:33.50, Z:2.09 [[ 7.48129580e-01 -6.63208069e-01 -2.13819463e-02 8.71413834e+01] [ 6.62954929e-01 7.48434928e-01 -1.83281392e-02 3.34973587e+01] [ 2.81583653e-02 -4.63443572e-04 9.99603367e-01 2.09124518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.16, Y:33.52, Z:2.09 [[ 7.48500511e-01 -6.62791293e-01 -2.13233820e-02 8.71619693e+01] [ 6.62539212e-01 7.48804051e-01 -1.82835098e-02 3.35170374e+01] [ 2.80851859e-02 -4.42360279e-04 9.99605435e-01 2.09236555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.18, Y:33.54, Z:2.09 [[ 7.49336219e-01 -6.61867772e-01 -2.06466300e-02 8.71825932e+01] [ 6.61630857e-01 7.49620505e-01 -1.77117779e-02 3.35364986e+01] [ 2.71999922e-02 -3.88370784e-04 9.99629936e-01 2.09373503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:33.55, Z:2.09 [[ 7.49344165e-01 -6.61869040e-01 -2.03149453e-02 8.72030978e+01] [ 6.61639467e-01 7.49619392e-01 -1.74351181e-02 3.35545346e+01] [ 2.67682418e-02 -3.76265554e-04 9.99641596e-01 2.09433985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.22, Y:33.57, Z:2.10 [[ 7.48505572e-01 -6.62839522e-01 -1.95749010e-02 8.72239149e+01] [ 6.62626593e-01 7.48761387e-01 -1.68042999e-02 3.35741447e+01] [ 2.57954841e-02 -3.92737836e-04 9.99667164e-01 2.09595480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.25, Y:33.59, Z:2.10 [[ 7.47556380e-01 -6.63926855e-01 -1.89891812e-02 8.72460278e+01] [ 6.63726630e-01 7.47797407e-01 -1.63094931e-02 3.35923370e+01] [ 2.50283710e-02 -4.11359592e-04 9.99686657e-01 2.09734811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.27, Y:33.61, Z:2.10 [[ 7.46974445e-01 -6.64593032e-01 -1.85817058e-02 8.72678741e+01] [ 6.64401321e-01 7.47205411e-01 -1.59674007e-02 3.36105944e+01] [ 2.44961744e-02 -4.18469599e-04 9.99699836e-01 2.09852244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:33.63, Z:2.10 [[ 7.46856954e-01 -6.64746948e-01 -1.77815838e-02 8.72886695e+01] [ 6.64571266e-01 7.47068494e-01 -1.52871664e-02 3.36271729e+01] [ 2.34461582e-02 -3.99803156e-04 9.99725021e-01 2.10025569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:33.65, Z:2.10 [[ 7.47146921e-01 -6.64427119e-01 -1.75522606e-02 8.73103714e+01] [ 6.64255766e-01 7.47352967e-01 -1.50937192e-02 3.36469699e+01] [ 2.31464103e-02 -3.81964489e-04 9.99732013e-01 2.10080514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:33.67, Z:2.10 [[ 7.47631824e-01 -6.63865317e-01 -1.81520427e-02 8.73316030e+01] [ 6.63681775e-01 7.47852059e-01 -1.56140870e-02 3.36666415e+01] [ 2.39406933e-02 -3.73591616e-04 9.99713311e-01 2.10033350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.35, Y:33.68, Z:2.10 [[ 7.47823219e-01 -6.63635897e-01 -1.86501625e-02 8.73526955e+01] [ 6.63441863e-01 7.48055652e-01 -1.60510087e-02 3.36843971e+01] [ 2.46033850e-02 -3.69981546e-04 9.99697222e-01 2.10034986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:33.70, Z:2.10 [[ 7.48116749e-01 -6.63286649e-01 -1.92912296e-02 8.73740067e+01] [ 6.63078676e-01 7.48365345e-01 -1.66126318e-02 3.37029702e+01] [ 2.54558245e-02 -3.63414872e-04 9.99675882e-01 2.10033355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:33.72, Z:2.10 [[ 7.49162958e-01 -6.62060281e-01 -2.07616645e-02 8.73957512e+01] [ 6.61818647e-01 7.49450512e-01 -1.78887963e-02 3.37204554e+01] [ 2.74033015e-02 -3.38833156e-04 9.99624402e-01 2.09919292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.42, Y:33.74, Z:2.10 [[ 7.49691121e-01 -6.61438423e-01 -2.15043173e-02 8.74177476e+01] [ 6.61178800e-01 7.49999406e-01 -1.85333925e-02 3.37383243e+01] [ 2.83869231e-02 -3.23878949e-04 9.99596958e-01 2.09928528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.44, Y:33.76, Z:2.10 [[ 7.50811827e-01 -6.60144085e-01 -2.21672577e-02 8.74404097e+01] [ 6.59867325e-01 7.51138943e-01 -1.91154986e-02 3.37559273e+01] [ 2.92696739e-02 -2.75306591e-04 9.99571513e-01 2.09973926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.46, Y:33.77, Z:2.10 [[ 7.51110405e-01 -6.59805099e-01 -2.21447585e-02 8.74622583e+01] [ 6.59528468e-01 7.51436735e-01 -1.91058693e-02 3.37742485e+01] [ 2.92465350e-02 -2.54481442e-04 9.99572196e-01 2.10042504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:33.79, Z:2.10 [[ 7.51322336e-01 -6.59551877e-01 -2.24959792e-02 8.74835515e+01] [ 6.59265992e-01 7.51659007e-01 -1.94187490e-02 3.37905670e+01] [ 2.97169778e-02 -2.41094204e-04 9.99558324e-01 2.10026741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.51, Y:33.81, Z:2.10 [[ 7.51466996e-01 -6.59375223e-01 -2.28400812e-02 8.75062846e+01] [ 6.59080251e-01 7.51813981e-01 -1.97220982e-02 3.38067749e+01] [ 3.01757553e-02 -2.32940538e-04 9.99544581e-01 2.10115009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:33.82, Z:2.10 [[ 7.51117469e-01 -6.59774602e-01 -2.28040004e-02 8.75287380e+01] [ 6.59480418e-01 7.51463517e-01 -1.97018035e-02 3.38244215e+01] [ 3.01351239e-02 -2.40422914e-04 9.99545805e-01 2.10228144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.55, Y:33.84, Z:2.10 [[ 7.50632390e-01 -6.60336688e-01 -2.25049812e-02 8.75514922e+01] [ 6.60050143e-01 7.50969637e-01 -1.94528628e-02 3.38386760e+01] [ 2.97459966e-02 -2.52467176e-04 9.99557458e-01 2.10252773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.57, Y:33.86, Z:2.10 [[ 7.49952799e-01 -6.61108071e-01 -2.25148354e-02 8.75740553e+01] [ 6.60821440e-01 7.50290637e-01 -1.94674903e-02 3.38558725e+01] [ 2.97627851e-02 -2.78587169e-04 9.99556951e-01 2.10402789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.60, Y:33.87, Z:2.11 [[ 7.48233906e-01 -6.63057383e-01 -2.23814174e-02 8.75993015e+01] [ 6.62774735e-01 7.48568491e-01 -1.93614280e-02 3.38691956e+01] [ 2.95917617e-02 -3.46961118e-04 9.99562008e-01 2.10524858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:33.89, Z:2.11 [[ 7.47336502e-01 -6.64072688e-01 -2.22624628e-02 8.76226685e+01] [ 6.63793352e-01 7.47667921e-01 -1.92630933e-02 3.38858300e+01] [ 2.94370234e-02 -3.81662047e-04 9.99566564e-01 2.10603568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:33.90, Z:2.11 [[ 7.46348464e-01 -6.65183897e-01 -2.22340696e-02 8.76452929e+01] [ 6.64905494e-01 7.46679455e-01 -1.92477199e-02 3.39042242e+01] [ 2.94049963e-02 -4.18048794e-04 9.99567492e-01 2.10745849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:33.92, Z:2.11 [[ 7.45629221e-01 -6.65971045e-01 -2.27954351e-02 8.76710326e+01] [ 6.65678509e-01 7.45977453e-01 -1.97423907e-02 3.39167132e+01] [ 3.01527412e-02 -4.53927807e-04 9.99545200e-01 2.10768932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:33.93, Z:2.11 [[ 7.45464733e-01 -6.66149460e-01 -2.29614654e-02 8.76930690e+01] [ 6.65852566e-01 7.45818131e-01 -1.98915828e-02 3.39335526e+01] [ 3.03758443e-02 -4.60477201e-04 9.99538442e-01 2.10859757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:33.95, Z:2.11 [[ 7.46871805e-01 -6.64554849e-01 -2.34384095e-02 8.77160109e+01] [ 6.64244405e-01 7.47239383e-01 -2.03144276e-02 3.39492360e+01] [ 3.10141540e-02 -3.96559121e-04 9.99518867e-01 2.10881784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:33.97, Z:2.11 [[ 7.48015695e-01 -6.63248636e-01 -2.39534239e-02 8.77385425e+01] [ 6.62923552e-01 7.48399042e-01 -2.07662455e-02 3.39677048e+01] [ 3.16999035e-02 -3.45811364e-04 9.99497372e-01 2.10920704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:33.99, Z:2.11 [[ 7.49084052e-01 -6.62028669e-01 -2.43130701e-02 8.77612667e+01] [ 6.61692767e-01 7.49478457e-01 -2.10884885e-02 3.39861866e+01] [ 3.21833062e-02 -2.90732256e-04 9.99481941e-01 2.10890940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.79, Y:34.00, Z:2.11 [[ 7.51252813e-01 -6.59535532e-01 -2.51414721e-02 8.77857481e+01] [ 6.59174588e-01 7.51673366e-01 -2.18177394e-02 3.40028197e+01] [ 3.32877493e-02 -1.81981406e-04 9.99445793e-01 2.10845042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:34.02, Z:2.11 [[ 7.52191141e-01 -6.58436496e-01 -2.58818113e-02 8.78080874e+01] [ 6.58052942e-01 7.52636276e-01 -2.24713323e-02 3.40199953e+01] [ 3.42755354e-02 -1.28864989e-04 9.99412413e-01 2.10838558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:34.03, Z:2.11 [[ 7.53424694e-01 -6.56963623e-01 -2.73866651e-02 8.78334587e+01] [ 6.56532704e-01 7.53922274e-01 -2.37910288e-02 3.40349905e+01] [ 3.62772573e-02 -5.54926780e-05 9.99341762e-01 2.10776559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:34.05, Z:2.11 [[ 7.53617165e-01 -6.56711900e-01 -2.81184851e-02 8.78567044e+01] [ 6.56257117e-01 7.54141551e-01 -2.44359942e-02 3.40510464e+01] [ 3.72527261e-02 -3.75713001e-05 9.99305876e-01 2.10691100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.768040942 meters Centerline goodness [0,1] 0.9999780956344599 Centerline is valid? [True, True] Translation: X:87.88, Y:34.07, Z:2.11 [[ 7.53944336e-01 -6.56348485e-01 -2.78317222e-02 8.78786386e+01] [ 6.55902404e-01 7.54457862e-01 -2.41944368e-02 3.40685287e+01] [ 3.68778436e-02 -1.36349141e-05 9.99319781e-01 2.10974954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:34.09, Z:2.11 [[ 7.55643322e-01 -6.54434678e-01 -2.68034149e-02 8.78995810e+01] [ 6.54019319e-01 7.56118539e-01 -2.33127583e-02 3.40879752e+01] [ 3.55232364e-02 8.61789505e-05 9.99368847e-01 2.11188875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:34.11, Z:2.11 [[ 7.55932940e-01 -6.54120541e-01 -2.63003511e-02 8.79199092e+01] [ 6.53720121e-01 7.56390314e-01 -2.28844141e-02 3.41058391e+01] [ 3.48624962e-02 1.06013762e-04 9.99392113e-01 2.11287551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:34.13, Z:2.12 [[ 7.55410729e-01 -6.54762695e-01 -2.53069931e-02 8.79410056e+01] [ 6.54392091e-01 7.55834510e-01 -2.20268961e-02 3.41254428e+01] [ 3.35502886e-02 7.86574779e-05 9.99437028e-01 2.11517307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:34.14, Z:2.12 [[ 7.54781278e-01 -6.55513488e-01 -2.46432446e-02 8.79614838e+01] [ 6.55162124e-01 7.55183464e-01 -2.14599044e-02 3.41440863e+01] [ 3.26774276e-02 5.22135849e-05 9.99465949e-01 2.11672370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.98, Y:34.16, Z:2.12 [[ 7.53945515e-01 -6.56510294e-01 -2.36726416e-02 8.79834205e+01] [ 6.56186220e-01 7.54317064e-01 -2.06255162e-02 3.41631284e+01] [ 3.13975412e-02 1.68542062e-05 9.99506976e-01 2.11850862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:34.18, Z:2.12 [[ 7.51666998e-01 -6.59155222e-01 -2.26079038e-02 8.80055322e+01] [ 6.58860595e-01 7.52006906e-01 -1.97061067e-02 3.41789253e+01] [ 2.99906830e-02 -8.30268866e-05 9.99550175e-01 2.12021243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:34.20, Z:2.12 [[ 7.50300874e-01 -6.60701025e-01 -2.28638422e-02 8.80282581e+01] [ 6.60400223e-01 7.50649143e-01 -1.99351451e-02 3.41973755e+01] [ 3.03338944e-02 -1.41929688e-04 9.99539811e-01 2.12134536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:34.21, Z:2.12 [[ 7.47817039e-01 -6.63476277e-01 -2.38517476e-02 8.80512006e+01] [ 6.63149985e-01 7.48197276e-01 -2.08070717e-02 3.42148109e+01] [ 3.16508110e-02 -2.57403304e-04 9.99498954e-01 2.12008894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.07, Y:34.23, Z:2.12 [[ 7.47630774e-01 -6.63686352e-01 -2.38464357e-02 8.80719151e+01] [ 6.63359972e-01 7.48010935e-01 -2.08131581e-02 3.42330047e+01] [ 3.16508036e-02 -2.58213465e-04 9.99498954e-01 2.12072713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:34.25, Z:2.12 [[ 7.46564109e-01 -6.64892725e-01 -2.36579011e-02 8.80945048e+01] [ 6.64571792e-01 7.46938803e-01 -2.06581356e-02 3.42492166e+01] [ 3.14064484e-02 -2.99751139e-04 9.99506651e-01 2.11993318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:34.27, Z:2.12 [[ 7.45312880e-01 -6.66299350e-01 -2.35348153e-02 8.81162016e+01] [ 6.65982284e-01 7.45684284e-01 -2.05559245e-02 3.42679298e+01] [ 3.12459410e-02 -3.53174788e-04 9.99511664e-01 2.12150563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:34.29, Z:2.12 [[ 7.44001129e-01 -6.67743591e-01 -2.41001395e-02 8.81372747e+01] [ 6.67411583e-01 7.44391243e-01 -2.10584194e-02 3.42869703e+01] [ 3.20015574e-02 -4.17224441e-04 9.99487732e-01 2.12180705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.16, Y:34.31, Z:2.12 [[ 7.43532305e-01 -6.68239624e-01 -2.48095949e-02 8.81581194e+01] [ 6.67887853e-01 7.43945969e-01 -2.16843683e-02 3.43065047e+01] [ 3.29473522e-02 -4.46998743e-04 9.99456989e-01 2.12230026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:34.33, Z:2.12 [[ 7.43386273e-01 -6.68389876e-01 -2.51361083e-02 8.81784471e+01] [ 6.68028476e-01 7.43810978e-01 -2.19814533e-02 3.43263308e+01] [ 3.33886941e-02 -4.50925472e-04 9.99442340e-01 2.12247097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.20, Y:34.34, Z:2.12 [[ 7.43550796e-01 -6.68195866e-01 -2.54263309e-02 8.81987322e+01] [ 6.67825596e-01 7.43985276e-01 -2.22459397e-02 3.43442156e+01] [ 3.37814607e-02 -4.39368403e-04 9.99429147e-01 2.12263141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.22, Y:34.36, Z:2.12 [[ 7.43686703e-01 -6.68044290e-01 -2.54345190e-02 8.82185624e+01] [ 6.67673506e-01 7.44121390e-01 -2.22586245e-02 3.43622739e+01] [ 3.37961167e-02 -4.28511457e-04 9.99428656e-01 2.12342277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:34.38, Z:2.13 [[ 7.43617228e-01 -6.68146629e-01 -2.47689539e-02 8.82387156e+01] [ 6.67794819e-01 7.44029508e-01 -2.16834286e-02 3.43820494e+01] [ 3.29165423e-02 -4.16408059e-04 9.99458017e-01 2.12587580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:34.40, Z:2.13 [[ 7.43408395e-01 -6.68389261e-01 -2.44898693e-02 8.82592582e+01] [ 6.68045070e-01 7.43811552e-01 -2.14513075e-02 3.44005337e+01] [ 3.25536713e-02 -4.13254379e-04 9.99469903e-01 2.12673498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.28, Y:34.42, Z:2.13 [[ 7.42821426e-01 -6.69060857e-01 -2.39561728e-02 8.82798470e+01] [ 6.68731478e-01 7.43207501e-01 -2.09957211e-02 3.44196524e+01] [ 3.18518225e-02 -4.24175311e-04 9.99492512e-01 2.12856072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:34.44, Z:2.13 [[ 7.42459624e-01 -6.69467907e-01 -2.37997612e-02 8.83009528e+01] [ 6.69142647e-01 7.42840856e-01 -2.08705792e-02 3.44388947e+01] [ 3.16516180e-02 -4.29872789e-04 9.99498870e-01 2.12953124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:34.46, Z:2.13 [[ 7.41951415e-01 -6.70044661e-01 -2.34147420e-02 8.83220687e+01] [ 6.69729766e-01 7.42320658e-01 -2.05445951e-02 3.44578063e+01] [ 3.11470430e-02 -4.38458305e-04 9.99514717e-01 2.13028672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:34.48, Z:2.13 [[ 7.41049910e-01 -6.71046042e-01 -2.32860460e-02 8.83431140e+01] [ 6.70734794e-01 7.41415530e-01 -2.04413340e-02 3.44760170e+01] [ 3.09817124e-02 -4.70712560e-04 9.99519841e-01 2.13133246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:34.49, Z:2.13 [[ 7.40593826e-01 -6.71561411e-01 -2.29359040e-02 8.83647778e+01] [ 6.71259537e-01 7.40948743e-01 -2.01393689e-02 3.44945709e+01] [ 3.05191522e-02 -4.80852050e-04 9.99534067e-01 2.13206688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:34.51, Z:2.13 [[ 7.40274794e-01 -6.71915904e-01 -2.28527574e-02 8.83864205e+01] [ 6.71616041e-01 7.40627290e-01 -2.00776279e-02 3.45122523e+01] [ 3.04158533e-02 -4.85316626e-04 9.99537213e-01 2.13417389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.41, Y:34.53, Z:2.13 [[ 7.40464821e-01 -6.71718020e-01 -2.25111208e-02 8.84070578e+01] [ 6.71426684e-01 7.40806781e-01 -1.97868956e-02 3.45297776e+01] [ 2.99676053e-02 -4.63067112e-04 9.99550763e-01 2.13481023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:34.55, Z:2.14 [[ 7.40557304e-01 -6.71609236e-01 -2.27137360e-02 8.84276093e+01] [ 6.71312399e-01 7.40905409e-01 -1.99709260e-02 3.45481732e+01] [ 3.02413882e-02 -4.58397486e-04 9.99542520e-01 2.13552999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:34.57, Z:2.14 [[ 7.41502383e-01 -6.70541240e-01 -2.34235249e-02 8.84477592e+01] [ 6.70224724e-01 7.41872138e-01 -2.06046245e-02 3.45668028e+01] [ 3.11935109e-02 -4.20647351e-04 9.99513276e-01 2.13564988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:34.59, Z:2.14 [[ 7.42024505e-01 -6.69964827e-01 -2.33830131e-02 8.84679660e+01] [ 6.69649006e-01 7.42392737e-01 -2.05726134e-02 3.45850169e+01] [ 3.11423065e-02 -3.93028174e-04 9.99514883e-01 2.13605160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:34.60, Z:2.14 [[ 7.42321529e-01 -6.69638740e-01 -2.32960437e-02 8.84878278e+01] [ 6.69324969e-01 7.42686891e-01 -2.05004463e-02 3.46032779e+01] [ 3.10295593e-02 -3.74701073e-04 9.99518397e-01 2.13642255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.51, Y:34.62, Z:2.14 [[ 7.41929117e-01 -6.70081422e-01 -2.30667310e-02 8.85089179e+01] [ 6.69773805e-01 7.42287505e-01 -2.03054172e-02 3.46212920e+01] [ 3.07284290e-02 -3.84311931e-04 9.99527696e-01 2.13698812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:34.64, Z:2.14 [[ 7.41160052e-01 -6.70926115e-01 -2.32363000e-02 8.85301041e+01] [ 6.70614078e-01 7.41524090e-01 -2.04641704e-02 3.46389750e+01] [ 3.09602226e-02 -4.15364377e-04 9.99520531e-01 2.13824897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:34.66, Z:2.14 [[ 7.40695010e-01 -6.71456999e-01 -2.27244724e-02 8.85509775e+01] [ 6.71158627e-01 7.41043399e-01 -2.00194160e-02 3.46575016e+01] [ 3.02819972e-02 -4.23444175e-04 9.99541305e-01 2.13913037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:34.68, Z:2.14 [[ 7.40044746e-01 -6.72174110e-01 -2.27098894e-02 8.85719700e+01] [ 6.71876180e-01 7.40392982e-01 -2.00157847e-02 3.46757243e+01] [ 3.02683350e-02 -4.45657452e-04 9.99541710e-01 2.14016828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:34.69, Z:2.14 [[ 7.39152017e-01 -6.73176096e-01 -2.20961595e-02 8.85929586e+01] [ 6.72894371e-01 7.39482064e-01 -1.94792904e-02 3.46943946e+01] [ 2.94527063e-02 -4.70224587e-04 9.99566064e-01 2.14196496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:34.71, Z:2.14 [[ 7.38705407e-01 -6.73688160e-01 -2.14145935e-02 8.86142607e+01] [ 6.73423615e-01 7.39015589e-01 -1.88836971e-02 3.47129673e+01] [ 2.85474416e-02 -4.71603845e-04 9.99592327e-01 2.14364939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.63, Y:34.73, Z:2.15 [[ 7.38351433e-01 -6.74091809e-01 -2.09139710e-02 8.86333538e+01] [ 6.73839387e-01 7.38647422e-01 -1.84517568e-02 3.47341761e+01] [ 2.78862289e-02 -4.68776316e-04 9.99610994e-01 2.14625738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.66, Y:34.75, Z:2.15 [[ 7.38162031e-01 -6.74314621e-01 -2.04109598e-02 8.86552371e+01] [ 6.74074034e-01 7.38444027e-01 -1.80171072e-02 3.47502999e+01] [ 2.72215501e-02 -4.58953578e-04 9.99629320e-01 2.14721800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.68, Y:34.77, Z:2.15 [[ 7.38145751e-01 -6.74329638e-01 -2.05034285e-02 8.86757223e+01] [ 6.74086746e-01 7.38430315e-01 -1.81032795e-02 3.47686211e+01] [ 2.73479311e-02 -4.58230548e-04 9.99625870e-01 2.14857526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:34.79, Z:2.15 [[ 7.38797656e-01 -6.73631895e-01 -1.99522844e-02 8.86951817e+01] [ 6.73401514e-01 7.39066909e-01 -1.76211696e-02 3.47884789e+01] [ 2.66162551e-02 -4.17419770e-04 9.99645638e-01 2.15035496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.72, Y:34.81, Z:2.15 [[ 7.39045947e-01 -6.73363921e-01 -1.98019805e-02 8.87154296e+01] [ 6.73136812e-01 7.39311077e-01 -1.74918287e-02 3.48083995e+01] [ 2.64181899e-02 -4.02176903e-04 9.99650898e-01 2.15131679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:34.83, Z:2.15 [[ 7.39711330e-01 -6.72631360e-01 -1.98545191e-02 8.87334430e+01] [ 6.72402556e-01 7.39977646e-01 -1.75466797e-02 3.48313581e+01] [ 2.64943473e-02 -3.70751590e-04 9.99648894e-01 2.15301965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.75, Y:34.85, Z:2.15 [[ 7.41490634e-01 -6.70667605e-01 -1.99149185e-02 8.87520079e+01] [ 6.70436484e-01 7.41757963e-01 -1.76080887e-02 3.48519872e+01] [ 2.65812241e-02 -2.95455122e-04 9.99646613e-01 2.15466789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.77, Y:34.87, Z:2.15 [[ 7.42404568e-01 -6.69655065e-01 -1.99387045e-02 8.87732428e+01] [ 6.69422943e-01 7.42672221e-01 -1.76322125e-02 3.48696023e+01] [ 2.66154224e-02 -2.57191153e-04 9.99645714e-01 2.15455745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.79, Y:34.89, Z:2.16 [[ 7.43863729e-01 -6.68049442e-01 -1.94086399e-02 8.87908527e+01] [ 6.67828863e-01 7.44116863e-01 -1.71669363e-02 3.48933482e+01] [ 2.59106584e-02 -1.91788667e-04 9.99664244e-01 2.15685631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.81, Y:34.91, Z:2.16 [[ 7.44377858e-01 -6.67496881e-01 -1.86953957e-02 8.88105274e+01] [ 6.67291849e-01 7.44612575e-01 -1.65439184e-02 3.49134500e+01] [ 2.49638407e-02 -1.60358604e-04 9.99688342e-01 2.15847260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.83, Y:34.93, Z:2.16 [[ 7.44805064e-01 -6.67033753e-01 -1.82040858e-02 8.88303515e+01] [ 6.66838999e-01 7.45027486e-01 -1.61181359e-02 3.49322195e+01] [ 2.43138849e-02 -1.34325053e-04 9.99704365e-01 2.15955449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.85, Y:34.95, Z:2.16 [[ 7.45389403e-01 -6.66387750e-01 -1.79444894e-02 8.88509887e+01] [ 6.66198174e-01 7.45605362e-01 -1.58945521e-02 3.49518844e+01] [ 2.39714423e-02 -1.06955331e-04 9.99712638e-01 2.16105232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.87, Y:34.97, Z:2.16 [[ 7.45989060e-01 -6.65729537e-01 -1.74500856e-02 8.88708498e+01] [ 6.65549889e-01 7.46193123e-01 -1.54650388e-02 3.49721088e+01] [ 2.33166670e-02 -7.71527144e-05 9.99728127e-01 2.16284444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.89, Y:34.99, Z:2.16 [[ 7.46090032e-01 -6.65614422e-01 -1.75244424e-02 8.88910079e+01] [ 6.65432999e-01 7.46295811e-01 -1.55398567e-02 3.49914022e+01] [ 2.34219707e-02 -6.72101212e-05 9.99725666e-01 2.16416373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.91, Y:35.01, Z:2.17 [[ 7.46121050e-01 -6.65573590e-01 -1.77531916e-02 8.89097674e+01] [ 6.65387174e-01 7.46332227e-01 -1.57516956e-02 3.50111244e+01] [ 2.37336916e-02 -6.00743626e-05 9.99718314e-01 2.16502266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.93, Y:35.03, Z:2.17 [[ 7.45858555e-01 -6.65866449e-01 -1.78013351e-02 8.89293375e+01] [ 6.65679011e-01 7.46070953e-01 -1.57983263e-02 3.50299209e+01] [ 2.38006345e-02 -6.66583103e-05 9.99716723e-01 2.16517352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.328040942 meters Centerline goodness [0,1] 0.9999783479484681 Centerline is valid? [True, True] Translation: X:88.95, Y:35.05, Z:2.17 [[ 7.45237892e-01 -6.66548583e-01 -1.82611826e-02 8.89488317e+01] [ 6.66351440e-01 7.45461588e-01 -1.62104788e-02 3.50481473e+01] [ 2.44180819e-02 -8.77022685e-05 9.99701830e-01 2.16561546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.97, Y:35.07, Z:2.17 [[ 7.43277738e-01 -6.68720919e-01 -1.87226293e-02 8.89704884e+01] [ 6.68514263e-01 7.43513488e-01 -1.66244849e-02 3.50668010e+01] [ 2.50376682e-02 -1.59735185e-04 9.99686496e-01 2.16643575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.388040942 meters Centerline goodness [0,1] 0.9999784194397686 Centerline is valid? [True, True] Translation: X:88.99, Y:35.08, Z:2.17 [[ 7.41944226e-01 -6.70196620e-01 -1.88482489e-02 8.89919963e+01] [ 6.69987463e-01 7.42183568e-01 -1.67436654e-02 3.50840119e+01] [ 2.52104086e-02 -2.05224619e-04 9.99682146e-01 2.16701575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.01, Y:35.10, Z:2.17 [[ 7.39373480e-01 -6.73033339e-01 -1.87878201e-02 8.90143669e+01] [ 6.72826354e-01 7.39612084e-01 -1.66931845e-02 3.51022788e+01] [ 2.51307684e-02 -2.98442597e-04 9.99684128e-01 2.16815405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.03, Y:35.12, Z:2.17 [[ 7.37971145e-01 -6.74566188e-01 -1.89485521e-02 8.90344238e+01] [ 6.74355945e-01 7.38214289e-01 -1.68440641e-02 3.51226060e+01] [ 2.53505280e-02 -3.47635529e-04 9.99678563e-01 2.16870501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.06, Y:35.14, Z:2.17 [[ 7.36544392e-01 -6.76109730e-01 -1.94420024e-02 8.90560820e+01] [ 6.75888695e-01 7.36800834e-01 -1.72916687e-02 3.51420194e+01] [ 2.60159490e-02 -4.04548025e-04 9.99661446e-01 2.16915610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.08, Y:35.16, Z:2.17 [[ 7.33908247e-01 -6.78956512e-01 -1.99183106e-02 8.90783631e+01] [ 6.78725326e-01 7.34178311e-01 -1.77239728e-02 3.51592460e+01] [ 2.66573984e-02 -5.11292031e-04 9.99644498e-01 2.16874467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:35.18, Z:2.17 [[ 7.32627854e-01 -6.80331317e-01 -2.01426543e-02 8.90997572e+01] [ 6.80095263e-01 7.32904483e-01 -1.79290699e-02 3.51782344e+01] [ 2.69603494e-02 -5.63587767e-04 9.99636345e-01 2.16918046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:35.20, Z:2.17 [[ 7.30046077e-01 -6.83098588e-01 -2.02248623e-02 8.91215233e+01] [ 6.82861434e-01 7.30325873e-01 -1.80105866e-02 3.51963608e+01] [ 2.70737464e-02 -6.62220394e-04 9.99633220e-01 2.16963391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:35.22, Z:2.17 [[ 7.28611467e-01 -6.84632064e-01 -2.01064009e-02 8.91428415e+01] [ 6.84398119e-01 7.28888490e-01 -1.79104165e-02 3.52162225e+01] [ 2.69173696e-02 -7.11048173e-04 9.99637409e-01 2.17005969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:35.23, Z:2.17 [[ 7.27577095e-01 -6.85717761e-01 -2.05602546e-02 8.91638802e+01] [ 6.85473333e-01 7.27867139e-01 -1.83231406e-02 3.52345972e+01] [ 2.75296366e-02 -7.62008833e-04 9.99620697e-01 2.17020780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.658040942 meters Centerline goodness [0,1] 0.9999783577890318 Centerline is valid? [True, True] Translation: X:89.19, Y:35.25, Z:2.17 [[ 7.26567175e-01 -6.86790844e-01 -2.04566954e-02 8.91852099e+01] [ 6.86549202e-01 7.26854664e-01 -1.82343083e-02 3.52520552e+01] [ 2.73922005e-02 -7.96078060e-04 9.99624446e-01 2.17023771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.20, Y:35.27, Z:2.17 [[ 7.24960552e-01 -6.88492680e-01 -2.02491267e-02 8.92038381e+01] [ 6.88256437e-01 7.25242794e-01 -1.80545545e-02 3.52745789e+01] [ 2.71159619e-02 -8.47752048e-04 9.99631935e-01 2.17045911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.22, Y:35.29, Z:2.17 [[ 7.24284668e-01 -6.89213528e-01 -1.99106307e-02 8.92238844e+01] [ 6.88985161e-01 7.24557785e-01 -1.77613148e-02 3.52948397e+01] [ 2.66677409e-02 -8.53881096e-04 9.99643988e-01 2.17158448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:35.31, Z:2.17 [[ 7.23229956e-01 -6.90325296e-01 -1.97336438e-02 8.92455828e+01] [ 6.90101154e-01 7.23498590e-01 -1.76121337e-02 3.53143910e+01] [ 2.64353648e-02 -8.80587699e-04 9.99650137e-01 2.17297741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:35.33, Z:2.17 [[ 7.22864116e-01 -6.90709763e-01 -1.96848482e-02 8.92660878e+01] [ 6.90486641e-01 7.23131550e-01 -1.75772820e-02 3.53343834e+01] [ 2.63755351e-02 -8.86138284e-04 9.99651712e-01 2.17394526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:35.35, Z:2.17 [[ 7.22574510e-01 -6.91026503e-01 -1.91950436e-02 8.92865478e+01] [ 6.90814241e-01 7.22828898e-01 -1.71484088e-02 3.53538106e+01] [ 2.57247372e-02 -8.69206400e-04 9.99668686e-01 2.17450544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:35.37, Z:2.17 [[ 7.22852897e-01 -6.90736373e-01 -1.91559772e-02 8.93052359e+01] [ 6.90524640e-01 7.23106174e-01 -1.71225604e-02 3.53749506e+01] [ 2.56789806e-02 -8.50581875e-04 9.99669879e-01 2.17438929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.32, Y:35.40, Z:2.17 [[ 7.23117800e-01 -6.90466339e-01 -1.88913347e-02 8.93246848e+01] [ 6.90260239e-01 7.23364051e-01 -1.68893952e-02 3.53959408e+01] [ 2.53268713e-02 -8.26914856e-04 9.99678881e-01 2.17467639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:35.42, Z:2.17 [[ 7.24425179e-01 -6.89080402e-01 -1.94000098e-02 8.93435970e+01] [ 6.88862341e-01 7.24684463e-01 -1.73523788e-02 3.54168867e+01] [ 2.60160699e-02 -7.93436026e-04 9.99661210e-01 2.17404440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:35.43, Z:2.17 [[ 7.25054050e-01 -6.88409785e-01 -1.97127304e-02 8.93659526e+01] [ 6.88184301e-01 7.25321556e-01 -1.76354130e-02 3.54331534e+01] [ 2.64384591e-02 -7.79363971e-04 9.99650139e-01 2.17367465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.39, Y:35.45, Z:2.17 [[ 7.24876210e-01 -6.88597117e-01 -1.97101916e-02 8.93864192e+01] [ 6.88371624e-01 7.25143709e-01 -1.76382500e-02 3.54516155e+01] [ 2.64383695e-02 -7.82388776e-04 9.99650139e-01 2.17431370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.41, Y:35.47, Z:2.17 [[ 7.25315932e-01 -6.88124993e-01 -2.00198065e-02 8.94050096e+01] [ 6.87891929e-01 7.25591759e-01 -1.79246780e-02 3.54747231e+01] [ 2.68606256e-02 -7.70408799e-04 9.99638891e-01 2.17484042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.018040942 meters Centerline goodness [0,1] 0.9999136442141624 Centerline is valid? [True, True] Translation: X:89.42, Y:35.50, Z:2.17 [[ 7.25907530e-01 -6.87469077e-01 -2.10837999e-02 8.94244226e+01] [ 6.87210029e-01 7.26213234e-01 -1.88868714e-02 3.54967148e+01] [ 2.82954746e-02 -7.78876577e-04 9.99599299e-01 2.17404442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:35.52, Z:2.17 [[ 7.26513626e-01 -6.86845811e-01 -2.05130213e-02 8.94447999e+01] [ 6.86600114e-01 7.26802795e-01 -1.83842381e-02 3.55168215e+01] [ 2.75360582e-02 -7.27843304e-04 9.99620546e-01 2.17422134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:35.54, Z:2.17 [[ 7.26814631e-01 -6.86526644e-01 -2.05343303e-02 8.94647618e+01] [ 6.86280091e-01 7.27104299e-01 -1.84112793e-02 3.55366831e+01] [ 2.75704336e-02 -7.10714894e-04 9.99619611e-01 2.17439218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.49, Y:35.56, Z:2.18 [[ 7.26739691e-01 -6.86608712e-01 -2.04425781e-02 8.94852969e+01] [ 6.86364275e-01 7.27026806e-01 -1.83331737e-02 3.55556733e+01] [ 2.74500191e-02 -7.07610336e-04 9.99622927e-01 2.17526659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.51, Y:35.57, Z:2.18 [[ 7.26602674e-01 -6.86751880e-01 -2.05038972e-02 8.95057277e+01] [ 6.86505770e-01 7.26891570e-01 -1.83976445e-02 3.55736051e+01] [ 2.75387270e-02 -7.08266065e-04 9.99620486e-01 2.17627857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:35.59, Z:2.18 [[ 7.26924617e-01 -6.86433334e-01 -1.97453566e-02 8.95262085e+01] [ 6.86204828e-01 7.27192432e-01 -1.77228868e-02 3.55922400e+01] [ 2.65242542e-02 -6.66156378e-04 9.99647948e-01 2.17726934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.55, Y:35.61, Z:2.18 [[ 7.26960959e-01 -6.86404617e-01 -1.94027262e-02 8.95463236e+01] [ 6.86183870e-01 7.27219553e-01 -1.74188947e-02 3.56112080e+01] [ 2.60664516e-02 -6.50981385e-04 9.99660000e-01 2.17793295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:35.63, Z:2.18 [[ 7.27530724e-01 -6.85814217e-01 -1.89184016e-02 8.95666935e+01] [ 6.85603935e-01 7.27776401e-01 -1.69927550e-02 3.56311354e+01] [ 2.54222392e-02 -6.07779259e-04 9.99676618e-01 2.17853387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.59, Y:35.65, Z:2.18 [[ 7.29376815e-01 -6.83858944e-01 -1.86120101e-02 8.95861469e+01] [ 6.83654592e-01 7.29614055e-01 -1.67251134e-02 3.56522484e+01] [ 2.50172025e-02 -5.25276241e-04 9.99686883e-01 2.17917066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.61, Y:35.67, Z:2.18 [[ 7.30566395e-01 -6.82588264e-01 -1.86011634e-02 8.96065111e+01] [ 6.82383548e-01 7.30803007e-01 -1.67229951e-02 3.56719299e+01] [ 2.50087063e-02 -4.75869595e-04 9.99687120e-01 2.17998172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.63, Y:35.69, Z:2.18 [[ 7.33322806e-01 -6.79634922e-01 -1.82766066e-02 8.96256127e+01] [ 6.79436195e-01 7.33550435e-01 -1.64382793e-02 3.56922442e+01] [ 2.45788414e-02 -3.63222924e-04 9.99697829e-01 2.18067286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.65, Y:35.71, Z:2.18 [[ 7.34869770e-01 -6.77958833e-01 -1.83913382e-02 8.96459009e+01] [ 6.77757003e-01 7.35099807e-01 -1.65444285e-02 3.57126821e+01] [ 2.47359106e-02 -3.06857874e-04 9.99693973e-01 2.18110637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.67, Y:35.73, Z:2.18 [[ 7.36490696e-01 -6.76189781e-01 -1.86771565e-02 8.96664858e+01] [ 6.75980867e-01 7.36727440e-01 -1.68091324e-02 3.57335689e+01] [ 2.51261372e-02 -2.45630877e-04 9.99684259e-01 2.18161175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:35.76, Z:2.18 [[ 7.40380145e-01 -6.71920199e-01 -1.89865198e-02 8.96851126e+01] [ 6.71702710e-01 7.40623546e-01 -1.70947998e-02 3.57550443e+01] [ 2.55482049e-02 -9.66464037e-05 9.99673587e-01 2.18155379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.70, Y:35.78, Z:2.18 [[ 7.42066551e-01 -6.70043636e-01 -1.94617553e-02 8.97048902e+01] [ 6.69814383e-01 7.42321713e-01 -1.75261847e-02 3.57753235e+01] [ 2.61901920e-02 -3.01682205e-05 9.99656978e-01 2.18181854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.72, Y:35.80, Z:2.18 [[ 7.45619727e-01 -6.66055291e-01 -2.05322379e-02 8.97234427e+01] [ 6.65798356e-01 7.45902363e-01 -1.84990415e-02 3.57960661e+01] [ 2.76364292e-02 1.22919974e-04 9.99618033e-01 2.18088691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:35.82, Z:2.18 [[ 7.47112361e-01 -6.64367251e-01 -2.09589306e-02 8.97442310e+01] [ 6.64098720e-01 7.47406261e-01 -1.88884046e-02 3.58158305e+01] [ 2.82136734e-02 1.92961569e-04 9.99601896e-01 2.18101040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:35.83, Z:2.18 [[ 7.48149433e-01 -6.63191158e-01 -2.12111658e-02 8.97677910e+01] [ 6.62915404e-01 7.48450017e-01 -1.91243228e-02 3.58329158e+01] [ 2.85585792e-02 2.46642690e-04 9.99592090e-01 2.18325912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.79, Y:35.85, Z:2.18 [[ 7.49617883e-01 -6.61510785e-01 -2.18291293e-02 8.97910630e+01] [ 6.61217711e-01 7.49935580e-01 -1.96917602e-02 3.58501086e+01] [ 2.93967525e-02 3.27488668e-04 9.99567768e-01 2.18392758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:35.87, Z:2.19 [[ 7.49410535e-01 -6.61741904e-01 -2.19431519e-02 8.98132413e+01] [ 6.61445549e-01 7.49731648e-01 -1.98050904e-02 3.58670532e+01] [ 2.95573337e-02 3.27943226e-04 9.99563033e-01 2.18534578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:35.88, Z:2.19 [[ 7.48995500e-01 -6.62224594e-01 -2.15482819e-02 8.98354597e+01] [ 6.61938728e-01 7.49305339e-01 -1.94583931e-02 3.58843398e+01] [ 2.90320691e-02 3.10606555e-04 9.99578432e-01 2.18643225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:35.90, Z:2.19 [[ 7.46788143e-01 -6.64735974e-01 -2.08219704e-02 8.98611731e+01] [ 6.64469909e-01 7.47078337e-01 -1.88068968e-02 3.58987362e+01] [ 2.80572639e-02 2.09194714e-04 9.99606296e-01 2.18813820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:35.91, Z:2.19 [[ 7.45210859e-01 -6.66512854e-01 -2.05278371e-02 8.98848076e+01] [ 6.66254671e-01 7.45493524e-01 -1.85504490e-02 3.59149298e+01] [ 2.76674823e-02 1.47228662e-04 9.99617171e-01 2.18934473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:35.93, Z:2.19 [[ 7.41782041e-01 -6.70336865e-01 -2.01963313e-02 8.99119163e+01] [ 6.70088120e-01 7.42056930e-01 -1.82598824e-02 3.59274619e+01] [ 2.72270999e-02 1.15311343e-05 9.99629274e-01 2.19112648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:35.94, Z:2.19 [[ 7.40154813e-01 -6.72142770e-01 -1.98733361e-02 8.99346900e+01] [ 6.71902347e-01 7.40421566e-01 -1.79761123e-02 3.59422537e+01] [ 2.67971605e-02 -4.78350638e-05 9.99640890e-01 2.19227421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:35.96, Z:2.19 [[ 7.38339106e-01 -6.74138705e-01 -1.98083664e-02 8.99577808e+01] [ 6.73900430e-01 7.38604761e-01 -1.79225286e-02 3.59582256e+01] [ 2.67128240e-02 -1.15962942e-04 9.99643142e-01 2.19348612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:35.97, Z:2.19 [[ 7.35580670e-01 -6.77150351e-01 -1.97099036e-02 8.99834732e+01] [ 6.76915251e-01 7.35844655e-01 -1.78434205e-02 3.59729818e+01] [ 2.65861057e-02 -2.16659106e-04 9.99646504e-01 2.19414737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:35.99, Z:2.19 [[ 7.34725696e-01 -6.78072900e-01 -1.98819847e-02 9.00066162e+01] [ 6.77833790e-01 7.34994613e-01 -1.80075411e-02 3.59893049e+01] [ 2.68235773e-02 -2.46077823e-04 9.99640153e-01 2.19406039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.03, Y:36.00, Z:2.19 [[ 7.33017275e-01 -6.79896027e-01 -2.06655914e-02 9.00322220e+01] [ 6.79638293e-01 7.33308454e-01 -1.87216767e-02 3.60036714e+01] [ 2.78830465e-02 -3.21814871e-04 9.99611140e-01 2.19461579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:36.02, Z:2.19 [[ 7.32117555e-01 -6.80867097e-01 -2.05883820e-02 9.00554809e+01] [ 6.80611417e-01 7.32406904e-01 -1.86607974e-02 3.60211919e+01] [ 2.77845960e-02 -3.50790495e-04 9.99613872e-01 2.19497369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:36.04, Z:2.20 [[ 7.31434296e-01 -6.81594990e-01 -2.07879778e-02 9.00787572e+01] [ 6.81334359e-01 7.31729546e-01 -1.88510610e-02 3.60384442e+01] [ 2.80599663e-02 -3.75250936e-04 9.99606171e-01 2.19528195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:36.05, Z:2.19 [[ 7.30198781e-01 -6.82901343e-01 -2.13423609e-02 9.01035195e+01] [ 6.82626900e-01 7.30510487e-01 -1.93634857e-02 3.60536846e+01] [ 2.88141689e-02 -4.29675993e-04 9.99584693e-01 2.19486516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.978040942 meters Centerline goodness [0,1] 0.9998460523422037 Centerline is valid? [True, True] Translation: X:90.13, Y:36.07, Z:2.19 [[ 7.29710349e-01 -6.83411398e-01 -2.17179118e-02 9.01264820e+01] [ 6.83127174e-01 7.30033326e-01 -1.97131039e-02 3.60701745e+01] [ 2.93269593e-02 -4.51239760e-04 9.99569770e-01 2.19319612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:36.08, Z:2.19 [[ 7.28729013e-01 -6.84436058e-01 -2.23899097e-02 9.01519625e+01] [ 6.84134300e-01 7.29072718e-01 -2.03280852e-02 3.60840243e+01] [ 3.02371468e-02 -5.04039739e-04 9.99542626e-01 2.19414775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.038040942 meters Centerline goodness [0,1] 0.999845286772019 Centerline is valid? [True, True] Translation: X:90.17, Y:36.10, Z:2.19 [[ 7.28181718e-01 -6.85020174e-01 -2.23326274e-02 9.01745965e+01] [ 6.84720119e-01 7.28523909e-01 -2.02798661e-02 3.61003770e+01] [ 3.01619704e-02 -5.24171603e-04 9.99544887e-01 2.19302650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.20, Y:36.12, Z:2.20 [[ 7.27862054e-01 -6.85345493e-01 -2.27680875e-02 9.01983164e+01] [ 6.85033586e-01 7.28217865e-01 -2.06815430e-02 3.61168142e+01] [ 3.07541304e-02 -5.43594221e-04 9.99526832e-01 2.19503343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:36.14, Z:2.20 [[ 7.29351152e-01 -6.83779463e-01 -2.21933102e-02 9.02195550e+01] [ 6.83482098e-01 7.29688589e-01 -2.01689072e-02 3.61362052e+01] [ 2.99852897e-02 -4.58514515e-04 9.99550235e-01 2.19718024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.24, Y:36.16, Z:2.20 [[ 7.30654768e-01 -6.82394321e-01 -2.19453822e-02 9.02407054e+01] [ 6.82102647e-01 7.30984157e-01 -1.99534540e-02 3.61558746e+01] [ 2.96578504e-02 -3.89916958e-04 9.99560033e-01 2.19811652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:36.17, Z:2.20 [[ 7.33933544e-01 -6.78875179e-01 -2.16805323e-02 9.02612510e+01] [ 6.78588716e-01 7.34253659e-01 -1.97210453e-02 3.61747760e+01] [ 2.93071383e-02 -2.38227958e-04 9.99570425e-01 2.19875034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.188040942 meters Centerline goodness [0,1] 0.9999114005360268 Centerline is valid? [True, True] Translation: X:90.28, Y:36.20, Z:2.20 [[ 7.35429754e-01 -6.77255503e-01 -2.16346968e-02 9.02819121e+01] [ 6.76969411e-01 7.35747888e-01 -1.96840750e-02 3.61953610e+01] [ 2.92488306e-02 -1.69773505e-04 9.99572147e-01 2.19854304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:36.21, Z:2.20 [[ 7.36596481e-01 -6.75991454e-01 -2.14750787e-02 9.03018583e+01] [ 6.75708781e-01 7.36909453e-01 -1.95474294e-02 3.62140992e+01] [ 2.90390837e-02 -1.12331506e-04 9.99578271e-01 2.19957461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.248040942 meters Centerline goodness [0,1] 0.9999778985987712 Centerline is valid? [True, True] Translation: X:90.32, Y:36.23, Z:2.20 [[ 7.38485284e-01 -6.73944908e-01 -2.09224016e-02 9.03213859e+01] [ 6.73675609e-01 7.38781606e-01 -1.90502925e-02 3.62347322e+01] [ 2.82959330e-02 -2.65509729e-05 9.99599590e-01 2.20157514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.278040942 meters Centerline goodness [0,1] 0.9998674413980514 Centerline is valid? [True, True] Translation: X:90.34, Y:36.25, Z:2.20 [[ 7.39151571e-01 -6.73217615e-01 -2.08085805e-02 9.03411358e+01] [ 6.72950681e-01 7.39444415e-01 -1.89562206e-02 3.62536020e+01] [ 2.81484502e-02 8.37183850e-06 9.99603754e-01 2.20083194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.308040942 meters Centerline goodness [0,1] 0.9999779044588802 Centerline is valid? [True, True] Translation: X:90.36, Y:36.27, Z:2.20 [[ 7.38913880e-01 -6.73456975e-01 -2.14937175e-02 9.03622091e+01] [ 6.73172091e-01 7.39226422e-01 -1.95865546e-02 3.62727117e+01] [ 2.90794257e-02 3.80630613e-06 9.99577104e-01 2.20130608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.338040942 meters Centerline goodness [0,1] 0.9998895857256426 Centerline is valid? [True, True] Translation: X:90.38, Y:36.29, Z:2.20 [[ 7.38455143e-01 -6.73937150e-01 -2.21972804e-02 9.03835662e+01] [ 6.73633169e-01 7.38788683e-01 -2.02394603e-02 3.62915154e+01] [ 3.00392237e-02 -6.89074446e-06 9.99548721e-01 2.20111055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368040942 meters Centerline goodness [0,1] 0.9998233371610282 Centerline is valid? [True, True] Translation: X:90.40, Y:36.31, Z:2.20 [[ 7.37991887e-01 -6.74438546e-01 -2.23745860e-02 9.04043740e+01] [ 6.74129612e-01 7.38330987e-01 -2.04112625e-02 3.63090959e+01] [ 3.02859924e-02 -2.00248973e-05 9.99541274e-01 2.19995964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.398040942 meters Centerline goodness [0,1] 0.9998231223330164 Centerline is valid? [True, True] Translation: X:90.43, Y:36.33, Z:2.20 [[ 7.36702199e-01 -6.75829634e-01 -2.28948963e-02 9.04260804e+01] [ 6.75506618e-01 7.37057868e-01 -2.08927814e-02 3.63272481e+01] [ 3.09948243e-02 -7.38959363e-05 9.99519542e-01 2.20037234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428040942 meters Centerline goodness [0,1] 0.9998894905514422 Centerline is valid? [True, True] Translation: X:90.45, Y:36.35, Z:2.20 [[ 7.35812580e-01 -6.76797702e-01 -2.29067330e-02 9.04469464e+01] [ 6.76474458e-01 7.36169043e-01 -2.09152559e-02 3.63458508e+01] [ 3.10186248e-02 -1.06111354e-04 9.99518801e-01 2.20100377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.458040942 meters Centerline goodness [0,1] 0.9999558089177604 Centerline is valid? [True, True] Translation: X:90.47, Y:36.36, Z:2.20 [[ 7.34786515e-01 -6.77917192e-01 -2.27389281e-02 9.04680308e+01] [ 6.77598845e-01 7.35138260e-01 -2.07736405e-02 3.63647191e+01] [ 3.07990640e-02 -1.43680498e-04 9.99525586e-01 2.20220297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488040942 meters Centerline goodness [0,1] 0.9998676636008734 Centerline is valid? [True, True] Translation: X:90.49, Y:36.38, Z:2.20 [[ 7.33780740e-01 -6.78975943e-01 -2.36113188e-02 9.04884985e+01] [ 6.78632916e-01 7.34160496e-01 -2.15808173e-02 3.63837623e+01] [ 3.19873532e-02 -1.87830043e-04 9.99488256e-01 2.20176916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.518040942 meters Centerline goodness [0,1] 0.9998236137140337 Centerline is valid? [True, True] Translation: X:90.51, Y:36.40, Z:2.20 [[ 7.33177863e-01 -6.79623767e-01 -2.37014177e-02 9.05088461e+01] [ 6.79278257e-01 7.33560830e-01 -2.16693180e-02 3.64032273e+01] [ 3.21134152e-02 -2.12393420e-04 9.99484209e-01 2.20266700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.548040942 meters Centerline goodness [0,1] 0.999669676282757 Centerline is valid? [True, True] Translation: X:90.53, Y:36.42, Z:2.20 [[ 7.32481376e-01 -6.80335376e-01 -2.47953458e-02 9.05298427e+01] [ 6.79957280e-01 7.32900890e-01 -2.26799962e-02 3.64214347e+01] [ 3.36025348e-02 -2.47101074e-04 9.99435245e-01 2.20121623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:36.44, Z:2.20 [[ 7.31542208e-01 -6.81340984e-01 -2.49090804e-02 9.05514254e+01] [ 6.80959779e-01 7.31966106e-01 -2.27903234e-02 3.64411261e+01] [ 3.37605840e-02 -2.89998428e-04 9.99429907e-01 2.20374717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.608040942 meters Centerline goodness [0,1] 0.9998677248677249 Centerline is valid? [True, True] Translation: X:90.57, Y:36.46, Z:2.20 [[ 7.31032555e-01 -6.81888117e-01 -2.48997964e-02 9.05721910e+01] [ 6.81507115e-01 7.31456425e-01 -2.27936581e-02 3.64595871e+01] [ 3.37558406e-02 -3.06482278e-04 9.99430062e-01 2.20467167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.638040942 meters Centerline goodness [0,1] 0.9998457232274701 Centerline is valid? [True, True] Translation: X:90.59, Y:36.48, Z:2.21 [[ 7.29950294e-01 -6.83041699e-01 -2.50320851e-02 9.05936690e+01] [ 6.82656885e-01 7.30379294e-01 -2.29273572e-02 3.64793313e+01] [ 3.39432577e-02 -3.52494069e-04 9.99423699e-01 2.20569570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:36.50, Z:2.21 [[ 7.29348388e-01 -6.83695035e-01 -2.47391982e-02 9.06143638e+01] [ 6.83319160e-01 7.29767745e-01 -2.26707594e-02 3.64987172e+01] [ 3.35537546e-02 -3.69886301e-04 9.99436846e-01 2.20658327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.64, Y:36.52, Z:2.21 [[ 7.28932514e-01 -6.84160841e-01 -2.41108892e-02 9.06351653e+01] [ 6.83803674e-01 7.29331067e-01 -2.21072276e-02 3.65180112e+01] [ 3.27097199e-02 -3.72437648e-04 9.99464825e-01 2.20775009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728040942 meters Centerline goodness [0,1] 0.9999780137633841 Centerline is valid? [True, True] Translation: X:90.66, Y:36.54, Z:2.21 [[ 7.29084342e-01 -6.83989300e-01 -2.43856527e-02 9.06550934e+01] [ 6.83623485e-01 7.29491952e-01 -2.23701265e-02 3.65369172e+01] [ 3.30900645e-02 -3.60895906e-04 9.99452309e-01 2.20790044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.758040942 meters Centerline goodness [0,1] 0.9999341093784319 Centerline is valid? [True, True] Translation: X:90.68, Y:36.56, Z:2.21 [[ 7.29368953e-01 -6.83678102e-01 -2.46004701e-02 9.06755056e+01] [ 6.83305344e-01 7.29783622e-01 -2.25759006e-02 3.65569084e+01] [ 3.33876690e-02 -3.43471708e-04 9.99442417e-01 2.20861995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788040942 meters Centerline goodness [0,1] 0.9999780243929238 Centerline is valid? [True, True] Translation: X:90.69, Y:36.58, Z:2.21 [[ 7.30769150e-01 -6.82151283e-01 -2.54180491e-02 9.06949654e+01] [ 6.81752018e-01 7.31211017e-01 -2.33373849e-02 3.65758796e+01] [ 3.45055846e-02 -2.74565347e-04 9.99404467e-01 2.20835642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.72, Y:36.59, Z:2.21 [[ 7.31375642e-01 -6.81499828e-01 -2.54490397e-02 9.07154946e+01] [ 6.81098896e-01 7.31818234e-01 -2.33744825e-02 3.65945032e+01] [ 3.45537771e-02 -2.37785693e-04 9.99402812e-01 2.20912764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:36.61, Z:2.21 [[ 7.31190065e-01 -6.81699171e-01 -2.54426702e-02 9.07357301e+01] [ 6.81298118e-01 7.31632547e-01 -2.33814141e-02 3.66132303e+01] [ 3.45537762e-02 -2.37785687e-04 9.99402812e-01 2.20976559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.878040942 meters Centerline goodness [0,1] 0.9999780475490089 Centerline is valid? [True, True] Translation: X:90.76, Y:36.63, Z:2.21 [[ 7.32020008e-01 -6.80790929e-01 -2.58924578e-02 9.07556586e+01] [ 6.80374605e-01 7.32477764e-01 -2.38059361e-02 3.66311954e+01] [ 3.51725150e-02 -1.90149167e-04 9.99381238e-01 2.20972534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.908040942 meters Centerline goodness [0,1] 0.9998901219646192 Centerline is valid? [True, True] Translation: X:90.78, Y:36.65, Z:2.21 [[ 7.32257558e-01 -6.80522151e-01 -2.62387273e-02 9.07760356e+01] [ 6.80094099e-01 7.32727489e-01 -2.41338801e-02 3.66505703e+01] [ 3.56494768e-02 -1.72587465e-04 9.99364340e-01 2.21100899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.938040942 meters Centerline goodness [0,1] 0.9999120569870724 Centerline is valid? [True, True] Translation: X:90.80, Y:36.67, Z:2.21 [[ 7.32365891e-01 -6.80375880e-01 -2.69974637e-02 9.07967318e+01] [ 6.79922210e-01 7.32863313e-01 -2.48425622e-02 3.66692329e+01] [ 3.66877308e-02 -1.62330008e-04 9.99326765e-01 2.20898396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.968040942 meters Centerline goodness [0,1] 0.9998022282286242 Centerline is valid? [True, True] Translation: X:90.82, Y:36.69, Z:2.21 [[ 7.32832956e-01 -6.79894116e-01 -2.64546942e-02 9.08168564e+01] [ 6.79458046e-01 7.33310285e-01 -2.43472653e-02 3.66890474e+01] [ 3.59530618e-02 -1.32376482e-04 9.99353471e-01 2.21003224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.998040942 meters Centerline goodness [0,1] 0.999868253480304 Centerline is valid? [True, True] Translation: X:90.84, Y:36.71, Z:2.21 [[ 7.32539028e-01 -6.80205695e-01 -2.65854316e-02 9.08372893e+01] [ 6.79765237e-01 7.33021277e-01 -2.44750997e-02 3.67075767e+01] [ 3.61357892e-02 -1.42886513e-04 9.99346879e-01 2.21230347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.028040942 meters Centerline goodness [0,1] 0.9999780156967925 Centerline is valid? [True, True] Translation: X:90.86, Y:36.73, Z:2.21 [[ 7.31725859e-01 -6.81077600e-01 -2.66565152e-02 9.08581448e+01] [ 6.80634939e-01 7.32211220e-01 -2.45521716e-02 3.67253686e+01] [ 3.62401336e-02 -1.77896795e-04 9.99343095e-01 2.21268162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.88, Y:36.74, Z:2.21 [[ 7.31104392e-01 -6.81757171e-01 -2.63349185e-02 9.08780746e+01] [ 6.81325223e-01 7.31578512e-01 -2.42656536e-02 3.67445120e+01] [ 3.58093439e-02 -2.01918300e-04 9.99358619e-01 2.21352535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:36.76, Z:2.21 [[ 7.30235416e-01 -6.82695136e-01 -2.61455369e-02 9.08986556e+01] [ 6.82269509e-01 7.30703288e-01 -2.41043938e-02 3.67640946e+01] [ 3.55605822e-02 -2.36420539e-04 9.99367495e-01 2.21403549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.118040942 meters Centerline goodness [0,1] 0.9999780229440464 Centerline is valid? [True, True] Translation: X:90.92, Y:36.78, Z:2.22 [[ 7.28111318e-01 -6.84983533e-01 -2.55238708e-02 9.09200733e+01] [ 6.84578882e-01 7.28558474e-01 -2.35436642e-02 3.67839971e+01] [ 3.47226547e-02 -3.30694583e-04 9.99396932e-01 2.21617131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:36.80, Z:2.22 [[ 7.26925595e-01 -6.86263911e-01 -2.49203466e-02 9.09414565e+01] [ 6.85878622e-01 7.27352530e-01 -2.29959446e-02 3.68013864e+01] [ 3.39071640e-02 -3.75992241e-04 9.99424916e-01 2.21618776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:36.82, Z:2.22 [[ 7.23903430e-01 -6.89490221e-01 -2.38129966e-02 9.09627299e+01] [ 6.89140035e-01 7.24294819e-01 -2.19779017e-02 3.68201680e+01] [ 3.24011783e-02 -5.00610863e-04 9.99474819e-01 2.21982420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.98, Y:36.84, Z:2.22 [[ 7.22756450e-01 -6.90710537e-01 -2.32823795e-02 9.09846004e+01] [ 6.90376297e-01 7.23131152e-01 -2.14919944e-02 3.68369538e+01] [ 3.16809609e-02 -5.40125383e-04 9.99497886e-01 2.22087656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:36.86, Z:2.22 [[ 7.21626212e-01 -6.91912733e-01 -2.26358233e-02 9.10069968e+01] [ 6.91597231e-01 7.21980915e-01 -2.09004318e-02 3.68557327e+01] [ 3.08039073e-02 -5.72573251e-04 9.99525283e-01 2.22251410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.268040942 meters Centerline goodness [0,1] 0.9999780687325921 Centerline is valid? [True, True] Translation: X:91.03, Y:36.88, Z:2.22 [[ 7.20546792e-01 -6.93066776e-01 -2.16971197e-02 9.10273999e+01] [ 6.92777143e-01 7.20873149e-01 -2.00432689e-02 3.68761288e+01] [ 2.95321948e-02 -5.89155494e-04 9.99563656e-01 2.22430635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.05, Y:36.90, Z:2.22 [[ 7.20316643e-01 -6.93302677e-01 -2.18020949e-02 9.10472753e+01] [ 6.93010028e-01 7.20646269e-01 -2.01508183e-02 3.68957280e+01] [ 2.96822146e-02 -5.94100607e-04 9.99559209e-01 2.22469512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.07, Y:36.92, Z:2.22 [[ 7.21513724e-01 -6.92083621e-01 -2.09334051e-02 9.10671584e+01] [ 6.91813051e-01 7.21817148e-01 -1.93573540e-02 3.69156935e+01] [ 2.85069985e-02 -5.15406270e-04 9.99593460e-01 2.22479956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:36.94, Z:2.23 [[ 7.22021582e-01 -6.91558966e-01 -2.07612907e-02 9.10877567e+01] [ 6.91292484e-01 7.22319845e-01 -1.92026664e-02 3.69363128e+01] [ 2.82760684e-02 -4.87384675e-04 9.99600033e-01 2.22576292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:36.96, Z:2.23 [[ 7.22847353e-01 -6.90702965e-01 -2.05211679e-02 9.11078614e+01] [ 6.90442043e-01 7.23138450e-01 -1.89886359e-02 3.69550564e+01] [ 2.79551527e-02 -4.42791936e-04 9.99609080e-01 2.22674984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:36.98, Z:2.23 [[ 7.23207602e-01 -6.90360885e-01 -1.93031722e-02 9.11279321e+01] [ 6.90129805e-01 7.23465056e-01 -1.78651927e-02 3.69755819e+01] [ 2.62986008e-02 -4.01451313e-04 9.99654051e-01 2.22938378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:36.99, Z:2.23 [[ 7.23272538e-01 -6.90296637e-01 -1.91673978e-02 9.11487201e+01] [ 6.90068538e-01 7.23526365e-01 -1.77485756e-02 3.69945596e+01] [ 2.61198997e-02 -3.89760850e-04 9.99658741e-01 2.23097280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:37.01, Z:2.23 [[ 7.23516529e-01 -6.90043026e-01 -1.90906990e-02 9.11689480e+01] [ 6.89816396e-01 7.23768253e-01 -1.76877197e-02 3.70143093e+01] [ 2.60225295e-02 -3.71719584e-04 9.99661288e-01 2.23137044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:37.03, Z:2.23 [[ 7.23774633e-01 -6.89765546e-01 -1.93331891e-02 9.11893367e+01] [ 6.89532749e-01 7.24032708e-01 -1.79227712e-02 3.70343093e+01] [ 2.63603713e-02 -3.58819881e-04 9.99652441e-01 2.23138040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:37.05, Z:2.23 [[ 7.23859142e-01 -6.89679655e-01 -1.92332115e-02 9.12091629e+01] [ 6.89448981e-01 7.24114530e-01 -1.78395450e-02 3.70530572e+01] [ 2.62306192e-02 -3.47000399e-04 9.99655858e-01 2.23113975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:37.07, Z:2.23 [[ 7.23235361e-01 -6.90331718e-01 -1.93062314e-02 9.12303283e+01] [ 6.90099391e-01 7.23492905e-01 -1.79122233e-02 3.70721601e+01] [ 2.63332974e-02 -3.68465216e-04 9.99653151e-01 2.23177023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:37.09, Z:2.23 [[ 7.22627655e-01 -6.90975457e-01 -1.90313177e-02 9.12513787e+01] [ 6.90749698e-01 7.22878118e-01 -1.76658043e-02 3.70908261e+01] [ 2.59639603e-02 -3.80078255e-04 9.99662807e-01 2.23286384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:37.11, Z:2.23 [[ 7.21276550e-01 -6.92375880e-01 -1.93850247e-02 9.12736115e+01] [ 6.92141902e-01 7.21536870e-01 -1.80036814e-02 3.71086174e+01] [ 2.64523248e-02 -4.31554682e-04 9.99649983e-01 2.23378949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:37.13, Z:2.23 [[ 7.20460333e-01 -6.93232793e-01 -1.91102793e-02 9.12940588e+01] [ 6.93005617e-01 7.20713597e-01 -1.77518148e-02 3.71270138e+01] [ 2.60791783e-02 -4.54052517e-04 9.99659777e-01 2.23388539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.688040942 meters Centerline goodness [0,1] 0.9999123133919372 Centerline is valid? [True, True] Translation: X:91.31, Y:37.15, Z:2.23 [[ 7.19451644e-01 -6.94273935e-01 -1.93140995e-02 9.13142800e+01] [ 6.94042139e-01 7.19710677e-01 -1.79457642e-02 3.71464564e+01] [ 2.63598400e-02 -4.93689363e-04 9.99652397e-01 2.23321713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:37.17, Z:2.23 [[ 7.18834332e-01 -6.94899995e-01 -1.97787501e-02 9.13345969e+01] [ 6.94657035e-01 7.19106195e-01 -1.83816160e-02 3.71676937e+01] [ 2.69964066e-02 -5.26111244e-04 9.99635392e-01 2.23352901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:37.19, Z:2.23 [[ 7.18470809e-01 -6.95269896e-01 -1.99867020e-02 9.13548302e+01] [ 6.95021701e-01 7.18748552e-01 -1.85837188e-02 3.71862438e+01] [ 2.72861134e-02 -5.39332132e-04 9.99627519e-01 2.23337998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:37.21, Z:2.23 [[ 7.18030630e-01 -6.95727984e-01 -1.98642000e-02 9.13744448e+01] [ 6.95482818e-01 7.18305138e-01 -1.84764386e-02 3.72061375e+01] [ 2.71231323e-02 -5.48560905e-04 9.99631950e-01 2.23451470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:37.23, Z:2.24 [[ 7.18103937e-01 -6.95657523e-01 -1.96811163e-02 9.13945504e+01] [ 6.95416552e-01 7.18373389e-01 -1.83164874e-02 3.72251387e+01] [ 2.68803925e-02 -5.33432272e-04 9.99638515e-01 2.23565019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:37.24, Z:2.24 [[ 7.18763887e-01 -6.94961160e-01 -2.01856686e-02 9.14145990e+01] [ 6.94707129e-01 7.19047094e-01 -1.87957935e-02 3.72449497e+01] [ 2.75767928e-02 -5.13390291e-04 9.99619556e-01 2.23524509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868040942 meters Centerline goodness [0,1] 0.9999127647045994 Centerline is valid? [True, True] Translation: X:91.43, Y:37.26, Z:2.23 [[ 7.18984424e-01 -6.94701643e-01 -2.12373519e-02 9.14346863e+01] [ 6.94420185e-01 7.19297818e-01 -1.97802001e-02 3.72645676e+01] [ 2.90173184e-02 -5.25990040e-04 9.99578771e-01 2.23438014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:37.28, Z:2.23 [[ 7.18794735e-01 -6.94877683e-01 -2.18891401e-02 9.14537054e+01] [ 6.94578445e-01 7.19127744e-01 -2.03978317e-02 3.72844853e+01] [ 2.99150859e-02 -5.41870902e-04 9.99552297e-01 2.23493731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:37.30, Z:2.24 [[ 7.18670961e-01 -6.95011487e-01 -2.17044289e-02 9.14730344e+01] [ 6.94717117e-01 7.18998431e-01 -2.02332413e-02 3.73045114e+01] [ 2.96677855e-02 -5.37395334e-04 9.99559670e-01 2.23588491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:37.32, Z:2.24 [[ 7.18373811e-01 -6.95308938e-01 -2.20124684e-02 9.14933262e+01] [ 6.95005935e-01 7.18710776e-01 -2.05321821e-02 3.73235072e+01] [ 3.00968079e-02 -5.49014240e-04 9.99546838e-01 2.23682075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:37.34, Z:2.24 [[ 7.17738351e-01 -6.95962210e-01 -2.20966565e-02 9.15144760e+01] [ 6.95656849e-01 7.18078183e-01 -2.06220945e-02 3.73437594e+01] [ 3.02193254e-02 -5.70422343e-04 9.99543129e-01 2.23781567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:37.36, Z:2.24 [[ 7.17346524e-01 -6.96359010e-01 -2.23180309e-02 9.15355158e+01] [ 6.96047420e-01 7.17693378e-01 -2.08375617e-02 3.73621809e+01] [ 3.05279268e-02 -5.86655345e-04 9.99533742e-01 2.23797269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:37.38, Z:2.24 [[ 7.17097066e-01 -6.96605238e-01 -2.26481995e-02 9.15560150e+01] [ 6.96284300e-01 7.17454375e-01 -2.11516670e-02 3.73820408e+01] [ 3.09834118e-02 -6.01787400e-04 9.99519718e-01 2.23955915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:37.40, Z:2.24 [[ 7.16796927e-01 -6.96916767e-01 -2.25651326e-02 9.15765844e+01] [ 6.96597967e-01 7.17151766e-01 -2.10859735e-02 3.74015054e+01] [ 3.08777931e-02 -6.04464503e-04 9.99522984e-01 2.24107757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:37.42, Z:2.24 [[ 7.16771685e-01 -6.96951577e-01 -2.22901361e-02 9.15967929e+01] [ 6.96640202e-01 7.17117947e-01 -2.08393859e-02 3.74199943e+01] [ 3.05086995e-02 -5.91123172e-04 9.99534326e-01 2.24215036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:37.44, Z:2.24 [[ 7.17034568e-01 -6.96698422e-01 -2.17425226e-02 9.16176885e+01] [ 6.96401839e-01 7.17363920e-01 -2.03343133e-02 3.74399595e+01] [ 2.97641852e-02 -5.61127198e-04 9.99556791e-01 2.24302094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:37.46, Z:2.24 [[ 7.16990587e-01 -6.96753706e-01 -2.14189645e-02 9.16381378e+01] [ 6.96465617e-01 7.17310235e-01 -2.00417429e-02 3.74593723e+01] [ 2.93282011e-02 -5.47831343e-04 9.99569686e-01 2.24360398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.198040942 meters Centerline goodness [0,1] 0.9998468438901652 Centerline is valid? [True, True] Translation: X:91.66, Y:37.48, Z:2.24 [[ 7.18235509e-01 -6.95471985e-01 -2.13652000e-02 9.16583508e+01] [ 6.95184493e-01 7.18553047e-01 -2.00009954e-02 3.74790026e+01] [ 2.92621615e-02 -4.87330594e-04 9.99571652e-01 2.24448959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228040942 meters Centerline goodness [0,1] 0.9999562946613929 Centerline is valid? [True, True] Translation: X:91.68, Y:37.50, Z:2.25 [[ 7.18624185e-01 -6.95066348e-01 -2.14954017e-02 9.16788691e+01] [ 6.94775018e-01 7.18945443e-01 -2.01277037e-02 3.74989328e+01] [ 2.94441107e-02 -4.70213420e-04 9.99566318e-01 2.24517869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.70, Y:37.52, Z:2.25 [[ 7.19040347e-01 -6.94623370e-01 -2.18941060e-02 9.16990078e+01] [ 6.94320613e-01 7.19373455e-01 -2.05114145e-02 3.75189152e+01] [ 2.99977465e-02 -4.52994477e-04 9.99549864e-01 2.24578772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.72, Y:37.54, Z:2.25 [[ 7.20731109e-01 -6.92845622e-01 -2.26188371e-02 9.17179083e+01] [ 6.92521299e-01 7.21085845e-01 -2.12003514e-02 3.75390332e+01] [ 3.09986939e-02 -3.84273698e-04 9.99519351e-01 2.24558163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:37.56, Z:2.25 [[ 7.21435291e-01 -6.92120624e-01 -2.23643451e-02 9.17375638e+01] [ 6.91803084e-01 7.21781769e-01 -2.09659454e-02 3.75587621e+01] [ 3.06531398e-02 -3.46150011e-04 9.99530022e-01 2.24610145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.76, Y:37.58, Z:2.25 [[ 7.22774063e-01 -6.90723722e-01 -2.23247211e-02 9.17564032e+01] [ 6.90406476e-01 7.23118704e-01 -2.09341357e-02 3.75793099e+01] [ 3.06031275e-02 -2.82481701e-04 9.99531575e-01 2.24658547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:37.60, Z:2.25 [[ 7.23184597e-01 -6.90300278e-01 -2.21261161e-02 9.17749126e+01] [ 6.89988289e-01 7.23522950e-01 -2.07533458e-02 3.75998733e+01] [ 3.03347932e-02 -2.58260991e-04 9.99539761e-01 2.24799674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.79, Y:37.62, Z:2.25 [[ 7.23201203e-01 -6.90278214e-01 -2.22712256e-02 9.17942408e+01] [ 6.89961788e-01 7.23544003e-01 -2.08999223e-02 3.76191290e+01] [ 3.05409727e-02 -2.51445682e-04 9.99533484e-01 2.24821086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.438040942 meters Centerline goodness [0,1] 0.9999566047561187 Centerline is valid? [True, True] Translation: X:91.81, Y:37.64, Z:2.25 [[ 7.23280955e-01 -6.90203921e-01 -2.19819905e-02 9.18133232e+01] [ 6.89895429e-01 7.23614877e-01 -2.06350809e-02 3.76395170e+01] [ 3.01489091e-02 -2.40313795e-04 9.99545389e-01 2.24783199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.83, Y:37.66, Z:2.25 [[ 7.23039983e-01 -6.90458574e-01 -2.19121306e-02 9.18327015e+01] [ 6.90151855e-01 7.23371895e-01 -2.05795424e-02 3.76584739e+01] [ 3.00599410e-02 -2.42865635e-04 9.99548068e-01 2.24791337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.498040942 meters Centerline goodness [0,1] 0.9999566254608545 Centerline is valid? [True, True] Translation: X:91.85, Y:37.68, Z:2.25 [[ 7.23412039e-01 -6.90071748e-01 -2.18175200e-02 9.18529363e+01] [ 6.89767308e-01 7.23740930e-01 -2.04970190e-02 3.76786439e+01] [ 2.99346460e-02 -2.21221712e-04 9.99551834e-01 2.24926477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:37.70, Z:2.25 [[ 7.23396247e-01 -6.90088906e-01 -2.17984314e-02 9.18725848e+01] [ 6.89784715e-01 7.23724572e-01 -2.04887859e-02 3.76971312e+01] [ 2.99151442e-02 -2.14713965e-04 9.99552419e-01 2.24974151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:37.72, Z:2.25 [[ 7.23254768e-01 -6.90248490e-01 -2.14374214e-02 9.18924310e+01] [ 6.89954177e-01 7.23572372e-01 -2.01557952e-02 3.77175244e+01] [ 2.94240331e-02 -2.13063496e-04 9.99566997e-01 2.25066029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.91, Y:37.74, Z:2.25 [[ 7.23135615e-01 -6.90394854e-01 -2.07323017e-02 9.19123192e+01] [ 6.90119338e-01 7.23432722e-01 -1.95037173e-02 3.77379026e+01] [ 2.84636916e-02 -2.03929736e-04 9.99594806e-01 2.25147070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.93, Y:37.76, Z:2.25 [[ 7.22735033e-01 -6.90820898e-01 -2.05075623e-02 9.19320041e+01] [ 6.90551185e-01 7.23025894e-01 -1.93032990e-02 3.77582802e+01] [ 2.81626209e-02 -2.10351022e-04 9.99603333e-01 2.25200106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.95, Y:37.78, Z:2.25 [[ 7.22497967e-01 -6.91114666e-01 -1.88999018e-02 9.19502192e+01] [ 6.90885461e-01 7.22745100e-01 -1.77988842e-02 3.77782220e+01] [ 2.59608813e-02 -1.98009766e-04 9.99662940e-01 2.25367730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:37.80, Z:2.25 [[ 7.22246132e-01 -6.91396907e-01 -1.81890488e-02 9.19702692e+01] [ 6.91184601e-01 7.22475106e-01 -1.71338390e-02 3.77985344e+01] [ 2.49874182e-02 -1.97141502e-04 9.99687746e-01 2.25488942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:37.82, Z:2.26 [[ 7.22407853e-01 -6.91248396e-01 -1.73939376e-02 9.19880471e+01] [ 6.91053998e-01 7.22617204e-01 -1.63935261e-02 3.78196861e+01] [ 2.39011572e-02 -1.77338143e-04 9.99714311e-01 2.25580665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:37.84, Z:2.26 [[ 7.22284961e-01 -6.91387115e-01 -1.69791942e-02 9.20068996e+01] [ 6.91201827e-01 7.22484482e-01 -1.60064639e-02 3.78401998e+01] [ 2.33338672e-02 -1.74821937e-04 9.99727713e-01 2.25638558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:37.86, Z:2.26 [[ 7.22093531e-01 -6.91587153e-01 -1.69747621e-02 9.20268866e+01] [ 6.91401810e-01 7.22293001e-01 -1.60111628e-02 3.78591802e+01] [ 2.33338663e-02 -1.74824195e-04 9.99727713e-01 2.25702348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:37.88, Z:2.26 [[ 7.22158700e-01 -6.91538236e-01 -1.61765072e-02 9.20461107e+01] [ 6.91369726e-01 7.22339839e-01 -1.52662782e-02 3.78796313e+01] [ 2.22421507e-02 -1.59271714e-04 9.99752600e-01 2.25793483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:37.90, Z:2.26 [[ 7.22142091e-01 -6.91573292e-01 -1.54006997e-02 9.20631265e+01] [ 6.91420399e-01 7.22306279e-01 -1.45420539e-02 3.79003015e+01] [ 2.11809182e-02 -1.46928730e-04 9.99775648e-01 2.25883480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:37.92, Z:2.26 [[ 7.21991413e-01 -6.91728463e-01 -1.54961969e-02 9.20821781e+01] [ 6.91573615e-01 7.22157677e-01 -1.46364192e-02 3.79213963e+01] [ 2.13151253e-02 -1.49391883e-04 9.99772796e-01 2.25910418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.10, Y:37.94, Z:2.26 [[ 7.21698649e-01 -6.92048162e-01 -1.48459163e-02 9.21000746e+01] [ 6.91905947e-01 7.21851314e-01 -1.40299835e-02 3.79421532e+01] [ 2.04259685e-02 -1.46557677e-04 9.99791357e-01 2.25978840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.12, Y:37.96, Z:2.26 [[ 7.21436184e-01 -6.92328451e-01 -1.45309468e-02 9.21193633e+01] [ 6.92192190e-01 7.21582493e-01 -1.37359796e-02 3.79625428e+01] [ 1.99950863e-02 -1.48575175e-04 9.99800067e-01 2.26100082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.14, Y:37.98, Z:2.26 [[ 7.21238263e-01 -6.92546663e-01 -1.39459078e-02 9.21378191e+01] [ 6.92421057e-01 7.21373065e-01 -1.31901825e-02 3.79823681e+01] [ 1.91950191e-02 -1.43175923e-04 9.99815748e-01 2.26191677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.978040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.16, Y:38.00, Z:2.26 [[ 7.20928201e-01 -6.92888283e-01 -1.29752425e-02 9.21563448e+01] [ 6.92779528e-01 7.21044942e-01 -1.22766718e-02 3.80034583e+01] [ 1.78620950e-02 -1.38383502e-04 9.99840450e-01 2.26321996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:38.02, Z:2.26 [[ 7.20668916e-01 -6.93156115e-01 -1.30733776e-02 9.21754126e+01] [ 6.93045707e-01 7.20787471e-01 -1.23721017e-02 3.80230253e+01] [ 1.79989247e-02 -1.44259113e-04 9.99837996e-01 2.26362131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:38.04, Z:2.26 [[ 7.19946207e-01 -6.93880498e-01 -1.43984119e-02 9.21937837e+01] [ 6.93746616e-01 7.20090150e-01 -1.36311518e-02 3.80439849e+01] [ 1.98265450e-02 -1.75153481e-04 9.99803419e-01 2.26147920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:38.06, Z:2.26 [[ 7.19065098e-01 -6.94778244e-01 -1.51187192e-02 9.22133744e+01] [ 6.94630666e-01 7.19223991e-01 -1.43209276e-02 3.80642296e+01] [ 2.08236145e-02 -2.04246738e-04 9.99783144e-01 2.26071659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.098040942 meters Centerline goodness [0,1] 0.9999149044802791 Centerline is valid? [True, True] Translation: X:92.23, Y:38.08, Z:2.26 [[ 7.18118328e-01 -6.95749173e-01 -1.54646377e-02 9.22336173e+01] [ 6.95594814e-01 7.18284786e-01 -1.46567548e-02 3.80836750e+01] [ 2.13054390e-02 -2.31837573e-04 9.99772986e-01 2.26023224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.25, Y:38.11, Z:2.26 [[ 7.15192218e-01 -6.98758832e-01 -1.53683544e-02 9.22534484e+01] [ 6.98607019e-01 7.15357250e-01 -1.45684170e-02 3.81053171e+01] [ 2.11736738e-02 -3.17221824e-04 9.99775762e-01 2.26061139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:38.12, Z:2.26 [[ 7.13494353e-01 -7.00490394e-01 -1.54601309e-02 9.22758293e+01] [ 7.00337003e-01 7.13661737e-01 -1.46631485e-02 3.81218155e+01] [ 2.13046986e-02 -3.65228094e-04 9.99772962e-01 2.26195308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.29, Y:38.14, Z:2.26 [[ 7.09535979e-01 -7.04500323e-01 -1.54269063e-02 9.22940052e+01] [ 7.04348479e-01 7.09703503e-01 -1.46341336e-02 3.81446474e+01] [ 2.12582813e-02 -4.82473620e-04 9.99773901e-01 2.26235293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:38.16, Z:2.26 [[ 7.07594030e-01 -7.06448122e-01 -1.55479640e-02 9.23146864e+01] [ 7.06294290e-01 7.07764619e-01 -1.47519317e-02 3.81644072e+01] [ 2.14257733e-02 -5.43059402e-04 9.99770294e-01 2.26277717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:38.18, Z:2.26 [[ 7.05908774e-01 -7.08129647e-01 -1.56590662e-02 9.23356901e+01] [ 7.07973861e-01 7.06082184e-01 -1.48647676e-02 3.81847583e+01] [ 2.15827703e-02 -5.93039686e-04 9.99766889e-01 2.26340648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:38.20, Z:2.26 [[ 7.03500111e-01 -7.10513979e-01 -1.60461806e-02 9.23561129e+01] [ 7.10350833e-01 7.03682761e-01 -1.52402693e-02 3.82037903e+01] [ 2.21198450e-02 -6.76886620e-04 9.99755097e-01 2.26395112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:38.23, Z:2.26 [[ 7.02528268e-01 -7.11474647e-01 -1.60580214e-02 9.23750889e+01] [ 7.11311463e-01 7.02711412e-01 -1.52536794e-02 3.82255430e+01] [ 2.21367610e-02 -7.06113730e-04 9.99754703e-01 2.26449773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:38.25, Z:2.26 [[ 7.02086296e-01 -7.11908475e-01 -1.61603069e-02 9.23935288e+01] [ 7.11743145e-01 7.02271889e-01 -1.53586838e-02 3.82464360e+01] [ 2.22829064e-02 -7.18866203e-04 9.99751447e-01 2.26453417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:38.27, Z:2.26 [[ 7.01847347e-01 -7.12141054e-01 -1.62917437e-02 9.24118296e+01] [ 7.11973029e-01 7.02036029e-01 -1.54861349e-02 3.82685557e+01] [ 2.24657035e-02 -7.30379432e-04 9.99747347e-01 2.26496329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:38.29, Z:2.27 [[ 7.01643877e-01 -7.12334746e-01 -1.65855304e-02 9.24308255e+01] [ 7.12160452e-01 7.01839481e-01 -1.57744644e-02 3.82897386e+01] [ 2.28770792e-02 -7.43502415e-04 9.99738009e-01 2.26503349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.45, Y:38.31, Z:2.27 [[ 7.01798732e-01 -7.12161281e-01 -1.74599208e-02 9.24498040e+01] [ 7.11967834e-01 7.02015468e-01 -1.66158395e-02 3.83105477e+01] [ 2.40902920e-02 -7.69926894e-04 9.99709490e-01 2.26537691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:38.33, Z:2.27 [[ 7.02167176e-01 -7.11790485e-01 -1.77640534e-02 9.24696070e+01] [ 7.11590047e-01 7.02391425e-01 -1.69083074e-02 3.83302069e+01] [ 2.45124911e-02 -7.68265105e-04 9.99699229e-01 2.26571940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.49, Y:38.35, Z:2.27 [[ 7.02821276e-01 -7.11114918e-01 -1.89163315e-02 9.24871684e+01] [ 7.10887280e-01 7.03075351e-01 -1.80090559e-02 3.83542284e+01] [ 2.61061147e-02 -7.90231746e-04 9.99658865e-01 2.26534474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:38.37, Z:2.27 [[ 7.03259639e-01 -7.10678093e-01 -1.90401809e-02 9.25069905e+01] [ 7.10447079e-01 7.03516915e-01 -1.81355540e-02 3.83737987e+01] [ 2.62836302e-02 -7.73037747e-04 9.99654227e-01 2.26540342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:38.40, Z:2.27 [[ 7.04612617e-01 -7.09352374e-01 -1.84463876e-02 9.25253694e+01] [ 7.09134968e-01 7.04853689e-01 -1.75748183e-02 3.83959720e+01] [ 2.54687434e-02 -6.97539739e-04 9.99675376e-01 2.26715013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:38.41, Z:2.27 [[ 7.05099629e-01 -7.08892074e-01 -1.75083302e-02 9.25455291e+01] [ 7.08695894e-01 7.05316679e-01 -1.66886862e-02 3.84149086e+01] [ 2.41793946e-02 -6.40895319e-04 9.99707430e-01 2.26917544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:38.44, Z:2.27 [[ 7.06727485e-01 -7.07305308e-01 -1.59832160e-02 9.25641645e+01] [ 7.07141339e-01 7.06907998e-01 -1.52383878e-02 3.84377209e+01] [ 2.20768558e-02 -5.33005234e-04 9.99756134e-01 2.27199565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:38.46, Z:2.27 [[ 7.07645359e-01 -7.06389519e-01 -1.58711838e-02 9.25834465e+01] [ 7.06227457e-01 7.07823143e-01 -1.51386041e-02 3.84575529e+01] [ 2.19277424e-02 -4.95902868e-04 9.99759435e-01 2.27318921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:38.48, Z:2.27 [[ 7.08475090e-01 -7.05562944e-01 -1.56198070e-02 9.26037142e+01] [ 7.05405728e-01 7.08647105e-01 -1.49010040e-02 3.84784789e+01] [ 2.15825273e-02 -4.61311157e-04 9.99766964e-01 2.27377822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:38.50, Z:2.27 [[ 7.10909720e-01 -7.03093268e-01 -1.63470438e-02 9.26232532e+01] [ 7.02920237e-01 7.11097530e-01 -1.56026321e-02 3.84995367e+01] [ 2.25944480e-02 -3.98605094e-04 9.99744633e-01 2.27360063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:38.52, Z:2.27 [[ 7.12240691e-01 -7.01735325e-01 -1.67550195e-02 9.26432969e+01] [ 7.01552992e-01 7.12437650e-01 -1.59998612e-02 3.85183908e+01] [ 2.31645745e-02 -3.58781809e-04 9.99731601e-01 2.27385978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.66, Y:38.54, Z:2.28 [[ 7.15203006e-01 -6.98717227e-01 -1.67002079e-02 9.26646767e+01] [ 6.98535196e-01 7.15397910e-01 -1.59502288e-02 3.85385064e+01] [ 2.30919935e-02 -2.58031388e-04 9.99733311e-01 2.27511269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.69, Y:38.56, Z:2.28 [[ 7.16617141e-01 -6.97267198e-01 -1.66831774e-02 9.26853293e+01] [ 6.97084982e-01 7.16811281e-01 -1.59410154e-02 3.85586570e+01] [ 2.30738369e-02 -2.05987570e-04 9.99733742e-01 2.27648317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:38.58, Z:2.28 [[ 7.18119298e-01 -6.95719345e-01 -1.67112945e-02 9.27055397e+01] [ 6.95535916e-01 7.18313699e-01 -1.59755719e-02 3.85780139e+01] [ 2.31184662e-02 -1.50939020e-04 9.99732721e-01 2.27756811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.73, Y:38.60, Z:2.28 [[ 7.21080218e-01 -6.92647588e-01 -1.68118478e-02 9.27261153e+01] [ 6.92461043e-01 7.21276172e-01 -1.60744486e-02 3.85968257e+01] [ 2.32599132e-02 -5.05827621e-05 9.99729450e-01 2.27866728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:38.62, Z:2.28 [[ 7.22398833e-01 -6.91270293e-01 -1.68910649e-02 9.27466034e+01] [ 6.91081512e-01 7.22596279e-01 -1.61543061e-02 3.86158103e+01] [ 2.33724125e-02 -3.25078716e-06 9.99726828e-01 2.27951862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:38.63, Z:2.28 [[ 7.25256172e-01 -6.88251242e-01 -1.77119525e-02 9.27684539e+01] [ 6.88042524e-01 7.25472409e-01 -1.69490001e-02 3.86334800e+01] [ 2.45147032e-02 1.05790423e-04 9.99699464e-01 2.28071256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:38.65, Z:2.28 [[ 7.26258692e-01 -6.87181071e-01 -1.81793155e-02 9.27892113e+01] [ 6.86960775e-01 7.26486169e-01 -1.73994190e-02 3.86514733e+01] [ 2.51635726e-02 1.48002587e-04 9.99683336e-01 2.28137900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:38.67, Z:2.28 [[ 7.27750298e-01 -6.85600769e-01 -1.81958355e-02 9.28125544e+01] [ 6.85379465e-01 7.27977707e-01 -1.74197301e-02 3.86692824e+01] [ 2.51891430e-02 2.06161792e-04 9.99682682e-01 2.28243548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:38.69, Z:2.28 [[ 7.27977570e-01 -6.85366716e-01 -1.79199012e-02 9.28330366e+01] [ 6.85151809e-01 7.28198062e-01 -1.71633476e-02 3.86873064e+01] [ 2.48124245e-02 2.16679400e-04 9.99692101e-01 2.28321696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.86, Y:38.70, Z:2.28 [[ 7.27752899e-01 -6.85610439e-01 -1.77212881e-02 9.28552421e+01] [ 6.85400239e-01 7.27968600e-01 -1.69773601e-02 3.87040087e+01] [ 2.45403966e-02 2.09147922e-04 9.99698817e-01 2.28434168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:38.72, Z:2.29 [[ 7.26458785e-01 -6.86965820e-01 -1.83192797e-02 9.28814382e+01] [ 6.86741377e-01 7.26689708e-01 -1.75598934e-02 3.87177819e+01] [ 2.53754786e-02 1.75931469e-04 9.99677975e-01 2.28582485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:38.73, Z:2.29 [[ 7.25023175e-01 -6.88472439e-01 -1.86305278e-02 9.29040996e+01] [ 6.88240590e-01 7.25262493e-01 -1.78663496e-02 3.87329659e+01] [ 2.58125123e-02 1.31232049e-04 9.99666793e-01 2.28618643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:38.74, Z:2.29 [[ 7.21233778e-01 -6.92410355e-01 -1.97417739e-02 9.29322342e+01] [ 6.92151339e-01 7.21503916e-01 -1.89373481e-02 3.87435133e+01] [ 2.73561831e-02 -6.04011092e-06 9.99625750e-01 2.28741681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148040942 meters Centerline goodness [0,1] 0.999978324482497 Centerline is valid? [True, True] Translation: X:92.96, Y:38.76, Z:2.29 [[ 7.19217095e-01 -6.94500286e-01 -1.99028652e-02 9.29561323e+01] [ 6.94237542e-01 7.19492423e-01 -1.91020590e-02 3.87591828e+01] [ 2.75863461e-02 -7.87888549e-05 9.99619421e-01 2.28780539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:38.78, Z:2.29 [[ 7.17427968e-01 -6.96340072e-01 -2.01894803e-02 9.29805186e+01] [ 6.96070148e-01 7.17711978e-01 -1.93872542e-02 3.87761291e+01] [ 2.79903538e-02 -1.44336169e-04 9.99608183e-01 2.28898480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.01, Y:38.79, Z:2.29 [[ 7.14689996e-01 -6.99133944e-01 -2.07349506e-02 9.30073827e+01] [ 6.98850168e-01 7.14990674e-01 -1.99193317e-02 3.87888035e+01] [ 2.87515772e-02 -2.54476594e-04 9.99586556e-01 2.28981499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:38.81, Z:2.29 [[ 7.13449679e-01 -7.00402617e-01 -2.06332275e-02 9.30311566e+01] [ 7.00122024e-01 7.13747913e-01 -1.98259252e-02 3.88053580e+01] [ 2.86130529e-02 -3.00977037e-04 9.99590517e-01 2.29127111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.268040942 meters Centerline goodness [0,1] 0.9999781630781325 Centerline is valid? [True, True] Translation: X:93.06, Y:38.82, Z:2.29 [[ 7.11994029e-01 -7.01877579e-01 -2.07934252e-02 9.30565004e+01] [ 7.01592973e-01 7.12297506e-01 -1.99890716e-02 3.88202306e+01] [ 2.88409861e-02 -3.56421400e-04 9.99583949e-01 2.29356430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:38.84, Z:2.29 [[ 7.11457029e-01 -7.02416254e-01 -2.09833949e-02 9.30794463e+01] [ 7.02126399e-01 7.11766300e-01 -2.01805465e-02 3.88372750e+01] [ 2.91104172e-02 -3.75403806e-04 9.99576132e-01 2.29454079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:38.85, Z:2.29 [[ 7.10957243e-01 -7.02912706e-01 -2.12961350e-02 9.31033292e+01] [ 7.02614215e-01 7.11276015e-01 -2.04864839e-02 3.88525384e+01] [ 2.95476399e-02 -3.97953055e-04 9.99563294e-01 2.29422287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:38.87, Z:2.29 [[ 7.10199940e-01 -7.03652152e-01 -2.21290144e-02 9.31291810e+01] [ 7.03330013e-01 7.10544477e-01 -2.12940999e-02 3.88678056e+01] [ 3.07072882e-02 -4.40931491e-04 9.99528323e-01 2.29457194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:38.89, Z:2.30 [[ 7.09844895e-01 -7.04006179e-01 -2.22603722e-02 9.31519199e+01] [ 7.03680072e-01 7.10193703e-01 -2.14303766e-02 3.88850728e+01] [ 3.08962937e-02 -4.51936906e-04 9.99522493e-01 2.29501814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:38.90, Z:2.30 [[ 7.10093891e-01 -7.03759945e-01 -2.21044052e-02 9.31741911e+01] [ 7.03437937e-01 7.10437720e-01 -2.12911806e-02 3.89019302e+01] [ 3.06876833e-02 -4.30339912e-04 9.99528929e-01 2.29806136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:38.92, Z:2.30 [[ 7.10491612e-01 -7.03354577e-01 -2.22262841e-02 9.31958673e+01] [ 7.03028484e-01 7.10839063e-01 -2.14190906e-02 3.89179967e+01] [ 3.08645263e-02 -4.07626591e-04 9.99523494e-01 2.29876253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.478040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:38.94, Z:2.30 [[ 7.11053199e-01 -7.02795852e-01 -2.19394476e-02 9.32179059e+01] [ 7.02477646e-01 7.11391490e-01 -2.11495769e-02 3.89366826e+01] [ 3.04713713e-02 -3.73497204e-04 9.99535570e-01 2.30020435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.24, Y:38.95, Z:2.30 [[ 7.12582523e-01 -7.01247816e-01 -2.18551677e-02 9.32414223e+01] [ 7.00931011e-01 7.12917535e-01 -2.10785697e-02 3.89536035e+01] [ 3.03622332e-02 -2.98744391e-04 9.99538916e-01 2.30238396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.538040942 meters Centerline goodness [0,1] 0.999977804905116 Centerline is valid? [True, True] Translation: X:93.26, Y:38.97, Z:2.30 [[ 7.13829373e-01 -6.99987052e-01 -2.15813364e-02 9.32626352e+01] [ 6.99677257e-01 7.14155496e-01 -2.08245912e-02 3.89732461e+01] [ 2.99893741e-02 -2.34765367e-04 9.99550190e-01 2.30373827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:38.99, Z:2.30 [[ 7.16769839e-01 -6.96996597e-01 -2.08983784e-02 9.32823959e+01] [ 6.96704546e-01 7.17074427e-01 -2.01752729e-02 3.89941404e+01] [ 2.90477892e-02 -9.89681328e-05 9.99578019e-01 2.30498060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.30, Y:39.01, Z:2.31 [[ 7.18425825e-01 -6.95301406e-01 -2.05009653e-02 9.33015247e+01] [ 6.95019382e-01 7.18718272e-01 -1.98016180e-02 3.90142933e+01] [ 2.85025112e-02 -2.25744450e-05 9.99593721e-01 2.30623211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.32, Y:39.03, Z:2.31 [[ 7.19781916e-01 -6.93897490e-01 -2.05004165e-02 9.33215347e+01] [ 6.93614588e-01 7.20073796e-01 -1.98124146e-02 3.90345723e+01] [ 2.85095975e-02 4.12297334e-05 9.99593518e-01 2.30743693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:39.05, Z:2.31 [[ 7.19582506e-01 -6.94104447e-01 -2.04947234e-02 9.33413052e+01] [ 6.93821461e-01 7.19874305e-01 -1.98183023e-02 3.90538032e+01] [ 2.85095965e-02 4.12247036e-05 9.99593518e-01 2.30807483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:39.07, Z:2.31 [[ 7.20917759e-01 -6.92713587e-01 -2.06269759e-02 9.33610040e+01] [ 6.92426064e-01 7.21212781e-01 -1.99566828e-02 3.90736067e+01] [ 2.87007040e-02 1.04471267e-04 9.99588044e-01 2.30918672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.718040942 meters Centerline goodness [0,1] 0.9999778574908108 Centerline is valid? [True, True] Translation: X:93.38, Y:39.09, Z:2.31 [[ 7.21041464e-01 -6.92585894e-01 -2.05909602e-02 9.33813223e+01] [ 6.92299122e-01 7.21335405e-01 -1.99288308e-02 3.90931914e+01] [ 2.86554157e-02 1.14409662e-04 9.99589343e-01 2.31029908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.748040942 meters Centerline goodness [0,1] 0.9999336400637056 Centerline is valid? [True, True] Translation: X:93.40, Y:39.11, Z:2.31 [[ 7.20300852e-01 -6.93365705e-01 -2.02652894e-02 9.34015853e+01] [ 6.93087934e-01 7.20585867e-01 -1.96245856e-02 3.91119043e+01] [ 2.82098957e-02 8.99781658e-05 9.99602018e-01 2.31258117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:39.13, Z:2.31 [[ 7.19475067e-01 -6.94219238e-01 -2.03783634e-02 9.34209054e+01] [ 6.93938406e-01 7.19763604e-01 -1.97444342e-02 3.91302958e+01] [ 2.83745703e-02 6.42990996e-05 9.99597359e-01 2.31240434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:39.15, Z:2.31 [[ 7.18395252e-01 -6.95337568e-01 -2.03452159e-02 9.34420041e+01] [ 6.95057899e-01 7.18683286e-01 -1.97193043e-02 3.91493453e+01] [ 2.83333397e-02 2.51515838e-05 9.99598530e-01 2.31405739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.46, Y:39.17, Z:2.32 [[ 7.15586755e-01 -6.98220021e-01 -2.06009191e-02 9.34636796e+01] [ 6.97934143e-01 7.15883228e-01 -1.99784168e-02 3.91679099e+01] [ 2.86971830e-02 -8.17943770e-05 9.99588148e-01 2.31509062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:39.19, Z:2.32 [[ 7.14227413e-01 -6.99604890e-01 -2.07894271e-02 9.34841254e+01] [ 6.99314034e-01 7.14529902e-01 -2.01717797e-02 3.91864485e+01] [ 2.89669430e-02 -1.31100095e-04 9.99580361e-01 2.31515291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.898040942 meters Centerline goodness [0,1] 0.99984464468019 Centerline is valid? [True, True] Translation: X:93.51, Y:39.21, Z:2.31 [[ 7.11083932e-01 -7.02760331e-01 -2.20807448e-02 9.35062143e+01] [ 7.02433472e-01 7.11426627e-01 -2.14329713e-02 3.92050376e+01] [ 3.07710718e-02 -2.69612681e-04 9.99526422e-01 2.31490421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.53, Y:39.22, Z:2.31 [[ 7.09735852e-01 -7.04118775e-01 -2.21759299e-02 9.35271082e+01] [ 7.03789470e-01 7.10082141e-01 -2.15345001e-02 3.92241682e+01] [ 3.09095776e-02 -3.23379178e-04 9.99522133e-01 2.31489293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:39.24, Z:2.32 [[ 7.08399058e-01 -7.05452231e-01 -2.25371984e-02 9.35479540e+01] [ 7.05112657e-01 7.08757365e-01 -2.18892540e-02 3.92429587e+01] [ 3.14152284e-02 -3.84936912e-04 9.99506346e-01 2.31547490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:39.26, Z:2.32 [[ 7.05893975e-01 -7.07941318e-01 -2.30821788e-02 9.35695078e+01] [ 7.07586250e-01 7.06271079e-01 -2.24245675e-02 3.92620052e+01] [ 3.21775532e-02 -5.03265232e-04 9.99482042e-01 2.31547920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.59, Y:39.28, Z:2.32 [[ 7.03904666e-01 -7.09940414e-01 -2.24238555e-02 9.35898349e+01] [ 7.09606053e-01 7.04261515e-01 -2.17937369e-02 3.92806600e+01] [ 3.12645130e-02 -5.71390524e-04 9.99510982e-01 2.31544315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.61, Y:39.30, Z:2.32 [[ 7.02857935e-01 -7.10983011e-01 -2.22234469e-02 9.36106407e+01] [ 7.10654953e-01 7.03208922e-01 -2.16043924e-02 3.93009790e+01] [ 3.09880821e-02 -6.08383968e-04 9.99519569e-01 2.31629577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.63, Y:39.32, Z:2.32 [[ 7.02184770e-01 -7.11660338e-01 -2.18200097e-02 9.36315171e+01] [ 7.11344102e-01 7.02523437e-01 -2.12223493e-02 3.93206423e+01] [ 3.04321724e-02 -6.19524780e-04 9.99536642e-01 2.31738801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.65, Y:39.34, Z:2.32 [[ 7.01655724e-01 -7.12198659e-01 -2.12677158e-02 9.36513469e+01] [ 7.11898177e-01 7.01977697e-01 -2.06953948e-02 3.93404675e+01] [ 2.96686946e-02 -6.19405887e-04 9.99559595e-01 2.31874562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:39.36, Z:2.32 [[ 7.01347145e-01 -7.12515469e-01 -2.08299827e-02 9.36709949e+01] [ 7.12227043e-01 7.01656135e-01 -2.02807097e-02 3.93600205e+01] [ 2.90658046e-02 -6.11859128e-04 9.99577313e-01 2.31957072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:39.38, Z:2.32 [[ 7.02263538e-01 -7.11612680e-01 -2.08162786e-02 9.36896293e+01] [ 7.11323938e-01 7.02571756e-01 -2.02776440e-02 3.93803684e+01] [ 2.90547580e-02 -5.66867270e-04 9.99577661e-01 2.32029774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:39.40, Z:2.32 [[ 7.03081703e-01 -7.10817722e-01 -2.03539717e-02 9.37097784e+01] [ 7.10541156e-01 7.03376071e-01 -1.98334965e-02 3.94017965e+01] [ 2.84144975e-02 -5.17766079e-04 9.99596093e-01 2.32082697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:39.42, Z:2.32 [[ 7.03844108e-01 -7.10058075e-01 -2.05183257e-02 9.37292446e+01] [ 7.09776440e-01 7.04142951e-01 -2.00027724e-02 3.94232372e+01] [ 2.86509644e-02 -4.84590677e-04 9.99589359e-01 2.32144139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:39.44, Z:2.32 [[ 7.06010267e-01 -7.07898111e-01 -2.07308208e-02 9.37473733e+01] [ 7.07609430e-01 7.06314454e-01 -2.02184755e-02 3.94449337e+01] [ 2.89550989e-02 -3.94873015e-04 9.99580635e-01 2.32156710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:39.47, Z:2.32 [[ 7.07081486e-01 -7.06829297e-01 -2.06909864e-02 9.37666085e+01] [ 7.06541130e-01 7.07384071e-01 -2.01843417e-02 3.94666151e+01] [ 2.89033583e-02 -3.47058557e-04 9.99582150e-01 2.32276278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:39.49, Z:2.32 [[ 7.08151148e-01 -7.05754028e-01 -2.08135547e-02 9.37865128e+01] [ 7.05461701e-01 7.08456889e-01 -2.03131721e-02 3.94866803e+01] [ 2.90816092e-02 -2.98369576e-04 9.99576996e-01 2.32341563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:39.51, Z:2.32 [[ 7.09966951e-01 -7.03922156e-01 -2.09887312e-02 9.38054666e+01] [ 7.03623923e-01 7.10277093e-01 -2.04896637e-02 3.95065694e+01] [ 2.93309433e-02 -2.21189335e-04 9.99569731e-01 2.32369188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.83, Y:39.53, Z:2.32 [[ 7.10397581e-01 -7.03507815e-01 -2.02985563e-02 9.38252803e+01] [ 7.03228578e-01 7.10687496e-01 -1.98204453e-02 3.95278337e+01] [ 2.83697683e-02 -1.94128486e-04 9.99597478e-01 2.32493413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:39.55, Z:2.33 [[ 7.10924153e-01 -7.02999687e-01 -1.94496355e-02 9.38444332e+01] [ 7.02742897e-01 7.11190139e-01 -1.90001509e-02 3.95474270e+01] [ 2.71894891e-02 -1.60426985e-04 9.99630285e-01 2.32604518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:39.57, Z:2.33 [[ 7.10790554e-01 -7.03131945e-01 -1.95513791e-02 9.38647226e+01] [ 7.02872355e-01 7.11059380e-01 -1.91052880e-02 3.95670275e+01] [ 2.73357298e-02 -1.62265590e-04 9.99626296e-01 2.32671486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:39.59, Z:2.33 [[ 7.10259241e-01 -7.03666121e-01 -1.96418300e-02 9.38855489e+01] [ 7.03404036e-01 7.10530759e-01 -1.92042357e-02 3.95865338e+01] [ 2.74694944e-02 -1.76156592e-04 9.99622627e-01 2.32704153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:39.60, Z:2.33 [[ 7.08446841e-01 -7.05484054e-01 -1.98827264e-02 9.39077066e+01] [ 7.05215950e-01 7.08725751e-01 -1.94492613e-02 3.96041266e+01] [ 2.78125439e-02 -2.42848052e-04 9.99613127e-01 2.32748990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:39.62, Z:2.33 [[ 7.06909801e-01 -7.07028145e-01 -1.97417410e-02 9.39292491e+01] [ 7.06764334e-01 7.07185346e-01 -1.93148384e-02 3.96226886e+01] [ 2.76172043e-02 -2.98909892e-04 9.99618528e-01 2.32828813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.558040942 meters Centerline goodness [0,1] 0.9999556048834628 Centerline is valid? [True, True] Translation: X:93.95, Y:39.64, Z:2.33 [[ 7.03762649e-01 -7.10179313e-01 -1.90650758e-02 9.39523371e+01] [ 7.09934295e-01 7.04020724e-01 -1.86578631e-02 3.96408718e+01] [ 2.66726368e-02 -4.04244022e-04 9.99644140e-01 2.32908115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:39.66, Z:2.33 [[ 7.01929973e-01 -7.12003011e-01 -1.86017768e-02 9.39741384e+01] [ 7.11770181e-01 7.02176263e-01 -1.82127599e-02 3.96600845e+01] [ 2.60292660e-02 -4.56108005e-04 9.99661077e-01 2.32974881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.618040942 meters Centerline goodness [0,1] 0.9999555654299045 Centerline is valid? [True, True] Translation: X:94.00, Y:39.68, Z:2.33 [[ 7.00485905e-01 -7.13427266e-01 -1.84670890e-02 9.39959557e+01] [ 7.13198074e-01 7.00729111e-01 -1.80892470e-02 3.96790101e+01] [ 2.58457889e-02 -4.99429723e-04 9.99665817e-01 2.33090770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:39.70, Z:2.33 [[ 6.98134336e-01 -7.15735859e-01 -1.81831939e-02 9.40185249e+01] [ 7.15514236e-01 6.98370858e-01 -1.78191714e-02 3.96963610e+01] [ 2.54524326e-02 -5.70158719e-04 9.99675872e-01 2.33191887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:39.72, Z:2.33 [[ 6.97127259e-01 -7.16720156e-01 -1.80500169e-02 9.40377733e+01] [ 7.16501920e-01 6.97360640e-01 -1.76956689e-02 3.97185835e+01] [ 2.52702139e-02 -5.96738632e-04 9.99680479e-01 2.33314244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708040942 meters Centerline goodness [0,1] 0.9999330611152019 Centerline is valid? [True, True] Translation: X:94.06, Y:39.73, Z:2.33 [[ 6.96509370e-01 -7.17336197e-01 -1.74206205e-02 9.40619741e+01] [ 7.17132916e-01 6.96726941e-01 -1.70865586e-02 3.97332951e+01] [ 2.43942226e-02 -5.91952159e-04 9.99702241e-01 2.33407870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.738040942 meters Centerline goodness [0,1] 0.9999330745549458 Centerline is valid? [True, True] Translation: X:94.08, Y:39.75, Z:2.34 [[ 6.96710694e-01 -7.17143842e-01 -1.72892924e-02 9.40809576e+01] [ 7.16943479e-01 6.96924942e-01 -1.69609078e-02 3.97546972e+01] [ 2.42127496e-02 -5.78599593e-04 9.99706661e-01 2.33516271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.768040942 meters Centerline goodness [0,1] 0.9998661670235546 Centerline is valid? [True, True] Translation: X:94.10, Y:39.78, Z:2.34 [[ 6.97437539e-01 -7.16435372e-01 -1.73561802e-02 9.40991089e+01] [ 7.16233043e-01 6.97653248e-01 -1.70344584e-02 3.97779113e+01] [ 2.43126840e-02 -5.50599039e-04 9.99704251e-01 2.33552783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.798040942 meters Centerline goodness [0,1] 0.9999776755815512 Centerline is valid? [True, True] Translation: X:94.12, Y:39.80, Z:2.34 [[ 6.98042044e-01 -7.15829737e-01 -1.80303452e-02 9.41210859e+01] [ 7.15610965e-01 6.98274654e-01 -1.77046516e-02 3.97952550e+01] [ 2.52636492e-02 -5.44121522e-04 9.99680675e-01 2.33514234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.828040942 meters Centerline goodness [0,1] 0.9997994920465179 Centerline is valid? [True, True] Translation: X:94.14, Y:39.82, Z:2.33 [[ 6.99453086e-01 -7.14432217e-01 -1.87613503e-02 9.41387931e+01] [ 7.14194754e-01 6.99704470e-01 -1.84257249e-02 3.98164874e+01] [ 2.62913321e-02 -5.11327831e-04 9.99654192e-01 2.33250301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.16, Y:39.84, Z:2.33 [[ 7.00561427e-01 -7.13357996e-01 -1.82772318e-02 9.41551074e+01] [ 7.13132181e-01 7.00799659e-01 -1.79535778e-02 3.98415617e+01] [ 2.56160061e-02 -4.56498160e-04 9.99671752e-01 2.33449023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.17, Y:39.86, Z:2.34 [[ 7.00666844e-01 -7.13262105e-01 -1.79761988e-02 9.41741276e+01] [ 7.13043427e-01 7.00897266e-01 -1.76661968e-02 3.98602208e+01] [ 2.52000974e-02 -4.39692038e-04 9.99682330e-01 2.33533288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.918040942 meters Centerline goodness [0,1] 0.9999109349602547 Centerline is valid? [True, True] Translation: X:94.19, Y:39.88, Z:2.34 [[ 7.00843467e-01 -7.13086163e-01 -1.80709359e-02 9.41940237e+01] [ 7.12864970e-01 7.01076271e-01 -1.77650614e-02 3.98801905e+01] [ 2.53371239e-02 -4.31609936e-04 9.99678870e-01 2.33573030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.948040942 meters Centerline goodness [0,1] 0.9999333259251028 Centerline is valid? [True, True] Translation: X:94.21, Y:39.90, Z:2.34 [[ 7.00853805e-01 -7.13089966e-01 -1.75112722e-02 9.42136361e+01] [ 7.12882035e-01 7.01072415e-01 -1.72242272e-02 3.98996185e+01] [ 2.45590934e-02 -4.11806196e-04 9.99698295e-01 2.33753257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.978040942 meters Centerline goodness [0,1] 0.9999555575307764 Centerline is valid? [True, True] Translation: X:94.23, Y:39.92, Z:2.34 [[ 7.00310491e-01 -7.13600168e-01 -1.84395494e-02 9.42344571e+01] [ 7.13369510e-01 7.00553069e-01 -1.81477239e-02 3.99200340e+01] [ 2.58681017e-02 -4.45170935e-04 9.99665266e-01 2.33699883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008040942 meters Centerline goodness [0,1] 0.9998442540883302 Centerline is valid? [True, True] Translation: X:94.25, Y:39.94, Z:2.34 [[ 6.99670109e-01 -7.14220803e-01 -1.87185397e-02 9.42544184e+01] [ 7.13983094e-01 6.99920299e-01 -1.84314031e-02 3.99416277e+01] [ 2.62655774e-02 -4.68819109e-04 9.99654890e-01 2.33722105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.038040942 meters Centerline goodness [0,1] 0.9999556639326092 Centerline is valid? [True, True] Translation: X:94.28, Y:39.96, Z:2.34 [[ 6.98585707e-01 -7.15286263e-01 -1.85356912e-02 9.42750660e+01] [ 7.15053328e-01 6.98831392e-01 -1.82599283e-02 3.99597016e+01] [ 2.60143987e-02 -4.97882763e-04 9.99661444e-01 2.33708640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068040942 meters Centerline goodness [0,1] 0.9999777337400637 Centerline is valid? [True, True] Translation: X:94.29, Y:39.98, Z:2.34 [[ 6.97750407e-01 -7.16105647e-01 -1.83595295e-02 9.42945841e+01] [ 7.15877289e-01 6.97991713e-01 -1.80907352e-02 3.99808322e+01] [ 2.57696771e-02 -5.20352304e-04 9.99667771e-01 2.33854954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.098040942 meters Centerline goodness [0,1] 0.9999335592319447 Centerline is valid? [True, True] Translation: X:94.31, Y:40.00, Z:2.34 [[ 6.97164986e-01 -7.16701076e-01 -1.73363960e-02 9.43148021e+01] [ 7.16497458e-01 6.97380320e-01 -1.70904049e-02 3.99994925e+01] [ 2.43387730e-02 -5.06651813e-04 9.99703640e-01 2.34056928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.128040942 meters Centerline goodness [0,1] 0.9999557619995576 Centerline is valid? [True, True] Translation: X:94.34, Y:40.02, Z:2.34 [[ 6.96529915e-01 -7.17323589e-01 -1.71156881e-02 9.43352816e+01] [ 7.17125207e-01 6.96739980e-01 -1.68771447e-02 4.00205303e+01] [ 2.40315582e-02 -5.18655204e-04 9.99711066e-01 2.34190191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.158040942 meters Centerline goodness [0,1] 0.9999777723443508 Centerline is valid? [True, True] Translation: X:94.36, Y:40.04, Z:2.34 [[ 6.95754842e-01 -7.18084469e-01 -1.67300343e-02 9.43553224e+01] [ 7.17894962e-01 6.95955758e-01 -1.65047445e-02 4.00418289e+01] [ 2.34951644e-02 -5.27151475e-04 9.99723812e-01 2.34259089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.188040942 meters Centerline goodness [0,1] 0.9999778761061947 Centerline is valid? [True, True] Translation: X:94.38, Y:40.06, Z:2.34 [[ 6.94484808e-01 -7.19317106e-01 -1.65454725e-02 9.43751715e+01] [ 7.19131921e-01 6.94681647e-01 -1.63306213e-02 4.00614341e+01] [ 2.32407313e-02 -5.57008985e-04 9.99729743e-01 2.34231840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.218040942 meters Centerline goodness [0,1] 0.9999777930758811 Centerline is valid? [True, True] Translation: X:94.40, Y:40.08, Z:2.34 [[ 6.93762920e-01 -7.20018255e-01 -1.63316554e-02 9.43951266e+01] [ 7.19837956e-01 6.93954888e-01 -1.61223588e-02 4.00816387e+01] [ 2.29418247e-02 -5.71050735e-04 9.99736639e-01 2.34303315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.248040942 meters Centerline goodness [0,1] 0.9999778555294743 Centerline is valid? [True, True] Translation: X:94.42, Y:40.10, Z:2.34 [[ 6.93066915e-01 -7.20684870e-01 -1.64793609e-02 9.44155840e+01] [ 7.20501416e-01 6.93262550e-01 -1.62710288e-02 4.00999137e+01] [ 2.31508080e-02 -5.96491182e-04 9.99731806e-01 2.34419443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.278040942 meters Centerline goodness [0,1] 0.9998445929445197 Centerline is valid? [True, True] Translation: X:94.43, Y:40.12, Z:2.35 [[ 6.92837078e-01 -7.20907785e-01 -1.63935705e-02 9.44349391e+01] [ 7.20726236e-01 6.93030741e-01 -1.61890548e-02 4.01202770e+01] [ 2.30320639e-02 -5.98898927e-04 9.99734547e-01 2.34537738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.308040942 meters Centerline goodness [0,1] 0.9999556668809434 Centerline is valid? [True, True] Translation: X:94.45, Y:40.14, Z:2.35 [[ 6.92988690e-01 -7.20754328e-01 -1.67294362e-02 9.44546453e+01] [ 7.20564998e-01 6.93190334e-01 -1.65301238e-02 4.01408596e+01] [ 2.35108417e-02 -5.99457289e-04 9.99723402e-01 2.34597070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.338040942 meters Centerline goodness [0,1] 0.9999334353990548 Centerline is valid? [True, True] Translation: X:94.47, Y:40.16, Z:2.35 [[ 6.93164319e-01 -7.20567402e-01 -1.74884320e-02 9.44735263e+01] [ 7.20360222e-01 6.93384628e-01 -1.72889479e-02 4.01635997e+01] [ 2.45840622e-02 -6.13888984e-04 9.99697578e-01 2.34537830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368040942 meters Centerline goodness [0,1] 0.9999556757235938 Centerline is valid? [True, True] Translation: X:94.49, Y:40.18, Z:2.34 [[ 6.92960917e-01 -7.20751614e-01 -1.79521192e-02 9.44919749e+01] [ 7.20533155e-01 6.93193128e-01 -1.77555897e-02 4.01831881e+01] [ 2.52416556e-02 -6.31167311e-04 9.99681179e-01 2.34483111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.51, Y:40.21, Z:2.34 [[ 6.92317962e-01 -7.21360203e-01 -1.83111008e-02 9.45115372e+01] [ 7.21132943e-01 6.92559759e-01 -1.81179153e-02 4.02051056e+01] [ 2.57510746e-02 -6.61379828e-04 9.99668167e-01 2.34447428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428040942 meters Centerline goodness [0,1] 0.9999778363882178 Centerline is valid? [True, True] Translation: X:94.53, Y:40.22, Z:2.35 [[ 6.91784048e-01 -7.21880533e-01 -1.79813168e-02 9.45323808e+01] [ 7.21661351e-01 6.92017382e-01 -1.77999141e-02 4.02239273e+01] [ 2.52927953e-02 -6.62724771e-04 9.99679866e-01 2.34578067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.458040942 meters Centerline goodness [0,1] 0.9998892089519167 Centerline is valid? [True, True] Translation: X:94.55, Y:40.24, Z:2.35 [[ 6.90517067e-01 -7.23095280e-01 -1.78716509e-02 9.45546025e+01] [ 7.22879062e-01 6.90747947e-01 -1.76956251e-02 4.02410257e+01] [ 2.51404291e-02 -6.99911081e-04 9.99683684e-01 2.34728706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488040942 meters Centerline goodness [0,1] 0.9998892727433785 Centerline is valid? [True, True] Translation: X:94.57, Y:40.26, Z:2.35 [[ 6.89794756e-01 -7.23779663e-01 -1.80608576e-02 9.45739539e+01] [ 7.23558983e-01 6.90030773e-01 -1.78866059e-02 4.02630968e+01] [ 2.54085091e-02 -7.30008789e-04 9.99676885e-01 2.34805662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.518040942 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:94.59, Y:40.28, Z:2.35 [[ 6.89422267e-01 -7.24113458e-01 -1.88848489e-02 9.45936912e+01] [ 7.23872061e-01 6.89680439e-01 -1.87118059e-02 4.02831928e+01] [ 2.65739813e-02 -7.69878837e-04 9.99646553e-01 2.34737891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.548040942 meters Centerline goodness [0,1] 0.9999340137251451 Centerline is valid? [True, True] Translation: X:94.61, Y:40.30, Z:2.35 [[ 6.89460907e-01 -7.24069035e-01 -1.91752706e-02 9.46128252e+01] [ 7.23819986e-01 6.89727070e-01 -1.90051968e-02 4.03017837e+01] [ 2.69867778e-02 -7.76103887e-04 9.99635489e-01 2.34747311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.578040942 meters Centerline goodness [0,1] 0.9999340137251451 Centerline is valid? [True, True] Translation: X:94.63, Y:40.32, Z:2.35 [[ 6.89263476e-01 -7.24257061e-01 -1.91721189e-02 9.46323509e+01] [ 7.24007997e-01 6.89529624e-01 -1.90083758e-02 4.03212718e+01] [ 2.69866943e-02 -7.78988264e-04 9.99635489e-01 2.34811231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.608040942 meters Centerline goodness [0,1] 0.9999559830094417 Centerline is valid? [True, True] Translation: X:94.65, Y:40.34, Z:2.35 [[ 6.89077963e-01 -7.24412676e-01 -1.99457984e-02 9.46513432e+01] [ 7.24142852e-01 6.89366100e-01 -1.97866267e-02 4.03418379e+01] [ 2.80836405e-02 -8.09078869e-04 9.99605249e-01 2.34819450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.638040942 meters Centerline goodness [0,1] 0.9999558693733451 Centerline is valid? [True, True] Translation: X:94.67, Y:40.36, Z:2.35 [[ 6.89024651e-01 -7.24448914e-01 -2.04646509e-02 9.46710776e+01] [ 7.24164551e-01 6.89328001e-01 -2.03128252e-02 4.03621113e+01] [ 2.88224610e-02 -8.23737422e-04 9.99584207e-01 2.34813992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.668040942 meters Centerline goodness [0,1] 0.9999560217252678 Centerline is valid? [True, True] Translation: X:94.69, Y:40.38, Z:2.35 [[ 6.88905168e-01 -7.24534890e-01 -2.14210716e-02 9.46903735e+01] [ 7.24223027e-01 6.89237590e-01 -2.12732378e-02 4.03809114e+01] [ 3.01774108e-02 -8.58389831e-04 9.99544190e-01 2.34786012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.698040942 meters Centerline goodness [0,1] 0.999955879108758 Centerline is valid? [True, True] Translation: X:94.71, Y:40.40, Z:2.35 [[ 6.88903178e-01 -7.24530688e-01 -2.16262464e-02 9.47086387e+01] [ 7.24212569e-01 6.89242005e-01 -2.14851702e-02 4.04020820e+01] [ 3.04723826e-02 -8.60797439e-04 9.99535238e-01 2.34881615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728040942 meters Centerline goodness [0,1] 0.9999340601371549 Centerline is valid? [True, True] Translation: X:94.73, Y:40.42, Z:2.35 [[ 6.89208811e-01 -7.24201817e-01 -2.28679477e-02 9.47284529e+01] [ 7.23845549e-01 6.89587516e-01 -2.27305710e-02 4.04204552e+01] [ 3.22309720e-02 -8.86752300e-04 9.99480054e-01 2.34906320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.758040942 meters Centerline goodness [0,1] 0.9999120183001936 Centerline is valid? [True, True] Translation: X:94.75, Y:40.44, Z:2.35 [[ 6.89226221e-01 -7.24164480e-01 -2.35164238e-02 9.47485138e+01] [ 7.23787394e-01 6.89626702e-01 -2.33841900e-02 4.04404431e+01] [ 3.31515536e-02 -9.03894209e-04 9.99449927e-01 2.34919499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788040942 meters Centerline goodness [0,1] 0.9999779088519231 Centerline is valid? [True, True] Translation: X:94.77, Y:40.46, Z:2.35 [[ 6.89183632e-01 -7.24180844e-01 -2.42492646e-02 9.47670107e+01] [ 7.23779428e-01 6.89609492e-01 -2.41264958e-02 4.04617572e+01] [ 3.41944691e-02 -9.23532802e-04 9.99414771e-01 2.35040958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.818040942 meters Centerline goodness [0,1] 0.9998898726928329 Centerline is valid? [True, True] Translation: X:94.79, Y:40.48, Z:2.35 [[ 6.89629234e-01 -7.23745969e-01 -2.45620111e-02 9.47871184e+01] [ 7.23333391e-01 6.90065906e-01 -2.44509967e-02 4.04831321e+01] [ 3.46457167e-02 -9.04400640e-04 9.99399248e-01 2.35154476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848040942 meters Centerline goodness [0,1] 0.9995810733342153 Centerline is valid? [True, True] Translation: X:94.81, Y:40.50, Z:2.35 [[ 6.90073169e-01 -7.23316157e-01 -2.47539556e-02 9.48071933e+01] [ 7.22896489e-01 6.90516443e-01 -2.46517350e-02 4.05028623e+01] [ 3.49240115e-02 -8.83046716e-04 9.99389581e-01 2.35203202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.878040942 meters Centerline goodness [0,1] 0.9998465215198754 Centerline is valid? [True, True] Translation: X:94.83, Y:40.52, Z:2.35 [[ 6.90730600e-01 -7.22642431e-01 -2.60606110e-02 9.48254100e+01] [ 7.22176577e-01 6.91221474e-01 -2.59589294e-02 4.05223771e+01] [ 3.67726778e-02 -8.89736000e-04 9.99323260e-01 2.35239477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.908040942 meters Centerline goodness [0,1] 0.9998243919571517 Centerline is valid? [True, True] Translation: X:94.85, Y:40.54, Z:2.35 [[ 6.91086360e-01 -7.22297613e-01 -2.61878282e-02 9.48452120e+01] [ 7.21826591e-01 6.91581813e-01 -2.60953690e-02 4.05430717e+01] [ 3.69596484e-02 -8.68917185e-04 9.99316381e-01 2.35307142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.938040942 meters Centerline goodness [0,1] 0.9996925779534476 Centerline is valid? [True, True] Translation: X:94.87, Y:40.56, Z:2.35 [[ 6.91712207e-01 -7.21702291e-01 -2.60773198e-02 9.48650389e+01] [ 7.21234350e-01 6.92203094e-01 -2.59978622e-02 4.05637641e+01] [ 3.68135182e-02 -8.24820177e-04 9.99321812e-01 2.35359138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.968040942 meters Centerline goodness [0,1] 0.999868729078697 Centerline is valid? [True, True] Translation: X:94.88, Y:40.58, Z:2.35 [[ 6.92758945e-01 -7.20682274e-01 -2.64972281e-02 9.48844612e+01] [ 7.20197907e-01 6.93265072e-01 -2.64294306e-02 4.05849934e+01] [ 3.74168249e-02 -7.74023689e-04 9.99299446e-01 2.35484840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.998040942 meters Centerline goodness [0,1] 0.9999781124146384 Centerline is valid? [True, True] Translation: X:94.90, Y:40.60, Z:2.36 [[ 6.92705443e-01 -7.20730847e-01 -2.65747028e-02 9.49044191e+01] [ 7.20243168e-01 6.93214580e-01 -2.65202822e-02 4.06049978e+01] [ 3.75359569e-02 -7.69504307e-04 9.99294981e-01 2.35554603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:40.62, Z:2.36 [[ 6.92947118e-01 -7.20479749e-01 -2.70780990e-02 9.49242999e+01] [ 7.19972637e-01 6.93475561e-01 -2.70378882e-02 4.06242742e+01] [ 3.82582509e-02 -7.59663660e-04 9.99267596e-01 2.35688893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:40.64, Z:2.36 [[ 6.92801976e-01 -7.20619778e-01 -2.70658071e-02 9.49445625e+01] [ 7.20112753e-01 6.93330052e-01 -2.70381790e-02 4.06423583e+01] [ 3.82497840e-02 -7.58329001e-04 9.99267922e-01 2.35740754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088040942 meters Centerline goodness [0,1] 0.9999340789733899 Centerline is valid? [True, True] Translation: X:94.96, Y:40.66, Z:2.36 [[ 6.92796423e-01 -7.20625596e-01 -2.70530487e-02 9.49645290e+01] [ 7.20118627e-01 6.93324013e-01 -2.70365498e-02 4.06614116e+01] [ 3.82397581e-02 -7.50579317e-04 9.99268311e-01 2.35905246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.118040942 meters Centerline goodness [0,1] 0.9999779745385666 Centerline is valid? [True, True] Translation: X:94.99, Y:40.68, Z:2.36 [[ 6.92752658e-01 -7.20673282e-01 -2.69030730e-02 9.49858936e+01] [ 7.20171486e-01 6.93274457e-01 -2.68990441e-02 4.06778057e+01] [ 3.80366357e-02 -7.40441742e-04 9.99276071e-01 2.35909581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:40.70, Z:2.36 [[ 6.92823778e-01 -7.20598987e-01 -2.70612801e-02 9.50039640e+01] [ 7.20090788e-01 6.93351687e-01 -2.70683231e-02 4.06996073e+01] [ 3.82683905e-02 -7.33000688e-04 9.99267228e-01 2.36116405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:40.72, Z:2.36 [[ 6.93935328e-01 -7.19514809e-01 -2.74262547e-02 9.50230705e+01] [ 7.18991374e-01 6.94476773e-01 -2.74484308e-02 4.07209020e+01] [ 3.87964493e-02 -6.71804713e-04 9.99246909e-01 2.36048317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:40.74, Z:2.36 [[ 6.94633005e-01 -7.18843186e-01 -2.73763110e-02 9.50423700e+01] [ 7.18320690e-01 6.95171981e-01 -2.74098990e-02 4.07407162e+01] [ 3.87346635e-02 -6.25150078e-04 9.99249336e-01 2.36015825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.238040942 meters Centerline goodness [0,1] 0.9999340963511346 Centerline is valid? [True, True] Translation: X:95.06, Y:40.76, Z:2.36 [[ 6.95167854e-01 -7.18327981e-01 -2.73233875e-02 9.50622507e+01] [ 7.17806709e-01 6.95704367e-01 -2.73671733e-02 4.07617782e+01] [ 3.86676063e-02 -5.88131693e-04 9.99251955e-01 2.36103690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.268040942 meters Centerline goodness [0,1] 0.9999560709892813 Centerline is valid? [True, True] Translation: X:95.08, Y:40.78, Z:2.36 [[ 6.96354558e-01 -7.17187435e-01 -2.70649751e-02 9.50819379e+01] [ 7.16674738e-01 6.96880133e-01 -2.71182705e-02 4.07815919e+01] [ 3.83099263e-02 -5.12852703e-04 9.99265774e-01 2.36214574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.298040942 meters Centerline goodness [0,1] 0.9998682505873828 Centerline is valid? [True, True] Translation: X:95.10, Y:40.80, Z:2.36 [[ 6.96529745e-01 -7.17023705e-01 -2.68946073e-02 9.51005668e+01] [ 7.16517100e-01 6.97048606e-01 -2.69534008e-02 4.08009838e+01] [ 3.80730758e-02 -4.96600652e-04 9.99274834e-01 2.36280404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.328040942 meters Centerline goodness [0,1] 0.9999122960884056 Centerline is valid? [True, True] Translation: X:95.12, Y:40.82, Z:2.36 [[ 6.96784004e-01 -7.16794697e-01 -2.64086180e-02 9.51200114e+01] [ 7.16305724e-01 6.97284119e-01 -2.64757810e-02 4.08220602e+01] [ 3.73920094e-02 -4.68743532e-04 9.99300564e-01 2.36350039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.358040942 meters Centerline goodness [0,1] 0.9997816307813251 Centerline is valid? [True, True] Translation: X:95.14, Y:40.84, Z:2.36 [[ 6.97137748e-01 -7.16490801e-01 -2.52961095e-02 9.51383168e+01] [ 7.16041542e-01 6.97596411e-01 -2.53723970e-02 4.08445655e+01] [ 3.58255642e-02 -4.25009563e-04 9.99357968e-01 2.36344055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.16, Y:40.87, Z:2.36 [[ 6.96776073e-01 -7.16865924e-01 -2.46241931e-02 9.51572716e+01] [ 7.16440026e-01 6.97210920e-01 -2.47107628e-02 4.08658352e+01] [ 3.48825602e-02 -4.23889280e-04 9.99391328e-01 2.36349951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:40.89, Z:2.36 [[ 6.96649296e-01 -7.16984169e-01 -2.47680965e-02 9.51769956e+01] [ 7.16552868e-01 6.97089322e-01 -2.48689627e-02 4.08855060e+01] [ 3.50962281e-02 -4.22705199e-04 9.99383848e-01 2.36371074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.448040942 meters Centerline goodness [0,1] 0.9999343544857768 Centerline is valid? [True, True] Translation: X:95.20, Y:40.91, Z:2.36 [[ 6.96792141e-01 -7.16855688e-01 -2.44669989e-02 9.51962163e+01] [ 7.16434267e-01 6.97221457e-01 -2.45800948e-02 4.09054899e+01] [ 3.46792975e-02 -4.01779533e-04 9.99398411e-01 2.36451102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.478040942 meters Centerline goodness [0,1] 0.9999123614214978 Centerline is valid? [True, True] Translation: X:95.22, Y:40.93, Z:2.37 [[ 6.97841177e-01 -7.15849560e-01 -2.40228854e-02 9.52154002e+01] [ 7.15442270e-01 6.98254462e-01 -2.41467337e-02 4.09271293e+01] [ 3.40595156e-02 -3.36402646e-04 9.99419750e-01 2.36514324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508040942 meters Centerline goodness [0,1] 0.9998685421322466 Centerline is valid? [True, True] Translation: X:95.23, Y:40.95, Z:2.37 [[ 6.98711481e-01 -7.15005970e-01 -2.38480531e-02 9.52345441e+01] [ 7.14603696e-01 6.99118289e-01 -2.39828406e-02 4.09488530e+01] [ 3.38204843e-02 -2.84820797e-04 9.99427883e-01 2.36534228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.538040942 meters Centerline goodness [0,1] 0.9998253808879382 Centerline is valid? [True, True] Translation: X:95.25, Y:40.97, Z:2.37 [[ 7.00808886e-01 -7.12994977e-01 -2.24737230e-02 9.52515283e+01] [ 7.12636363e-01 7.01169120e-01 -2.26114855e-02 4.09721712e+01] [ 3.18797562e-02 -1.69262241e-04 9.99491697e-01 2.36592480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568040942 meters Centerline goodness [0,1] 0.9998039728175641 Centerline is valid? [True, True] Translation: X:95.27, Y:40.99, Z:2.37 [[ 7.01855907e-01 -7.11990503e-01 -2.16288910e-02 9.52698428e+01] [ 7.11657604e-01 7.02189085e-01 -2.17702447e-02 4.09927735e+01] [ 3.06877787e-02 -1.12789872e-04 9.99529013e-01 2.36644717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.598040942 meters Centerline goodness [0,1] 0.99973899993475 Centerline is valid? [True, True] Translation: X:95.29, Y:41.01, Z:2.37 [[ 7.02721459e-01 -7.11157395e-01 -2.09215248e-02 9.52884933e+01] [ 7.10845395e-01 7.03032826e-01 -2.10634597e-02 4.10142784e+01] [ 2.96879538e-02 -7.02244223e-05 9.99559213e-01 2.36773661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.628040942 meters Centerline goodness [0,1] 0.9999347925315712 Centerline is valid? [True, True] Translation: X:95.31, Y:41.04, Z:2.37 [[ 7.04397492e-01 -7.09528309e-01 -1.98431590e-02 9.53054915e+01] [ 7.09246746e-01 7.04676932e-01 -1.99868819e-02 4.10356511e+01] [ 2.81642749e-02 5.01359112e-06 9.99603308e-01 2.36869761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.658040942 meters Centerline goodness [0,1] 0.9999131114779738 Centerline is valid? [True, True] Translation: X:95.32, Y:41.06, Z:2.37 [[ 7.04762482e-01 -7.09185329e-01 -1.91314750e-02 9.53245213e+01] [ 7.08923325e-01 7.05022105e-01 -1.92756610e-02 4.10561065e+01] [ 2.71581288e-02 2.20138331e-05 9.99631150e-01 2.37032226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:41.08, Z:2.37 [[ 7.04388692e-01 -7.09591722e-01 -1.77808348e-02 9.53434646e+01] [ 7.09365316e-01 7.04613077e-01 -1.79237490e-02 4.10756958e+01] [ 2.52471526e-02 1.21786039e-05 9.99681240e-01 2.37148958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.718040942 meters Centerline goodness [0,1] 0.9997823768797197 Centerline is valid? [True, True] Translation: X:95.36, Y:41.10, Z:2.37 [[ 7.03830127e-01 -7.10155335e-01 -1.73940528e-02 9.53627018e+01] [ 7.09938713e-01 7.04045027e-01 -1.75391884e-02 4.10958559e+01] [ 2.47017446e-02 -4.10226576e-06 9.99694865e-01 2.37222267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:41.12, Z:2.37 [[ 7.02878045e-01 -7.11105961e-01 -1.70518886e-02 9.53822816e+01] [ 7.10897824e-01 7.03084854e-01 -1.72038167e-02 4.11163231e+01] [ 2.42226613e-02 -2.99654354e-05 9.99706588e-01 2.37245278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:41.14, Z:2.37 [[ 7.00754797e-01 -7.13187180e-01 -1.75145913e-02 9.54013339e+01] [ 7.12967990e-01 7.00973635e-01 -1.76807372e-02 4.11353884e+01] [ 2.48869419e-02 -9.74815518e-05 9.99690267e-01 2.37267665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:41.16, Z:2.37 [[ 6.99445996e-01 -7.14466010e-01 -1.77092894e-02 9.54211678e+01] [ 7.14242170e-01 6.99670137e-01 -1.78835428e-02 4.11553916e+01] [ 2.51678444e-02 -1.40148890e-04 9.99683230e-01 2.37311975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:41.17, Z:2.37 [[ 6.96900109e-01 -7.16965479e-01 -1.70511287e-02 9.54412327e+01] [ 7.16758497e-01 6.97108640e-01 -1.72279320e-02 4.11749272e+01] [ 2.42383217e-02 -2.15393685e-04 9.99706186e-01 2.37387631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:41.20, Z:2.38 [[ 6.95642736e-01 -7.18198047e-01 -1.65151106e-02 9.54611688e+01] [ 7.18004123e-01 6.95838705e-01 -1.66905710e-02 4.11961365e+01] [ 2.34789887e-02 -2.47243029e-04 9.99724300e-01 2.37509949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.48, Y:41.22, Z:2.38 [[ 6.94701511e-01 -7.19120798e-01 -1.59715188e-02 9.54805966e+01] [ 7.18939504e-01 6.94885033e-01 -1.61487237e-02 4.12174472e+01] [ 2.27112524e-02 -2.64013016e-04 9.99742031e-01 2.37674515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.50, Y:41.24, Z:2.38 [[ 6.93806577e-01 -7.20008126e-01 -1.48570471e-02 9.54981877e+01] [ 7.19851304e-01 6.93965580e-01 -1.50291165e-02 4.12390397e+01] [ 2.11313653e-02 -2.67564809e-04 9.99776672e-01 2.37865586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:41.26, Z:2.38 [[ 6.93866717e-01 -7.19959756e-01 -1.43850275e-02 9.55145872e+01] [ 7.19812661e-01 6.94015767e-01 -1.45550203e-02 4.12613724e+01] [ 2.04624648e-02 -2.55280761e-04 9.99790589e-01 2.37977311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.53, Y:41.28, Z:2.38 [[ 6.93912979e-01 -7.19923014e-01 -1.39868234e-02 9.55327793e+01] [ 7.19783872e-01 6.94053884e-01 -1.41557188e-02 4.12832790e+01] [ 1.98986369e-02 -2.44652890e-04 9.99801973e-01 2.38068296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.55, Y:41.31, Z:2.38 [[ 6.93659842e-01 -7.20180894e-01 -1.32477603e-02 9.55505864e+01] [ 7.20055986e-01 6.93786296e-01 -1.34146013e-02 4.13053476e+01] [ 1.88520541e-02 -2.33958901e-04 9.99822257e-01 2.38144726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:41.33, Z:2.38 [[ 6.93653672e-01 -7.20195607e-01 -1.27620555e-02 9.55685487e+01] [ 7.20079550e-01 6.93771027e-01 -1.29307002e-02 4.13255309e+01] [ 1.81665778e-02 -2.20267458e-04 9.99834950e-01 2.38252153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:41.35, Z:2.38 [[ 6.93322636e-01 -7.20521439e-01 -1.23522462e-02 9.55857506e+01] [ 7.20412719e-01 6.93432627e-01 -1.25182356e-02 4.13484247e+01] [ 1.75851077e-02 -2.19539132e-04 9.99845346e-01 2.38392269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:41.37, Z:2.38 [[ 6.93205270e-01 -7.20631590e-01 -1.25126158e-02 9.56036250e+01] [ 7.20519892e-01 6.93318155e-01 -1.26894223e-02 4.13686918e+01] [ 1.78196223e-02 -2.19214205e-04 9.99841194e-01 2.38469712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:41.39, Z:2.38 [[ 6.92818013e-01 -7.20986265e-01 -1.34909510e-02 9.56193918e+01] [ 7.20856430e-01 6.92949309e-01 -1.36843675e-02 4.13921182e+01] [ 1.92147862e-02 -2.44262480e-04 9.99815349e-01 2.38366169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:41.41, Z:2.38 [[ 6.92652071e-01 -7.21136374e-01 -1.39799030e-02 9.56383771e+01] [ 7.20996801e-01 6.92793091e-01 -1.41896508e-02 4.14117711e+01] [ 1.99178536e-02 -2.50974320e-04 9.99801588e-01 2.38432851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:41.43, Z:2.38 [[ 6.92373435e-01 -7.21396127e-01 -1.43754978e-02 9.56548219e+01] [ 7.21248533e-01 6.92522606e-01 -1.45943316e-02 4.14349190e+01] [ 2.04836515e-02 -2.63579192e-04 9.99790153e-01 2.38397647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:41.46, Z:2.38 [[ 6.92053728e-01 -7.21707111e-01 -1.41591814e-02 9.56714176e+01] [ 7.21563813e-01 6.92198509e-01 -1.43835926e-02 4.14569867e+01] [ 2.01817053e-02 -2.62534092e-04 9.99796294e-01 2.38436242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:41.48, Z:2.38 [[ 6.91835246e-01 -7.21917113e-01 -1.41306132e-02 9.56889690e+01] [ 7.21774390e-01 6.91979487e-01 -1.43568424e-02 4.14786301e+01] [ 2.01425447e-02 -2.66545111e-04 9.99797083e-01 2.38486472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.70, Y:41.50, Z:2.39 [[ 6.91339585e-01 -7.22383476e-01 -1.45496297e-02 9.57049959e+01] [ 7.22232073e-01 6.91492613e-01 -1.47918195e-02 4.15004413e+01] [ 2.07463275e-02 -2.82038900e-04 9.99784732e-01 2.38586816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:41.52, Z:2.39 [[ 6.90594423e-01 -7.23100657e-01 -1.43102613e-02 9.57225266e+01] [ 7.22954291e-01 6.90742609e-01 -1.45512905e-02 4.15234007e+01] [ 2.04067549e-02 -2.96624753e-04 9.99791716e-01 2.38609675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:41.54, Z:2.39 [[ 6.89672007e-01 -7.23986548e-01 -1.40000696e-02 9.57407312e+01] [ 7.23846493e-01 6.89814020e-01 -1.42433130e-02 4.15448244e+01] [ 1.99694113e-02 -3.10687066e-04 9.99800543e-01 2.38655063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:41.57, Z:2.39 [[ 6.87094204e-01 -7.26444760e-01 -1.34002166e-02 9.57575980e+01] [ 7.26316864e-01 6.87224766e-01 -1.36357784e-02 4.15685055e+01] [ 1.91146005e-02 -3.63738977e-04 9.99817233e-01 2.38731991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:41.59, Z:2.39 [[ 6.85667619e-01 -7.27801680e-01 -1.28308118e-02 9.57766719e+01] [ 7.27684550e-01 6.85787554e-01 -1.30624206e-02 4.15896696e+01] [ 1.83060627e-02 -3.80304623e-04 9.99832358e-01 2.38832888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:41.61, Z:2.39 [[ 6.82341697e-01 -7.30925085e-01 -1.25828269e-02 9.57950047e+01] [ 7.30812843e-01 6.82457557e-01 -1.28168342e-02 4.16103599e+01] [ 1.79553909e-02 -4.50231099e-04 9.99838688e-01 2.38931695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:41.63, Z:2.39 [[ 6.82138038e-01 -7.31115179e-01 -1.25813817e-02 9.58142504e+01] [ 7.31002944e-01 6.82253904e-01 -1.28182528e-02 4.16300931e+01] [ 1.79553159e-02 -4.53209211e-04 9.99838688e-01 2.38995589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:41.65, Z:2.39 [[ 6.80734631e-01 -7.32424749e-01 -1.24237501e-02 9.58335973e+01] [ 7.32315397e-01 6.80847825e-01 -1.26648752e-02 4.16514985e+01] [ 1.77347513e-02 -4.76684311e-04 9.99842613e-01 2.39051095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:41.67, Z:2.39 [[ 6.79305069e-01 -7.33754383e-01 -1.22117987e-02 9.58518909e+01] [ 7.33648828e-01 6.79414643e-01 -1.24554914e-02 4.16719611e+01] [ 1.74361462e-02 -4.98093355e-04 9.99847855e-01 2.39104039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:41.70, Z:2.39 [[ 6.76797853e-01 -7.36065341e-01 -1.23483153e-02 9.58687127e+01] [ 7.35957739e-01 6.76910259e-01 -1.25979016e-02 4.16957818e+01] [ 1.76315801e-02 -5.61605487e-04 9.99844394e-01 2.39050121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:41.72, Z:2.39 [[ 6.75672791e-01 -7.37091670e-01 -1.27337919e-02 9.58870125e+01] [ 7.36977291e-01 6.75792503e-01 -1.29986757e-02 4.17169960e+01] [ 1.81866167e-02 -6.01664006e-04 9.99834429e-01 2.39056031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:41.74, Z:2.39 [[ 6.74297398e-01 -7.38354003e-01 -1.25054264e-02 9.59056346e+01] [ 7.38243888e-01 6.74413061e-01 -1.27665280e-02 4.17394859e+01] [ 1.78600400e-02 -6.23618041e-04 9.99840302e-01 2.39060060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:41.76, Z:2.39 [[ 6.72691171e-01 -7.39820427e-01 -1.23419614e-02 9.59232195e+01] [ 7.39713300e-01 6.72804068e-01 -1.26063761e-02 4.17613962e+01] [ 1.76301764e-02 -6.49315061e-04 9.99844366e-01 2.39130357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:41.78, Z:2.39 [[ 6.72101287e-01 -7.40360264e-01 -1.21053576e-02 9.59425397e+01] [ 7.40257255e-01 6.72209980e-01 -1.23668461e-02 4.17833678e+01] [ 1.72932637e-02 -6.49305604e-04 9.99850250e-01 2.39252845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.96, Y:41.81, Z:2.39 [[ 6.71235841e-01 -7.41147076e-01 -1.19773833e-02 9.59589325e+01] [ 7.41046240e-01 6.71342371e-01 -1.22430357e-02 4.18067994e+01] [ 1.71148150e-02 -6.57830479e-04 9.99853314e-01 2.39329004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.98, Y:41.83, Z:2.39 [[ 6.70987962e-01 -7.41378492e-01 -1.15362975e-02 9.59762060e+01] [ 7.41284978e-01 6.71086822e-01 -1.17922850e-02 4.18298332e+01] [ 1.64844036e-02 -6.39202762e-04 9.99863919e-01 2.39345778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:41.86, Z:2.39 [[ 6.70861964e-01 -7.41487790e-01 -1.18356557e-02 9.59893908e+01] [ 7.41389268e-01 6.70966042e-01 -1.21047167e-02 4.18555771e+01] [ 1.69168227e-02 -6.54234072e-04 9.99856686e-01 2.39277558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.01, Y:41.88, Z:2.39 [[ 6.71613507e-01 -7.40804707e-01 -1.19868144e-02 9.60077944e+01] [ 7.40703396e-01 6.71720163e-01 -1.22679080e-02 4.18759424e+01] [ 1.71399089e-02 -6.39381432e-04 9.99852897e-01 2.39354480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:41.90, Z:2.39 [[ 6.72251155e-01 -7.40223487e-01 -1.21480348e-02 9.60249635e+01] [ 7.40119321e-01 6.72360610e-01 -1.24338810e-02 4.18998171e+01] [ 1.73717108e-02 -6.32304393e-04 9.99848901e-01 2.39423336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:41.93, Z:2.39 [[ 6.74599246e-01 -7.38094628e-01 -1.14968228e-02 9.60364125e+01] [ 7.38000933e-01 6.74696987e-01 -1.17727360e-02 4.19292507e+01] [ 1.64462649e-02 -5.42787118e-04 9.99864604e-01 2.39490576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.05, Y:41.95, Z:2.40 [[ 6.75789337e-01 -7.37000952e-01 -1.17630280e-02 9.60533030e+01] [ 7.36902606e-01 6.75891502e-01 -1.20510410e-02 4.19517367e+01] [ 1.68321593e-02 -5.24240970e-04 9.99858192e-01 2.39568980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.918040942 meters Centerline goodness [0,1] 0.9999366901616511 Centerline is valid? [True, True] Translation: X:96.07, Y:41.98, Z:2.39 [[ 6.76765559e-01 -7.36094376e-01 -1.23873746e-02 9.60688636e+01] [ 7.35985142e-01 6.76878712e-01 -1.26917290e-02 4.19769536e+01] [ 1.77270605e-02 -5.27598581e-04 9.99842724e-01 2.39432732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:42.00, Z:2.39 [[ 6.79276801e-01 -7.33763776e-01 -1.31813800e-02 9.60836189e+01] [ 7.33639503e-01 6.79404504e-01 -1.35129624e-02 4.20019531e+01] [ 1.88708113e-02 -4.91339165e-04 9.99821810e-01 2.39461617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97804094199999 meters Centerline goodness [0,1] 0.999936625966454 Centerline is valid? [True, True] Translation: X:96.10, Y:42.03, Z:2.39 [[ 6.80366761e-01 -7.32729723e-01 -1.44299932e-02 9.60999711e+01] [ 7.32580423e-01 6.80519582e-01 -1.47994083e-02 4.20265837e+01] [ 2.06638592e-02 -5.02105054e-04 9.99786354e-01 2.39380017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008040942 meters Centerline goodness [0,1] 0.9999789042887581 Centerline is valid? [True, True] Translation: X:96.12, Y:42.05, Z:2.40 [[ 6.80893326e-01 -7.32239271e-01 -1.44888935e-02 9.61180976e+01] [ 7.32088473e-01 6.81047294e-01 -1.48678123e-02 4.20473436e+01] [ 2.07544177e-02 -4.83757781e-04 9.99784487e-01 2.39556016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.14, Y:42.07, Z:2.40 [[ 6.80404635e-01 -7.32691038e-01 -1.46074238e-02 9.61358543e+01] [ 7.32537821e-01 6.80561234e-01 -1.49915649e-02 4.20697763e+01] [ 2.09254316e-02 -5.00160136e-04 9.99780914e-01 2.39595021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068040942 meters Centerline goodness [0,1] 0.9998110989841323 Centerline is valid? [True, True] Translation: X:96.15, Y:42.09, Z:2.39 [[ 6.79399967e-01 -7.33602149e-01 -1.56067900e-02 9.61545438e+01] [ 7.33427290e-01 6.79578969e-01 -1.60260738e-02 4.20906756e+01] [ 2.23628085e-02 -5.58331722e-04 9.99749765e-01 2.39497006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:42.11, Z:2.40 [[ 6.78385188e-01 -7.34561528e-01 -1.45910285e-02 9.61719037e+01] [ 7.34408862e-01 6.78541862e-01 -1.49855104e-02 4.21121573e+01] [ 2.09084031e-02 -5.49832365e-04 9.99781244e-01 2.39811380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.19, Y:42.13, Z:2.40 [[ 6.77412555e-01 -7.35460034e-01 -1.45178653e-02 9.61920354e+01] [ 7.35309057e-01 6.77567863e-01 -1.49124507e-02 4.21331953e+01] [ 2.08043505e-02 -5.73236573e-04 9.99783402e-01 2.39892010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.158040942 meters Centerline goodness [0,1] 0.9999159063196401 Centerline is valid? [True, True] Translation: X:96.21, Y:42.16, Z:2.40 [[ 6.75628265e-01 -7.37092354e-01 -1.48764565e-02 9.62100415e+01] [ 7.36934055e-01 6.75791728e-01 -1.52885125e-02 4.21555009e+01] [ 2.13224319e-02 -6.33616221e-04 9.99772450e-01 2.39983867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:42.18, Z:2.40 [[ 6.75391383e-01 -7.37324359e-01 -1.41162669e-02 9.62291904e+01] [ 7.37181740e-01 6.75538618e-01 -1.45140541e-02 4.21764869e+01] [ 2.02376491e-02 -6.03587103e-04 9.99795016e-01 2.40220963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:42.20, Z:2.40 [[ 6.75123820e-01 -7.37568765e-01 -1.41472365e-02 9.62480504e+01] [ 7.37425394e-01 6.75271759e-01 -1.45546808e-02 4.21960021e+01] [ 2.02883072e-02 -6.06319692e-04 9.99793987e-01 2.40302105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.248040942 meters Centerline goodness [0,1] 0.9999369734658291 Centerline is valid? [True, True] Translation: X:96.27, Y:42.22, Z:2.40 [[ 6.75750789e-01 -7.36970980e-01 -1.53181629e-02 9.62654251e+01] [ 7.36802593e-01 6.75924089e-01 -1.57659436e-02 4.22198875e+01] [ 2.19729582e-02 -6.32613352e-04 9.99758365e-01 2.40232053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:42.24, Z:2.40 [[ 6.76675346e-01 -7.36120858e-01 -1.53804809e-02 9.62834171e+01] [ 7.35950703e-01 6.76849851e-01 -1.58380037e-02 4.22423471e+01] [ 2.20689611e-02 -6.02089034e-04 9.99756270e-01 2.40319199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:42.26, Z:2.40 [[ 6.78171086e-01 -7.34730195e-01 -1.59849693e-02 9.63008854e+01] [ 7.34545816e-01 6.78359206e-01 -1.64691128e-02 4.22649922e+01] [ 2.29439055e-02 -5.72816167e-04 9.99736590e-01 2.40349325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:42.29, Z:2.40 [[ 6.78977444e-01 -7.33992009e-01 -1.56639971e-02 9.63203644e+01] [ 7.33814587e-01 6.79157896e-01 -1.61463246e-02 4.22865542e+01] [ 2.24896006e-02 -5.31479378e-04 9.99746936e-01 2.40445674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:42.31, Z:2.41 [[ 6.81605877e-01 -7.31549610e-01 -1.57669369e-02 9.63377447e+01] [ 7.31369006e-01 6.81788066e-01 -1.62607039e-02 4.23081487e+01] [ 2.26452210e-02 -4.48057607e-04 9.99743464e-01 2.40586993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.36, Y:42.33, Z:2.41 [[ 6.83120472e-01 -7.30128333e-01 -1.60946745e-02 9.63568888e+01] [ 7.29939678e-01 6.83309924e-01 -1.66016680e-02 4.23303177e+01] [ 2.31189990e-02 -4.07202261e-04 9.99732637e-01 2.40648123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:42.35, Z:2.41 [[ 6.84484913e-01 -7.28845372e-01 -1.62735235e-02 9.63761833e+01] [ 7.28651943e-01 6.84678240e-01 -1.67944463e-02 4.23522773e+01] [ 2.33826819e-02 -3.62189410e-04 9.99726522e-01 2.40704642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.39, Y:42.37, Z:2.41 [[ 6.87294163e-01 -7.26188158e-01 -1.66581429e-02 9.63940891e+01] [ 7.25984488e-01 6.87495953e-01 -1.71999318e-02 4.23748192e+01] [ 2.39427927e-02 -2.72140642e-04 9.99713293e-01 2.40792983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.41, Y:42.40, Z:2.41 [[ 6.88882524e-01 -7.24679440e-01 -1.67504646e-02 9.64123721e+01] [ 7.24472858e-01 6.89086108e-01 -1.73035760e-02 4.23952237e+01] [ 2.40820582e-02 -2.15125798e-04 9.99709962e-01 2.40849231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.43, Y:42.42, Z:2.41 [[ 6.92044094e-01 -7.21633621e-01 -1.78854335e-02 9.64308956e+01] [ 7.21396969e-01 6.92275165e-01 -1.84799762e-02 4.24179554e+01] [ 2.57174136e-02 -1.13539114e-04 9.99669246e-01 2.40851859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:42.44, Z:2.41 [[ 6.93415923e-01 -7.20308699e-01 -1.81586266e-02 9.64498686e+01] [ 7.20064063e-01 6.93653642e-01 -1.87715248e-02 4.24389397e+01] [ 2.61170901e-02 -5.89002463e-05 9.99658889e-01 2.40915673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.47, Y:42.46, Z:2.41 [[ 6.94601566e-01 -7.19163809e-01 -1.82230900e-02 9.64689424e+01] [ 7.18916765e-01 6.94840569e-01 -1.88485740e-02 4.24599325e+01] [ 2.62173545e-02 -8.63591995e-06 9.99656266e-01 2.40981966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:42.48, Z:2.41 [[ 6.95395602e-01 -7.18396309e-01 -1.82126276e-02 9.64880360e+01] [ 7.18149012e-01 6.95634058e-01 -1.88481688e-02 4.24800492e+01] [ 2.62097789e-02 2.75532254e-05 9.99656464e-01 2.41091049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:42.50, Z:2.41 [[ 6.95773972e-01 -7.18015036e-01 -1.87880011e-02 9.65079664e+01] [ 7.17751428e-01 6.96027590e-01 -1.94545885e-02 4.24987879e+01] [ 2.70456542e-02 5.08816744e-05 9.99634198e-01 2.41132883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.668040942 meters Centerline goodness [0,1] 0.9999790540823593 Centerline is valid? [True, True] Translation: X:96.53, Y:42.52, Z:2.41 [[ 6.95460267e-01 -7.18315484e-01 -1.89177714e-02 9.65276951e+01] [ 7.18048136e-01 6.95717517e-01 -1.95962238e-02 4.25175130e+01] [ 2.72376959e-02 4.45245127e-05 9.99628984e-01 2.41138779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:42.54, Z:2.41 [[ 6.94073259e-01 -7.19652905e-01 -1.90265260e-02 9.65495306e+01] [ 7.19382817e-01 6.94333995e-01 -1.97146042e-02 4.25359912e+01] [ 2.73984360e-02 -3.97632454e-06 9.99624592e-01 2.41177998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72804094199999 meters Centerline goodness [0,1] 0.9999789522426386 Centerline is valid? [True, True] Translation: X:96.57, Y:42.56, Z:2.41 [[ 6.92893615e-01 -7.20785512e-01 -1.91490081e-02 9.65706960e+01] [ 7.20512060e-01 6.93158167e-01 -1.98526544e-02 4.25550603e+01] [ 2.75827970e-02 -4.13138266e-05 9.99619521e-01 2.41279826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:42.57, Z:2.41 [[ 6.91779412e-01 -7.21852340e-01 -1.92469283e-02 9.65913607e+01] [ 7.21576214e-01 6.92047103e-01 -1.99643110e-02 4.25727894e+01] [ 2.77310656e-02 -7.72263280e-05 9.99615417e-01 2.41278610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:42.59, Z:2.41 [[ 6.89333877e-01 -7.24175710e-01 -1.97065165e-02 9.66142733e+01] [ 7.23887014e-01 6.89615481e-01 -2.04469844e-02 4.25913506e+01] [ 2.83971283e-02 -1.70492335e-04 9.99596706e-01 2.41424226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.818040942 meters Centerline goodness [0,1] 0.9999579443182774 Centerline is valid? [True, True] Translation: X:96.64, Y:42.61, Z:2.42 [[ 6.87972136e-01 -7.25474581e-01 -1.95185020e-02 9.66350793e+01] [ 7.25191645e-01 6.88248927e-01 -2.02606261e-02 4.26100354e+01] [ 2.81321573e-02 -2.15908303e-04 9.99604189e-01 2.41509876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848040942 meters Centerline goodness [0,1] 0.999978953571579 Centerline is valid? [True, True] Translation: X:96.66, Y:42.63, Z:2.42 [[ 6.85539209e-01 -7.27776484e-01 -1.94263282e-02 9.66577055e+01] [ 7.27497006e-01 6.85814331e-01 -2.01695216e-02 4.26279084e+01] [ 2.80017578e-02 -3.05597680e-04 9.99607827e-01 2.41624606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:42.65, Z:2.42 [[ 6.84682587e-01 -7.28581813e-01 -1.94498691e-02 9.66790009e+01] [ 7.28301733e-01 6.84958708e-01 -2.02028125e-02 4.26467816e+01] [ 2.80417590e-02 -3.32859462e-04 9.99606697e-01 2.41675074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.70, Y:42.67, Z:2.42 [[ 6.83753349e-01 -7.29453041e-01 -1.94837854e-02 9.67007770e+01] [ 7.29172205e-01 6.84030794e-01 -2.02427415e-02 4.26660643e+01] [ 2.80936385e-02 -3.65992492e-04 9.99605229e-01 2.41748485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.938040942 meters Centerline goodness [0,1] 0.9999578761136503 Centerline is valid? [True, True] Translation: X:96.72, Y:42.68, Z:2.42 [[ 6.82514732e-01 -7.30595149e-01 -2.01089184e-02 9.67231134e+01] [ 7.30296186e-01 6.82810773e-01 -2.09028443e-02 4.26846322e+01] [ 2.90021028e-02 -4.18967248e-04 9.99579263e-01 2.41816167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:42.70, Z:2.42 [[ 6.82177722e-01 -7.30916657e-01 -1.98593995e-02 9.67428946e+01] [ 7.30624939e-01 6.82466602e-01 -2.06527405e-02 4.27024311e+01] [ 2.86488089e-02 -4.20933048e-04 9.99589450e-01 2.41854440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:42.72, Z:2.42 [[ 6.82388771e-01 -7.30706918e-01 -2.03215554e-02 9.67638174e+01] [ 7.30401171e-01 6.82691165e-01 -2.11400764e-02 4.27214807e+01] [ 2.93205464e-02 -4.17137138e-04 9.99569973e-01 2.41902410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:42.74, Z:2.42 [[ 6.83076576e-01 -7.30059235e-01 -2.04915609e-02 9.67840275e+01] [ 7.29747756e-01 6.83383761e-01 -2.13271521e-02 4.27409695e+01] [ 2.95736843e-02 -3.85592563e-04 9.99562529e-01 2.41974031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:42.76, Z:2.42 [[ 6.83575408e-01 -7.29594272e-01 -2.04171766e-02 9.68037354e+01] [ 7.29284693e-01 6.83880157e-01 -2.12548394e-02 4.27617124e+01] [ 2.94703110e-02 -3.60648830e-04 9.99565591e-01 2.42063441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:42.78, Z:2.42 [[ 6.84629190e-01 -7.28603248e-01 -2.04982738e-02 9.68251789e+01] [ 7.28290492e-01 6.84935916e-01 -2.13483257e-02 4.27801947e+01] [ 2.95944634e-02 -3.13010969e-04 9.99561939e-01 2.42102632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:42.80, Z:2.42 [[ 6.85127696e-01 -7.28135825e-01 -2.04514298e-02 9.68450007e+01] [ 7.27824127e-01 6.85432810e-01 -2.13050176e-02 4.27999656e+01] [ 2.95310276e-02 -2.88386457e-04 9.99563822e-01 2.42277345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.87, Y:42.82, Z:2.42 [[ 6.86220447e-01 -7.27106807e-01 -2.04252231e-02 9.68658118e+01] [ 7.26795149e-01 6.86524315e-01 -2.12879389e-02 4.28182324e+01] [ 2.95010175e-02 -2.36734123e-04 9.99564722e-01 2.42457115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:42.84, Z:2.43 [[ 6.86478063e-01 -7.26862508e-01 -2.04636873e-02 9.68859204e+01] [ 7.26549405e-01 6.86782967e-01 -2.13334877e-02 4.28378519e+01] [ 2.95606242e-02 -2.22908524e-04 9.99562964e-01 2.42513835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:42.86, Z:2.43 [[ 6.86862626e-01 -7.26486939e-01 -2.08916486e-02 9.69061143e+01] [ 7.26160057e-01 6.87180243e-01 -2.17918546e-02 4.28574696e+01] [ 3.01878259e-02 -2.02670338e-04 9.99544223e-01 2.42550990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:42.88, Z:2.43 [[ 6.87275959e-01 -7.26091011e-01 -2.10618028e-02 9.69262811e+01] [ 7.25758226e-01 6.87598583e-01 -2.19814797e-02 4.28771904e+01] [ 3.04426206e-02 -1.78434139e-04 9.99536500e-01 2.42618805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:42.90, Z:2.43 [[ 6.88934291e-01 -7.24512778e-01 -2.12315220e-02 9.69462369e+01] [ 7.24173535e-01 6.89261361e-01 -2.21690621e-02 4.28957493e+01] [ 3.06958365e-02 -1.02279223e-04 9.99528767e-01 2.42663315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:42.92, Z:2.43 [[ 6.90761287e-01 -7.22765883e-01 -2.14084637e-02 9.69666164e+01] [ 7.22419902e-01 6.91092959e-01 -2.23608299e-02 4.29153412e+01] [ 3.09568835e-02 -1.99046526e-05 9.99520721e-01 2.42890241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:42.93, Z:2.43 [[ 6.91829101e-01 -7.21743454e-01 -2.14215105e-02 9.69858327e+01] [ 7.21396216e-01 6.92160665e-01 -2.23855886e-02 4.29341718e+01] [ 3.09837790e-02 3.36050456e-05 9.99519887e-01 2.42883540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:42.95, Z:2.43 [[ 6.92535552e-01 -7.21059489e-01 -2.16268867e-02 9.70059192e+01] [ 7.20704989e-01 6.92873155e-01 -2.26077617e-02 4.29537634e+01] [ 3.12862303e-02 7.00735725e-05 9.99510464e-01 2.42951782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:42.97, Z:2.43 [[ 6.93123697e-01 -7.20482731e-01 -2.20040021e-02 9.70259349e+01] [ 7.20115123e-01 6.93472872e-01 -2.30127362e-02 4.29728357e+01] [ 3.18394576e-02 1.05258088e-04 9.99492990e-01 2.42956453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:42.99, Z:2.43 [[ 6.92924878e-01 -7.20674044e-01 -2.20008120e-02 9.70448983e+01] [ 7.20306436e-01 6.93274052e-01 -2.30157857e-02 4.29928059e+01] [ 3.18394715e-02 1.00884067e-04 9.99492990e-01 2.43020342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:43.01, Z:2.43 [[ 6.93222102e-01 -7.20377017e-01 -2.23622636e-02 9.70669373e+01] [ 7.19996645e-01 6.93582683e-01 -2.34071165e-02 4.30099383e+01] [ 3.23720275e-02 1.25575680e-04 9.99475881e-01 2.43180534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.09, Y:43.03, Z:2.43 [[ 6.92798483e-01 -7.20782270e-01 -2.24317079e-02 9.70898375e+01] [ 7.20399307e-01 6.93161530e-01 -2.34932258e-02 4.30269866e+01] [ 3.24822976e-02 1.16284372e-04 9.99472304e-01 2.43253355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.11, Y:43.05, Z:2.43 [[ 6.92526783e-01 -7.21040073e-01 -2.25359484e-02 9.71100712e+01] [ 7.20653310e-01 6.92893355e-01 -2.36136817e-02 4.30454349e+01] [ 3.26414196e-02 1.12501226e-04 9.99467121e-01 2.43224484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.13, Y:43.06, Z:2.43 [[ 6.92280156e-01 -7.21269280e-01 -2.27774460e-02 9.71302888e+01] [ 7.20874096e-01 6.92654759e-01 -2.38730638e-02 4.30630726e+01] [ 3.29958139e-02 1.07177547e-04 9.99455484e-01 2.43228179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.15, Y:43.08, Z:2.43 [[ 6.91908694e-01 -7.21619673e-01 -2.29653379e-02 9.71518718e+01] [ 7.21217827e-01 6.92289707e-01 -2.40792053e-02 4.30813039e+01] [ 3.32746952e-02 9.76004129e-05 9.99446239e-01 2.43330439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.17, Y:43.10, Z:2.43 [[ 6.91114774e-01 -7.22382200e-01 -2.28981651e-02 9.71749226e+01] [ 7.21982751e-01 6.91494000e-01 -2.40198834e-02 4.30969105e+01] [ 3.31854800e-02 6.84160461e-05 9.99449208e-01 2.43349726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.20, Y:43.11, Z:2.43 [[ 6.90677152e-01 -7.22804505e-01 -2.27754096e-02 9.71960199e+01] [ 7.22409354e-01 6.91052563e-01 -2.38972883e-02 4.31148075e+01] [ 3.30120728e-02 5.21421221e-05 9.99454952e-01 2.43406571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.22, Y:43.13, Z:2.44 [[ 6.89421372e-01 -7.24012470e-01 -2.24525083e-02 9.72188846e+01] [ 7.23628861e-01 6.89786883e-01 -2.35653880e-02 4.31303686e+01] [ 3.25490805e-02 -8.00876301e-07 9.99470138e-01 2.43540497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.24, Y:43.15, Z:2.44 [[ 6.88492935e-01 -7.24900690e-01 -2.22815728e-02 9.72402030e+01] [ 7.24523097e-01 6.88853387e-01 -2.33943027e-02 4.31484945e+01] [ 3.23072831e-02 -3.67020080e-05 9.99477983e-01 2.43612095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:43.17, Z:2.44 [[ 6.87620527e-01 -7.25736856e-01 -2.20006243e-02 9.72615456e+01] [ 7.25368757e-01 6.87972392e-01 -2.31117999e-02 4.31668121e+01] [ 3.19089071e-02 -6.64174878e-05 9.99490779e-01 2.43756872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.748040942 meters Centerline goodness [0,1] 0.999936550907322 Centerline is valid? [True, True] Translation: X:97.29, Y:43.18, Z:2.44 [[ 6.86224514e-01 -7.27053925e-01 -2.21021988e-02 9.72851595e+01] [ 7.26682676e-01 6.86580350e-01 -2.32316938e-02 4.31826480e+01] [ 3.20656296e-02 -1.19127208e-04 9.99485758e-01 2.43803873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:43.20, Z:2.44 [[ 6.85517562e-01 -7.27731449e-01 -2.17396003e-02 9.73063415e+01] [ 7.27372217e-01 6.85862171e-01 -2.28635004e-02 4.32017988e+01] [ 3.15488578e-02 -1.39450259e-04 9.99502201e-01 2.44001798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:43.22, Z:2.44 [[ 6.84578485e-01 -7.28634247e-01 -2.10815476e-02 9.73293829e+01] [ 7.28296484e-01 6.84902990e-01 -2.21838817e-02 4.32190241e+01] [ 3.06027510e-02 -1.67008903e-04 9.99531612e-01 2.44079843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.838040942 meters Centerline goodness [0,1] 0.99997875775342 Centerline is valid? [True, True] Translation: X:97.35, Y:43.24, Z:2.44 [[ 6.84273680e-01 -7.28920956e-01 -2.10658430e-02 9.73506108e+01] [ 7.28583446e-01 6.84597846e-01 -2.21799963e-02 4.32376038e+01] [ 3.05890949e-02 -1.71036773e-04 9.99532030e-01 2.44147012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:43.25, Z:2.44 [[ 6.84043319e-01 -7.29134398e-01 -2.11604970e-02 9.73722256e+01] [ 7.28793589e-01 6.84370513e-01 -2.22913678e-02 4.32546283e+01] [ 3.07350233e-02 -1.73373293e-04 9.99527553e-01 2.44272888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.898040942 meters Centerline goodness [0,1] 0.9999573069205482 Centerline is valid? [True, True] Translation: X:97.39, Y:43.27, Z:2.44 [[ 6.84161316e-01 -7.29016859e-01 -2.13942501e-02 9.73923225e+01] [ 7.28668112e-01 6.84495722e-01 -2.25474733e-02 4.32737458e+01] [ 3.10817608e-02 -1.63198890e-04 9.99516832e-01 2.44245087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.41, Y:43.29, Z:2.44 [[ 6.84560088e-01 -7.28630684e-01 -2.17901805e-02 9.74126318e+01] [ 7.28268287e-01 6.84906787e-01 -2.29781446e-02 4.32935693e+01] [ 3.16668237e-02 -1.39176775e-04 9.99498471e-01 2.44348091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.43, Y:43.31, Z:2.44 [[ 6.84935292e-01 -7.28276965e-01 -2.18244876e-02 9.74323789e+01] [ 7.27912863e-01 6.85282897e-01 -2.30263848e-02 4.33114711e+01] [ 3.17255338e-02 -1.14741683e-04 9.99496612e-01 2.44326212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988040942 meters Centerline goodness [0,1] 0.9998071070341635 Centerline is valid? [True, True] Translation: X:97.45, Y:43.33, Z:2.44 [[ 6.87079849e-01 -7.26204792e-01 -2.34068731e-02 9.74547450e+01] [ 7.25784441e-01 6.87478436e-01 -2.47051668e-02 4.33285587e+01] [ 3.40327310e-02 -1.39219919e-05 9.99420719e-01 2.43883014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.47, Y:43.35, Z:2.45 [[ 6.89251522e-01 -7.24151881e-01 -2.31601291e-02 9.74748653e+01] [ 7.23738881e-01 6.89640518e-01 -2.44537995e-02 4.33486341e+01] [ 3.36804284e-02 9.29326411e-05 9.99432649e-01 2.44521856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:43.37, Z:2.45 [[ 6.90347395e-01 -7.23094893e-01 -2.35425148e-02 9.74946121e+01] [ 7.22667119e-01 6.90748689e-01 -2.48693304e-02 4.33680201e+01] [ 3.42448471e-02 1.55076105e-04 9.99413461e-01 2.44523140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:43.39, Z:2.45 [[ 6.91057293e-01 -7.22420153e-01 -2.34294982e-02 9.75148723e+01] [ 7.21995792e-01 6.91454326e-01 -2.47586642e-02 4.33873653e+01] [ 3.40865859e-02 1.93656358e-04 9.99418865e-01 2.44646052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.54, Y:43.41, Z:2.45 [[ 6.91599177e-01 -7.21897248e-01 -2.35572107e-02 9.75358003e+01] [ 7.21467522e-01 6.92000225e-01 -2.49058912e-02 4.34054317e+01] [ 3.42810894e-02 2.29131418e-04 9.99412204e-01 2.44620404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:43.42, Z:2.45 [[ 6.91063907e-01 -7.22410193e-01 -2.35412447e-02 9.75575343e+01] [ 7.21980999e-01 6.91464727e-01 -2.48991499e-02 4.34236053e+01] [ 3.42653401e-02 2.10572405e-04 9.99412749e-01 2.44798733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.168040942 meters Centerline goodness [0,1] 0.9999567698426423 Centerline is valid? [True, True] Translation: X:97.58, Y:43.44, Z:2.45 [[ 6.90156531e-01 -7.23274980e-01 -2.36065038e-02 9.75786744e+01] [ 7.22843462e-01 6.90560115e-01 -2.49811271e-02 4.34404669e+01] [ 3.43699341e-02 1.77081059e-04 9.99409164e-01 2.44815240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.60, Y:43.46, Z:2.45 [[ 6.87349135e-01 -7.25969299e-01 -2.27978985e-02 9.76039634e+01] [ 7.25567987e-01 6.87727108e-01 -2.41354717e-02 4.34558583e+01] [ 3.32003443e-02 4.80702547e-05 9.99448715e-01 2.45118374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:43.47, Z:2.45 [[ 6.85860940e-01 -7.27378962e-01 -2.26851515e-02 9.76248664e+01] [ 7.26982010e-01 6.86235999e-01 -2.40273222e-02 4.34727100e+01] [ 3.30443363e-02 -1.22952177e-05 9.99453887e-01 2.45172772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:43.49, Z:2.45 [[ 6.82970770e-01 -7.30106261e-01 -2.22660068e-02 9.76484482e+01] [ 7.29725010e-01 6.83333615e-01 -2.35919616e-02 4.34872453e+01] [ 3.24397498e-02 -1.35441867e-04 9.99473684e-01 2.45228885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:43.51, Z:2.45 [[ 6.81531827e-01 -7.31451016e-01 -2.22211782e-02 9.76703056e+01] [ 7.31071718e-01 6.81893961e-01 -2.35535398e-02 4.35051679e+01] [ 3.23807479e-02 -1.92787900e-04 9.99475587e-01 2.45301572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.318040942 meters Centerline goodness [0,1] 0.9999563461748335 Centerline is valid? [True, True] Translation: X:97.69, Y:43.52, Z:2.45 [[ 6.80166392e-01 -7.32727438e-01 -2.20040847e-02 9.76925624e+01] [ 7.32355769e-01 6.80522184e-01 -2.33363556e-02 4.35230338e+01] [ 3.20734558e-02 -2.42213573e-04 9.99485485e-01 2.45325512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:43.54, Z:2.45 [[ 6.78954101e-01 -7.33840760e-01 -2.23398460e-02 9.77172763e+01] [ 7.33457840e-01 6.79321467e-01 -2.37053117e-02 4.35396683e+01] [ 3.25718609e-02 -2.90516633e-04 9.99469354e-01 2.45499008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:43.56, Z:2.46 [[ 6.78279164e-01 -7.34456494e-01 -2.26060565e-02 9.77393142e+01] [ 7.34064345e-01 6.78655700e-01 -2.39995690e-02 4.35589387e+01] [ 3.29683684e-02 -3.15892435e-04 9.99456346e-01 2.45561315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.408040942 meters Centerline goodness [0,1] 0.999934139755439 Centerline is valid? [True, True] Translation: X:97.76, Y:43.58, Z:2.45 [[ 6.77756325e-01 -7.34905959e-01 -2.36557679e-02 9.77626229e+01] [ 7.34476459e-01 6.78168941e-01 -2.51240683e-02 4.35754646e+01] [ 3.45064345e-02 -3.46608447e-04 9.99404416e-01 2.45387948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:43.60, Z:2.45 [[ 6.77749959e-01 -7.34895504e-01 -2.41576365e-02 9.77829704e+01] [ 7.34447294e-01 6.78180269e-01 -2.56650538e-02 4.35951574e+01] [ 3.52443651e-02 -3.48021566e-04 9.99378664e-01 2.45490230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:43.61, Z:2.45 [[ 6.77628076e-01 -7.34988153e-01 -2.47508798e-02 9.78038715e+01] [ 7.34517272e-01 6.78079856e-01 -2.63075298e-02 4.36141032e+01] [ 3.61187958e-02 -3.53227915e-04 9.99347441e-01 2.45456811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.498040942 meters Centerline goodness [0,1] 0.9999121149536406 Centerline is valid? [True, True] Translation: X:97.82, Y:43.64, Z:2.45 [[ 6.78724108e-01 -7.33971849e-01 -2.48779024e-02 9.78237562e+01] [ 7.33495126e-01 6.79179827e-01 -2.64511316e-02 4.36357867e+01] [ 3.63109554e-02 -2.94799419e-04 9.99340496e-01 2.45435061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.528040942 meters Centerline goodness [0,1] 0.9999119466396637 Centerline is valid? [True, True] Translation: X:97.84, Y:43.66, Z:2.46 [[ 6.79688442e-01 -7.33090560e-01 -2.45326894e-02 9.78423246e+01] [ 7.32625974e-01 6.80130998e-01 -2.60961247e-02 4.36577583e+01] [ 3.58162652e-02 -2.36051100e-04 9.99358364e-01 2.45618159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.558040942 meters Centerline goodness [0,1] 0.9999560226922908 Centerline is valid? [True, True] Translation: X:97.86, Y:43.68, Z:2.46 [[ 6.79940100e-01 -7.32858061e-01 -2.45055633e-02 9.78608585e+01] [ 7.32393870e-01 6.80381523e-01 -2.60806845e-02 4.36788278e+01] [ 3.57865723e-02 -2.14421081e-04 9.99359432e-01 2.45695210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588040942 meters Centerline goodness [0,1] 0.9999339919470175 Centerline is valid? [True, True] Translation: X:97.88, Y:43.70, Z:2.46 [[ 6.79506866e-01 -7.33255930e-01 -2.46203202e-02 9.78803201e+01] [ 7.32787111e-01 6.79952712e-01 -2.62175465e-02 4.36992452e+01] [ 3.59648249e-02 -2.26450504e-04 9.99353031e-01 2.45761856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:43.72, Z:2.46 [[ 6.79103335e-01 -7.33631024e-01 -2.45800875e-02 9.78996809e+01] [ 7.33163455e-01 6.79547986e-01 -2.61893805e-02 4.37193967e+01] [ 3.59166910e-02 -2.35926183e-04 9.99354760e-01 2.45889846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:43.74, Z:2.46 [[ 6.78317363e-01 -7.34373907e-01 -2.40939967e-02 9.79191653e+01] [ 7.33924697e-01 6.78745090e-01 -2.56834919e-02 4.37385234e+01] [ 3.52149683e-02 -2.61620712e-04 9.99379726e-01 2.46039042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.678040942 meters Centerline goodness [0,1] 0.9999780084447573 Centerline is valid? [True, True] Translation: X:97.94, Y:43.76, Z:2.46 [[ 6.77818792e-01 -7.34844653e-01 -2.37701807e-02 9.79377866e+01] [ 7.34407391e-01 6.78235402e-01 -2.53480459e-02 4.37588625e+01] [ 3.47486540e-02 -2.75614539e-04 9.99396045e-01 2.46144025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.96, Y:43.78, Z:2.46 [[ 6.76759748e-01 -7.35815447e-01 -2.39138348e-02 9.79556549e+01] [ 7.35373012e-01 6.77182048e-01 -2.55148249e-02 4.37817682e+01] [ 3.49682219e-02 -3.18182222e-04 9.99388374e-01 2.46179383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.97, Y:43.80, Z:2.46 [[ 6.76316487e-01 -7.36233951e-01 -2.35707300e-02 9.79737574e+01] [ 7.35803933e-01 6.76727023e-01 -2.51616663e-02 4.38027093e+01] [ 3.44758230e-02 -3.26186060e-04 9.99405479e-01 2.46212034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:43.82, Z:2.46 [[ 6.75875494e-01 -7.36645142e-01 -2.33720221e-02 9.79930210e+01] [ 7.36222108e-01 6.76279397e-01 -2.49636670e-02 4.38235543e+01] [ 3.41953810e-02 -3.34668642e-04 9.99415111e-01 2.46321209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.01, Y:43.84, Z:2.46 [[ 6.75394425e-01 -7.37076279e-01 -2.36839380e-02 9.80131355e+01] [ 7.36641715e-01 6.75809466e-01 -2.53090897e-02 4.38423664e+01] [ 3.46605591e-02 -3.52958609e-04 9.99399080e-01 2.46468943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:43.86, Z:2.47 [[ 6.75204293e-01 -7.37240871e-01 -2.39804133e-02 9.80329340e+01] [ 7.36795112e-01 6.75629905e-01 -2.56358049e-02 4.38628608e+01] [ 3.51016475e-02 -3.59245787e-04 9.99383683e-01 2.46554572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:43.88, Z:2.46 [[ 6.75828038e-01 -7.36653483e-01 -2.44562809e-02 9.80524361e+01] [ 7.36188997e-01 6.76270316e-01 -2.61576169e-02 4.38816842e+01] [ 3.58081564e-02 -3.26394024e-04 9.99358629e-01 2.46487065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:43.90, Z:2.47 [[ 6.76587509e-01 -7.35945448e-01 -2.47717570e-02 9.80704475e+01] [ 7.35467990e-01 6.77040779e-01 -2.65069636e-02 4.39037665e+01] [ 3.62791688e-02 -2.84553832e-04 9.99341654e-01 2.46688806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.09, Y:43.92, Z:2.47 [[ 6.77418853e-01 -7.35168264e-01 -2.51261245e-02 9.80889410e+01] [ 7.34675939e-01 6.77884628e-01 -2.69016029e-02 4.39248711e+01] [ 3.68098183e-02 -2.35906134e-04 9.99322261e-01 2.46711192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:43.95, Z:2.47 [[ 6.79533179e-01 -7.33216541e-01 -2.50631938e-02 9.81071570e+01] [ 7.32724931e-01 6.79995213e-01 -2.68456074e-02 4.39464114e+01] [ 3.67264952e-02 -1.21946006e-04 9.99325347e-01 2.46691261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97804094199999 meters Centerline goodness [0,1] 0.9999781286907834 Centerline is valid? [True, True] Translation: X:98.13, Y:43.97, Z:2.47 [[ 6.80111133e-01 -7.32694387e-01 -2.46532301e-02 9.81262005e+01] [ 7.32218096e-01 6.80557806e-01 -2.64146405e-02 4.39676490e+01] [ 3.61318070e-02 -8.66501032e-05 9.99347029e-01 2.46817726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:43.99, Z:2.47 [[ 6.81521671e-01 -7.31385802e-01 -2.45564841e-02 9.81451505e+01] [ 7.30911861e-01 6.81963935e-01 -2.63257067e-02 4.39881292e+01] [ 3.60008847e-02 -7.08584371e-06 9.99351758e-01 2.47052565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.16, Y:44.01, Z:2.47 [[ 6.81957361e-01 -7.30977295e-01 -2.46242000e-02 9.81632590e+01] [ 7.30500004e-01 6.82401783e-01 -2.64111916e-02 4.40075616e+01] [ 3.61095794e-02 2.33283389e-05 9.99347836e-01 2.47056150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068040942 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:98.18, Y:44.03, Z:2.47 [[ 6.82656567e-01 -7.30331809e-01 -2.44020613e-02 9.81822273e+01] [ 7.29862296e-01 6.83092559e-01 -2.61836729e-02 4.40279685e+01] [ 3.57916357e-02 6.43117576e-05 9.99359272e-01 2.47160925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.20, Y:44.05, Z:2.47 [[ 6.84640355e-01 -7.28480768e-01 -2.41527428e-02 9.81997360e+01] [ 7.28019124e-01 6.85066232e-01 -2.59309319e-02 4.40499312e+01] [ 3.54364137e-02 1.69703819e-04 9.99371919e-01 2.47251268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.128040942 meters Centerline goodness [0,1] 0.9999780922753363 Centerline is valid? [True, True] Translation: X:98.22, Y:44.07, Z:2.47 [[ 6.85604844e-01 -7.27580789e-01 -2.39205722e-02 9.82170172e+01] [ 7.27126974e-01 6.86021972e-01 -2.56947144e-02 4.40714660e+01] [ 3.51050186e-02 2.23127394e-04 9.99383604e-01 2.47276064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:44.09, Z:2.48 [[ 6.87270168e-01 -7.26030718e-01 -2.32187739e-02 9.82331237e+01] [ 7.25601883e-01 6.87662203e-01 -2.49520112e-02 4.40945766e+01] [ 3.40825998e-02 3.01186950e-04 9.99418974e-01 2.47569886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.25, Y:44.12, Z:2.48 [[ 6.87573184e-01 -7.25754168e-01 -2.28911473e-02 9.82507336e+01] [ 7.25336716e-01 6.87954058e-01 -2.46142796e-02 4.41171120e+01] [ 3.36119737e-02 3.20328962e-04 9.99434907e-01 2.47644070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:44.14, Z:2.48 [[ 6.87471830e-01 -7.25863844e-01 -2.24535789e-02 9.82678848e+01] [ 7.25461866e-01 6.87838338e-01 -2.41557630e-02 4.41378137e+01] [ 3.29782273e-02 3.17191340e-04 9.99456020e-01 2.47706899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.29, Y:44.16, Z:2.48 [[ 6.86060846e-01 -7.27198472e-01 -2.24253805e-02 9.82874369e+01] [ 7.26797924e-01 6.86427210e-01 -2.41342567e-02 4.41583854e+01] [ 3.29437860e-02 2.58848595e-04 9.99457173e-01 2.47806945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.31, Y:44.18, Z:2.48 [[ 6.84599650e-01 -7.28574518e-01 -2.24163158e-02 9.83071373e+01] [ 7.28174707e-01 6.84966519e-01 -2.41342930e-02 4.41781587e+01] [ 3.29380567e-02 1.99334364e-04 9.99457375e-01 2.47811358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.33, Y:44.20, Z:2.48 [[ 6.84402198e-01 -7.28760107e-01 -2.24128906e-02 9.83258241e+01] [ 7.28360291e-01 6.84769062e-01 -2.41374735e-02 4.41984284e+01] [ 3.29380818e-02 1.95080356e-04 9.99457375e-01 2.47875293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.35, Y:44.22, Z:2.48 [[ 6.79845172e-01 -7.33000464e-01 -2.28224115e-02 9.83488954e+01] [ 7.32587829e-01 6.80228138e-01 -2.45917153e-02 4.42166757e+01] [ 3.35501852e-02 -8.62029350e-07 9.99437034e-01 2.48005471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.37, Y:44.23, Z:2.48 [[ 6.77039367e-01 -7.35595354e-01 -2.27413966e-02 9.83685182e+01] [ 7.35186720e-01 6.77421185e-01 -2.45158128e-02 4.42347965e+01] [ 3.34392218e-02 -1.21002423e-04 9.99440746e-01 2.48056626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.39, Y:44.26, Z:2.48 [[ 6.74279992e-01 -7.38136658e-01 -2.23778189e-02 9.83894755e+01] [ 7.37742054e-01 6.74651183e-01 -2.41338822e-02 4.42551492e+01] [ 3.29113252e-02 -2.36064226e-04 9.99458248e-01 2.48085520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428040942 meters Centerline goodness [0,1] 0.9999564820053092 Centerline is valid? [True, True] Translation: X:98.41, Y:44.27, Z:2.48 [[ 6.68948855e-01 -7.42950523e-01 -2.30640482e-02 9.84107688e+01] [ 7.42533826e-01 6.69346167e-01 -2.48842699e-02 4.42729876e+01] [ 3.39256136e-02 -4.79532073e-04 9.99424246e-01 2.47989274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:44.29, Z:2.48 [[ 6.66690474e-01 -7.44983907e-01 -2.28645848e-02 9.84315800e+01] [ 7.44575417e-01 6.67082190e-01 -2.46738852e-02 4.42922804e+01] [ 3.36342047e-02 -5.74563559e-04 9.99434045e-01 2.48117282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.45, Y:44.31, Z:2.48 [[ 6.63099382e-01 -7.48172082e-01 -2.31893309e-02 9.84536998e+01] [ 7.47753660e-01 6.63504321e-01 -2.50296083e-02 4.43099593e+01] [ 3.41126754e-02 -7.42789239e-04 9.99417717e-01 2.48173079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.47, Y:44.33, Z:2.48 [[ 6.62106288e-01 -7.49055007e-01 -2.30620832e-02 9.84736794e+01] [ 7.48641466e-01 6.62507350e-01 -2.48991055e-02 4.43290224e+01] [ 3.39295993e-02 -7.79377488e-04 9.99423921e-01 2.48260720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.49, Y:44.35, Z:2.48 [[ 6.60782085e-01 -7.50239777e-01 -2.25236011e-02 9.84931542e+01] [ 7.49845831e-01 6.61165342e-01 -2.43232356e-02 4.43496608e+01] [ 3.31400833e-02 -8.16870030e-04 9.99450383e-01 2.48455547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.51, Y:44.37, Z:2.49 [[ 6.60386541e-01 -7.50601290e-01 -2.20753109e-02 9.85125584e+01] [ 7.50222898e-01 6.60754901e-01 -2.38445660e-02 4.43688870e+01] [ 3.24841319e-02 -8.14773246e-04 9.99471919e-01 2.48519370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.53, Y:44.39, Z:2.49 [[ 6.59943650e-01 -7.51005959e-01 -2.15506034e-02 9.85292610e+01] [ 7.50645249e-01 6.60294931e-01 -2.32876312e-02 4.43910152e+01] [ 3.17189040e-02 -8.08333806e-04 9.99496502e-01 2.48697228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:44.41, Z:2.49 [[ 6.60252017e-01 -7.50761477e-01 -2.06029079e-02 9.85506749e+01] [ 7.50431320e-01 6.60572961e-01 -2.22754797e-02 4.44098963e+01] [ 3.03332959e-02 -7.53636980e-04 9.99539556e-01 2.48797824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:44.43, Z:2.49 [[ 6.60947793e-01 -7.50166300e-01 -1.99633973e-02 9.85693454e+01] [ 7.49855753e-01 6.61248846e-01 -2.15942918e-02 4.44325463e+01] [ 2.94000835e-02 -6.96968824e-04 9.99567481e-01 2.48971282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.698040942 meters Centerline goodness [0,1] 0.9999561778303644 Centerline is valid? [True, True] Translation: X:98.59, Y:44.46, Z:2.49 [[ 6.63275586e-01 -7.48134109e-01 -1.89960836e-02 9.85880879e+01] [ 7.47851869e-01 6.63547306e-01 -2.05561310e-02 4.44550846e+01] [ 2.79835428e-02 -5.71876730e-04 9.99608220e-01 2.49118085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.61, Y:44.48, Z:2.49 [[ 6.64226073e-01 -7.47289833e-01 -1.90165544e-02 9.86054458e+01] [ 7.47006462e-01 6.64498022e-01 -2.05845712e-02 4.44778784e+01] [ 2.80191036e-02 -5.32680135e-04 9.99607246e-01 2.49280135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:44.50, Z:2.49 [[ 6.65402969e-01 -7.46240328e-01 -1.90856204e-02 9.86246742e+01] [ 7.45954203e-01 6.65676452e-01 -2.06685516e-02 4.44974868e+01] [ 2.81285548e-02 -4.84083159e-04 9.99604197e-01 2.49288423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:44.52, Z:2.49 [[ 6.67616810e-01 -7.44267470e-01 -1.88076562e-02 9.86419746e+01] [ 7.43988710e-01 6.67881560e-01 -2.03720430e-02 4.45215937e+01] [ 2.77235357e-02 -3.91965556e-04 9.99615552e-01 2.49356103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:44.54, Z:2.49 [[ 6.68552734e-01 -7.43434462e-01 -1.85051971e-02 9.86604039e+01] [ 7.43164043e-01 6.68808703e-01 -2.00530263e-02 4.45428316e+01] [ 2.72845477e-02 -3.45891487e-04 9.99627648e-01 2.49377954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:44.56, Z:2.49 [[ 6.69867285e-01 -7.42249215e-01 -1.85451574e-02 9.86790190e+01] [ 7.41976994e-01 6.70123881e-01 -2.01028209e-02 4.45644185e+01] [ 2.73488559e-02 -2.93858058e-04 9.99625907e-01 2.49394779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.878040942 meters Centerline goodness [0,1] 0.9998470446848028 Centerline is valid? [True, True] Translation: X:98.70, Y:44.59, Z:2.49 [[ 6.69965040e-01 -7.42157841e-01 -1.86704266e-02 9.86981879e+01] [ 7.41881614e-01 6.70225080e-01 -2.02487582e-02 4.45851573e+01] [ 2.75411628e-02 -2.85286115e-04 9.99620630e-01 2.49447592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:44.61, Z:2.50 [[ 6.69035541e-01 -7.43006966e-01 -1.82234427e-02 9.87176276e+01] [ 7.42743839e-01 6.69283614e-01 -1.97745838e-02 4.46066544e+01] [ 2.68893051e-02 -3.05450410e-04 9.99638371e-01 2.49570277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:44.63, Z:2.50 [[ 6.67976789e-01 -7.43967750e-01 -1.78604590e-02 9.87374557e+01] [ 7.43715098e-01 6.68215442e-01 -1.93900803e-02 4.46271721e+01] [ 2.63602289e-02 -3.30969463e-04 9.99652454e-01 2.49642972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:44.65, Z:2.50 [[ 6.66716197e-01 -7.45099803e-01 -1.77706678e-02 9.87578160e+01] [ 7.44849839e-01 6.66952884e-01 -1.93020381e-02 4.46472064e+01] [ 2.62341429e-02 -3.67497670e-04 9.99655758e-01 2.49738631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.998040942 meters Centerline goodness [0,1] 0.9998458726908427 Centerline is valid? [True, True] Translation: X:98.78, Y:44.67, Z:2.50 [[ 6.64423172e-01 -7.47146592e-01 -1.77149059e-02 9.87791945e+01] [ 7.46898692e-01 6.64659142e-01 -1.92501688e-02 4.46659221e+01] [ 2.61570721e-02 -4.40981817e-04 9.99657748e-01 2.49797628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:44.69, Z:2.50 [[ 6.63082098e-01 -7.48331629e-01 -1.79417021e-02 9.87992363e+01] [ 7.48077681e-01 6.63324605e-01 -1.95000299e-02 4.46860733e+01] [ 2.64936616e-02 -4.91666142e-04 9.99648860e-01 2.49855301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:44.71, Z:2.50 [[ 6.61239337e-01 -7.49960035e-01 -1.79578890e-02 9.88193593e+01] [ 7.49706131e-01 6.61482908e-01 -1.95212416e-02 4.47053943e+01] [ 2.65189877e-02 -5.54926678e-04 9.99648156e-01 2.49851297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.088040942 meters Centerline goodness [0,1] 0.9998680796798733 Centerline is valid? [True, True] Translation: X:98.84, Y:44.73, Z:2.50 [[ 6.60905738e-01 -7.50242779e-01 -1.84222250e-02 9.88386781e+01] [ 7.49975529e-01 6.61162188e-01 -2.00316289e-02 4.47257906e+01] [ 2.72086635e-02 -5.77199442e-04 9.99629609e-01 2.49852860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.86, Y:44.75, Z:2.50 [[ 6.60539318e-01 -7.50559713e-01 -1.86527934e-02 9.88572046e+01] [ 7.50285692e-01 6.60802365e-01 -2.02883146e-02 4.47471386e+01] [ 2.75534016e-02 -5.93694507e-04 9.99620157e-01 2.49851863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148040942 meters Centerline goodness [0,1] 0.9998900615655233 Centerline is valid? [True, True] Translation: X:98.87, Y:44.77, Z:2.50 [[ 6.60728444e-01 -7.50390811e-01 -1.87497757e-02 9.88744451e+01] [ 7.50113557e-01 6.60994169e-01 -2.04048815e-02 4.47700269e+01] [ 2.77051280e-02 -5.82375395e-04 9.99615970e-01 2.49899197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:44.79, Z:2.50 [[ 6.61045592e-01 -7.50121805e-01 -1.83304173e-02 9.88945601e+01] [ 7.49856448e-01 6.61299459e-01 -1.99583046e-02 4.47898000e+01] [ 2.70930545e-02 -5.51832327e-04 9.99632764e-01 2.50022388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:44.81, Z:2.50 [[ 6.61021674e-01 -7.50148571e-01 -1.80960824e-02 9.89136700e+01] [ 7.49889850e-01 6.61269103e-01 -1.97075186e-02 4.48108858e+01] [ 2.67499470e-02 -5.42971594e-04 9.99642009e-01 2.50115395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.238040942 meters Centerline goodness [0,1] 0.9998470747585966 Centerline is valid? [True, True] Translation: X:98.93, Y:44.83, Z:2.50 [[ 6.61125436e-01 -7.50057575e-01 -1.80773839e-02 9.89303225e+01] [ 7.49799071e-01 6.61372324e-01 -1.96977468e-02 4.48331910e+01] [ 2.67303256e-02 -5.31724225e-04 9.99642540e-01 2.50191921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:44.85, Z:2.50 [[ 6.60994724e-01 -7.50178257e-01 -1.78481929e-02 9.89484395e+01] [ 7.49926026e-01 6.61235442e-01 -1.94588161e-02 4.48544273e+01] [ 2.63994385e-02 -5.22649615e-04 9.99651337e-01 2.50241440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:44.88, Z:2.50 [[ 6.62177531e-01 -7.49139813e-01 -1.76198492e-02 9.89654214e+01] [ 7.48893371e-01 6.62411746e-01 -1.92196992e-02 4.48762334e+01] [ 2.60698369e-02 -4.68535342e-04 9.99660014e-01 2.50316314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:44.90, Z:2.50 [[ 6.62803677e-01 -7.48588844e-01 -1.74936594e-02 9.89832268e+01] [ 7.48345628e-01 6.63034349e-01 -1.90859524e-02 4.48985177e+01] [ 2.58864282e-02 -4.41064091e-04 9.99664793e-01 2.50373776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:44.92, Z:2.50 [[ 6.64059215e-01 -7.47485452e-01 -1.70545459e-02 9.90001332e+01] [ 7.47253720e-01 6.64278069e-01 -1.86151853e-02 4.49212748e+01] [ 2.52435410e-02 -3.82487567e-04 9.99681258e-01 2.50436886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:44.94, Z:2.51 [[ 6.64410275e-01 -7.47179682e-01 -1.67782673e-02 9.90189755e+01] [ 7.46955214e-01 6.64621992e-01 -1.83170886e-02 4.49432489e+01] [ 2.48373618e-02 -3.62552375e-04 9.99691439e-01 2.50530294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:44.97, Z:2.51 [[ 6.64985282e-01 -7.46670005e-01 -1.66876705e-02 9.90378239e+01] [ 7.46447576e-01 6.65194552e-01 -1.82270425e-02 4.49652240e+01] [ 2.47101334e-02 -3.35756171e-04 9.99694602e-01 2.50643578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:44.99, Z:2.51 [[ 6.67010605e-01 -7.44853453e-01 -1.70348491e-02 9.90541958e+01] [ 7.44620864e-01 6.67228043e-01 -1.86147229e-02 4.49884093e+01] [ 2.52313697e-02 -2.68286460e-04 9.99681602e-01 2.50701777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:45.01, Z:2.51 [[ 6.68271972e-01 -7.43714930e-01 -1.73399275e-02 9.90716096e+01] [ 7.43473451e-01 6.68496859e-01 -1.89519490e-02 4.50110735e+01] [ 2.56865345e-02 -2.26719408e-04 9.99670021e-01 2.50728980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:45.03, Z:2.51 [[ 6.70541242e-01 -7.41669449e-01 -1.73456705e-02 9.90868342e+01] [ 7.41426875e-01 6.70765539e-01 -1.89678623e-02 4.50346131e+01] [ 2.57027620e-02 -1.41812318e-04 9.99669619e-01 2.50821884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:45.06, Z:2.51 [[ 6.71444294e-01 -7.40855677e-01 -1.71879505e-02 9.91041616e+01] [ 7.40617032e-01 6.71664242e-01 -1.88031420e-02 4.50569645e+01] [ 2.54749462e-02 -1.04426478e-04 9.99675455e-01 2.50942023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.12, Y:45.08, Z:2.51 [[ 6.72048547e-01 -7.40315128e-01 -1.68600635e-02 9.91214366e+01] [ 7.40085094e-01 6.72259998e-01 -1.84539317e-02 4.50790871e+01] [ 2.49960711e-02 -7.59437464e-05 9.99687547e-01 2.51058690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:45.10, Z:2.51 [[ 6.72541916e-01 -7.39879971e-01 -1.62787849e-02 9.91376990e+01] [ 7.39665185e-01 6.72738898e-01 -1.78266425e-02 4.51010993e+01] [ 2.41409476e-02 -5.16860819e-05 9.99708564e-01 2.51208812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:45.12, Z:2.51 [[ 6.72159472e-01 -7.40233866e-01 -1.59833742e-02 9.91557151e+01] [ 7.40026715e-01 6.72349478e-01 -1.75111545e-02 4.51224022e+01] [ 2.37087629e-02 -5.78355777e-05 9.99718906e-01 2.51313384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.17, Y:45.14, Z:2.51 [[ 6.71375984e-01 -7.40957442e-01 -1.53738889e-02 9.91724560e+01] [ 7.40765789e-01 6.71551981e-01 -1.68517728e-02 4.51432637e+01] [ 2.28108120e-02 -7.45754305e-05 9.99739797e-01 2.51458416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:45.17, Z:2.52 [[ 6.70863844e-01 -7.41427092e-01 -1.50854120e-02 9.91902593e+01] [ 7.41242516e-01 6.71033427e-01 -1.65430552e-02 4.51652718e+01] [ 2.23882850e-02 -8.38111832e-05 9.99749347e-01 2.51591264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:45.19, Z:2.52 [[ 6.70228743e-01 -7.42011893e-01 -1.45527740e-02 9.92083233e+01] [ 7.41840075e-01 6.70386711e-01 -1.59675094e-02 4.51858339e+01] [ 2.16040682e-02 -9.39471672e-05 9.99766600e-01 2.51724193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.22, Y:45.21, Z:2.52 [[ 6.68753210e-01 -7.43341339e-01 -1.45875970e-02 9.92248473e+01] [ 7.43168911e-01 6.68912278e-01 -1.60104508e-02 4.52070222e+01] [ 2.16590526e-02 -1.34008211e-04 9.99765406e-01 2.51780469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.24, Y:45.23, Z:2.52 [[ 6.67793583e-01 -7.44200204e-01 -1.47576241e-02 9.92416654e+01] [ 7.44023781e-01 6.67956609e-01 -1.62043960e-02 4.52293068e+01] [ 2.19167674e-02 -1.58831597e-04 9.99759786e-01 2.51783455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.26, Y:45.25, Z:2.52 [[ 6.65508683e-01 -7.46245769e-01 -1.46780173e-02 9.92596286e+01] [ 7.46071540e-01 6.65670492e-01 -1.61261688e-02 4.52521512e+01] [ 2.18048082e-02 -2.18745611e-04 9.99762223e-01 2.51845749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.28, Y:45.27, Z:2.52 [[ 6.64151133e-01 -7.47452335e-01 -1.47742923e-02 9.92773686e+01] [ 7.47275929e-01 6.64315394e-01 -1.62401705e-02 4.52745363e+01] [ 2.19535431e-02 -2.54545337e-04 9.99758960e-01 2.51857453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:45.30, Z:2.52 [[ 6.61183186e-01 -7.50074050e-01 -1.50238141e-02 9.92948961e+01] [ 7.49892115e-01 6.61353766e-01 -1.65230869e-02 4.52973461e+01] [ 2.23295948e-02 -3.41452529e-04 9.99750605e-01 2.51817628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.31, Y:45.32, Z:2.52 [[ 6.59668013e-01 -7.51396378e-01 -1.55433496e-02 9.93142609e+01] [ 7.51201798e-01 6.59850990e-01 -1.71034888e-02 4.53190915e+01] [ 2.31077941e-02 -3.93567682e-04 9.99732902e-01 2.51859171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.33, Y:45.34, Z:2.52 [[ 6.57912542e-01 -7.52923948e-01 -1.60192077e-02 9.93328975e+01] [ 7.52717506e-01 6.58107378e-01 -1.76361838e-02 4.53390591e+01] [ 2.38210639e-02 -4.54871508e-04 9.99716135e-01 2.51931410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.35, Y:45.36, Z:2.52 [[ 6.54389141e-01 -7.55981257e-01 -1.63459962e-02 9.93507888e+01] [ 7.55767151e-01 6.54593010e-01 -1.80001357e-02 4.53615202e+01] [ 2.43077401e-02 -5.74673650e-04 9.99704358e-01 2.51940004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.37, Y:45.38, Z:2.52 [[ 6.52883860e-01 -7.57281333e-01 -1.63599324e-02 9.93682838e+01] [ 7.57067056e-01 6.53088509e-01 -1.80242253e-02 4.53826500e+01] [ 2.43338932e-02 -6.17840114e-04 9.99703696e-01 2.51947197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.38, Y:45.41, Z:2.52 [[ 6.50141323e-01 -7.59632555e-01 -1.65723152e-02 9.93847251e+01] [ 7.59413338e-01 6.50352116e-01 -1.82622112e-02 4.54053883e+01] [ 2.46504104e-02 -7.12219085e-04 9.99695879e-01 2.51976514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.40, Y:45.43, Z:2.52 [[ 6.48916303e-01 -7.60680083e-01 -1.65361170e-02 9.94015666e+01] [ 7.60462036e-01 6.49126531e-01 -1.82274281e-02 4.54294894e+01] [ 2.45992738e-02 -7.47013892e-04 9.99697113e-01 2.52062153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:45.45, Z:2.52 [[ 6.47813047e-01 -7.61623754e-01 -1.63558372e-02 9.94191062e+01] [ 7.61410521e-01 6.48019033e-01 -1.80375182e-02 4.54518035e+01] [ 2.43366961e-02 -7.68566909e-04 9.99703523e-01 2.52140500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.44, Y:45.48, Z:2.52 [[ 6.46389510e-01 -7.62845996e-01 -1.57031311e-02 9.94355195e+01] [ 7.62649731e-01 6.46579754e-01 -1.73207606e-02 4.54761883e+01] [ 2.33663995e-02 -7.80030731e-04 9.99726664e-01 2.52264872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:45.50, Z:2.52 [[ 6.45973790e-01 -7.63206903e-01 -1.52671819e-02 9.94534405e+01] [ 7.63021299e-01 6.46153726e-01 -1.68481589e-02 4.54992098e+01] [ 2.27235777e-02 -7.65715914e-04 9.99741493e-01 2.52378516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.47, Y:45.52, Z:2.52 [[ 6.45916124e-01 -7.63262055e-01 -1.49464701e-02 9.94673279e+01] [ 7.63084003e-01 6.46088600e-01 -1.65022801e-02 4.55242863e+01] [ 2.22523081e-02 -7.46323448e-04 9.99752108e-01 2.52429075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:45.55, Z:2.52 [[ 6.46462398e-01 -7.62792869e-01 -1.52776434e-02 9.94831995e+01] [ 7.62606481e-01 6.46642476e-01 -1.68779006e-02 4.55474677e+01] [ 2.27535153e-02 -7.39901767e-04 9.99740831e-01 2.52418239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:45.57, Z:2.52 [[ 6.46247875e-01 -7.62974653e-01 -1.52762246e-02 9.95016407e+01] [ 7.62788286e-01 6.46427973e-01 -1.68791846e-02 4.55679621e+01] [ 2.27533689e-02 -7.44388045e-04 9.99740831e-01 2.52482187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:45.60, Z:2.52 [[ 6.47165658e-01 -7.62198155e-01 -1.51849762e-02 9.95143493e+01] [ 7.62013580e-01 6.47343397e-01 -1.67878213e-02 4.55955768e+01] [ 2.26255405e-02 -7.06656635e-04 9.99743760e-01 2.52480450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.53, Y:45.62, Z:2.53 [[ 6.47675348e-01 -7.61761229e-01 -1.53776958e-02 9.95313737e+01] [ 7.61571617e-01 6.47857505e-01 -1.70095494e-02 4.56195275e+01] [ 2.29197709e-02 -6.94550802e-04 9.99737066e-01 2.52556528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:45.64, Z:2.53 [[ 6.48319529e-01 -7.61222304e-01 -1.49128277e-02 9.95479561e+01] [ 7.61043664e-01 6.48490695e-01 -1.65033474e-02 4.56432969e+01] [ 2.22335461e-02 -6.49870667e-04 9.99752593e-01 2.52622374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.56, Y:45.67, Z:2.53 [[ 6.49638443e-01 -7.60100141e-01 -1.47536073e-02 9.95616834e+01] [ 7.59924824e-01 6.49805676e-01 -1.63354168e-02 4.56683628e+01] [ 2.20035303e-02 -5.99517727e-04 9.99757713e-01 2.52653910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.58, Y:45.69, Z:2.53 [[ 6.49665836e-01 -7.60076211e-01 -1.47802271e-02 9.95779940e+01] [ 7.59900161e-01 6.49833669e-01 -1.63691174e-02 4.56898426e+01] [ 2.20464660e-02 -5.97040574e-04 9.99756769e-01 2.52711660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.59, Y:45.72, Z:2.53 [[ 6.49957480e-01 -7.59827999e-01 -1.47202416e-02 9.95913285e+01] [ 7.59653208e-01 6.50123889e-01 -1.63074005e-02 4.57162444e+01] [ 2.19608002e-02 -5.83161799e-04 9.99758662e-01 2.52655069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.61, Y:45.74, Z:2.53 [[ 6.49993492e-01 -7.59796976e-01 -1.47314375e-02 9.96087069e+01] [ 7.59621734e-01 6.50160151e-01 -1.63278446e-02 4.57376709e+01] [ 2.19836406e-02 -5.77327337e-04 9.99758164e-01 2.52708559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.468040942 meters Centerline goodness [0,1] 0.9999160281305762 Centerline is valid? [True, True] Translation: X:99.63, Y:45.76, Z:2.53 [[ 6.50287164e-01 -7.59536035e-01 -1.52189467e-02 9.96254242e+01] [ 7.59348704e-01 6.50464968e-01 -1.68781374e-02 4.57604959e+01] [ 2.27189453e-02 -5.80851329e-04 9.99741723e-01 2.52589651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:45.78, Z:2.53 [[ 6.49952394e-01 -7.59828062e-01 -1.49399437e-02 9.96422404e+01] [ 7.59647554e-01 6.50123821e-01 -1.65714076e-02 4.57814275e+01] [ 2.23042338e-02 -5.78465615e-04 9.99751062e-01 2.52779150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:45.80, Z:2.53 [[ 6.49550297e-01 -7.60166701e-01 -1.51986430e-02 9.96590842e+01] [ 7.59979860e-01 6.49727813e-01 -1.68636305e-02 4.58041311e+01] [ 2.26941514e-02 -5.96886346e-04 9.99742276e-01 2.52798213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:45.83, Z:2.53 [[ 6.48747625e-01 -7.60843357e-01 -1.56174597e-02 9.96763073e+01] [ 7.60646040e-01 6.48935273e-01 -1.73382041e-02 4.58277669e+01] [ 2.33263779e-02 -6.31240189e-04 9.99727704e-01 2.52792102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:45.85, Z:2.53 [[ 6.48177282e-01 -7.61325111e-01 -1.58204463e-02 9.96944290e+01] [ 7.61122573e-01 6.48369995e-01 -1.75720782e-02 4.58489100e+01] [ 2.36355671e-02 -6.51476953e-04 9.99720429e-01 2.52828594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:45.87, Z:2.53 [[ 6.47016674e-01 -7.62309559e-01 -1.59235814e-02 9.97122425e+01] [ 7.62104595e-01 6.47212222e-01 -1.76896828e-02 4.58700018e+01] [ 2.37909508e-02 -6.89914855e-04 9.99716717e-01 2.52890718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:45.89, Z:2.53 [[ 6.46057863e-01 -7.63123256e-01 -1.58787101e-02 9.97309275e+01] [ 7.62919618e-01 6.46252569e-01 -1.76429322e-02 4.58923578e+01] [ 2.37253891e-02 -7.15824377e-04 9.99718257e-01 2.52895927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:45.91, Z:2.53 [[ 6.45524681e-01 -7.63579180e-01 -1.56436182e-02 9.97494602e+01] [ 7.63381474e-01 6.45713809e-01 -1.73897274e-02 4.59144875e+01] [ 2.33797340e-02 -7.16550103e-04 9.99726400e-01 2.52912557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:45.93, Z:2.53 [[ 6.44739746e-01 -7.64232021e-01 -1.61269298e-02 9.97681382e+01] [ 7.64021908e-01 6.44940961e-01 -1.79354459e-02 4.59349562e+01] [ 2.41077597e-02 -7.57632827e-04 9.99709079e-01 2.52943586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.79, Y:45.96, Z:2.53 [[ 6.44528293e-01 -7.64397539e-01 -1.67237022e-02 9.97857898e+01] [ 7.64171549e-01 6.44744739e-01 -1.86028241e-02 4.59561824e+01] [ 2.50024720e-02 -7.89730924e-04 9.99687077e-01 2.52940573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.80, Y:45.98, Z:2.53 [[ 6.44208434e-01 -7.64653158e-01 -1.73505294e-02 9.98026857e+01] [ 7.64409742e-01 6.44441518e-01 -1.93099884e-02 4.59780945e+01] [ 2.59468451e-02 -8.23256307e-04 9.99662985e-01 2.52866627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.82, Y:46.00, Z:2.53 [[ 6.43943120e-01 -7.64873252e-01 -1.74976528e-02 9.98164444e+01] [ 7.64625632e-01 6.44180263e-01 -1.94790215e-02 4.60035562e+01] [ 2.61706250e-02 -8.35771952e-04 9.99657141e-01 2.52973396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:46.02, Z:2.53 [[ 6.43712436e-01 -7.65063602e-01 -1.76630963e-02 9.98379047e+01] [ 7.64811073e-01 6.43954169e-01 -1.96736246e-02 4.60213773e+01] [ 2.64257986e-02 -8.44774772e-04 9.99650421e-01 2.52948936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:46.05, Z:2.53 [[ 6.43662681e-01 -7.65118814e-01 -1.70749419e-02 9.98502512e+01] [ 7.64882720e-01 6.43888605e-01 -1.90233669e-02 4.60482886e+01] [ 2.55494964e-02 -8.15696690e-04 9.99673226e-01 2.53081060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:46.07, Z:2.53 [[ 6.43438082e-01 -7.65311906e-01 -1.68855386e-02 9.98690483e+01] [ 7.65080832e-01 6.43659098e-01 -1.88225039e-02 4.60675618e+01] [ 2.52736169e-02 -8.07686132e-04 9.99680245e-01 2.53153426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:46.09, Z:2.53 [[ 6.42937652e-01 -7.65733838e-01 -1.68185713e-02 9.98874604e+01] [ 7.65504628e-01 6.43157072e-01 -1.87522249e-02 4.60883813e+01] [ 2.51761962e-02 -8.18182656e-04 9.99682695e-01 2.53241210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:46.11, Z:2.53 [[ 6.42566282e-01 -7.66044255e-01 -1.68751919e-02 9.99040350e+01] [ 7.65813506e-01 6.42787297e-01 -1.88192499e-02 4.61118087e+01] [ 2.52635372e-02 -8.30634432e-04 9.99680481e-01 2.53264904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.92, Y:46.13, Z:2.53 [[ 6.42110305e-01 -7.66423762e-01 -1.69992010e-02 9.99232443e+01] [ 7.66189462e-01 6.42334728e-01 -1.89685192e-02 4.61339121e+01] [ 2.54571010e-02 -8.44727013e-04 9.99675559e-01 2.53293316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:46.15, Z:2.53 [[ 6.42763617e-01 -7.65873969e-01 -1.70879154e-02 9.99423900e+01] [ 7.65636787e-01 6.42990194e-01 -1.90766980e-02 4.61540021e+01] [ 2.55977084e-02 -8.21329266e-04 9.99671988e-01 2.53327052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:46.18, Z:2.53 [[ 6.42884459e-01 -7.65781536e-01 -1.66796795e-02 9.99599639e+01] [ 7.65555430e-01 6.43100308e-01 -1.86246608e-02 4.61765185e+01] [ 2.49891284e-02 -7.95714230e-04 9.99687406e-01 2.53404526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.98, Y:46.20, Z:2.54 [[ 6.44078825e-01 -7.64795775e-01 -1.58079012e-02 9.99774409e+01] [ 7.64592194e-01 6.44272392e-01 -1.76596080e-02 4.61998129e+01] [ 2.36905879e-02 -7.12418321e-04 9.99719085e-01 2.53536912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:46.22, Z:2.54 [[ 6.44715727e-01 -7.64270344e-01 -1.52470656e-02 9.99961966e+01] [ 7.64080619e-01 6.44895652e-01 -1.70413062e-02 4.62218258e+01] [ 2.28569313e-02 -6.63189222e-04 9.99738526e-01 2.53678867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:46.24, Z:2.54 [[ 6.45511202e-01 -7.63595427e-01 -1.54049096e-02 1.00015440e+02] [ 7.63401360e-01 6.45694675e-01 -1.72264384e-02 4.62436862e+01] [ 2.31008977e-02 -6.40269953e-04 9.99732934e-01 2.53810044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.158040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:46.27, Z:2.54 [[ 6.47450019e-01 -7.61961051e-01 -1.49609205e-02 1.00033780e+02] [ 7.61777392e-01 6.47622609e-01 -1.67380499e-02 4.62653491e+01] [ 2.24427725e-02 -5.59840247e-04 9.99747973e-01 2.53926254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:46.29, Z:2.54 [[ 6.48570615e-01 -7.61004873e-01 -1.50910840e-02 1.00051476e+02] [ 7.60817553e-01 6.48745950e-01 -1.68921031e-02 4.62880207e+01] [ 2.26452524e-02 -5.25839882e-04 9.99743425e-01 2.53983048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:46.31, Z:2.54 [[ 6.51754829e-01 -7.58278063e-01 -1.51664611e-02 1.00069174e+02] [ 7.58087933e-01 6.51931129e-01 -1.69849825e-02 4.63100448e+01] [ 2.27668277e-02 -4.27466771e-04 9.99740711e-01 2.54008525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:46.33, Z:2.54 [[ 6.53389989e-01 -7.56862461e-01 -1.55157537e-02 1.00087482e+02] [ 7.56662866e-01 6.53574074e-01 -1.73849477e-02 4.63319634e+01] [ 2.32987086e-02 -3.81043886e-04 9.99728476e-01 2.54052953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:46.35, Z:2.54 [[ 6.55039887e-01 -7.55432788e-01 -1.56220642e-02 1.00105216e+02] [ 7.55229840e-01 6.55226065e-01 -1.75126362e-02 4.63528537e+01] [ 2.34656032e-02 -3.26773833e-04 9.99724591e-01 2.54110524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.12, Y:46.38, Z:2.54 [[ 6.57979864e-01 -7.52880704e-01 -1.52690386e-02 1.00122635e+02] [ 7.52686071e-01 6.58156967e-01 -1.71197249e-02 4.63754842e+01] [ 2.29385346e-02 -2.28358419e-04 9.99736851e-01 2.54235879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.338040942 meters Centerline goodness [0,1] 0.9999581028992793 Centerline is valid? [True, True] Translation: X:100.14, Y:46.40, Z:2.54 [[ 6.61124744e-01 -7.50122302e-01 -1.51856747e-02 1.00139452e+02] [ 7.49928868e-01 6.61299112e-01 -1.70346001e-02 4.63972044e+01] [ 2.28203066e-02 -1.26180253e-04 9.99739575e-01 2.54283267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:46.42, Z:2.54 [[ 6.62362003e-01 -7.49020319e-01 -1.56569326e-02 1.00157443e+02] [ 7.48814306e-01 6.62547020e-01 -1.75664507e-02 4.64184241e+01] [ 2.35310826e-02 -8.87856616e-05 9.99723102e-01 2.54300963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:46.44, Z:2.54 [[ 6.63601005e-01 -7.47921058e-01 -1.57415628e-02 1.00175823e+02] [ 7.47712271e-01 6.63787684e-01 -1.76711734e-02 4.64395231e+01] [ 2.36656982e-02 -4.35512875e-05 9.99719927e-01 2.54326731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:46.46, Z:2.54 [[ 6.64580191e-01 -7.47043728e-01 -1.60884763e-02 1.00194373e+02] [ 7.46825133e-01 6.64774901e-01 -1.80707349e-02 4.64601610e+01] [ 2.41948444e-02 -5.82594388e-06 9.99707262e-01 2.54368260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.21, Y:46.48, Z:2.54 [[ 6.66330817e-01 -7.45472002e-01 -1.65751624e-02 1.00212539e+02] [ 7.45239226e-01 6.66536939e-01 -1.86280805e-02 4.64799246e+01] [ 2.49346705e-02 6.00028908e-05 9.99689081e-01 2.54394285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488040942 meters Centerline goodness [0,1] 0.9999581484891604 Centerline is valid? [True, True] Translation: X:100.23, Y:46.50, Z:2.54 [[ 6.67520624e-01 -7.44407423e-01 -1.65470441e-02 1.00231874e+02] [ 7.44174934e-01 6.67725675e-01 -1.86034904e-02 4.64984509e+01] [ 2.48974625e-02 1.04318069e-04 9.99690005e-01 2.54430378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:46.52, Z:2.55 [[ 6.67435433e-01 -7.44488114e-01 -1.63520889e-02 1.00251810e+02] [ 7.44260984e-01 6.67635707e-01 -1.83888688e-02 4.65183371e+01] [ 2.46075327e-02 1.03160770e-04 9.99697183e-01 2.54526743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.548040942 meters Centerline goodness [0,1] 0.9999791209938407 Centerline is valid? [True, True] Translation: X:100.27, Y:46.54, Z:2.55 [[ 6.67117625e-01 -7.44778879e-01 -1.60778134e-02 1.00272207e+02] [ 7.44559152e-01 6.67311330e-01 -1.80902822e-02 4.65378545e+01] [ 2.42021672e-02 9.74630170e-05 9.99707080e-01 2.54617561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:46.55, Z:2.55 [[ 6.65610862e-01 -7.46124187e-01 -1.61517271e-02 1.00293865e+02] [ 7.45902589e-01 6.65806800e-01 -1.81833252e-02 4.65548906e+01] [ 2.43209485e-02 5.54037443e-05 9.99704200e-01 2.54692750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.31, Y:46.57, Z:2.55 [[ 6.64711049e-01 -7.46928260e-01 -1.60435302e-02 1.00313837e+02] [ 7.46709729e-01 6.64904634e-01 -1.80667560e-02 4.65730534e+01] [ 2.41619882e-02 2.93123134e-05 9.99708056e-01 2.54741533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.34, Y:46.59, Z:2.55 [[ 6.63041224e-01 -7.48413056e-01 -1.59446555e-02 1.00337204e+02] [ 7.48197508e-01 6.63232913e-01 -1.79608612e-02 4.65903068e+01] [ 2.40171634e-02 -2.09600617e-05 9.99711546e-01 2.54868544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:46.61, Z:2.55 [[ 6.62478361e-01 -7.48910845e-01 -1.59677039e-02 1.00357463e+02] [ 7.48694583e-01 6.62670767e-01 -1.79965695e-02 4.66098685e+01] [ 2.40591567e-02 -3.25955666e-05 9.99710536e-01 2.54963687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:46.63, Z:2.55 [[ 6.61896085e-01 -7.49418711e-01 -1.62839690e-02 1.00377428e+02] [ 7.49193694e-01 6.62096363e-01 -1.83634269e-02 4.66291802e+01] [ 2.45434523e-02 -4.51665554e-05 9.99698763e-01 2.54997829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.40, Y:46.65, Z:2.55 [[ 6.62140477e-01 -7.49182287e-01 -1.72014277e-02 1.00398632e+02] [ 7.48930833e-01 6.62363873e-01 -1.94089480e-02 4.66468470e+01] [ 2.59344443e-02 -3.12294959e-05 9.99663645e-01 2.55006399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.758040942 meters Centerline goodness [0,1] 0.9999789739276703 Centerline is valid? [True, True] Translation: X:100.42, Y:46.67, Z:2.55 [[ 6.62678628e-01 -7.48694421e-01 -1.77115963e-02 1.00417867e+02] [ 7.48427465e-01 6.62915277e-01 -1.99916479e-02 4.66667092e+01] [ 2.67089230e-02 -7.80729945e-06 9.99643253e-01 2.55000168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:46.69, Z:2.55 [[ 6.63946133e-01 -7.47557516e-01 -1.82563316e-02 1.00437883e+02] [ 7.47273148e-01 6.64197078e-01 -2.06175554e-02 4.66853900e+01] [ 2.75386106e-02 4.64798211e-05 9.99620739e-01 2.54969703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:46.71, Z:2.55 [[ 6.64329436e-01 -7.47212416e-01 -1.84392372e-02 1.00457732e+02] [ 7.46921979e-01 6.64585285e-01 -2.08316385e-02 4.67050022e+01] [ 2.78201046e-02 6.63991273e-05 9.99612944e-01 2.55045772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.48, Y:46.72, Z:2.55 [[ 6.64624212e-01 -7.46949709e-01 -1.84604644e-02 1.00477580e+02] [ 7.46658179e-01 6.64880534e-01 -2.08671867e-02 4.67243077e+01] [ 2.78607425e-02 8.51807732e-05 9.99611811e-01 2.55135199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.50, Y:46.74, Z:2.55 [[ 6.64514291e-01 -7.47059551e-01 -1.79661940e-02 1.00499545e+02] [ 7.46783164e-01 6.64757113e-01 -2.03196032e-02 4.67426468e+01] [ 2.71231089e-02 8.58154860e-05 9.99632097e-01 2.55248592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.52, Y:46.76, Z:2.55 [[ 6.63467531e-01 -7.48007459e-01 -1.71952357e-02 1.00522165e+02] [ 7.47754348e-01 6.63690318e-01 -1.94575369e-02 4.67593076e+01] [ 2.59666942e-02 5.16316970e-05 9.99662807e-01 2.55412312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:46.78, Z:2.56 [[ 6.62822019e-01 -7.48577122e-01 -1.72992573e-02 1.00543152e+02] [ 7.48320972e-01 6.63047729e-01 -1.95814180e-02 4.67785331e+01] [ 2.61284348e-02 3.35979699e-05 9.99658594e-01 2.55529392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.56, Y:46.80, Z:2.56 [[ 6.62379959e-01 -7.48973090e-01 -1.70909294e-02 1.00563995e+02] [ 7.48722936e-01 6.62600414e-01 -1.93560140e-02 4.67978964e+01] [ 2.58215905e-02 2.46648541e-05 9.99666567e-01 2.55611162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.58, Y:46.82, Z:2.56 [[ 6.62097206e-01 -7.49225470e-01 -1.69848570e-02 1.00583737e+02] [ 7.48978226e-01 6.62315027e-01 -1.92463516e-02 4.68171606e+01] [ 2.56691829e-02 2.16676155e-05 9.99670492e-01 2.55606348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:46.83, Z:2.56 [[ 6.62223217e-01 -7.49115528e-01 -1.69214950e-02 1.00605571e+02] [ 7.48869966e-01 6.62439374e-01 -1.91794114e-02 4.68343841e+01] [ 2.55770595e-02 2.90521471e-05 9.99672853e-01 2.55698914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.63, Y:46.85, Z:2.56 [[ 6.62164623e-01 -7.49168410e-01 -1.68732534e-02 1.00626301e+02] [ 7.48924111e-01 6.62379569e-01 -1.91306900e-02 4.68537944e+01] [ 2.55086069e-02 3.08797673e-05 9.99674602e-01 2.55794069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:46.87, Z:2.56 [[ 6.62009154e-01 -7.49308813e-01 -1.67386544e-02 1.00648351e+02] [ 7.49068189e-01 6.62220735e-01 -1.89880601e-02 4.68713193e+01] [ 2.53126048e-02 3.18760697e-05 9.99679584e-01 2.55887406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.67, Y:46.89, Z:2.56 [[ 6.61812234e-01 -7.49482857e-01 -1.67336595e-02 1.00666478e+02] [ 7.49242177e-01 6.62023751e-01 -1.89924610e-02 4.68920630e+01] [ 2.53126039e-02 3.18795148e-05 9.99679584e-01 2.55951194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.69, Y:46.91, Z:2.56 [[ 6.62007180e-01 -7.49306610e-01 -1.69144085e-02 1.00686046e+02] [ 7.49060392e-01 6.62223227e-01 -1.92074677e-02 4.69105377e+01] [ 2.55933967e-02 4.55680571e-05 9.99672434e-01 2.56037021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:46.93, Z:2.56 [[ 6.62085771e-01 -7.49232099e-01 -1.71374978e-02 1.00706903e+02] [ 7.48979151e-01 6.62307526e-01 -1.94672087e-02 4.69300212e+01] [ 2.59357514e-02 5.33333729e-05 9.99663610e-01 2.56152238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:46.95, Z:2.56 [[ 6.62727219e-01 -7.48663256e-01 -1.72035814e-02 1.00728703e+02] [ 7.48407863e-01 6.62950468e-01 -1.95537324e-02 4.69479688e+01] [ 2.60442833e-02 8.34951359e-05 9.99660787e-01 2.56262207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:46.97, Z:2.56 [[ 6.62939660e-01 -7.48476404e-01 -1.71487873e-02 1.00748927e+02] [ 7.48222275e-01 6.63161416e-01 -1.95028987e-02 4.69673717e+01] [ 2.59698736e-02 9.81403879e-05 9.99662721e-01 2.56388560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:46.99, Z:2.57 [[ 6.62739287e-01 -7.48680111e-01 -1.59602389e-02 1.00771571e+02] [ 7.48459812e-01 6.62931432e-01 -1.81611405e-02 4.69852183e+01] [ 2.41774287e-02 9.05038798e-05 9.99707679e-01 2.56596304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.298040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:47.00, Z:2.57 [[ 6.62078770e-01 -7.49269701e-01 -1.57040411e-02 1.00791499e+02] [ 7.49056342e-01 6.62264984e-01 -1.78797918e-02 4.70034356e+01] [ 2.37970228e-02 7.46190267e-05 9.99716808e-01 2.56742404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:47.02, Z:2.57 [[ 6.61447855e-01 -7.49833159e-01 -1.53937930e-02 1.00812396e+02] [ 7.49628173e-01 6.61626957e-01 -1.75320262e-02 4.70219652e+01] [ 2.33310430e-02 5.69001714e-05 9.99727793e-01 2.56895470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.358040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.84, Y:47.04, Z:2.57 [[ 6.59658927e-01 -7.51412489e-01 -1.51449861e-02 1.00835853e+02] [ 7.51214266e-01 6.59832760e-01 -1.72584873e-02 4.70385528e+01] [ 2.29614009e-02 7.58561668e-06 9.99736352e-01 2.56982721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.388040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.86, Y:47.06, Z:2.57 [[ 6.58474965e-01 -7.52448948e-01 -1.52085696e-02 1.00856759e+02] [ 7.52249102e-01 6.58650575e-01 -1.73409651e-02 4.70572521e+01] [ 2.30653241e-02 -2.20414617e-05 9.99733960e-01 2.57059473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.418040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.88, Y:47.07, Z:2.57 [[ 6.56257799e-01 -7.54384471e-01 -1.51582303e-02 1.00880784e+02] [ 7.54186230e-01 6.56432833e-01 -1.72935461e-02 4.70734035e+01] [ 2.29963426e-02 -8.31040712e-05 9.99735546e-01 2.57137402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.90, Y:47.09, Z:2.57 [[ 6.54766527e-01 -7.55681029e-01 -1.50657770e-02 1.00902197e+02] [ 7.55485315e-01 6.54939820e-01 -1.71980129e-02 4.70922154e+01] [ 2.28633893e-02 -1.21290104e-04 9.99738591e-01 2.57204658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.92, Y:47.11, Z:2.57 [[ 6.53385036e-01 -7.56878156e-01 -1.49483434e-02 1.00924036e+02] [ 7.56685570e-01 6.53555991e-01 -1.70737909e-02 4.71116569e+01] [ 2.26923588e-02 -1.55436257e-04 9.99742483e-01 2.57317810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.95, Y:47.13, Z:2.57 [[ 6.50907821e-01 -7.59016145e-01 -1.46116522e-02 1.00948735e+02] [ 7.58832485e-01 6.51071765e-01 -1.66978086e-02 4.71268931e+01] [ 2.21871405e-02 -2.19062185e-04 9.99753811e-01 2.57442778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.97, Y:47.15, Z:2.58 [[ 6.49527995e-01 -7.60200117e-01 -1.44625677e-02 1.00971415e+02] [ 7.60020420e-01 6.49688938e-01 -1.65300936e-02 4.71458100e+01] [ 2.19623493e-02 -2.55088241e-04 9.99758766e-01 2.57512334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:47.17, Z:2.58 [[ 6.49066830e-01 -7.60593677e-01 -1.44744120e-02 1.00991482e+02] [ 7.60413605e-01 6.49228148e-01 -1.65517705e-02 4.71655462e+01] [ 2.19863677e-02 -2.63334600e-04 9.99758236e-01 2.57563145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:47.18, Z:2.58 [[ 6.48664139e-01 -7.60928141e-01 -1.49398545e-02 1.01011360e+02] [ 7.60736154e-01 6.48836102e-01 -1.70943302e-02 4.71837913e+01] [ 2.27010738e-02 -2.76808532e-04 9.99742259e-01 2.57621223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.03, Y:47.20, Z:2.58 [[ 6.48041971e-01 -7.61449970e-01 -1.53475700e-02 1.01032767e+02] [ 7.61247368e-01 6.48223614e-01 -1.75667717e-02 4.72017506e+01] [ 2.33248751e-02 -2.99291940e-04 9.99727893e-01 2.57597550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.05, Y:47.22, Z:2.58 [[ 6.47728246e-01 -7.61715828e-01 -1.53985863e-02 1.01052222e+02] [ 7.61511714e-01 6.47911187e-01 -1.76352896e-02 4.72222282e+01] [ 2.34099955e-02 -3.03328685e-04 9.99725902e-01 2.57662541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.07, Y:47.24, Z:2.58 [[ 6.47511725e-01 -7.61900009e-01 -1.53929163e-02 1.01073095e+02] [ 7.61695860e-01 6.47694591e-01 -1.76389633e-02 4.72418062e+01] [ 2.34090349e-02 -3.03285114e-04 9.99725925e-01 2.57773937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.09, Y:47.26, Z:2.58 [[ 6.47597229e-01 -7.61823824e-01 -1.55656652e-02 1.01092316e+02] [ 7.61614799e-01 6.47784202e-01 -1.78472862e-02 4.72616694e+01] [ 2.36796799e-02 -2.97187886e-04 9.99719553e-01 2.57843609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.11, Y:47.28, Z:2.58 [[ 6.47515020e-01 -7.61894046e-01 -1.55486766e-02 1.01111926e+02] [ 7.61685256e-01 6.47701611e-01 -1.78380159e-02 4.72816192e+01] [ 2.36615810e-02 -2.92814515e-04 9.99719983e-01 2.57908177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.13, Y:47.30, Z:2.58 [[ 6.47115657e-01 -7.62232703e-01 -1.55766850e-02 1.01133003e+02] [ 7.62023012e-01 6.47303033e-01 -1.78804817e-02 4.73009061e+01] [ 2.37119233e-02 -2.99052726e-04 9.99718788e-01 2.58057013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.15, Y:47.32, Z:2.58 [[ 6.46597536e-01 -7.62688030e-01 -1.47849732e-02 1.01153981e+02] [ 7.62499023e-01 6.46766482e-01 -1.69810992e-02 4.73194199e+01] [ 2.25137062e-02 -2.93590734e-04 9.99746491e-01 2.58228596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.17, Y:47.34, Z:2.58 [[ 6.46219283e-01 -7.63018531e-01 -1.42604380e-02 1.01172931e+02] [ 7.62842682e-01 6.46376544e-01 -1.63830926e-02 4.73399069e+01] [ 2.17182159e-02 -2.91400456e-04 9.99764089e-01 2.58374302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.19, Y:47.36, Z:2.59 [[ 6.45994909e-01 -7.63212357e-01 -1.40526094e-02 1.01191667e+02] [ 7.63041447e-01 6.46147673e-01 -1.61534771e-02 4.73605059e+01] [ 2.14085942e-02 -2.87659478e-04 9.99770768e-01 2.58506033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:47.38, Z:2.59 [[ 6.46458913e-01 -7.62829603e-01 -1.34859271e-02 1.01210927e+02] [ 7.62671940e-01 6.46599513e-01 -1.55106973e-02 4.73808703e+01] [ 2.05520129e-02 -2.58309685e-04 9.99788752e-01 2.58638736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928040942 meters Centerline goodness [0,1] 0.999956296571466 Centerline is valid? [True, True] Translation: X:101.23, Y:47.40, Z:2.59 [[ 6.46660985e-01 -7.62655635e-01 -1.36364433e-02 1.01229022e+02] [ 7.62494194e-01 6.46804700e-01 -1.56934274e-02 4.74005524e+01] [ 2.07887964e-02 -2.49381605e-04 9.99783859e-01 2.58737045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.25, Y:47.42, Z:2.59 [[ 6.47571481e-01 -7.61875911e-01 -1.40097480e-02 1.01248424e+02] [ 7.61705189e-01 6.47722969e-01 -1.61294731e-02 4.74218516e+01] [ 2.13630925e-02 -2.26310951e-04 9.99771757e-01 2.58819128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.27, Y:47.44, Z:2.59 [[ 6.47798995e-01 -7.61681603e-01 -1.40569609e-02 1.01266634e+02] [ 7.61509500e-01 6.47951456e-01 -1.61923381e-02 4.74415596e+01] [ 2.14416343e-02 -2.15128966e-04 9.99770079e-01 2.58931764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:47.46, Z:2.59 [[ 6.47693780e-01 -7.61766793e-01 -1.42870907e-02 1.01285181e+02] [ 7.61588921e-01 6.47851299e-01 -1.64623792e-02 4.74626882e+01] [ 2.17964041e-02 -2.18309377e-04 9.99762406e-01 2.59035327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.30, Y:47.48, Z:2.59 [[ 6.47130850e-01 -7.62232010e-01 -1.49675209e-02 1.01303733e+02] [ 7.62036675e-01 6.47303875e-01 -1.72568874e-02 4.74821552e+01] [ 2.28422863e-02 -2.38335600e-04 9.99739053e-01 2.59153642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:47.50, Z:2.59 [[ 6.46510822e-01 -7.62758724e-01 -1.49293544e-02 1.01321862e+02] [ 7.62564396e-01 6.46683125e-01 -1.72185147e-02 4.75021048e+01] [ 2.27881339e-02 -2.52638000e-04 9.99740285e-01 2.59195078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.108040942 meters Centerline goodness [0,1] 0.9999116295510782 Centerline is valid? [True, True] Translation: X:101.34, Y:47.52, Z:2.59 [[ 6.45059114e-01 -7.63983365e-01 -1.51048798e-02 1.01340736e+02] [ 7.63784641e-01 6.45235872e-01 -1.74267530e-02 4.75232535e+01] [ 2.30599597e-02 -2.95589348e-04 9.99734040e-01 2.59272653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.36, Y:47.54, Z:2.59 [[ 6.44163634e-01 -7.64738239e-01 -1.51208314e-02 1.01359333e+02] [ 7.64539231e-01 6.44340999e-01 -1.74482223e-02 4.75448220e+01] [ 2.30862944e-02 -3.20958557e-04 9.99733424e-01 2.59383563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.38, Y:47.57, Z:2.60 [[ 6.43459939e-01 -7.65331691e-01 -1.50568909e-02 1.01378468e+02] [ 7.65134325e-01 6.43635992e-01 -1.73831398e-02 4.75666393e+01] [ 2.29950247e-02 -3.35190028e-04 9.99735523e-01 2.59503644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.40, Y:47.59, Z:2.60 [[ 6.42193195e-01 -7.66404277e-01 -1.45734065e-02 1.01397110e+02] [ 7.66219471e-01 6.42358434e-01 -1.68334260e-02 4.75880401e+01] [ 2.22625602e-02 -3.56116199e-04 9.99752095e-01 2.59644048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.42, Y:47.61, Z:2.60 [[ 6.41137225e-01 -7.67297056e-01 -1.40814083e-02 1.01415979e+02] [ 7.67124682e-01 6.41291735e-01 -1.62675444e-02 4.76093282e+01] [ 2.15123297e-02 -3.72467597e-04 9.99768514e-01 2.59740564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.258040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.44, Y:47.63, Z:2.60 [[ 6.39141916e-01 -7.68960694e-01 -1.40378787e-02 1.01436012e+02] [ 7.68789609e-01 6.39295920e-01 -1.62254122e-02 4.76297994e+01] [ 2.14510627e-02 -4.21834221e-04 9.99769810e-01 2.59755194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:47.65, Z:2.60 [[ 6.38196303e-01 -7.69748730e-01 -1.38698416e-02 1.01455466e+02] [ 7.69581726e-01 6.38346851e-01 -1.60394697e-02 4.76503208e+01] [ 2.12001312e-02 -4.37646371e-04 9.99775156e-01 2.59748797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.47, Y:47.67, Z:2.60 [[ 6.37034968e-01 -7.70707257e-01 -1.40275982e-02 1.01474878e+02] [ 7.70536580e-01 6.37189219e-01 -1.62258533e-02 4.76719835e+01] [ 2.14436172e-02 -4.72341604e-04 9.99769948e-01 2.59786305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:47.69, Z:2.60 [[ 6.35974616e-01 -7.71578777e-01 -1.42294891e-02 1.01494043e+02] [ 7.71403182e-01 6.36133584e-01 -1.64679548e-02 4.76926295e+01] [ 2.17581803e-02 -5.03471902e-04 9.99763136e-01 2.59809207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.378040942 meters Centerline goodness [0,1] 0.99993376606173 Centerline is valid? [True, True] Translation: X:101.51, Y:47.72, Z:2.60 [[ 6.35848156e-01 -7.71677100e-01 -1.45456262e-02 1.01511692e+02] [ 7.71493543e-01 6.36014298e-01 -1.68382217e-02 4.77151155e+01] [ 2.22448963e-02 -5.15304499e-04 9.99752419e-01 2.59793166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.53, Y:47.74, Z:2.60 [[ 6.36153461e-01 -7.71418592e-01 -1.49039979e-02 1.01529234e+02] [ 7.71225577e-01 6.36327819e-01 -1.72631533e-02 4.77370587e+01] [ 2.28009459e-02 -5.12329668e-04 9.99739893e-01 2.59745793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:47.76, Z:2.60 [[ 6.37210265e-01 -7.70527984e-01 -1.58019934e-02 1.01546210e+02] [ 7.70310631e-01 6.37405968e-01 -1.83074815e-02 4.77608961e+01] [ 2.41787117e-02 -5.06728362e-04 9.99707524e-01 2.59713918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.56, Y:47.78, Z:2.60 [[ 6.37723793e-01 -7.70098418e-01 -1.60247166e-02 1.01563826e+02] [ 7.69874530e-01 6.37924906e-01 -1.85747751e-02 4.77838556e+01] [ 2.45269708e-02 -4.91445113e-04 9.99699048e-01 2.59796907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.498040942 meters Centerline goodness [0,1] 0.9998671272920542 Centerline is valid? [True, True] Translation: X:101.58, Y:47.81, Z:2.60 [[ 6.38575760e-01 -7.69390826e-01 -1.60858838e-02 1.01580979e+02] [ 7.69164770e-01 6.38778166e-01 -1.86550621e-02 4.78067742e+01] [ 2.46283450e-02 -4.60024605e-04 9.99696570e-01 2.59913155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.528040942 meters Centerline goodness [0,1] 0.9999778971332581 Centerline is valid? [True, True] Translation: X:101.60, Y:47.83, Z:2.60 [[ 6.38562369e-01 -7.69400011e-01 -1.61779251e-02 1.01598141e+02] [ 7.69171130e-01 6.38767105e-01 -1.87711900e-02 4.78272924e+01] [ 2.47764802e-02 -4.57017378e-04 9.99692911e-01 2.59952259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.62, Y:47.85, Z:2.60 [[ 6.38283944e-01 -7.69629512e-01 -1.62487237e-02 1.01615293e+02] [ 7.69398507e-01 6.38490564e-01 -1.88609886e-02 4.78500987e+01] [ 2.48906302e-02 -4.63077557e-04 9.99690073e-01 2.59990719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.63, Y:47.87, Z:2.60 [[ 6.37246718e-01 -7.70497483e-01 -1.58192543e-02 1.01633404e+02] [ 7.70278548e-01 6.37442861e-01 -1.83727371e-02 4.78726025e+01] [ 2.42400184e-02 -4.77265798e-04 9.99706054e-01 2.60034750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.65, Y:47.89, Z:2.60 [[ 6.36782009e-01 -7.70888156e-01 -1.54959524e-02 1.01651816e+02] [ 7.70677987e-01 6.36970348e-01 -1.80059994e-02 4.78928281e+01] [ 2.37510739e-02 -4.76492868e-04 9.99717790e-01 2.60150313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:47.92, Z:2.60 [[ 6.35281276e-01 -7.72144171e-01 -1.45285737e-02 1.01670486e+02] [ 7.71959684e-01 6.35447197e-01 -1.68850976e-02 4.79152280e+01] [ 2.22698711e-02 -4.88686764e-04 9.99751876e-01 2.60254037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:47.94, Z:2.60 [[ 6.34481543e-01 -7.72803209e-01 -1.44351179e-02 1.01689429e+02] [ 7.72621076e-01 6.34645529e-01 -1.67846984e-02 4.79376325e+01] [ 2.21324518e-02 -5.03294951e-04 9.99754921e-01 2.60319563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.71, Y:47.96, Z:2.60 [[ 6.33674544e-01 -7.73468820e-01 -1.42322573e-02 1.01707530e+02] [ 7.73291763e-01 6.33834143e-01 -1.65568334e-02 4.79599562e+01] [ 2.18270850e-02 -5.14043485e-04 9.99761629e-01 2.60387990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.73, Y:47.98, Z:2.60 [[ 6.33478292e-01 -7.73632264e-01 -1.40844973e-02 1.01725146e+02] [ 7.73458735e-01 6.33634642e-01 -1.63928206e-02 4.79814698e+01] [ 2.16064403e-02 -5.09281500e-04 9.99766424e-01 2.60494980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.74, Y:48.00, Z:2.61 [[ 6.33675162e-01 -7.73469277e-01 -1.41797991e-02 1.01742383e+02] [ 7.73293139e-01 6.33833596e-01 -1.65134374e-02 4.80016619e+01] [ 2.17602695e-02 -5.00986243e-04 9.99763092e-01 2.60625813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.76, Y:48.03, Z:2.61 [[ 6.35002101e-01 -7.72381144e-01 -1.41315435e-02 1.01758766e+02] [ 7.72205842e-01 6.35159159e-01 -1.64614642e-02 4.80252752e+01] [ 2.16903039e-02 -4.59396112e-04 9.99764632e-01 2.60654965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:48.05, Z:2.61 [[ 6.35984706e-01 -7.71565266e-01 -1.45084307e-02 1.01775935e+02] [ 7.71380082e-01 6.36150021e-01 -1.69092007e-02 4.80476369e+01] [ 2.22760904e-02 -4.37521432e-04 9.99751761e-01 2.60687798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.79, Y:48.07, Z:2.61 [[ 6.37579865e-01 -7.70247803e-01 -1.44995840e-02 1.01791290e+02] [ 7.70062397e-01 6.37744597e-01 -1.69036349e-02 4.80721333e+01] [ 2.22670190e-02 -3.88167174e-04 9.99751984e-01 2.60706858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:48.09, Z:2.61 [[ 6.38254841e-01 -7.69690054e-01 -1.44214693e-02 1.01809774e+02] [ 7.69506305e-01 6.38417646e-01 -1.68213025e-02 4.80932445e+01] [ 2.21541097e-02 -3.61133817e-04 9.99754502e-01 2.60771221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.83, Y:48.12, Z:2.61 [[ 6.38793300e-01 -7.69244634e-01 -1.43461542e-02 1.01827785e+02] [ 7.69062628e-01 6.38954283e-01 -1.67361485e-02 4.81157664e+01] [ 2.20407291e-02 -3.42151474e-04 9.99757015e-01 2.60836010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.85, Y:48.14, Z:2.61 [[ 6.39670335e-01 -7.68520088e-01 -1.40974165e-02 1.01846693e+02] [ 7.68343982e-01 6.39825586e-01 -1.64543192e-02 4.81362227e+01] [ 2.16653626e-02 -3.06325257e-04 9.99765232e-01 2.60904047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.86, Y:48.16, Z:2.61 [[ 6.39867292e-01 -7.68360920e-01 -1.38327519e-02 1.01864238e+02] [ 7.68191280e-01 6.40016726e-01 -1.61476578e-02 4.81575050e+01] [ 2.12604218e-02 -2.93841302e-04 9.99773929e-01 2.61017618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.88, Y:48.18, Z:2.61 [[ 6.39669166e-01 -7.68525945e-01 -1.38285877e-02 1.01882080e+02] [ 7.68356267e-01 6.39818557e-01 -1.61512231e-02 4.81785228e+01] [ 2.12604210e-02 -2.93842641e-04 9.99773929e-01 2.61081412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.038040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.90, Y:48.20, Z:2.61 [[ 6.39886903e-01 -7.68348894e-01 -1.35914761e-02 1.01897787e+02] [ 7.68184777e-01 6.40031171e-01 -1.58823504e-02 4.82015081e+01] [ 2.09021547e-02 -2.77857049e-04 9.99781487e-01 2.61139673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.92, Y:48.22, Z:2.61 [[ 6.39675288e-01 -7.68523811e-01 -1.36630494e-02 1.01915747e+02] [ 7.68357811e-01 6.39821127e-01 -1.59749976e-02 4.82236350e+01] [ 2.10190737e-02 -2.79299593e-04 9.99779036e-01 2.61160442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.098040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:48.24, Z:2.61 [[ 6.39853758e-01 -7.68366135e-01 -1.41651327e-02 1.01935043e+02] [ 7.68187455e-01 6.40010473e-01 -1.65719134e-02 4.82439444e+01] [ 2.17991303e-02 -2.77876158e-04 9.99762332e-01 2.61160501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.128040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.95, Y:48.26, Z:2.61 [[ 6.40129290e-01 -7.68131626e-01 -1.44325395e-02 1.01953222e+02] [ 7.67945853e-01 6.40291913e-01 -1.68947807e-02 4.82641040e+01] [ 2.22184537e-02 -2.68564875e-04 9.99753104e-01 2.61217300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.158040942 meters Centerline goodness [0,1] 0.9999780793090598 Centerline is valid? [True, True] Translation: X:101.97, Y:48.29, Z:2.61 [[ 6.40423789e-01 -7.67883543e-01 -1.45682903e-02 1.01970718e+02] [ 7.67694083e-01 6.40589414e-01 -1.70586491e-02 4.82854767e+01] [ 2.24313484e-02 -2.59225576e-04 9.99748352e-01 2.61274778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.99, Y:48.31, Z:2.61 [[ 6.41291352e-01 -7.67151658e-01 -1.49577869e-02 1.01988220e+02] [ 7.66951494e-01 6.41465727e-01 -1.75250297e-02 4.83072758e+01] [ 2.30392632e-02 -2.33247015e-04 9.99734534e-01 2.61235464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.01, Y:48.33, Z:2.61 [[ 6.41492967e-01 -7.66978480e-01 -1.51916133e-02 1.02006749e+02] [ 7.66771883e-01 6.41672782e-01 -1.78022347e-02 4.83288840e+01] [ 2.34019757e-02 -2.28493633e-04 9.99726110e-01 2.61248720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:48.35, Z:2.61 [[ 6.41466353e-01 -7.66996571e-01 -1.54005588e-02 1.02024953e+02] [ 7.66784016e-01 6.41651158e-01 -1.80572381e-02 4.83484432e+01] [ 2.37316261e-02 -2.25791613e-04 9.99718340e-01 2.61345963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:48.37, Z:2.61 [[ 6.40935058e-01 -7.67437871e-01 -1.55359250e-02 1.02043164e+02] [ 7.67221554e-01 6.41123277e-01 -1.82217318e-02 4.83691811e+01] [ 2.39444902e-02 -2.40549786e-04 9.99713261e-01 2.61391795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.308040942 meters Centerline goodness [0,1] 0.9999780682516011 Centerline is valid? [True, True] Translation: X:102.06, Y:48.39, Z:2.61 [[ 6.40701517e-01 -7.67628297e-01 -1.57595372e-02 1.02061199e+02] [ 7.67405514e-01 6.40895262e-01 -1.84943149e-02 4.83889334e+01] [ 2.42969722e-02 -2.44620092e-04 9.99704755e-01 2.61391831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:48.41, Z:2.61 [[ 6.39620241e-01 -7.68519684e-01 -1.62309205e-02 1.02080525e+02] [ 7.68283497e-01 6.39826082e-01 -1.90539371e-02 4.84099699e+01] [ 2.50282920e-02 -2.82664469e-04 9.99686703e-01 2.61398007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:48.43, Z:2.61 [[ 6.39025956e-01 -7.69019310e-01 -1.59727366e-02 1.02098949e+02] [ 7.68790494e-01 6.39225482e-01 -1.87605867e-02 4.84301102e+01] [ 2.46374337e-02 -2.91186213e-04 9.99696410e-01 2.61478084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.12, Y:48.45, Z:2.62 [[ 6.37426906e-01 -7.70350166e-01 -1.57341109e-02 1.02117642e+02] [ 7.70128374e-01 6.37620978e-01 -1.84871757e-02 4.84521686e+01] [ 2.42739980e-02 -3.33062093e-04 9.99705288e-01 2.61599255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:48.47, Z:2.62 [[ 6.36426349e-01 -7.71176299e-01 -1.57675987e-02 1.02137445e+02] [ 7.70953596e-01 6.36621541e-01 -1.85355478e-02 4.84717205e+01] [ 2.43321682e-02 -3.59575910e-04 9.99703864e-01 2.61668523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.16, Y:48.49, Z:2.62 [[ 6.35035961e-01 -7.72325416e-01 -1.55814142e-02 1.02156230e+02] [ 7.72108204e-01 6.35226963e-01 -1.83200940e-02 4.84934372e+01] [ 2.40468087e-02 -3.96619264e-04 9.99710755e-01 2.61779141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.18, Y:48.51, Z:2.62 [[ 6.32404022e-01 -7.74488612e-01 -1.52493606e-02 1.02178127e+02] [ 7.74280982e-01 6.32587682e-01 -1.79384015e-02 4.85130832e+01] [ 2.35396453e-02 -4.62972645e-04 9.99722797e-01 2.61958448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.20, Y:48.53, Z:2.62 [[ 6.30841092e-01 -7.75764589e-01 -1.51267443e-02 1.02197974e+02] [ 7.75560447e-01 6.31022227e-01 -1.78028599e-02 4.85345676e+01] [ 2.33561402e-02 -5.00928975e-04 9.99727083e-01 2.62031367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.548040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:48.55, Z:2.62 [[ 6.28572121e-01 -7.77607942e-01 -1.49323876e-02 1.02217560e+02] [ 7.77409332e-01 6.28749217e-01 -1.75827166e-02 4.85538133e+01] [ 2.30611871e-02 -5.56572037e-04 9.99733901e-01 2.62135981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.578040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.24, Y:48.58, Z:2.62 [[ 6.27330155e-01 -7.78607282e-01 -1.50856936e-02 1.02236668e+02] [ 7.78404717e-01 6.27511232e-01 -1.77693539e-02 4.85751658e+01] [ 2.33017905e-02 -5.95523579e-04 9.99728299e-01 2.62189437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.608040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.26, Y:48.60, Z:2.62 [[ 6.26560597e-01 -7.79223389e-01 -1.52554481e-02 1.02255010e+02] [ 7.79016212e-01 6.26745982e-01 -1.79781675e-02 4.85977545e+01] [ 2.35702994e-02 -6.19830095e-04 9.99721990e-01 2.62243642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.638040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.27, Y:48.62, Z:2.62 [[ 6.25843812e-01 -7.79802174e-01 -1.51027246e-02 1.02273261e+02] [ 7.79599091e-01 6.26025697e-01 -1.78068757e-02 4.86188867e+01] [ 2.33405340e-02 -6.29747415e-04 9.99727374e-01 2.62328592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.668040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.29, Y:48.64, Z:2.62 [[ 6.26039023e-01 -7.79650142e-01 -1.48592896e-02 1.02290632e+02] [ 7.79453410e-01 6.26215045e-01 -1.75242229e-02 4.86426928e+01] [ 2.29678736e-02 -6.11276598e-04 9.99736017e-01 2.62401597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.698040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.31, Y:48.67, Z:2.63 [[ 6.26876521e-01 -7.78977286e-01 -1.48396390e-02 1.02308052e+02] [ 7.78780700e-01 6.27051872e-01 -1.75091830e-02 4.86655593e+01] [ 2.29444793e-02 -5.80728744e-04 9.99736572e-01 2.62502304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:48.69, Z:2.63 [[ 6.27288692e-01 -7.78640841e-01 -1.50777089e-02 1.02326926e+02] [ 7.78437587e-01 6.27469612e-01 -1.77991304e-02 4.86867999e+01] [ 2.33199340e-02 -5.71862073e-04 9.99727890e-01 2.62555008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.758040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.34, Y:48.71, Z:2.63 [[ 6.27793343e-01 -7.78237471e-01 -1.48982197e-02 1.02343162e+02] [ 7.78038716e-01 6.27969857e-01 -1.75958782e-02 4.87110479e+01] [ 2.30494046e-02 -5.44816506e-04 9.99734179e-01 2.62600991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.36, Y:48.73, Z:2.63 [[ 6.29260680e-01 -7.77043666e-01 -1.53015592e-02 1.02359878e+02] [ 7.76833430e-01 6.29446489e-01 -1.80814727e-02 4.87331442e+01] [ 2.36816065e-02 -5.08802875e-04 9.99719422e-01 2.62643695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.818040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.38, Y:48.76, Z:2.63 [[ 6.29820068e-01 -7.76588188e-01 -1.54100089e-02 1.02376961e+02] [ 7.76374743e-01 6.30008368e-01 -1.82130491e-02 4.87565555e+01] [ 2.38524734e-02 -4.92997895e-04 9.99715368e-01 2.62700782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:48.78, Z:2.63 [[ 6.31532042e-01 -7.75206009e-01 -1.49306273e-02 1.02393036e+02] [ 7.75005055e-01 6.31708371e-01 -1.76549907e-02 4.87792189e+01] [ 2.31180571e-02 -4.21619302e-04 9.99732653e-01 2.62827532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.878040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.41, Y:48.80, Z:2.63 [[ 6.32494626e-01 -7.74432882e-01 -1.42919334e-02 1.02409559e+02] [ 7.74248501e-01 6.32655965e-01 -1.69023355e-02 4.88031590e+01] [ 2.21316013e-02 -3.74871648e-04 9.99754996e-01 2.62940507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.908040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.43, Y:48.83, Z:2.63 [[ 6.33269211e-01 -7.73804504e-01 -1.40248163e-02 1.02427211e+02] [ 7.73626621e-01 6.33424402e-01 -1.65945326e-02 4.88260032e+01] [ 2.17245850e-02 -3.41164625e-04 9.99763935e-01 2.63059771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.44, Y:48.85, Z:2.63 [[ 6.35676753e-01 -7.71827522e-01 -1.40478266e-02 1.02443267e+02] [ 7.71648383e-01 6.35831899e-01 -1.66303606e-02 4.88485137e+01] [ 2.17678263e-02 -2.68449072e-04 9.99763017e-01 2.63104620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.46, Y:48.87, Z:2.63 [[ 6.37005048e-01 -7.70729431e-01 -1.41673161e-02 1.02459568e+02] [ 7.70546901e-01 6.37162530e-01 -1.67744630e-02 4.88721260e+01] [ 2.19554553e-02 -2.31163981e-04 9.99758923e-01 2.63152391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.48, Y:48.89, Z:2.63 [[ 6.38347973e-01 -7.69614947e-01 -1.43073319e-02 1.02477080e+02] [ 7.69428310e-01 6.38508260e-01 -1.69492636e-02 4.88940278e+01] [ 2.21797562e-02 -1.88938124e-04 9.99753981e-01 2.63193818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.49, Y:48.92, Z:2.63 [[ 6.40961084e-01 -7.67442059e-01 -1.41977104e-02 1.02492557e+02] [ 7.67257677e-01 6.41118299e-01 -1.68221031e-02 4.89173486e+01] [ 2.20124013e-02 -1.10988866e-04 9.99757692e-01 2.63322437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.51, Y:48.94, Z:2.63 [[ 6.41837922e-01 -7.66712410e-01 -1.40057998e-02 1.02509504e+02] [ 7.66532616e-01 6.41990712e-01 -1.66034455e-02 4.89401229e+01] [ 2.17216611e-02 -7.91813994e-05 9.99764054e-01 2.63386954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:48.96, Z:2.63 [[ 6.43230485e-01 -7.65553974e-01 -1.34779873e-02 1.02525448e+02] [ 7.65387028e-01 6.43371675e-01 -1.59870513e-02 4.89626665e+01] [ 2.09103059e-02 -3.25179186e-05 9.99781355e-01 2.63468781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.54, Y:48.98, Z:2.64 [[ 6.43756839e-01 -7.65112727e-01 -1.34032671e-02 1.02542945e+02] [ 7.64947438e-01 6.43896354e-01 -1.59029154e-02 4.89848017e+01] [ 2.07978378e-02 -1.51842782e-05 9.99783701e-01 2.63581786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:49.01, Z:2.64 [[ 6.44240044e-01 -7.64707356e-01 -1.33200645e-02 1.02560546e+02] [ 7.64543842e-01 6.44377730e-01 -1.58131276e-02 4.90064437e+01] [ 2.06755679e-02 3.67676850e-06 9.99786238e-01 2.63691488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.58, Y:49.03, Z:2.64 [[ 6.44533210e-01 -7.64464099e-01 -1.30989728e-02 1.02577828e+02] [ 7.64305738e-01 6.44666302e-01 -1.55594623e-02 4.90281064e+01] [ 2.03391167e-02 1.69701353e-05 9.99793139e-01 2.63872982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:49.05, Z:2.64 [[ 6.44494709e-01 -7.64499364e-01 -1.29341578e-02 1.02595406e+02] [ 7.64344796e-01 6.44624481e-01 -1.53724318e-02 4.90496630e+01] [ 2.00898891e-02 2.12947409e-05 9.99798178e-01 2.63888363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:49.07, Z:2.64 [[ 6.43729245e-01 -7.65130047e-01 -1.37357102e-02 1.02613391e+02] [ 7.64955653e-01 6.43875773e-01 -1.63351623e-02 4.90710468e+01] [ 2.13426145e-02 8.21250861e-06 9.99772220e-01 2.63911247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:49.09, Z:2.64 [[ 6.43163043e-01 -7.65603998e-01 -1.38498592e-02 1.02631238e+02] [ 7.65426589e-01 6.43312147e-01 -1.64808152e-02 4.90916365e+01] [ 2.15275606e-02 -1.19925058e-06 9.99768255e-01 2.63925292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.298040942 meters Centerline goodness [0,1] 0.9999342667455465 Centerline is valid? [True, True] Translation: X:102.65, Y:49.11, Z:2.64 [[ 6.41025699e-01 -7.67390131e-01 -1.40868615e-02 1.02650407e+02] [ 7.67206912e-01 6.41180460e-01 -1.67681802e-02 4.91109071e+01] [ 2.18999563e-02 -5.87030610e-05 9.99760165e-01 2.63915246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.328040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:49.13, Z:2.64 [[ 6.39471328e-01 -7.68683405e-01 -1.42212475e-02 1.02669681e+02] [ 7.68496848e-01 6.39629435e-01 -1.69346268e-02 4.91311976e+01] [ 2.21136951e-02 -9.97756077e-05 9.99755457e-01 2.63906347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.358040942 meters Centerline goodness [0,1] 0.9999780764255805 Centerline is valid? [True, True] Translation: X:102.69, Y:49.15, Z:2.64 [[ 6.37718829e-01 -7.70137966e-01 -1.42199800e-02 1.02689494e+02] [ 7.69951591e-01 6.37877333e-01 -1.69426996e-02 4.91521789e+01] [ 2.21188191e-02 -1.44017649e-04 9.99755339e-01 2.63955929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.388040942 meters Centerline goodness [0,1] 0.999956010117673 Centerline is valid? [True, True] Translation: X:102.71, Y:49.17, Z:2.64 [[ 6.34725316e-01 -7.72612824e-01 -1.38995353e-02 1.02710202e+02] [ 7.72435172e-01 6.34877450e-01 -1.65689074e-02 4.91721977e+01] [ 2.16258519e-02 -2.19784940e-04 9.99766110e-01 2.63912998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.418040942 meters Centerline goodness [0,1] 0.9999780171466256 Centerline is valid? [True, True] Translation: X:102.73, Y:49.19, Z:2.64 [[ 6.33025610e-01 -7.74003421e-01 -1.40456882e-02 1.02729988e+02] [ 7.73822167e-01 6.33181359e-01 -1.67517196e-02 4.91929523e+01] [ 2.18593563e-02 -2.64597347e-04 9.99761021e-01 2.63971333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.448040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:49.21, Z:2.64 [[ 6.30459527e-01 -7.76094525e-01 -1.40738509e-02 1.02750260e+02] [ 7.75912873e-01 6.30616507e-01 -1.67938991e-02 4.92121658e+01] [ 2.19088559e-02 -3.32208392e-04 9.99759917e-01 2.63992728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47804094199999 meters Centerline goodness [0,1] 0.9999780123131047 Centerline is valid? [True, True] Translation: X:102.77, Y:49.23, Z:2.64 [[ 6.29275280e-01 -7.77052892e-01 -1.41924200e-02 1.02768393e+02] [ 7.76868294e-01 6.29435199e-01 -1.69405945e-02 4.92344440e+01] [ 2.20969466e-02 -3.65343755e-04 9.99755766e-01 2.64031106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:49.25, Z:2.64 [[ 6.27469624e-01 -7.78504960e-01 -1.45567056e-02 1.02789196e+02] [ 7.78310945e-01 6.27638311e-01 -1.73845860e-02 4.92534795e+01] [ 2.26703325e-02 -4.21343616e-04 9.99742906e-01 2.64030153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.538040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.81, Y:49.27, Z:2.64 [[ 6.26631270e-01 -7.79173760e-01 -1.48829906e-02 1.02807632e+02] [ 7.78971061e-01 6.26807822e-01 -1.77775070e-02 4.92745545e+01] [ 2.31805419e-02 -4.53477196e-04 9.99731192e-01 2.64051923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.83, Y:49.30, Z:2.64 [[ 6.25827429e-01 -7.79822361e-01 -1.47347892e-02 1.02825093e+02] [ 7.79623646e-01 6.26000692e-01 -1.76097765e-02 4.92973939e+01] [ 2.29564857e-02 -4.66908910e-04 9.99736356e-01 2.64072374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.598040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:49.32, Z:2.64 [[ 6.25142130e-01 -7.80373482e-01 -1.46474133e-02 1.02843941e+02] [ 7.80177066e-01 6.25313521e-01 -1.75141521e-02 4.93192287e+01] [ 2.28268055e-02 -4.78741598e-04 9.99739320e-01 2.64147952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.628040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.86, Y:49.34, Z:2.64 [[ 6.25089922e-01 -7.80413424e-01 -1.47471050e-02 1.02861371e+02] [ 7.80214130e-01 6.25263672e-01 -1.76423439e-02 4.93398609e+01] [ 2.29891510e-02 -4.77848367e-04 9.99735600e-01 2.64191467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.658040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:49.36, Z:2.64 [[ 6.25635235e-01 -7.79973543e-01 -1.48938004e-02 1.02880091e+02] [ 7.79770008e-01 6.25812318e-01 -1.78235074e-02 4.93617489e+01] [ 2.32225880e-02 -4.62724644e-04 9.99730212e-01 2.64245408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:49.38, Z:2.64 [[ 6.25876501e-01 -7.79783223e-01 -1.47217583e-02 1.02898475e+02] [ 7.79584111e-01 6.26049461e-01 -1.76263159e-02 4.93839114e+01] [ 2.29612543e-02 -4.44951953e-04 9.99736257e-01 2.64294413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:49.41, Z:2.64 [[ 6.26594091e-01 -7.79203604e-01 -1.48858701e-02 1.02916357e+02] [ 7.78999639e-01 6.26770744e-01 -1.78324835e-02 4.94054817e+01] [ 2.32251633e-02 -4.22358646e-04 9.99730170e-01 2.64346615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.93, Y:49.43, Z:2.64 [[ 6.28042023e-01 -7.78045405e-01 -1.44417473e-02 1.02932481e+02] [ 7.77853015e-01 6.28207938e-01 -1.73052911e-02 4.94291467e+01] [ 2.25367226e-02 -3.65106655e-04 9.99745949e-01 2.64395153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:49.45, Z:2.64 [[ 6.28663485e-01 -7.77540724e-01 -1.45823777e-02 1.02950154e+02] [ 7.77344230e-01 6.28832493e-01 -1.74826644e-02 4.94526735e+01] [ 2.27633564e-02 -3.44814405e-04 9.99740822e-01 2.64416863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:49.48, Z:2.64 [[ 6.30046452e-01 -7.76413811e-01 -1.49352968e-02 1.02967219e+02] [ 7.76207171e-01 6.30223374e-01 -1.79144272e-02 4.94750257e+01] [ 2.33215818e-02 -3.05963224e-04 9.99727968e-01 2.64390498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:49.50, Z:2.64 [[ 6.29880315e-01 -7.76550029e-01 -1.48607192e-02 1.02984580e+02] [ 7.76345412e-01 6.30055520e-01 -1.78281727e-02 4.94967255e+01] [ 2.32075462e-02 -3.07436120e-04 9.99730621e-01 2.64416761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:49.52, Z:2.64 [[ 6.29946967e-01 -7.76502221e-01 -1.45299223e-02 1.03002895e+02] [ 7.76306377e-01 6.30114446e-01 -1.74411479e-02 4.95179748e+01] [ 2.26986040e-02 -2.92673143e-04 9.99742311e-01 2.64489980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.02, Y:49.54, Z:2.65 [[ 6.29728587e-01 -7.76679426e-01 -1.45250136e-02 1.03020474e+02] [ 7.76483535e-01 6.29896010e-01 -1.74452349e-02 4.95392223e+01] [ 2.26986031e-02 -2.92670792e-04 9.99742311e-01 2.64553774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928040942 meters Centerline goodness [0,1] 0.9998904973609865 Centerline is valid? [True, True] Translation: X:103.04, Y:49.56, Z:2.65 [[ 6.29228431e-01 -7.77100081e-01 -1.36764304e-02 1.03038311e+02] [ 7.76926324e-01 6.29376980e-01 -1.64348488e-02 4.95604766e+01] [ 2.13791528e-02 -2.84304668e-04 9.99771399e-01 2.64702206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:49.58, Z:2.65 [[ 6.29298860e-01 -7.77047999e-01 -1.33922821e-02 1.03055619e+02] [ 7.76881177e-01 6.29441288e-01 -1.61028822e-02 4.95816242e+01] [ 2.09423676e-02 -2.70686447e-04 9.99780648e-01 2.64827857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:49.60, Z:2.65 [[ 6.28939242e-01 -7.77352314e-01 -1.26019374e-02 1.03072542e+02] [ 7.77204592e-01 6.29065426e-01 -1.51562503e-02 4.96042072e+01] [ 1.97091894e-02 -2.61923024e-04 9.99805721e-01 2.64928603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:49.63, Z:2.65 [[ 6.28965972e-01 -7.77334240e-01 -1.23808379e-02 1.03089161e+02] [ 7.77191489e-01 6.29087765e-01 -1.48987789e-02 4.96263582e+01] [ 1.93699646e-02 -2.51456877e-04 9.99812353e-01 2.64974411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.048040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.11, Y:49.65, Z:2.65 [[ 6.29233722e-01 -7.77120603e-01 -1.21857373e-02 1.03105743e+02] [ 7.76982102e-01 6.29351661e-01 -1.46730882e-02 4.96471682e+01] [ 1.90718732e-02 -2.35297898e-04 9.99818088e-01 2.65010444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.078040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:49.67, Z:2.65 [[ 6.29962040e-01 -7.76533155e-01 -1.20036729e-02 1.03123334e+02] [ 7.76398555e-01 6.30076357e-01 -1.44592107e-02 4.96704794e+01] [ 1.87912869e-02 -2.10880443e-04 9.99823406e-01 2.65020370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.108040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:49.69, Z:2.65 [[ 6.30214466e-01 -7.76328945e-01 -1.19623028e-02 1.03140532e+02] [ 7.76195104e-01 6.30327954e-01 -1.44163117e-02 4.96921498e+01] [ 1.87319739e-02 -1.99712640e-04 9.99824521e-01 2.65097842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.138040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:49.71, Z:2.65 [[ 6.30591853e-01 -7.76025282e-01 -1.17760718e-02 1.03157342e+02] [ 7.75895377e-01 6.30701774e-01 -1.41998379e-02 4.97140974e+01] [ 1.84466226e-02 -1.82697554e-04 9.99829830e-01 2.65105021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.168040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:49.74, Z:2.65 [[ 6.31322940e-01 -7.75434921e-01 -1.14903409e-02 1.03172397e+02] [ 7.75310984e-01 6.31427477e-01 -1.38643181e-02 4.97364379e+01] [ 1.80061933e-02 -1.55725434e-04 9.99837863e-01 2.65069943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.198040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.19, Y:49.76, Z:2.65 [[ 6.31367952e-01 -7.75393789e-01 -1.17890357e-02 1.03188315e+02] [ 7.75263235e-01 6.31477986e-01 -1.42291483e-02 4.97577671e+01] [ 1.84777098e-02 -1.55777742e-04 9.99829260e-01 2.65045966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22804094199999 meters Centerline goodness [0,1] 0.999978214931486 Centerline is valid? [True, True] Translation: X:103.21, Y:49.78, Z:2.65 [[ 6.31118095e-01 -7.75600585e-01 -1.15621698e-02 1.03205388e+02] [ 7.75474984e-01 6.31223977e-01 -1.39585325e-02 4.97806856e+01] [ 1.81245647e-02 -1.56691004e-04 9.99835724e-01 2.64994185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.258040942 meters Centerline goodness [0,1] 0.9999782386351272 Centerline is valid? [True, True] Translation: X:103.22, Y:49.80, Z:2.65 [[ 6.30845843e-01 -7.75822103e-01 -1.15580033e-02 1.03223552e+02] [ 7.75696485e-01 6.30951694e-01 -1.39614754e-02 4.98022773e+01] [ 1.81241629e-02 -1.57963821e-04 9.99835731e-01 2.65053746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288040942 meters Centerline goodness [0,1] 0.9999781840394433 Centerline is valid? [True, True] Translation: X:103.24, Y:49.82, Z:2.65 [[ 6.30358175e-01 -7.76217040e-01 -1.16481073e-02 1.03241769e+02] [ 7.76089375e-01 6.30465764e-01 -1.40784196e-02 4.98237643e+01] [ 1.82716421e-02 -1.65525456e-04 9.99833046e-01 2.65125861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.318040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.26, Y:49.85, Z:2.65 [[ 6.30192747e-01 -7.76353844e-01 -1.14809044e-02 1.03259466e+02] [ 7.76229701e-01 6.30297298e-01 -1.38840856e-02 4.98460083e+01] [ 1.80153463e-02 -1.62168977e-04 9.99837697e-01 2.65161529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:49.87, Z:2.65 [[ 6.30187332e-01 -7.76356762e-01 -1.15803472e-02 1.03276601e+02] [ 7.76230313e-01 6.30293704e-01 -1.40124337e-02 4.98683673e+01] [ 1.81776676e-02 -1.58558307e-04 9.99834760e-01 2.65187324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.378040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.29, Y:49.89, Z:2.65 [[ 6.30172531e-01 -7.76365656e-01 -1.17876919e-02 1.03293381e+02] [ 7.76234484e-01 6.30282749e-01 -1.42717195e-02 4.98915434e+01] [ 1.85096517e-02 -1.56367321e-04 9.99828669e-01 2.65138524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.408040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.31, Y:49.91, Z:2.65 [[ 6.30303800e-01 -7.76262322e-01 -1.15726646e-02 1.03310661e+02] [ 7.76135713e-01 6.30410014e-01 -1.40203248e-02 4.99127115e+01] [ 1.81789735e-02 -1.44894279e-04 9.99834738e-01 2.65145224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.33, Y:49.93, Z:2.65 [[ 6.30475168e-01 -7.76123805e-01 -1.15283184e-02 1.03327724e+02] [ 7.75998060e-01 6.30580543e-01 -1.39710258e-02 4.99334744e+01] [ 1.81127790e-02 -1.37567930e-04 9.99835941e-01 2.65194890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.35, Y:49.95, Z:2.65 [[ 6.31061378e-01 -7.75658238e-01 -1.07626498e-02 1.03345186e+02] [ 7.75548514e-01 6.31153139e-01 -1.30467675e-02 4.99539774e+01] [ 1.69127129e-02 -1.13645974e-04 9.99856963e-01 2.65386389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.498040942 meters Centerline goodness [0,1] 0.999956363319006 Centerline is valid? [True, True] Translation: X:103.36, Y:49.97, Z:2.66 [[ 6.31303387e-01 -7.75468089e-01 -1.02604079e-02 1.03362146e+02] [ 7.75368300e-01 6.31386753e-01 -1.24405450e-02 4.99744439e+01] [ 1.61255313e-02 -1.01836853e-04 9.99869970e-01 2.65508641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.38, Y:50.00, Z:2.65 [[ 6.32089056e-01 -7.74826573e-01 -1.03540856e-02 1.03378393e+02] [ 7.74724768e-01 6.32173849e-01 -1.25602086e-02 4.99969465e+01] [ 1.62775655e-02 -8.23961277e-05 9.99867508e-01 2.65444625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:50.02, Z:2.65 [[ 6.32613268e-01 -7.74394814e-01 -1.06359952e-02 1.03395273e+02] [ 7.74287178e-01 6.32702669e-01 -1.29112135e-02 5.00183092e+01] [ 1.67277994e-02 -6.75096990e-05 9.99860078e-01 2.65481853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.41, Y:50.04, Z:2.65 [[ 6.32912686e-01 -7.74150406e-01 -1.06151475e-02 1.03412237e+02] [ 7.74043115e-01 6.33001695e-01 -1.28883625e-02 5.00406868e+01] [ 1.66969374e-02 -5.93737440e-05 9.99860595e-01 2.65396872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:50.06, Z:2.65 [[ 6.33460555e-01 -7.73692711e-01 -1.12834040e-02 1.03428521e+02] [ 7.73571239e-01 6.33561037e-01 -1.37094782e-02 5.00627158e+01] [ 1.77556485e-02 -4.41031926e-05 9.99842355e-01 2.65317122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:50.08, Z:2.65 [[ 6.33442389e-01 -7.73706111e-01 -1.13839367e-02 1.03445955e+02] [ 7.73582416e-01 6.33544673e-01 -1.38344979e-02 5.00842528e+01] [ 1.79160680e-02 -4.30558564e-05 9.99839493e-01 2.65324110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.678040942 meters Centerline goodness [0,1] 0.9999781773743017 Centerline is valid? [True, True] Translation: X:103.46, Y:50.10, Z:2.65 [[ 6.32621339e-01 -7.74375415e-01 -1.15307902e-02 1.03463792e+02] [ 7.74248455e-01 6.32726413e-01 -1.40219783e-02 5.01047430e+01] [ 1.81541107e-02 -5.70938123e-05 9.99835199e-01 2.65249012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.48, Y:50.13, Z:2.65 [[ 6.31778111e-01 -7.75061321e-01 -1.16776391e-02 1.03482444e+02] [ 7.74931157e-01 6.31886021e-01 -1.42041888e-02 5.01262844e+01] [ 1.83880543e-02 -7.54707847e-05 9.99830923e-01 2.65277849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.50, Y:50.15, Z:2.65 [[ 6.29891111e-01 -7.76596733e-01 -1.16061306e-02 1.03502341e+02] [ 7.76468257e-01 6.29998017e-01 -1.41260298e-02 5.01466519e+01] [ 1.82820678e-02 -1.13931389e-04 9.99832863e-01 2.65309484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:50.17, Z:2.65 [[ 6.28796434e-01 -7.77483499e-01 -1.15953949e-02 1.03521870e+02] [ 7.77355332e-01 6.28903323e-01 -1.41172986e-02 5.01665641e+01] [ 1.82683491e-02 -1.36835013e-04 9.99833110e-01 2.65440571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.798040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.54, Y:50.19, Z:2.65 [[ 6.27331628e-01 -7.78667375e-01 -1.14955285e-02 1.03540563e+02] [ 7.78541557e-01 6.27436921e-01 -1.39983605e-02 5.01874668e+01] [ 1.81127857e-02 -1.68132345e-04 9.99835936e-01 2.65460822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.828040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.56, Y:50.21, Z:2.65 [[ 6.25214028e-01 -7.80360723e-01 -1.20233599e-02 1.03559443e+02] [ 7.80223239e-01 6.25329588e-01 -1.46493611e-02 5.02096736e+01] [ 1.89503487e-02 -2.21918715e-04 9.99820401e-01 2.65383908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.858040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.58, Y:50.23, Z:2.65 [[ 6.23999531e-01 -7.81332718e-01 -1.19903691e-02 1.03577399e+02] [ 7.81196033e-01 6.24114671e-01 -1.46162529e-02 5.02321530e+01] [ 1.89035219e-02 -2.46293802e-04 9.99821282e-01 2.65347475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.888040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.60, Y:50.25, Z:2.65 [[ 6.21915151e-01 -7.82992103e-01 -1.20379517e-02 1.03596172e+02] [ 7.82854483e-01 6.22031576e-01 -1.46825324e-02 5.02526555e+01] [ 1.89842930e-02 -2.92675090e-04 9.99819739e-01 2.65364875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.918040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.61, Y:50.27, Z:2.65 [[ 6.20859939e-01 -7.83830332e-01 -1.19560016e-02 1.03614557e+02] [ 7.83694677e-01 6.20974968e-01 -1.45856832e-02 5.02743656e+01] [ 1.88570786e-02 -3.14188461e-04 9.99822140e-01 2.65436571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.948040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:50.30, Z:2.66 [[ 6.20089288e-01 -7.84443504e-01 -1.17330330e-02 1.03633202e+02] [ 7.84312841e-01 6.20200197e-01 -1.43207134e-02 5.02958681e+01] [ 1.85106200e-02 -3.22247436e-04 9.99828612e-01 2.65511299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:50.32, Z:2.66 [[ 6.19836257e-01 -7.84652465e-01 -1.11141580e-02 1.03652095e+02] [ 7.84535127e-01 6.19935816e-01 -1.35727185e-02 5.03167640e+01] [ 1.75399317e-02 -3.06584280e-04 9.99846117e-01 2.65635246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:50.34, Z:2.66 [[ 6.20023588e-01 -7.84504608e-01 -1.11027576e-02 1.03667492e+02] [ 7.84387449e-01 6.20122916e-01 -1.35609269e-02 5.03402482e+01] [ 1.75236841e-02 -3.00769207e-04 9.99846403e-01 2.65625299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:50.36, Z:2.66 [[ 6.21147266e-01 -7.83621854e-01 -1.06237444e-02 1.03683656e+02] [ 7.83514334e-01 6.21238056e-01 -1.29833098e-02 5.03646453e+01] [ 1.67738797e-02 -2.59308601e-04 9.99859275e-01 2.65627382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:50.39, Z:2.66 [[ 6.22077504e-01 -7.82882040e-01 -1.07373352e-02 1.03700278e+02] [ 7.82771956e-01 6.22170118e-01 -1.31304593e-02 5.03865353e+01] [ 1.69600498e-02 -2.36721519e-04 9.99856140e-01 2.65653151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:50.41, Z:2.66 [[ 6.23922658e-01 -7.81408366e-01 -1.10218902e-02 1.03716535e+02] [ 7.81292104e-01 6.24019971e-01 -1.34804661e-02 5.04112404e+01] [ 1.74116286e-02 -2.00547525e-04 9.99848386e-01 2.65586734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:50.43, Z:2.66 [[ 6.24704845e-01 -7.80781136e-01 -1.11657713e-02 1.03734021e+02] [ 7.80661665e-01 6.24804596e-01 -1.36594578e-02 5.04344420e+01] [ 1.76414722e-02 -1.83560145e-04 9.99844360e-01 2.65591182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:50.46, Z:2.66 [[ 6.25243098e-01 -7.80351240e-01 -1.10910254e-02 1.03750772e+02] [ 7.80233182e-01 6.25341439e-01 -1.35744714e-02 5.04566543e+01] [ 1.75285333e-02 -1.66241495e-04 9.99846350e-01 2.65608932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.77, Y:50.48, Z:2.66 [[ 6.26040860e-01 -7.79715412e-01 -1.08035818e-02 1.03767141e+02] [ 7.79603177e-01 6.26134057e-01 -1.32298578e-02 5.04796531e+01] [ 1.70800146e-02 -1.40075152e-04 9.99854116e-01 2.65578786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.78, Y:50.50, Z:2.66 [[ 6.26278354e-01 -7.79524244e-01 -1.08340231e-02 1.03784537e+02] [ 7.79411191e-01 6.26372043e-01 -1.32762572e-02 5.05001384e+01] [ 1.71352936e-02 -1.29526369e-04 9.99853172e-01 2.65706902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.80, Y:50.52, Z:2.66 [[ 6.26418327e-01 -7.79414430e-01 -1.06407954e-02 1.03801461e+02] [ 7.79305310e-01 6.26508685e-01 -1.30423118e-02 5.05219911e+01] [ 1.68319168e-02 -1.22485222e-04 9.99858326e-01 2.65728880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.82, Y:50.54, Z:2.66 [[ 6.26252876e-01 -7.79549638e-01 -1.04736697e-02 1.03818418e+02] [ 7.79443822e-01 6.26340441e-01 -1.28444480e-02 5.05443126e+01] [ 1.65729677e-02 -1.19764629e-04 9.99862652e-01 2.65734553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:50.57, Z:2.66 [[ 6.26124339e-01 -7.79652150e-01 -1.05278784e-02 1.03835683e+02] [ 7.79545126e-01 6.26212832e-01 -1.29184495e-02 5.05665701e+01] [ 1.66645895e-02 -1.18400673e-04 9.99861129e-01 2.65748720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:50.59, Z:2.66 [[ 6.25739629e-01 -7.79960341e-01 -1.05727045e-02 1.03852772e+02] [ 7.79852299e-01 6.25828931e-01 -1.29823107e-02 5.05880634e+01] [ 1.67423918e-02 -1.21601655e-04 9.99859829e-01 2.65748467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:50.61, Z:2.66 [[ 6.25386370e-01 -7.80239163e-01 -1.08966297e-02 1.03870475e+02] [ 7.80124384e-01 6.25481279e-01 -1.33833866e-02 5.06101831e+01] [ 1.72578802e-02 -1.30938987e-04 9.99851063e-01 2.65767178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.89, Y:50.63, Z:2.66 [[ 6.24604885e-01 -7.80862957e-01 -1.10353621e-02 1.03888343e+02] [ 7.80745175e-01 6.24702346e-01 -1.35628522e-02 5.06305893e+01] [ 1.74845454e-02 -1.44381959e-04 9.99847123e-01 2.65823798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.91, Y:50.65, Z:2.66 [[ 6.23674956e-01 -7.81606393e-01 -1.09998209e-02 1.03906827e+02] [ 7.81489419e-01 6.23771930e-01 -1.35228501e-02 5.06522071e+01] [ 1.74309256e-02 -1.62380691e-04 9.99848057e-01 2.65920268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:50.67, Z:2.66 [[ 6.22592633e-01 -7.82463480e-01 -1.13717201e-02 1.03925197e+02] [ 7.82338478e-01 6.22696449e-01 -1.39870698e-02 5.06739736e+01] [ 1.80255010e-02 -1.88287568e-04 9.99837510e-01 2.65962069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.94, Y:50.70, Z:2.66 [[ 6.21166882e-01 -7.83587841e-01 -1.19079661e-02 1.03943396e+02] [ 7.83450792e-01 6.21280970e-01 -1.46564757e-02 5.06957881e+01] [ 1.88828289e-02 -2.25188189e-04 9.99821678e-01 2.65914106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.96, Y:50.72, Z:2.66 [[ 6.20503281e-01 -7.84110394e-01 -1.21065213e-02 1.03961007e+02] [ 7.83968766e-01 6.20621327e-01 -1.49044693e-02 5.07164610e+01] [ 1.92003146e-02 -2.42862412e-04 9.99815627e-01 2.65962295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.98, Y:50.74, Z:2.66 [[ 6.19460424e-01 -7.84923152e-01 -1.28229784e-02 1.03979514e+02] [ 7.84764330e-01 6.19593066e-01 -1.57917272e-02 5.07390262e+01] [ 2.03403208e-02 -2.80666023e-04 9.99793075e-01 2.65949466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:50.76, Z:2.66 [[ 6.19114254e-01 -7.85188722e-01 -1.32744621e-02 1.03997244e+02] [ 7.85018404e-01 6.19256476e-01 -1.63561109e-02 5.07604495e+01] [ 2.10629304e-02 -2.94395679e-04 9.99778109e-01 2.65978960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:50.78, Z:2.66 [[ 6.18673713e-01 -7.85529556e-01 -1.36438112e-02 1.04014141e+02] [ 7.85349489e-01 6.18824063e-01 -1.68213790e-02 5.07810090e+01] [ 2.16568091e-02 -3.08215209e-04 9.99765416e-01 2.65975885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:50.80, Z:2.66 [[ 6.17691980e-01 -7.86289135e-01 -1.43532091e-02 1.04031939e+02] [ 7.86089922e-01 6.17858621e-01 -1.77019821e-02 5.08029449e+01] [ 2.27871302e-02 -3.48540584e-04 9.99740279e-01 2.66016860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.05, Y:50.82, Z:2.66 [[ 6.17337912e-01 -7.86570383e-01 -1.41751355e-02 1.04048839e+02] [ 7.86375945e-01 6.17500535e-01 -1.74917731e-02 5.08235244e+01] [ 2.25116644e-02 -3.48650883e-04 9.99746520e-01 2.66070123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:50.85, Z:2.66 [[ 6.16834362e-01 -7.86960513e-01 -1.44402694e-02 1.04066546e+02] [ 7.86758627e-01 6.17003257e-01 -1.78281646e-02 5.08452403e+01] [ 2.29397548e-02 -3.63982025e-04 9.99736783e-01 2.66184921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72804094199998 meters Centerline goodness [0,1] 0.9999128730124156 Centerline is valid? [True, True] Translation: X:104.09, Y:50.87, Z:2.66 [[ 6.16397076e-01 -7.87296323e-01 -1.48035486e-02 1.04085470e+02] [ 7.87084000e-01 6.16574697e-01 -1.82871636e-02 5.08664005e+01] [ 2.35249102e-02 -3.79482082e-04 9.99723179e-01 2.66314017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.10, Y:50.89, Z:2.66 [[ 6.16253259e-01 -7.87407217e-01 -1.48927847e-02 1.04102516e+02] [ 7.87192114e-01 6.16433071e-01 -1.84077537e-02 5.08889678e+01] [ 2.36748031e-02 -3.79644404e-04 9.99719640e-01 2.66426015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:50.91, Z:2.67 [[ 6.15855185e-01 -7.87718899e-01 -1.48770484e-02 1.04118882e+02] [ 7.87504089e-01 6.16034729e-01 -1.83989541e-02 5.09103352e+01] [ 2.36579824e-02 -3.84645107e-04 9.99720037e-01 2.66509451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.14, Y:50.93, Z:2.67 [[ 6.15632569e-01 -7.87892952e-01 -1.48740070e-02 1.04136152e+02] [ 7.87678133e-01 6.15812103e-01 -1.84014125e-02 5.09318315e+01] [ 2.36579367e-02 -3.87421236e-04 9.99720037e-01 2.66573339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:50.95, Z:2.67 [[ 6.14979378e-01 -7.88395439e-01 -1.52642226e-02 1.04154151e+02] [ 7.88169084e-01 6.15168646e-01 -1.88953074e-02 5.09548166e+01] [ 2.42870453e-02 -4.10563996e-04 9.99704942e-01 2.66658296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.17, Y:50.98, Z:2.67 [[ 6.14423203e-01 -7.88823386e-01 -1.55496820e-02 1.04172585e+02] [ 7.88588376e-01 6.14619786e-01 -1.92585847e-02 5.09772399e+01] [ 2.47487643e-02 -4.29377199e-04 9.99693610e-01 2.66674692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:51.00, Z:2.67 [[ 6.13089843e-01 -7.89840522e-01 -1.65164671e-02 1.04191801e+02] [ 7.89575457e-01 6.13312079e-01 -2.04668261e-02 5.09992642e+01] [ 2.62952774e-02 -4.92993849e-04 9.99654098e-01 2.66740528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.21, Y:51.02, Z:2.67 [[ 6.12162329e-01 -7.90559570e-01 -1.65181317e-02 1.04210373e+02] [ 7.90294443e-01 6.12384926e-01 -2.04791410e-02 5.10218936e+01] [ 2.63054358e-02 -5.17629098e-04 9.99653818e-01 2.66829800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.23, Y:51.04, Z:2.67 [[ 6.11060462e-01 -7.91401399e-01 -1.69981768e-02 1.04228685e+02] [ 7.91120665e-01 6.11296580e-01 -2.10851526e-02 5.10439663e+01] [ 2.70777466e-02 -5.63305782e-04 9.99633172e-01 2.66939244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:51.07, Z:2.67 [[ 6.10437517e-01 -7.91882295e-01 -1.69843590e-02 1.04246281e+02] [ 7.91601919e-01 6.10673478e-01 -2.10785517e-02 5.10674397e+01] [ 2.70636295e-02 -5.77712349e-04 9.99633546e-01 2.67048842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.26, Y:51.09, Z:2.67 [[ 6.09899523e-01 -7.92291374e-01 -1.72322395e-02 1.04262842e+02] [ 7.92002639e-01 6.10142623e-01 -2.13962461e-02 5.10894910e+01] [ 2.74661850e-02 -5.98418813e-04 9.99622554e-01 2.67084826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:51.11, Z:2.67 [[ 6.08854805e-01 -7.93093070e-01 -1.72976646e-02 1.04279399e+02] [ 7.92802287e-01 6.09100141e-01 -2.14837692e-02 5.11133935e+01] [ 2.75746384e-02 -6.33131970e-04 9.99619547e-01 2.67159591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.30, Y:51.14, Z:2.67 [[ 6.08405429e-01 -7.93433834e-01 -1.74809996e-02 1.04297191e+02] [ 7.93136683e-01 6.08656168e-01 -2.17225990e-02 5.11357241e+01] [ 2.78753632e-02 -6.48674853e-04 9.99611196e-01 2.67277334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.31, Y:51.16, Z:2.68 [[ 6.07757980e-01 -7.93944275e-01 -1.68144565e-02 1.04313405e+02] [ 7.93669249e-01 6.07990196e-01 -2.09056157e-02 5.11590939e+01] [ 2.68209186e-02 -6.39562285e-04 9.99640050e-01 2.67538631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148040942 meters Centerline goodness [0,1] 0.9999782504676149 Centerline is valid? [True, True] Translation: X:104.33, Y:51.18, Z:2.68 [[ 6.07827429e-01 -7.93894586e-01 -1.66494241e-02 1.04330013e+02] [ 7.93624645e-01 6.08055093e-01 -2.07105291e-02 5.11801528e+01] [ 2.65657440e-02 -6.24965688e-04 9.99646873e-01 2.67659794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:51.20, Z:2.68 [[ 6.07984266e-01 -7.93778205e-01 -1.64710011e-02 1.04347118e+02] [ 7.93513795e-01 6.08207030e-01 -2.04955238e-02 5.12029224e+01] [ 2.62866788e-02 -6.09010597e-04 9.99654260e-01 2.67751831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.36, Y:51.23, Z:2.68 [[ 6.08955008e-01 -7.93028530e-01 -1.67197294e-02 1.04362447e+02] [ 7.92755488e-01 6.09184222e-01 -2.08163210e-02 5.12282016e+01] [ 2.66933318e-02 -5.78454352e-04 9.99643502e-01 2.67790996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.38, Y:51.25, Z:2.68 [[ 6.09238570e-01 -7.92812448e-01 -1.66369296e-02 1.04378749e+02] [ 7.92541757e-01 6.09465429e-01 -2.07232769e-02 5.12503876e+01] [ 2.65693053e-02 -5.60041806e-04 9.99646817e-01 2.67836066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.39, Y:51.28, Z:2.68 [[ 6.10839185e-01 -7.91587136e-01 -1.62879269e-02 1.04394113e+02] [ 7.91327078e-01 6.11056105e-01 -2.02951182e-02 5.12752833e+01] [ 2.60181917e-02 -4.92024190e-04 9.99661348e-01 2.68056225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.41, Y:51.30, Z:2.68 [[ 6.11685339e-01 -7.90935259e-01 -1.62007085e-02 1.04411104e+02] [ 7.90677498e-01 6.11899672e-01 -2.01961484e-02 5.12969159e+01] [ 2.58870541e-02 -4.55847817e-04 9.99664770e-01 2.68154384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.43, Y:51.32, Z:2.68 [[ 6.14822970e-01 -7.88497029e-01 -1.62834582e-02 1.04426410e+02] [ 7.88235653e-01 6.15038464e-01 -2.03037628e-02 5.13216000e+01] [ 2.60244098e-02 -3.51982582e-04 9.99661246e-01 2.68380363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:51.34, Z:2.69 [[ 6.16584303e-01 -7.87125033e-01 -1.60617513e-02 1.04442467e+02] [ 7.86870019e-01 6.16793403e-01 -2.00367507e-02 5.13448300e+01] [ 2.56782103e-02 -2.84164571e-04 9.99670220e-01 2.68514110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:51.37, Z:2.69 [[ 6.18395839e-01 -7.85703296e-01 -1.60286254e-02 1.04458472e+02] [ 7.85448747e-01 6.18603492e-01 -1.99996393e-02 5.13687999e+01] [ 2.56291462e-02 -2.21970024e-04 9.99671495e-01 2.68593905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.47, Y:51.39, Z:2.69 [[ 6.21779258e-01 -7.83026356e-01 -1.61332006e-02 1.04473481e+02] [ 7.82767302e-01 6.21988517e-01 -2.01404101e-02 5.13939446e+01] [ 2.58051374e-02 -1.05652674e-04 9.99666986e-01 2.68734914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.49, Y:51.42, Z:2.69 [[ 6.22475016e-01 -7.82466560e-01 -1.64601718e-02 1.04489805e+02] [ 7.82196414e-01 6.22692602e-01 -2.05594864e-02 5.14165283e+01] [ 2.63367378e-02 -7.73207546e-05 9.99653125e-01 2.68805769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.51, Y:51.44, Z:2.69 [[ 6.23580602e-01 -7.81585642e-01 -1.64656391e-02 1.04505759e+02] [ 7.81314709e-01 6.23797951e-01 -2.05777005e-02 5.14380427e+01] [ 2.63544672e-02 -3.29911371e-05 9.99652660e-01 2.68891295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.52, Y:51.46, Z:2.69 [[ 6.23229699e-01 -7.81859552e-01 -1.67446563e-02 1.04523646e+02] [ 7.81579256e-01 6.23454601e-01 -2.09338798e-02 5.14600139e+01] [ 2.68068869e-02 -4.06604075e-05 9.99640630e-01 2.68975703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.54, Y:51.48, Z:2.69 [[ 6.22555943e-01 -7.82394286e-01 -1.68308953e-02 1.04541914e+02] [ 7.82110958e-01 6.22783412e-01 -2.10539965e-02 5.14816123e+01] [ 2.69545289e-02 -5.63369949e-05 9.99636659e-01 2.69054653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:51.50, Z:2.69 [[ 6.21593075e-01 -7.83155672e-01 -1.70071067e-02 1.04560158e+02] [ 7.82866344e-01 6.21825688e-01 -2.12861689e-02 5.15018532e+01] [ 2.72458398e-02 -8.29562707e-05 9.99628760e-01 2.69184695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.58, Y:51.52, Z:2.69 [[ 6.20861120e-01 -7.83731345e-01 -1.72235170e-02 1.04577535e+02] [ 7.83434628e-01 6.21099967e-01 -2.15642108e-02 5.15229651e+01] [ 2.75980737e-02 -1.05119563e-04 9.99619095e-01 2.69264191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:51.54, Z:2.69 [[ 6.19455734e-01 -7.84830059e-01 -1.77868570e-02 1.04595503e+02] [ 7.84513832e-01 6.19711026e-01 -2.22776253e-02 5.15438767e+01] [ 2.85068614e-02 -1.54032628e-04 9.99593585e-01 2.69308551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.61, Y:51.57, Z:2.69 [[ 6.18838781e-01 -7.85310027e-01 -1.80755275e-02 1.04613058e+02] [ 7.84983313e-01 6.19102683e-01 -2.26509659e-02 5.15651824e+01] [ 2.89786382e-02 -1.71691297e-04 9.99580016e-01 2.69448984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:51.59, Z:2.69 [[ 6.18125166e-01 -7.85873675e-01 -1.79957295e-02 1.04630464e+02] [ 7.85549720e-01 6.18387040e-01 -2.25633821e-02 5.15857455e+01] [ 2.88602940e-02 -1.89545956e-04 9.99583437e-01 2.69489980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.65, Y:51.61, Z:2.70 [[ 6.16300842e-01 -7.87309210e-01 -1.78179956e-02 1.04649099e+02] [ 7.86991896e-01 6.16558308e-01 -2.23519046e-02 5.16068912e+01] [ 2.85836936e-02 -2.47120509e-04 9.99591372e-01 2.69587494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.67, Y:51.63, Z:2.70 [[ 6.14843542e-01 -7.88454729e-01 -1.75088668e-02 1.04666455e+02] [ 7.88148473e-01 6.15092723e-01 -2.19755799e-02 5.16294844e+01] [ 2.80963264e-02 -2.88043277e-04 9.99605179e-01 2.69727478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.69, Y:51.65, Z:2.70 [[ 6.12523501e-01 -7.90256517e-01 -1.75953831e-02 1.04685591e+02] [ 7.89947685e-01 6.12776063e-01 -2.20941759e-02 5.16499659e+01] [ 2.82420961e-02 -3.66230184e-04 9.99601045e-01 2.69799803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.70, Y:51.67, Z:2.70 [[ 6.11302711e-01 -7.91197465e-01 -1.77641934e-02 1.04703658e+02] [ 7.90882948e-01 6.11560629e-01 -2.23105242e-02 5.16711627e+01] [ 2.85159115e-02 -4.10913752e-04 9.99593254e-01 2.69843305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.72, Y:51.69, Z:2.70 [[ 6.10318569e-01 -7.91951080e-01 -1.80202841e-02 1.04722611e+02] [ 7.91627586e-01 6.10584380e-01 -2.26380348e-02 5.16919532e+01] [ 2.89311201e-02 -4.48940943e-04 9.99581307e-01 2.69815104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.74, Y:51.72, Z:2.70 [[ 6.09430063e-01 -7.92620506e-01 -1.86475507e-02 1.04739920e+02] [ 7.92274186e-01 6.09715089e-01 -2.34334111e-02 5.17153304e+01] [ 2.99434952e-02 -4.92947879e-04 9.99551471e-01 2.69946156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.76, Y:51.74, Z:2.70 [[ 6.08366173e-01 -7.93431156e-01 -1.89103187e-02 1.04758037e+02] [ 7.93075065e-01 6.08659770e-01 -2.37744709e-02 5.17370454e+01] [ 3.03733561e-02 -5.33718416e-04 9.99538481e-01 2.69887224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.78, Y:51.76, Z:2.70 [[ 6.07613245e-01 -7.94001615e-01 -1.91723748e-02 1.04775314e+02] [ 7.93635611e-01 6.07915386e-01 -2.41122578e-02 5.17604899e+01] [ 3.08003532e-02 -5.64952188e-04 9.99525397e-01 2.69867140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:51.78, Z:2.70 [[ 6.06854212e-01 -7.94578914e-01 -1.92954402e-02 1.04792943e+02] [ 7.94208109e-01 6.07160605e-01 -2.42792061e-02 5.17832503e+01] [ 3.10071764e-02 -5.90656624e-04 9.99518987e-01 2.69958938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.81, Y:51.81, Z:2.70 [[ 6.06336239e-01 -7.94972965e-01 -1.93481109e-02 1.04810488e+02] [ 7.94599943e-01 6.06644557e-01 -2.43579863e-02 5.18062265e+01] [ 3.11013668e-02 -6.04878003e-04 9.99516052e-01 2.70117838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.83, Y:51.83, Z:2.70 [[ 6.05484257e-01 -7.95632458e-01 -1.89157717e-02 1.04828416e+02] [ 7.95275907e-01 6.05779341e-01 -2.38247928e-02 5.18273519e+01] [ 3.04145622e-02 -6.17720548e-04 9.99537179e-01 2.70226161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:51.85, Z:2.70 [[ 6.03769895e-01 -7.96949348e-01 -1.82661063e-02 1.04846433e+02] [ 7.96617298e-01 6.04045781e-01 -2.30125139e-02 5.18482143e+01] [ 2.93733724e-02 -6.56833158e-04 9.99568294e-01 2.70312613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.86, Y:51.87, Z:2.70 [[ 6.02093518e-01 -7.98231761e-01 -1.75912077e-02 1.04864169e+02] [ 7.97924141e-01 6.02350049e-01 -2.21694300e-02 5.18710956e+01] [ 2.82924080e-02 -6.88379176e-04 9.99599453e-01 2.70481966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:51.89, Z:2.71 [[ 6.01163414e-01 -7.98934693e-01 -1.74901540e-02 1.04881598e+02] [ 7.98630610e-01 6.01417368e-01 -2.20521601e-02 5.18930178e+01] [ 2.81371182e-02 -7.11220532e-04 9.99603820e-01 2.70598599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.90, Y:51.92, Z:2.71 [[ 6.00175820e-01 -7.99690912e-01 -1.68354035e-02 1.04898003e+02] [ 7.99409303e-01 6.00411471e-01 -2.12328184e-02 5.19163306e+01] [ 2.70878613e-02 -7.14953986e-04 9.99632801e-01 2.70726316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.91, Y:51.94, Z:2.71 [[ 5.98787993e-01 -8.00747494e-01 -1.60121957e-02 1.04914698e+02] [ 8.00492878e-01 5.99001614e-01 -2.02044246e-02 5.19403080e+01] [ 2.57699735e-02 -7.19481791e-04 9.99667640e-01 2.70794809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.93, Y:51.96, Z:2.71 [[ 5.98303177e-01 -8.01115780e-01 -1.57103854e-02 1.04931294e+02] [ 8.00870548e-01 5.98508977e-01 -1.98335618e-02 5.19635610e+01] [ 2.52917860e-02 -7.15501889e-04 9.99679856e-01 2.70842108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.95, Y:51.99, Z:2.71 [[ 5.97860715e-01 -8.01453792e-01 -1.53096538e-02 1.04947136e+02] [ 8.01220791e-01 5.98056287e-01 -1.93370526e-02 5.19863364e+01] [ 2.46537889e-02 -7.05548817e-04 9.99695800e-01 2.70945772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.96, Y:52.01, Z:2.71 [[ 5.97887702e-01 -8.01424611e-01 -1.57762298e-02 1.04964022e+02] [ 8.01177042e-01 5.98095370e-01 -1.99317871e-02 5.20078222e+01] [ 2.54095147e-02 -7.22582801e-04 9.99676865e-01 2.71011814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:52.03, Z:2.71 [[ 5.97799274e-01 -8.01489342e-01 -1.58386403e-02 1.04979140e+02] [ 8.01239661e-01 5.98008621e-01 -2.00173748e-02 5.20318302e+01] [ 2.55153560e-02 -7.24174678e-04 9.99674168e-01 2.71030045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.99, Y:52.06, Z:2.71 [[ 5.98136582e-01 -8.01220578e-01 -1.66797469e-02 1.04994428e+02] [ 8.00943228e-01 5.98368643e-01 -2.10929568e-02 5.20565507e+01] [ 2.68807486e-02 -7.43061261e-04 9.99638371e-01 2.70899890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:52.08, Z:2.71 [[ 5.98454589e-01 -8.00985535e-01 -1.65613215e-02 1.05010505e+02] [ 8.00711739e-01 5.98683266e-01 -2.09537172e-02 5.20809162e+01] [ 2.66986104e-02 -7.20996307e-04 9.99643269e-01 2.70883201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.03, Y:52.10, Z:2.71 [[ 5.99096009e-01 -8.00501385e-01 -1.67780874e-02 1.05028042e+02] [ 8.00219889e-01 5.99330493e-01 -2.12388764e-02 5.21032672e+01] [ 2.70573694e-02 -7.02033103e-04 9.99633636e-01 2.70859523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:52.13, Z:2.71 [[ 6.00643530e-01 -7.99345680e-01 -1.65479103e-02 1.05041591e+02] [ 7.99071138e-01 6.00871101e-01 -2.09579467e-02 5.21292117e+01] [ 2.66958052e-02 -6.34702449e-04 9.99643402e-01 2.70962822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.06, Y:52.15, Z:2.71 [[ 6.01205681e-01 -7.98932041e-01 -1.61034961e-02 1.05058576e+02] [ 7.98671639e-01 6.01421018e-01 -2.04051935e-02 5.21519784e+01] [ 2.59873439e-02 -5.93687394e-04 9.99662096e-01 2.70971601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:52.18, Z:2.71 [[ 6.02118633e-01 -7.98251494e-01 -1.57386167e-02 1.05074402e+02] [ 7.98002278e-01 6.02324045e-01 -1.99526913e-02 5.21764885e+01] [ 2.54070129e-02 -5.45564762e-04 9.99677041e-01 2.71082291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:52.20, Z:2.71 [[ 6.02277505e-01 -7.98129734e-01 -1.58345698e-02 1.05093172e+02] [ 7.97877175e-01 6.02485384e-01 -2.00842268e-02 5.21964198e+01] [ 2.55699154e-02 -5.37763784e-04 9.99672892e-01 2.71085014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:52.22, Z:2.71 [[ 6.01995005e-01 -7.98341984e-01 -1.58773551e-02 1.05107079e+02] [ 7.98087962e-01 6.02204101e-01 -2.01451075e-02 5.22206246e+01] [ 2.56440935e-02 -5.44271924e-04 9.99670988e-01 2.71154219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:52.24, Z:2.71 [[ 6.01752482e-01 -7.98543243e-01 -1.49211216e-02 1.05122469e+02] [ 7.98318719e-01 6.01937227e-01 -1.89419682e-02 5.22430081e+01] [ 2.41075593e-02 -5.13434271e-04 9.99709239e-01 2.71251183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:52.26, Z:2.71 [[ 6.01526670e-01 -7.98718604e-01 -1.46375405e-02 1.05139365e+02] [ 7.98502446e-01 6.01704525e-01 -1.85878747e-02 5.22646446e+01] [ 2.36539557e-02 -5.07009592e-04 9.99720077e-01 2.71347751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.16, Y:52.29, Z:2.71 [[ 6.01306609e-01 -7.98896236e-01 -1.39701786e-02 1.05156155e+02] [ 7.98699243e-01 6.01468675e-01 -1.77468997e-02 5.22866548e+01] [ 2.25805562e-02 -4.86643017e-04 9.99744908e-01 2.71401053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:52.31, Z:2.71 [[ 6.01629087e-01 -7.98665955e-01 -1.32338634e-02 1.05172623e+02] [ 7.98488932e-01 6.01774454e-01 -1.68205933e-02 5.23077239e+01] [ 2.13978361e-02 -4.47335266e-04 9.99770940e-01 2.71495962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.19, Y:52.33, Z:2.72 [[ 6.01944228e-01 -7.98437977e-01 -1.26468350e-02 1.05189079e+02] [ 7.98276116e-01 6.02076925e-01 -1.60816436e-02 5.23311153e+01] [ 2.04545625e-02 -4.15413824e-04 9.99790697e-01 2.71532846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.21, Y:52.35, Z:2.72 [[ 6.01727527e-01 -7.98601372e-01 -1.26424917e-02 1.05206032e+02] [ 7.98439474e-01 6.01860180e-01 -1.60850572e-02 5.23528444e+01] [ 2.04545611e-02 -4.15442732e-04 9.99790697e-01 2.71596648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.22, Y:52.38, Z:2.72 [[ 6.02034973e-01 -7.98367879e-01 -1.27523244e-02 1.05222262e+02] [ 7.98202914e-01 6.02169881e-01 -1.62339748e-02 5.23759804e+01] [ 2.06397497e-02 -4.05521916e-04 9.99786895e-01 2.71638361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.24, Y:52.40, Z:2.72 [[ 6.02828889e-01 -7.97762889e-01 -1.31036105e-02 1.05236970e+02] [ 7.97588362e-01 6.02971162e-01 -1.66908281e-02 5.23991871e+01] [ 2.12164225e-02 -3.89573868e-04 9.99774830e-01 2.71532381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.25, Y:52.42, Z:2.71 [[ 6.04112628e-01 -7.96787430e-01 -1.33313104e-02 1.05253199e+02] [ 7.96606385e-01 6.04259600e-01 -1.69883621e-02 5.24238625e+01] [ 2.15916856e-02 -3.56922883e-04 9.99766809e-01 2.71469637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.27, Y:52.44, Z:2.71 [[ 6.04209207e-01 -7.96706457e-01 -1.37860950e-02 1.05270915e+02] [ 7.96512710e-01 6.04366354e-01 -1.75730720e-02 5.24438473e+01] [ 2.23324318e-02 -3.62987994e-04 9.99750534e-01 2.71494672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:52.47, Z:2.71 [[ 6.04047693e-01 -7.96820802e-01 -1.42475916e-02 1.05286798e+02] [ 7.96613727e-01 6.04215581e-01 -1.81687024e-02 5.24664975e+01] [ 2.30858168e-02 -3.75064275e-04 9.99733417e-01 2.71480270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:52.49, Z:2.72 [[ 6.03941769e-01 -7.96891255e-01 -1.47873885e-02 1.05304512e+02] [ 7.96667939e-01 6.04122652e-01 -1.88683985e-02 5.24886951e+01] [ 2.39694581e-02 -3.85224300e-04 9.99712617e-01 2.71503198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:52.51, Z:2.71 [[ 6.03884786e-01 -7.96920615e-01 -1.55144751e-02 1.05321604e+02] [ 7.96674513e-01 6.04083914e-01 -1.98077147e-02 5.25100221e+01] [ 2.51572210e-02 -3.98409313e-04 9.99683428e-01 2.71452463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.34, Y:52.53, Z:2.71 [[ 6.04317204e-01 -7.96584701e-01 -1.59226253e-02 1.05339589e+02] [ 7.96325179e-01 6.04526808e-01 -2.03358639e-02 5.25324109e+01] [ 2.58248919e-02 -3.90275057e-04 9.99666406e-01 2.71487138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:52.55, Z:2.72 [[ 6.04283302e-01 -7.96608900e-01 -1.59985068e-02 1.05356766e+02] [ 7.96346618e-01 6.04494923e-01 -2.04438891e-02 5.25545642e+01] [ 2.59568001e-02 -3.86455955e-04 9.99662991e-01 2.71635068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:52.57, Z:2.72 [[ 6.04298884e-01 -7.96599815e-01 -1.58617181e-02 1.05374939e+02] [ 7.96341703e-01 6.04506902e-01 -2.02804695e-02 5.25749136e+01] [ 2.57439363e-02 -3.75882486e-04 9.99668499e-01 2.71772713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.39, Y:52.59, Z:2.72 [[ 6.04874287e-01 -7.96176873e-01 -1.51487458e-02 1.05394395e+02] [ 7.95941171e-01 6.05063858e-01 -1.93747005e-02 5.25948007e+01] [ 2.45916470e-02 -3.38252299e-04 9.99697522e-01 2.71947977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.41, Y:52.62, Z:2.72 [[ 6.04935314e-01 -7.96132884e-01 -1.50232018e-02 1.05411879e+02] [ 7.95900968e-01 6.05121741e-01 -1.92179160e-02 5.26161228e+01] [ 2.43908809e-02 -3.31384823e-04 9.99702443e-01 2.72059803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:52.64, Z:2.72 [[ 6.04406960e-01 -7.96529346e-01 -1.52717849e-02 1.05431352e+02] [ 7.96289548e-01 6.04599769e-01 -1.95467551e-02 5.26355970e+01] [ 2.48028816e-02 -3.46567846e-04 9.99692301e-01 2.72145853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:52.66, Z:2.72 [[ 6.04330933e-01 -7.96582387e-01 -1.55120739e-02 1.05450309e+02] [ 7.96334744e-01 6.04529884e-01 -1.98644346e-02 5.26569736e+01] [ 2.52011710e-02 -3.48111075e-04 9.99682339e-01 2.72208521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:52.68, Z:2.72 [[ 6.03924032e-01 -7.96886532e-01 -1.57359038e-02 1.05468934e+02] [ 7.96631511e-01 6.04128898e-01 -2.01620878e-02 5.26779036e+01] [ 2.55734104e-02 -3.59347480e-04 9.99672882e-01 2.72283665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.49, Y:52.70, Z:2.72 [[ 6.04135844e-01 -7.96732790e-01 -1.53864849e-02 1.05488563e+02] [ 7.96488661e-01 6.04331653e-01 -1.97247554e-02 5.26970838e+01] [ 2.50138992e-02 -3.38728948e-04 9.99687046e-01 2.72420552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:52.72, Z:2.73 [[ 6.04176858e-01 -7.96701186e-01 -1.54124687e-02 1.05505293e+02] [ 7.96455983e-01 6.04373320e-01 -1.97675707e-02 5.27190401e+01] [ 2.50637319e-02 -3.32244166e-04 9.99685800e-01 2.72529895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.52, Y:52.74, Z:2.73 [[ 6.04466670e-01 -7.96481500e-01 -1.54033883e-02 1.05522507e+02] [ 7.96236240e-01 6.04662815e-01 -1.97669090e-02 5.27395453e+01] [ 2.50578335e-02 -3.16298359e-04 9.99685953e-01 2.72590477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:52.76, Z:2.73 [[ 6.05256309e-01 -7.95881653e-01 -1.54011290e-02 1.05540566e+02] [ 7.95636031e-01 6.05452155e-01 -1.97735434e-02 5.27595660e+01] [ 2.50620472e-02 -2.85631244e-04 9.99685857e-01 2.72568662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.56, Y:52.78, Z:2.73 [[ 6.05610493e-01 -7.95609589e-01 -1.55342575e-02 1.05558656e+02] [ 7.95359419e-01 6.05809631e-01 -1.99521128e-02 5.27806816e+01] [ 2.52848951e-02 -2.72109153e-04 9.99680249e-01 2.72591803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.58, Y:52.80, Z:2.73 [[ 6.06253291e-01 -7.95109905e-01 -1.60370277e-02 1.05579188e+02] [ 7.94842802e-01 6.06465313e-01 -2.06093190e-02 5.27990694e+01] [ 2.61125747e-02 -2.52448556e-04 9.99658977e-01 2.72623347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.60, Y:52.82, Z:2.73 [[ 6.06462102e-01 -7.94946500e-01 -1.62413327e-02 1.05597786e+02] [ 7.94672231e-01 6.06679490e-01 -2.08816134e-02 5.28207400e+01] [ 2.64530489e-02 -2.42628910e-04 9.99650027e-01 2.72716937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:52.84, Z:2.73 [[ 6.06571466e-01 -7.94860160e-01 -1.63824182e-02 1.05616772e+02] [ 7.94580862e-01 6.06792610e-01 -2.10709107e-02 5.28404781e+01] [ 2.66891577e-02 -2.36142805e-04 9.99643753e-01 2.72698805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:52.86, Z:2.73 [[ 6.06848876e-01 -7.94636652e-01 -1.69420805e-02 1.05637211e+02] [ 7.94337538e-01 6.07085283e-01 -2.18021814e-02 5.28606651e+01] [ 2.76101002e-02 -2.27101246e-04 9.99618743e-01 2.72611305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.65, Y:52.88, Z:2.73 [[ 6.07167362e-01 -7.94387816e-01 -1.71986070e-02 1.05654943e+02] [ 7.94079136e-01 6.07410860e-01 -2.21443609e-02 5.28818257e+01] [ 2.80378312e-02 -2.11721824e-04 9.99606840e-01 2.72654779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.67, Y:52.90, Z:2.73 [[ 6.09197303e-01 -7.92811733e-01 -1.81163410e-02 1.05674370e+02] [ 7.92468136e-01 6.09466600e-01 -2.33391844e-02 5.29008971e+01] [ 2.95448840e-02 -1.38454799e-04 9.99563445e-01 2.72588948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.69, Y:52.92, Z:2.73 [[ 6.10449672e-01 -7.91841900e-01 -1.83739913e-02 1.05692745e+02] [ 7.91487657e-01 6.10726124e-01 -2.36831360e-02 5.29226652e+01] [ 2.99747759e-02 -8.54246736e-05 9.99550652e-01 2.72725997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.71, Y:52.94, Z:2.73 [[ 6.11867618e-01 -7.90742453e-01 -1.85577674e-02 1.05710711e+02] [ 7.90380202e-01 6.12148978e-01 -2.39325100e-02 5.29429562e+01] [ 3.02845700e-02 -2.41641052e-05 9.99541317e-01 2.72721529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57804094199997 meters Centerline goodness [0,1] 0.9999781219917738 Centerline is valid? [True, True] Translation: X:105.73, Y:52.96, Z:2.73 [[ 6.14174068e-01 -7.88964400e-01 -1.80385539e-02 1.05729205e+02] [ 7.88621091e-01 6.14438907e-01 -2.32724009e-02 5.29629375e+01] [ 2.94446851e-02 6.77210635e-05 9.99566409e-01 2.72910648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.75, Y:52.98, Z:2.73 [[ 6.14751492e-01 -7.88519326e-01 -1.78290577e-02 1.05747663e+02] [ 7.88183391e-01 6.15009970e-01 -2.30147544e-02 5.29838564e+01] [ 2.91126269e-02 9.57874651e-05 9.99576133e-01 2.73142787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:53.00, Z:2.73 [[ 6.15743555e-01 -7.87748381e-01 -1.76737710e-02 1.05767146e+02] [ 7.87417576e-01 6.15997134e-01 -2.28274523e-02 5.30042266e+01] [ 2.88692809e-02 1.39218716e-04 9.99583186e-01 2.73256843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.78, Y:53.03, Z:2.73 [[ 6.16713583e-01 -7.86999267e-01 -1.72194998e-02 1.05782779e+02] [ 7.86684622e-01 6.16953907e-01 -2.22526842e-02 5.30265611e+01] [ 2.81364838e-02 1.77216922e-04 9.99604075e-01 2.73359286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.80, Y:53.05, Z:2.73 [[ 6.17793700e-01 -7.86156643e-01 -1.69904899e-02 1.05797945e+02] [ 7.85849745e-01 6.18027253e-01 -2.19657269e-02 5.30485535e+01] [ 2.77690879e-02 2.18315487e-04 9.99614341e-01 2.73475125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.81, Y:53.07, Z:2.74 [[ 6.18751814e-01 -7.85402673e-01 -1.69951232e-02 1.05814993e+02] [ 7.85095009e-01 6.18985116e-01 -2.19830011e-02 5.30715758e+01] [ 2.77852361e-02 2.59235453e-04 9.99613882e-01 2.73612072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:53.09, Z:2.74 [[ 6.18781667e-01 -7.85371496e-01 -1.73453592e-02 1.05831397e+02] [ 7.85050646e-01 6.19024667e-01 -2.24487320e-02 5.30943787e+01] [ 2.83677994e-02 2.73878334e-04 9.99597515e-01 2.73659138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.85, Y:53.12, Z:2.74 [[ 6.17815419e-01 -7.86122894e-01 -1.77455258e-02 1.05846078e+02] [ 7.85786994e-01 6.18070167e-01 -2.29797412e-02 5.31172551e+01] [ 2.90328808e-02 2.53035090e-04 9.99578425e-01 2.73595804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.86, Y:53.14, Z:2.74 [[ 6.16655661e-01 -7.87034732e-01 -1.76670972e-02 1.05863689e+02] [ 7.86701825e-01 6.16908651e-01 -2.28900443e-02 5.31396671e+01] [ 2.89142450e-02 2.16537832e-04 9.99581872e-01 2.73672788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.88, Y:53.16, Z:2.74 [[ 6.15027503e-01 -7.88305597e-01 -1.77610951e-02 1.05882014e+02] [ 7.87969286e-01 6.15283885e-01 -2.30248859e-02 5.31614283e+01] [ 2.90787620e-02 1.65740659e-04 9.99577110e-01 2.73789207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.90, Y:53.18, Z:2.74 [[ 6.10918859e-01 -7.91486286e-01 -1.80999077e-02 1.05901365e+02] [ 7.91138034e-01 6.11186926e-01 -2.34766269e-02 5.31808825e+01] [ 2.96438551e-02 2.27887168e-05 9.99560524e-01 2.73775747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:53.20, Z:2.74 [[ 6.08138866e-01 -7.93608059e-01 -1.87980985e-02 1.05920965e+02] [ 7.93233106e-01 6.08429325e-01 -2.43925542e-02 5.32015303e+01] [ 3.07954419e-02 -7.72138028e-05 9.99525705e-01 2.73785164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:53.22, Z:2.74 [[ 6.02860060e-01 -7.97618046e-01 -1.91102160e-02 1.05942962e+02] [ 7.97232152e-01 6.03162810e-01 -2.48096922e-02 5.32192672e+01] [ 3.13152298e-02 -2.78506056e-04 9.99509519e-01 2.73777641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:53.24, Z:2.74 [[ 6.00729926e-01 -7.99229340e-01 -1.88684755e-02 1.05959749e+02] [ 7.98853660e-01 6.01026072e-01 -2.45049336e-02 5.32426391e+01] [ 3.09255076e-02 -3.52303765e-04 9.99521630e-01 2.74002310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:53.26, Z:2.74 [[ 5.98655731e-01 -8.00788778e-01 -1.86721339e-02 1.05977591e+02] [ 8.00421300e-01 5.98946705e-01 -2.42608316e-02 5.32646287e+01] [ 3.06114147e-02 -4.21687827e-04 9.99531272e-01 2.74020689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.00, Y:53.29, Z:2.74 [[ 5.94962395e-01 -8.03530707e-01 -1.89248941e-02 1.05997050e+02] [ 8.03154330e-01 5.95263038e-01 -2.45975254e-02 5.32851085e+01] [ 3.10301569e-02 -5.65008050e-04 9.99518289e-01 2.73972028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:53.31, Z:2.74 [[ 5.93138329e-01 -8.04878512e-01 -1.89077710e-02 1.06015161e+02] [ 8.04503144e-01 5.93439286e-01 -2.45866686e-02 5.33065723e+01] [ 3.10098953e-02 -6.28065695e-04 9.99518880e-01 2.74043396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.03, Y:53.33, Z:2.74 [[ 5.91806820e-01 -8.05864147e-01 -1.86457599e-02 1.06031837e+02] [ 8.05499239e-01 5.92100107e-01 -2.42577639e-02 5.33302035e+01] [ 3.05886187e-02 -6.63235257e-04 9.99531839e-01 2.74250523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.05, Y:53.35, Z:2.75 [[ 5.89459081e-01 -8.07589816e-01 -1.83488688e-02 1.06051596e+02] [ 8.07236924e-01 5.89744140e-01 -2.38830099e-02 5.33513283e+01] [ 3.01088135e-02 -7.33827335e-04 9.99546358e-01 2.74565226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.07, Y:53.37, Z:2.75 [[ 5.88530205e-01 -8.08266432e-01 -1.83731427e-02 1.06069305e+02] [ 8.07912619e-01 5.88816433e-01 -2.39250440e-02 5.33732860e+01] [ 3.01562183e-02 -7.63282812e-04 9.99544906e-01 2.74638159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.08, Y:53.40, Z:2.75 [[ 5.88148027e-01 -8.08536031e-01 -1.87452852e-02 1.06084809e+02] [ 8.08167622e-01 5.88446145e-01 -2.44177896e-02 5.33965025e+01] [ 3.07732535e-02 -7.88057765e-04 9.99526081e-01 2.74605420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:53.42, Z:2.75 [[ 5.88339899e-01 -8.08392814e-01 -1.89002759e-02 1.06101409e+02] [ 8.08017798e-01 5.88642889e-01 -2.46330709e-02 5.34186058e+01] [ 3.10387105e-02 -7.79140839e-04 9.99517879e-01 2.74516153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.11, Y:53.44, Z:2.75 [[ 5.88459058e-01 -8.08294388e-01 -1.93938132e-02 1.06114968e+02] [ 8.07899019e-01 5.88778027e-01 -2.52905130e-02 5.34433764e+01] [ 3.18608308e-02 -7.85811174e-04 9.99492006e-01 2.74650557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:53.46, Z:2.75 [[ 5.88856773e-01 -8.07983754e-01 -2.02473105e-02 1.06132856e+02] [ 8.07552156e-01 5.89204228e-01 -2.64176849e-02 5.34639364e+01] [ 3.32748612e-02 -7.94526544e-04 9.99445923e-01 2.74507848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:53.49, Z:2.75 [[ 5.88690267e-01 -8.08099601e-01 -2.04647005e-02 1.06146216e+02] [ 8.07658343e-01 5.89045321e-01 -2.67134812e-02 5.34895547e+01] [ 3.36417896e-02 -8.02519706e-04 9.99433633e-01 2.74714343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:53.51, Z:2.75 [[ 5.88149160e-01 -8.08492883e-01 -2.04895951e-02 1.06163684e+02] [ 8.08050276e-01 5.88505387e-01 -2.67611771e-02 5.35121974e+01] [ 3.36944583e-02 -8.17059133e-04 9.99431847e-01 2.74821543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:53.53, Z:2.75 [[ 5.87590030e-01 -8.08905741e-01 -2.02350845e-02 1.06181388e+02] [ 8.08473838e-01 5.87937774e-01 -2.64428916e-02 5.35342890e+01] [ 3.32867774e-02 -8.21956960e-04 9.99445504e-01 2.74943651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.20, Y:53.56, Z:2.75 [[ 5.86891539e-01 -8.09421672e-01 -1.98715666e-02 1.06198942e+02] [ 8.09004970e-01 5.87227275e-01 -2.59824062e-02 5.35567577e+01] [ 3.26998485e-02 -8.27341821e-04 9.99464875e-01 2.75138729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:53.58, Z:2.75 [[ 5.86359676e-01 -8.09816010e-01 -1.95028270e-02 1.06216659e+02] [ 8.09414473e-01 5.86683344e-01 -2.55120261e-02 5.35773601e+01] [ 3.21020309e-02 -8.26647049e-04 9.99484255e-01 2.75306288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.23, Y:53.60, Z:2.75 [[ 5.86152978e-01 -8.09963209e-01 -1.96032043e-02 1.06233975e+02] [ 8.09557269e-01 5.86480099e-01 -2.56538811e-02 5.35999697e+01] [ 3.22755890e-02 -8.32817735e-04 9.99478660e-01 2.75451229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.25, Y:53.62, Z:2.76 [[ 5.87294818e-01 -8.09139750e-01 -1.94335115e-02 1.06252149e+02] [ 8.08739973e-01 5.87615747e-01 -2.54438580e-02 5.36216093e+01] [ 3.20070742e-02 -7.73611629e-04 9.99487343e-01 2.75553339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:53.64, Z:2.76 [[ 5.87883096e-01 -8.08711597e-01 -1.94683969e-02 1.06268843e+02] [ 8.08309912e-01 5.88204892e-01 -2.54968822e-02 5.36446213e+01] [ 3.20710306e-02 -7.47312148e-04 9.99485313e-01 2.75608527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.29, Y:53.67, Z:2.76 [[ 5.89299884e-01 -8.07673461e-01 -1.97288228e-02 1.06285818e+02] [ 8.07259907e-01 5.89629631e-01 -2.58522704e-02 5.36680139e+01] [ 3.25128913e-02 -6.91547694e-04 9.99471077e-01 2.75640186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.30, Y:53.69, Z:2.76 [[ 5.90532607e-01 -8.06773339e-01 -1.96982179e-02 1.06302854e+02] [ 8.06360142e-01 5.90860711e-01 -2.58252282e-02 5.36908555e+01] [ 3.24740086e-02 -6.33218414e-04 9.99472380e-01 2.75687941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.32, Y:53.71, Z:2.76 [[ 5.93411241e-01 -8.04656939e-01 -1.97562291e-02 1.06318755e+02] [ 8.04239780e-01 5.93739798e-01 -2.59119372e-02 5.37137872e+01] [ 3.25802796e-02 -5.12310527e-04 9.99468990e-01 2.75783239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.34, Y:53.74, Z:2.76 [[ 5.93190183e-01 -8.04820006e-01 -1.97525924e-02 1.06335400e+02] [ 8.04402845e-01 5.93518737e-01 -2.59147092e-02 5.37357718e+01] [ 3.25802101e-02 -5.16690361e-04 9.99468990e-01 2.75847187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.35, Y:53.76, Z:2.76 [[ 5.94733802e-01 -8.03688636e-01 -1.93979477e-02 1.06352100e+02] [ 8.03285278e-01 5.95049901e-01 -2.54632603e-02 5.37592058e+01] [ 3.20072799e-02 -4.38224198e-04 9.99487540e-01 2.75921020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:53.78, Z:2.76 [[ 5.97233576e-01 -8.01820356e-01 -1.99040967e-02 1.06369032e+02] [ 8.01394185e-01 5.97565061e-01 -2.61411163e-02 5.37830002e+01] [ 3.28544719e-02 -3.38674962e-04 9.99460089e-01 2.76039387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.39, Y:53.80, Z:2.76 [[ 5.97837614e-01 -8.01360397e-01 -2.02904303e-02 1.06386003e+02] [ 8.00916836e-01 5.98181759e-01 -2.66609194e-02 5.38038978e+01] [ 3.35023703e-02 -3.12046749e-04 9.99438589e-01 2.76064165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:53.82, Z:2.76 [[ 5.98608219e-01 -8.00777186e-01 -2.05936854e-02 1.06404279e+02] [ 8.00319541e-01 5.98962288e-01 -2.70704506e-02 5.38249798e+01] [ 3.40122402e-02 -2.76934632e-04 9.99421378e-01 2.76178725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.42, Y:53.85, Z:2.76 [[ 5.98613744e-01 -8.00772624e-01 -2.06104354e-02 1.06421964e+02] [ 8.00313697e-01 5.98968390e-01 -2.71081992e-02 5.38471742e+01] [ 3.40525031e-02 -2.67473116e-04 9.99420010e-01 2.76268886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:53.87, Z:2.76 [[ 5.98394455e-01 -8.00937590e-01 -2.05682579e-02 1.06439241e+02] [ 8.00480104e-01 5.98747782e-01 -2.70683865e-02 5.38691617e+01] [ 3.39952870e-02 -2.66908869e-04 9.99421958e-01 2.76378148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.46, Y:53.89, Z:2.76 [[ 5.97926643e-01 -8.01289707e-01 -2.04581400e-02 1.06457149e+02] [ 8.00836800e-01 5.98276466e-01 -2.69386271e-02 5.38895049e+01] [ 3.38252683e-02 -2.76308512e-04 9.99427724e-01 2.76443887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:53.91, Z:2.77 [[ 5.97365807e-01 -8.01705715e-01 -2.05435876e-02 1.06473788e+02] [ 8.01248780e-01 5.97718881e-01 -2.70653451e-02 5.39108315e+01] [ 3.39777320e-02 -2.92612762e-04 9.99422547e-01 2.76558968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:53.93, Z:2.77 [[ 5.95567974e-01 -8.03054178e-01 -2.00692626e-02 1.06490861e+02] [ 8.02618420e-01 5.95905917e-01 -2.64539101e-02 5.39318460e+01] [ 3.32033153e-02 -3.52858186e-04 9.99448556e-01 2.76655009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.51, Y:53.95, Z:2.77 [[ 5.94281900e-01 -8.04021064e-01 -1.94718509e-02 1.06507038e+02] [ 8.03610956e-01 5.94600689e-01 -2.56797969e-02 5.39545639e+01] [ 3.22250735e-02 -3.86754232e-04 9.99480563e-01 2.76776559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.52, Y:53.98, Z:2.77 [[ 5.91880768e-01 -8.05796573e-01 -1.92104234e-02 1.06524966e+02] [ 8.05397886e-01 5.92192253e-01 -2.53491884e-02 5.39776944e+01] [ 3.18025531e-02 -4.68337345e-04 9.99494061e-01 2.76905426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.54, Y:54.00, Z:2.77 [[ 5.90531507e-01 -8.06788149e-01 -1.91160365e-02 1.06542794e+02] [ 8.06393481e-01 5.90840606e-01 -2.52375196e-02 5.40003637e+01] [ 3.16558623e-02 -5.11496714e-04 9.99498697e-01 2.77022757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:54.02, Z:2.77 [[ 5.89299332e-01 -8.07692534e-01 -1.89490977e-02 1.06560395e+02] [ 8.07304798e-01 5.89603656e-01 -2.50298388e-02 5.40227417e+01] [ 3.13888712e-02 -5.47630221e-04 9.99507098e-01 2.77103661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:54.05, Z:2.77 [[ 5.87850378e-01 -8.08738362e-01 -1.93441270e-02 1.06577614e+02] [ 8.08334428e-01 5.88168251e-01 -2.55648327e-02 5.40463908e+01] [ 3.20528623e-02 -6.08227213e-04 9.99485990e-01 2.77118984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:54.07, Z:2.77 [[ 5.87601239e-01 -8.08908034e-01 -1.98135499e-02 1.06593634e+02] [ 8.08483886e-01 5.87934863e-01 -2.61992803e-02 5.40699272e+01] [ 3.28418851e-02 -6.24206207e-04 9.99460365e-01 2.77095942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.61, Y:54.09, Z:2.77 [[ 5.87605753e-01 -8.08889076e-01 -2.04436103e-02 1.06608390e+02] [ 8.08436962e-01 5.87960935e-01 -2.70484345e-02 5.40942084e+01] [ 3.38992274e-02 -6.33554507e-04 9.99425055e-01 2.76989636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:54.12, Z:2.77 [[ 5.87341015e-01 -8.09069310e-01 -2.09137468e-02 1.06624086e+02] [ 8.08595704e-01 5.87712881e-01 -2.76867656e-02 5.41170889e+01] [ 3.46917907e-02 -6.49192773e-04 9.99397848e-01 2.77016028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:54.14, Z:2.77 [[ 5.87060069e-01 -8.09262929e-01 -2.13069805e-02 1.06639569e+02] [ 8.08770901e-01 5.87446229e-01 -2.82233625e-02 5.41389325e+01] [ 3.53568263e-02 -6.63656646e-04 9.99374532e-01 2.76943173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:54.16, Z:2.77 [[ 5.86657056e-01 -8.09548948e-01 -2.15406492e-02 1.06655563e+02] [ 8.09045700e-01 5.87051990e-01 -2.85484768e-02 5.41622858e+01] [ 3.57568704e-02 -6.79204289e-04 9.99360288e-01 2.76947365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:54.19, Z:2.77 [[ 5.85945975e-01 -8.10066814e-01 -2.14259499e-02 1.06671852e+02] [ 8.09568682e-01 5.86337164e-01 -2.84126666e-02 5.41850838e+01] [ 3.55789890e-02 -6.97490423e-04 9.99366624e-01 2.77102831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:54.21, Z:2.77 [[ 5.85441244e-01 -8.10442404e-01 -2.10156729e-02 1.06688559e+02] [ 8.09962874e-01 5.85817909e-01 -2.78840394e-02 5.42062916e+01] [ 3.49097655e-02 -6.97448144e-04 9.99390225e-01 2.77210180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:54.23, Z:2.77 [[ 5.85120584e-01 -8.10682778e-01 -2.06721049e-02 1.06705203e+02] [ 8.10218451e-01 5.85485231e-01 -2.74427899e-02 5.42294002e+01] [ 3.43506093e-02 -6.91579543e-04 9.99409604e-01 2.77298105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:54.25, Z:2.77 [[ 5.85249907e-01 -8.10601935e-01 -2.01754481e-02 1.06720824e+02] [ 8.10159110e-01 5.85597186e-01 -2.67983544e-02 5.42530064e+01] [ 3.35374836e-02 -6.61588676e-04 9.99437241e-01 2.77470166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.74, Y:54.28, Z:2.78 [[ 5.85872763e-01 -8.10169924e-01 -1.94370622e-02 1.06737554e+02] [ 8.09758238e-01 5.86194786e-01 -2.58315410e-02 5.42763985e+01] [ 3.23218421e-02 -6.05324922e-04 9.99477329e-01 2.77702180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:54.30, Z:2.78 [[ 5.86649806e-01 -8.09615974e-01 -1.90782242e-02 1.06754079e+02] [ 8.09218635e-01 5.86959679e-01 -2.53680173e-02 5.42991366e+01] [ 3.17365004e-02 -5.56312135e-04 9.99496116e-01 2.77831013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40804094199999 meters Centerline goodness [0,1] 0.999913071824405 Centerline is valid? [True, True] Translation: X:106.77, Y:54.32, Z:2.78 [[ 5.89034710e-01 -8.07899002e-01 -1.83661068e-02 1.06769097e+02] [ 8.07529541e-01 5.89320804e-01 -2.44341893e-02 5.43242793e+01] [ 3.05638860e-02 -4.38588205e-04 9.99532719e-01 2.77791671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:54.35, Z:2.78 [[ 5.90423464e-01 -8.06883206e-01 -1.84289223e-02 1.06785770e+02] [ 8.06510325e-01 5.90710883e-01 -2.45305518e-02 5.43480000e+01] [ 3.06794552e-02 -3.79702713e-04 9.99529203e-01 2.78117908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.80, Y:54.37, Z:2.78 [[ 5.91980740e-01 -8.05746192e-01 -1.82175318e-02 1.06802481e+02] [ 8.05380901e-01 5.92260904e-01 -2.42616079e-02 5.43717091e+01] [ 3.03382300e-02 -3.09647590e-04 9.99539642e-01 2.78165444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.82, Y:54.40, Z:2.78 [[ 5.93387053e-01 -8.04710433e-01 -1.82462018e-02 1.06819093e+02] [ 8.04343120e-01 5.93667463e-01 -2.43123182e-02 5.43955845e+01] [ 3.03965525e-02 -2.49592072e-04 9.99537887e-01 2.78264165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.83, Y:54.42, Z:2.78 [[ 5.96340280e-01 -8.02518475e-01 -1.85031851e-02 1.06834815e+02] [ 8.02139283e-01 5.96627254e-01 -2.46676044e-02 5.44196869e+01] [ 3.08357127e-02 -1.31845487e-04 9.99524458e-01 2.78298675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.85, Y:54.44, Z:2.78 [[ 5.97098052e-01 -8.01950946e-01 -1.86707235e-02 1.06851236e+02] [ 8.01564160e-01 5.97389882e-01 -2.49043465e-02 5.44423136e+01] [ 3.11257655e-02 -9.54459942e-05 9.99515471e-01 2.78359697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:54.46, Z:2.78 [[ 5.97556163e-01 -8.01599291e-01 -1.91104419e-02 1.06867001e+02] [ 8.01193414e-01 5.97861666e-01 -2.55057173e-02 5.44640785e+01] [ 3.18707655e-02 -7.00615732e-05 9.99491996e-01 2.78304974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.88, Y:54.49, Z:2.78 [[ 5.97222548e-01 -8.01842957e-01 -1.93157962e-02 1.06883644e+02] [ 8.01427980e-01 5.97534824e-01 -2.57939327e-02 5.44867220e+01] [ 3.22245442e-02 -7.55013304e-05 9.99480652e-01 2.78329440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:54.51, Z:2.78 [[ 5.96107526e-01 -8.02669108e-01 -1.94453226e-02 1.06900344e+02] [ 8.02248493e-01 5.96424589e-01 -2.59820194e-02 5.45091063e+01] [ 3.24526328e-02 -1.11903428e-04 9.99473268e-01 2.78409703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:54.53, Z:2.79 [[ 5.93078912e-01 -8.04915254e-01 -1.92051388e-02 1.06916717e+02] [ 8.04505678e-01 5.93389740e-01 -2.56755026e-02 5.45303518e+01] [ 3.20627360e-02 -2.23044069e-04 9.99485833e-01 2.78503064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:54.55, Z:2.79 [[ 5.91441362e-01 -8.06134826e-01 -1.85407272e-02 1.06933653e+02] [ 8.05753302e-01 5.91731839e-01 -2.48001503e-02 5.45527445e+01] [ 3.09634034e-02 -2.71417487e-04 9.99520482e-01 2.78633118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:54.57, Z:2.79 [[ 5.88393301e-01 -8.08372319e-01 -1.80974668e-02 1.06950909e+02] [ 8.08009512e-01 5.88671433e-01 -2.42192769e-02 5.45742020e+01] [ 3.02316547e-02 -3.72465008e-04 9.99542850e-01 2.78810797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.97, Y:54.60, Z:2.79 [[ 5.86486076e-01 -8.09762613e-01 -1.78492123e-02 1.06968766e+02] [ 8.09410099e-01 5.86757466e-01 -2.38949219e-02 5.45974609e+01] [ 2.98223730e-02 -4.33293722e-04 9.99555120e-01 2.78946924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.99, Y:54.62, Z:2.79 [[ 5.83443841e-01 -8.11976862e-01 -1.69369295e-02 1.06985654e+02] [ 8.11660110e-01 5.83689398e-01 -2.26837625e-02 5.46197274e+01] [ 2.83045965e-02 -5.12328502e-04 9.99599213e-01 2.79083788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:54.64, Z:2.79 [[ 5.82377197e-01 -8.12744437e-01 -1.68309281e-02 1.07002766e+02] [ 8.12431726e-01 5.82620105e-01 -2.25500415e-02 5.46429303e+01] [ 2.81334578e-02 -5.41350018e-04 9.99604029e-01 2.79152065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:54.67, Z:2.79 [[ 5.81451771e-01 -8.13413242e-01 -1.65146949e-02 1.07019397e+02] [ 8.13112146e-01 5.81685987e-01 -2.21371005e-02 5.46659691e+01] [ 2.76129773e-02 -5.56642682e-04 9.99618534e-01 2.79259663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:54.69, Z:2.80 [[ 5.81526730e-01 -8.13374379e-01 -1.57728037e-02 1.07034023e+02] [ 8.13099431e-01 5.81740359e-01 -2.11534698e-02 5.46896044e+01] [ 2.63813669e-02 -5.23549602e-04 9.99651814e-01 2.79512146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.05, Y:54.72, Z:2.80 [[ 5.81982343e-01 -8.13058476e-01 -1.52468721e-02 1.07047158e+02] [ 8.12801178e-01 5.82181826e-01 -2.04588995e-02 5.47153351e+01] [ 2.55107335e-02 -4.85957363e-04 9.99674430e-01 2.79679513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:54.74, Z:2.80 [[ 5.84727223e-01 -8.11091920e-01 -1.49657048e-02 1.07060735e+02] [ 8.10843132e-01 5.84918582e-01 -2.00914740e-02 5.47419344e+01] [ 2.50497510e-02 -3.86807196e-04 9.99686131e-01 2.79772411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.07, Y:54.77, Z:2.80 [[ 5.86208991e-01 -8.10018129e-01 -1.51542097e-02 1.07074663e+02] [ 8.09762522e-01 5.86404736e-01 -2.03505202e-02 5.47655393e+01] [ 2.53707907e-02 -3.41653130e-04 9.99678051e-01 2.79802067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:54.79, Z:2.80 [[ 5.87749806e-01 -8.08892837e-01 -1.55737931e-02 1.07089341e+02] [ 8.08622263e-01 5.87956027e-01 -2.09223745e-02 5.47910124e+01] [ 2.60806644e-02 -2.96194210e-04 9.99659798e-01 2.79797326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.10, Y:54.82, Z:2.80 [[ 5.90568811e-01 -8.06829892e-01 -1.59375119e-02 1.07102034e+02] [ 8.06545475e-01 5.90783788e-01 -2.14222456e-02 5.48181451e+01] [ 2.66997317e-02 -2.03018016e-04 9.99643478e-01 2.79722624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:54.84, Z:2.80 [[ 5.91590777e-01 -8.06080556e-01 -1.59527268e-02 1.07117394e+02] [ 8.05795045e-01 5.91805805e-01 -2.14530944e-02 5.48416692e+01] [ 2.67338386e-02 -1.63175406e-04 9.99642574e-01 2.79769958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.13, Y:54.87, Z:2.80 [[ 5.92607315e-01 -8.05346662e-01 -1.52749451e-02 1.07130383e+02] [ 8.05084489e-01 5.92804132e-01 -2.05481732e-02 5.48669847e+01] [ 2.56034533e-02 -1.20623678e-04 9.99672171e-01 2.79980660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.14, Y:54.89, Z:2.80 [[ 5.92786376e-01 -8.05228728e-01 -1.45261137e-02 1.07144959e+02] [ 8.04991346e-01 5.92964320e-01 -1.95511589e-02 5.48899280e+01] [ 2.43566219e-02 -1.03735204e-04 9.99703328e-01 2.80089801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.16, Y:54.91, Z:2.80 [[ 5.93003479e-01 -8.05074071e-01 -1.42342190e-02 1.07160261e+02] [ 8.04845941e-01 5.93174284e-01 -1.91645361e-02 5.49140948e+01] [ 2.38722437e-02 -9.17168263e-05 9.99715013e-01 2.80262719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:54.94, Z:2.80 [[ 5.93151165e-01 -8.04971533e-01 -1.38753639e-02 1.07175204e+02] [ 8.04754482e-01 5.93313428e-01 -1.86922391e-02 5.49374347e+01] [ 2.32791601e-02 -7.89378788e-05 9.99729001e-01 2.80391903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.19, Y:54.96, Z:2.81 [[ 5.94077358e-01 -8.04301056e-01 -1.31111805e-02 1.07188388e+02] [ 8.04106877e-01 5.94222020e-01 -1.76726210e-02 5.49624946e+01] [ 2.20050599e-02 -4.38864167e-05 9.99757858e-01 2.80535354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:54.99, Z:2.81 [[ 5.94468143e-01 -8.04009588e-01 -1.32744146e-02 1.07203131e+02] [ 8.03810229e-01 5.94616332e-01 -1.79034424e-02 5.49861002e+01] [ 2.22877231e-02 -2.70840603e-05 9.99751597e-01 2.80644303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.22, Y:55.01, Z:2.81 [[ 5.94732760e-01 -8.03817497e-01 -1.30527674e-02 1.07216988e+02] [ 8.03624469e-01 5.94875979e-01 -1.76148503e-02 5.50109301e+01] [ 2.19239027e-02 -1.33947517e-05 9.99759642e-01 2.80576361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:55.03, Z:2.81 [[ 5.94900890e-01 -8.03686553e-01 -1.34482764e-02 1.07231662e+02] [ 8.03481357e-01 5.95052876e-01 -1.81599343e-02 5.50339287e+01] [ 2.25973305e-02 -2.07828511e-06 9.99744648e-01 2.80600239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.25, Y:55.06, Z:2.81 [[ 5.94704607e-01 -8.03824016e-01 -1.39062031e-02 1.07246529e+02] [ 8.03604494e-01 5.94867171e-01 -1.87847382e-02 5.50575050e+01] [ 2.33719674e-02 -3.71693401e-06 9.99726838e-01 2.80579790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:55.08, Z:2.80 [[ 5.94375269e-01 -8.04049640e-01 -1.49069095e-02 1.07258981e+02] [ 8.03797139e-01 5.94562172e-01 -2.01490126e-02 5.50815754e+01] [ 2.50638908e-02 -6.05639172e-06 9.99685851e-01 2.80431003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.27, Y:55.10, Z:2.80 [[ 5.93964102e-01 -8.04348863e-01 -1.51509748e-02 1.07274037e+02] [ 8.04087934e-01 5.94157308e-01 -2.04863046e-02 5.51047329e+01] [ 2.54801982e-02 -1.45864887e-05 9.99675327e-01 2.80435381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.29, Y:55.13, Z:2.80 [[ 5.92465412e-01 -8.05449911e-01 -1.53354545e-02 1.07288890e+02] [ 8.05182655e-01 5.92663849e-01 -2.07474078e-02 5.51279354e+01] [ 2.57997672e-02 -5.57204068e-05 9.99667129e-01 2.80417931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.31, Y:55.15, Z:2.80 [[ 5.91273150e-01 -8.06314701e-01 -1.58954756e-02 1.07305688e+02] [ 8.06027664e-01 5.91486767e-01 -2.15130254e-02 5.51509652e+01] [ 2.67482321e-02 -9.21188026e-05 9.99642198e-01 2.80477283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:55.17, Z:2.81 [[ 5.89914359e-01 -8.07309842e-01 -1.58703579e-02 1.07322135e+02] [ 8.07023741e-01 5.90127785e-01 -2.14913667e-02 5.51735419e+01] [ 2.67157310e-02 -1.29689780e-04 9.99643063e-01 2.80571861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.34, Y:55.20, Z:2.81 [[ 5.89686535e-01 -8.07476387e-01 -1.58642858e-02 1.07338428e+02] [ 8.07190226e-01 5.89899879e-01 -2.14958482e-02 5.51957625e+01] [ 2.67157301e-02 -1.29684181e-04 9.99643063e-01 2.80635649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.35, Y:55.22, Z:2.81 [[ 5.87288585e-01 -8.09224354e-01 -1.57499919e-02 1.07354611e+02] [ 8.08942600e-01 5.87499706e-01 -2.13533261e-02 5.52197890e+01] [ 2.65327472e-02 -2.00274748e-04 9.99647925e-01 2.80719094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.37, Y:55.24, Z:2.81 [[ 5.86272113e-01 -8.09960070e-01 -1.58017348e-02 1.07370393e+02] [ 8.09676450e-01 5.86484981e-01 -2.14339384e-02 5.52424620e+01] [ 2.66281144e-02 -2.28172168e-04 9.99645383e-01 2.80740842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60804094199997 meters Centerline goodness [0,1] 0.9999578254818439 Centerline is valid? [True, True] Translation: X:107.39, Y:55.27, Z:2.81 [[ 5.84339628e-01 -8.11359361e-01 -1.55944491e-02 1.07385185e+02] [ 8.11083466e-01 5.84547609e-01 -2.11590368e-02 5.52679986e+01] [ 2.62832805e-02 -2.84336158e-04 9.99654494e-01 2.80863411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:55.29, Z:2.81 [[ 5.83319937e-01 -8.12098355e-01 -1.53007325e-02 1.07401354e+02] [ 8.11832743e-01 5.83520495e-01 -2.07708766e-02 5.52909211e+01] [ 2.57962857e-02 -3.05569264e-04 9.99667174e-01 2.80899604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.42, Y:55.31, Z:2.81 [[ 5.80814134e-01 -8.13891491e-01 -1.53487292e-02 1.07417235e+02] [ 8.13624668e-01 5.81016777e-01 -2.08423596e-02 5.53132546e+01] [ 2.58812883e-02 -3.82567696e-04 9.99664950e-01 2.81010082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.43, Y:55.34, Z:2.81 [[ 5.79366039e-01 -8.14930217e-01 -1.49577702e-02 1.07433465e+02] [ 8.14677038e-01 5.79558944e-01 -2.03163483e-02 5.53368375e+01] [ 2.52253156e-02 -4.15149676e-04 9.99681705e-01 2.81111601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.45, Y:55.36, Z:2.81 [[ 5.78358659e-01 -8.15642706e-01 -1.51075567e-02 1.07449689e+02] [ 8.15384395e-01 5.78555770e-01 -2.05307126e-02 5.53603232e+01] [ 2.54862901e-02 -4.44350603e-04 9.99675073e-01 2.81190307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:55.38, Z:2.81 [[ 5.77065213e-01 -8.16547288e-01 -1.56928658e-02 1.07466543e+02] [ 8.16268616e-01 5.77278338e-01 -2.13369914e-02 5.53829366e+01] [ 2.64818139e-02 -4.96758399e-04 9.99649172e-01 2.81142998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.48, Y:55.41, Z:2.81 [[ 5.76982063e-01 -8.16601945e-01 -1.59047642e-02 1.07482300e+02] [ 8.16315573e-01 5.77201013e-01 -2.16304276e-02 5.54064873e+01] [ 2.68436953e-02 -5.02937971e-04 9.99639517e-01 2.81237312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.50, Y:55.43, Z:2.81 [[ 5.77498996e-01 -8.16231500e-01 -1.61569610e-02 1.07498245e+02] [ 8.15935498e-01 5.77724763e-01 -2.19854981e-02 5.54289651e+01] [ 2.72795326e-02 -4.86434889e-04 9.99627726e-01 2.81313093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.51, Y:55.45, Z:2.81 [[ 5.78227324e-01 -8.15705186e-01 -1.66796977e-02 1.07514288e+02] [ 8.15389314e-01 5.78467654e-01 -2.27033020e-02 5.54528269e+01] [ 2.81678668e-02 -4.72777719e-04 9.99603095e-01 2.81311253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:55.48, Z:2.81 [[ 5.78929097e-01 -8.15201097e-01 -1.69785840e-02 1.07529957e+02] [ 8.14873238e-01 5.79177840e-01 -2.31221993e-02 5.54776483e+01] [ 2.86828618e-02 -4.49279799e-04 9.99588461e-01 2.81436482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:55.50, Z:2.81 [[ 5.82222937e-01 -8.12839901e-01 -1.75427343e-02 1.07545130e+02] [ 8.12488476e-01 5.82487066e-01 -2.39017508e-02 5.55012942e+01] [ 2.96467126e-02 -3.37121885e-04 9.99560383e-01 2.81487118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.56, Y:55.53, Z:2.82 [[ 5.84141842e-01 -8.11464195e-01 -1.74404217e-02 1.07561132e+02] [ 8.11116062e-01 5.84402080e-01 -2.37685156e-02 5.55253238e+01] [ 2.94795181e-02 -2.62021704e-04 9.99565350e-01 2.81576457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:55.55, Z:2.82 [[ 5.88441091e-01 -8.08356940e-01 -1.72087011e-02 1.07576703e+02] [ 8.08016337e-01 5.88692660e-01 -2.34638428e-02 5.55503609e+01] [ 2.90977962e-02 -9.78223776e-05 9.99576565e-01 2.81668420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.59, Y:55.57, Z:2.82 [[ 5.90362241e-01 -8.06954328e-01 -1.72376582e-02 1.07592452e+02] [ 8.06611770e-01 5.90613843e-01 -2.35104406e-02 5.55721214e+01] [ 2.91526514e-02 -2.44216108e-05 9.99574971e-01 2.81722890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.61, Y:55.59, Z:2.82 [[ 5.91569892e-01 -8.06060024e-01 -1.76720049e-02 1.07609516e+02] [ 8.05699302e-01 5.91833791e-01 -2.41121986e-02 5.55945445e+01] [ 2.98947690e-02 2.57286835e-05 9.99553051e-01 2.81807693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:55.62, Z:2.82 [[ 5.93722682e-01 -8.04477354e-01 -1.75944168e-02 1.07627281e+02] [ 8.04118671e-01 5.93983311e-01 -2.40206052e-02 5.56157077e+01] [ 2.97748229e-02 1.13579084e-04 9.99556625e-01 2.81900657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.64, Y:55.64, Z:2.82 [[ 5.94256223e-01 -8.04086259e-01 -1.74593677e-02 1.07644310e+02] [ 8.03732506e-01 5.94512631e-01 -2.38493082e-02 5.56372988e+01] [ 2.95567156e-02 1.39938437e-04 9.99563095e-01 2.81982928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:55.66, Z:2.82 [[ 5.95601789e-01 -8.03093222e-01 -1.73143317e-02 1.07663719e+02] [ 8.02744640e-01 5.95853371e-01 -2.36601696e-02 5.56585569e+01] [ 2.93181247e-02 1.93052386e-04 9.99570113e-01 2.82197439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.68, Y:55.68, Z:2.82 [[ 5.96164229e-01 -8.02674906e-01 -1.73553016e-02 1.07680507e+02] [ 8.02324149e-01 5.96416755e-01 -2.37279035e-02 5.56794914e+01] [ 2.93967854e-02 2.21149668e-04 9.99567797e-01 2.82266952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:55.70, Z:2.82 [[ 5.96461271e-01 -8.02449564e-01 -1.75684360e-02 1.07698659e+02] [ 8.02089747e-01 5.96719900e-01 -2.40291077e-02 5.57012732e+01] [ 2.97655824e-02 2.40969767e-04 9.99556878e-01 2.82350304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:55.72, Z:2.82 [[ 5.97253961e-01 -8.01863326e-01 -1.74043624e-02 1.07717326e+02] [ 8.01509576e-01 5.97507431e-01 -2.38174337e-02 5.57210026e+01] [ 2.94975625e-02 2.75293467e-04 9.99564814e-01 2.82391084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:55.74, Z:2.83 [[ 5.97295821e-01 -8.01834937e-01 -1.72753253e-02 1.07735952e+02] [ 8.01486143e-01 5.97545526e-01 -2.36496699e-02 5.57425279e+01] [ 2.92859249e-02 2.79915202e-04 9.99571036e-01 2.82539573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.75, Y:55.76, Z:2.83 [[ 5.97495345e-01 -8.01688222e-01 -1.71844968e-02 1.07753666e+02] [ 8.01342659e-01 5.97742343e-01 -2.35379348e-02 5.57634524e+01] [ 2.91419864e-02 2.93136089e-04 9.99575239e-01 2.82636823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.77, Y:55.78, Z:2.83 [[ 5.97811269e-01 -8.01455918e-01 -1.70323045e-02 1.07774336e+02] [ 8.01116096e-01 5.98053775e-01 -2.33384304e-02 5.57826398e+01] [ 2.88909572e-02 3.07123397e-04 9.99582522e-01 2.82803837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:55.80, Z:2.83 [[ 5.97401214e-01 -8.01759630e-01 -1.71255645e-02 1.07793659e+02] [ 8.01415788e-01 5.97646554e-01 -2.34804425e-02 5.58037948e+01] [ 2.90607055e-02 3.02547124e-04 9.99577603e-01 2.82913821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:55.82, Z:2.83 [[ 5.96490734e-01 -8.02433548e-01 -1.72975736e-02 1.07813756e+02] [ 8.02082654e-01 5.96741421e-01 -2.37295830e-02 5.58228914e+01] [ 2.93635921e-02 2.80392667e-04 9.99568757e-01 2.82936770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:55.84, Z:2.83 [[ 5.95429850e-01 -8.03221711e-01 -1.72678029e-02 1.07831839e+02] [ 8.02872141e-01 5.95680135e-01 -2.36960263e-02 5.58429755e+01] [ 2.93192499e-02 2.45483511e-04 9.99570068e-01 2.83004343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:55.86, Z:2.83 [[ 5.93980598e-01 -8.04292775e-01 -1.73257442e-02 1.07851984e+02] [ 8.03941073e-01 5.94233197e-01 -2.37835857e-02 5.58630789e+01] [ 2.94244985e-02 1.98111038e-04 9.99566986e-01 2.83124036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:55.88, Z:2.83 [[ 5.90593573e-01 -8.06782962e-01 -1.73344714e-02 1.07874826e+02] [ 8.06431622e-01 5.90847904e-01 -2.38074199e-02 5.58803553e+01] [ 2.94494569e-02 8.14433324e-05 9.99566267e-01 2.83169058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:55.90, Z:2.83 [[ 5.88259096e-01 -8.08480567e-01 -1.76184149e-02 1.07895020e+02] [ 8.08118171e-01 5.88522874e-01 -2.42043011e-02 5.58998271e+01] [ 2.99375472e-02 6.39091039e-07 9.99551771e-01 2.83380523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:55.92, Z:2.83 [[ 5.84286734e-01 -8.11354293e-01 -1.76981137e-02 1.07918754e+02] [ 8.10989525e-01 5.84554695e-01 -2.43269051e-02 5.59170032e+01] [ 3.00832543e-02 -1.39096871e-04 9.99547387e-01 2.83499441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.94, Y:55.94, Z:2.84 [[ 5.82329918e-01 -8.12759839e-01 -1.77005799e-02 1.07938149e+02] [ 8.12395417e-01 5.82598834e-01 -2.43369010e-02 5.59369063e+01] [ 3.00923929e-02 -2.07764403e-04 9.99547100e-01 2.83543573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:55.96, Z:2.84 [[ 5.80532926e-01 -8.14043809e-01 -1.77256760e-02 1.07958220e+02] [ 8.13678710e-01 5.80803413e-01 -2.43793540e-02 5.59581296e+01] [ 3.01409953e-02 -2.69987459e-04 9.99545621e-01 2.83605260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.98, Y:55.98, Z:2.84 [[ 5.77547639e-01 -8.16162976e-01 -1.77966997e-02 1.07980523e+02] [ 8.15795555e-01 5.77821648e-01 -2.44899119e-02 5.59773990e+01] [ 3.02710777e-02 -3.74377738e-04 9.99541656e-01 2.83725096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:56.00, Z:2.84 [[ 5.76499092e-01 -8.16903539e-01 -1.78158747e-02 1.08000659e+02] [ 8.16535320e-01 5.76774169e-01 -2.45281313e-02 5.59978155e+01] [ 3.03128536e-02 -4.06845478e-04 9.99540377e-01 2.83721121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:56.02, Z:2.84 [[ 5.75165819e-01 -8.17836928e-01 -1.80842331e-02 1.08023660e+02] [ 8.17457709e-01 5.75449867e-01 -2.49067201e-02 5.60169757e+01] [ 3.07762049e-02 -4.57601674e-04 9.99526196e-01 2.83833513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:56.04, Z:2.84 [[ 5.74880997e-01 -8.18032474e-01 -1.82950853e-02 1.08042663e+02] [ 8.17644044e-01 5.75171847e-01 -2.52103735e-02 5.60371736e+01] [ 3.11457222e-02 -4.65902840e-04 9.99514746e-01 2.83900796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:56.06, Z:2.84 [[ 5.74998622e-01 -8.17945585e-01 -1.84825610e-02 1.08061020e+02] [ 8.17548663e-01 5.75295412e-01 -2.54827924e-02 5.60588491e+01] [ 3.14764701e-02 -4.57822501e-04 9.99504388e-01 2.83964477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:56.08, Z:2.84 [[ 5.75752320e-01 -8.17408262e-01 -1.87882766e-02 1.08079837e+02] [ 8.16997337e-01 5.76058635e-01 -2.59191078e-02 5.60783220e+01] [ 3.20096418e-02 -4.26985528e-04 9.99487469e-01 2.83969546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.10, Y:56.10, Z:2.84 [[ 5.76260496e-01 -8.17046780e-01 -1.89314586e-02 1.08098068e+02] [ 8.16628927e-01 5.76571242e-01 -2.61304012e-02 5.61002007e+01] [ 3.22650947e-02 -4.02058759e-04 9.99479265e-01 2.84043788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:56.12, Z:2.84 [[ 5.76804157e-01 -8.16665563e-01 -1.88234462e-02 1.08117707e+02] [ 8.16251775e-01 5.77111100e-01 -2.59964931e-02 5.61204788e+01] [ 3.20936604e-02 -3.69786108e-04 9.99484797e-01 2.84211295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.14, Y:56.14, Z:2.84 [[ 5.76708398e-01 -8.16735713e-01 -1.87136208e-02 1.08136714e+02] [ 8.16326285e-01 5.77011823e-01 -2.58602357e-02 5.61415378e+01] [ 3.19189585e-02 -3.62605485e-04 9.99490394e-01 2.84350278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.16, Y:56.16, Z:2.84 [[ 5.76477869e-01 -8.16906840e-01 -1.83434208e-02 1.08155192e+02] [ 8.16513112e-01 5.76769527e-01 -2.53623932e-02 5.61612462e+01] [ 3.12986386e-02 -3.56785265e-04 9.99510014e-01 2.84447596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.18, Y:56.18, Z:2.85 [[ 5.75800181e-01 -8.17392497e-01 -1.79904821e-02 1.08175630e+02] [ 8.17013673e-01 5.76081044e-01 -2.48855174e-02 5.61805081e+01] [ 3.07052110e-02 -3.69384435e-04 9.99528416e-01 2.84600069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928040942 meters Centerline goodness [0,1] 0.9999779332259418 Centerline is valid? [True, True] Translation: X:108.19, Y:56.20, Z:2.85 [[ 5.75624053e-01 -8.17518913e-01 -1.78822624e-02 1.08194286e+02] [ 8.17144249e-01 5.75901635e-01 -2.47504146e-02 5.62021051e+01] [ 3.05323562e-02 -3.65453953e-04 9.99533712e-01 2.84686351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:56.22, Z:2.85 [[ 5.75344313e-01 -8.17715320e-01 -1.79046619e-02 1.08212389e+02] [ 8.17339369e-01 5.75622724e-01 -2.47958753e-02 5.62223918e+01] [ 3.05822973e-02 -3.68019204e-04 9.99532184e-01 2.84768395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.23, Y:56.24, Z:2.85 [[ 5.75855324e-01 -8.17367513e-01 -1.73492192e-02 1.08232360e+02] [ 8.17014023e-01 5.76116515e-01 -2.40384663e-02 5.62411350e+01] [ 2.96434331e-02 -3.31876608e-04 9.99560482e-01 2.84859701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.018040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:56.26, Z:2.85 [[ 5.78598167e-01 -8.15430646e-01 -1.72343603e-02 1.08249200e+02] [ 8.15080670e-01 5.78854741e-01 -2.38891344e-02 5.62646473e+01] [ 2.94561234e-02 -2.25184559e-04 9.99566049e-01 2.85009327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04804094199997 meters Centerline goodness [0,1] 0.9999778408083673 Centerline is valid? [True, True] Translation: X:108.26, Y:56.29, Z:2.85 [[ 5.80630718e-01 -8.13986006e-01 -1.71683457e-02 1.08264959e+02] [ 8.13637742e-01 5.80884465e-01 -2.38088923e-02 5.62887514e+01] [ 2.93529304e-02 -1.44639766e-04 9.99569099e-01 2.85080395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07804094199997 meters Centerline goodness [0,1] 0.9999109686609686 Centerline is valid? [True, True] Translation: X:108.28, Y:56.31, Z:2.85 [[ 5.82494853e-01 -8.12651235e-01 -1.72544544e-02 1.08280052e+02] [ 8.12298602e-01 5.82750345e-01 -2.39377582e-02 5.63126976e+01] [ 2.95080881e-02 -7.21482431e-05 9.99564539e-01 2.84955623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:56.34, Z:2.85 [[ 5.84628774e-01 -8.11109823e-01 -1.76082945e-02 1.08295341e+02] [ 8.10741441e-01 5.84893884e-01 -2.44430155e-02 5.63363015e+01] [ 3.01249537e-02 1.43161691e-05 9.99546140e-01 2.85153464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13804094199998 meters Centerline goodness [0,1] 0.9999332992418347 Centerline is valid? [True, True] Translation: X:108.31, Y:56.36, Z:2.85 [[ 5.87856395e-01 -8.08771692e-01 -1.76977010e-02 1.08309632e+02] [ 8.08398063e-01 5.88122716e-01 -2.45813264e-02 5.63606603e+01] [ 3.02891009e-02 1.43502679e-04 9.99541170e-01 2.85218799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.32, Y:56.38, Z:2.85 [[ 5.88908245e-01 -8.08008877e-01 -1.75708075e-02 1.08324606e+02] [ 8.07639833e-01 5.89170280e-01 -2.44188801e-02 5.63832569e+01] [ 3.00828694e-02 1.89595817e-04 9.99547390e-01 2.85255564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19804094199998 meters Centerline goodness [0,1] 0.9998221668963677 Centerline is valid? [True, True] Translation: X:108.34, Y:56.41, Z:2.85 [[ 5.89734949e-01 -8.07409518e-01 -1.73942804e-02 1.08340514e+02] [ 8.07047197e-01 5.89991373e-01 -2.41868241e-02 5.64061167e+01] [ 2.97911474e-02 2.25810210e-04 9.99556120e-01 2.85346870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22804094199998 meters Centerline goodness [0,1] 0.9999777654252362 Centerline is valid? [True, True] Translation: X:108.36, Y:56.43, Z:2.85 [[ 5.89462810e-01 -8.07613237e-01 -1.71596774e-02 1.08356822e+02] [ 8.07260301e-01 5.89712481e-01 -2.38746062e-02 5.64290484e+01] [ 2.94007240e-02 2.20866112e-04 9.99567681e-01 2.85424023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25804094199998 meters Centerline goodness [0,1] 0.9999332264957265 Centerline is valid? [True, True] Translation: X:108.37, Y:56.45, Z:2.85 [[ 5.88882096e-01 -8.08035631e-01 -1.72132813e-02 1.08371643e+02] [ 8.07680253e-01 5.89133581e-01 -2.39631524e-02 5.64522022e+01] [ 2.95040030e-02 2.08644077e-04 9.99564640e-01 2.85422865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28804094199998 meters Centerline goodness [0,1] 0.9999331759255135 Centerline is valid? [True, True] Translation: X:108.39, Y:56.47, Z:2.86 [[ 5.87619644e-01 -8.08971347e-01 -1.63863946e-02 1.08388133e+02] [ 8.08649334e-01 5.87848054e-01 -2.28237004e-02 5.64748891e+01] [ 2.80964298e-02 1.60807661e-04 9.99605204e-01 2.85550696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31804094199998 meters Centerline goodness [0,1] 0.9999108694683364 Centerline is valid? [True, True] Translation: X:108.40, Y:56.50, Z:2.86 [[ 5.86880305e-01 -8.09511450e-01 -1.62085980e-02 1.08404635e+02] [ 8.09196256e-01 5.87104072e-01 -2.25882079e-02 5.64972424e+01] [ 2.78015468e-02 1.40637488e-04 9.99613452e-01 2.85690478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.42, Y:56.52, Z:2.86 [[ 5.84429838e-01 -8.11276501e-01 -1.64985800e-02 1.08423264e+02] [ 8.10950257e-01 5.84662667e-01 -2.30053383e-02 5.65190374e+01] [ 2.83097941e-02 6.54783792e-05 9.99599195e-01 2.85782135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37804094199998 meters Centerline goodness [0,1] 0.9999776875362577 Centerline is valid? [True, True] Translation: X:108.44, Y:56.54, Z:2.86 [[ 5.82950898e-01 -8.12331043e-01 -1.69271130e-02 1.08440681e+02] [ 8.11987680e-01 5.83196601e-01 -2.36163495e-02 5.65408804e+01] [ 2.90561286e-02 2.25648753e-05 9.99577781e-01 2.85826134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.46, Y:56.56, Z:2.86 [[ 5.81207679e-01 -8.13576295e-01 -1.70659184e-02 1.08457312e+02] [ 8.13227404e-01 5.81458176e-01 -2.38239074e-02 5.65622123e+01] [ 2.93056841e-02 -3.18345848e-05 9.99570496e-01 2.85786953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:56.58, Z:2.86 [[ 5.80982541e-01 -8.13737212e-01 -1.70597877e-02 1.08473293e+02] [ 8.13388262e-01 5.81232955e-01 -2.38282969e-02 5.65846926e+01] [ 2.93056827e-02 -3.24065958e-05 9.99570496e-01 2.85850764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:56.61, Z:2.86 [[ 5.77624760e-01 -8.16106192e-01 -1.78974793e-02 1.08491888e+02] [ 8.15722799e-01 5.77901947e-01 -2.50130980e-02 5.66070862e+01] [ 3.07563323e-02 -1.51197164e-04 9.99526901e-01 2.85745650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:56.63, Z:2.86 [[ 5.75787599e-01 -8.17396166e-01 -1.82249717e-02 1.08508372e+02] [ 8.16998834e-01 5.76075916e-01 -2.54841932e-02 5.66287197e+01] [ 3.13296491e-02 -2.16298234e-04 9.99509083e-01 2.85693952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:56.65, Z:2.86 [[ 5.74334120e-01 -8.18412056e-01 -1.84939065e-02 1.08525419e+02] [ 8.18003057e-01 5.74631738e-01 -2.58720983e-02 5.66504928e+01] [ 3.18012228e-02 -2.68843191e-04 9.99494177e-01 2.85644455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:56.67, Z:2.86 [[ 5.71817449e-01 -8.20163604e-01 -1.88803390e-02 1.08541815e+02] [ 8.19737986e-01 5.72128942e-01 -2.64217206e-02 5.66745496e+01] [ 3.24721220e-02 -3.68530253e-04 9.99472574e-01 2.85789892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:56.70, Z:2.86 [[ 5.70731247e-01 -8.20911454e-01 -1.92413434e-02 1.08558273e+02] [ 8.20469419e-01 5.71055353e-01 -2.69391291e-02 5.66964054e+01] [ 3.31025118e-02 -4.11931058e-04 9.99451877e-01 2.85818444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.58, Y:56.72, Z:2.86 [[ 5.68995442e-01 -8.22122566e-01 -1.89386695e-02 1.08575155e+02] [ 8.21694730e-01 5.69310342e-01 -2.65236689e-02 5.67198389e+01] [ 3.25876871e-02 -4.69958216e-04 9.99468770e-01 2.86044357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:56.74, Z:2.86 [[ 5.68328532e-01 -8.22593305e-01 -1.85184840e-02 1.08591617e+02] [ 8.22184092e-01 5.68629955e-01 -2.59478967e-02 5.67414437e+01] [ 3.18747308e-02 -4.78672940e-04 9.99491757e-01 2.86183666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:56.77, Z:2.86 [[ 5.67086686e-01 -8.23460247e-01 -1.80530543e-02 1.08606564e+02] [ 8.23071436e-01 5.67373743e-01 -2.53070653e-02 5.67656491e+01] [ 3.10821912e-02 -5.07653500e-04 9.99516703e-01 2.86401849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.62, Y:56.79, Z:2.86 [[ 5.66403344e-01 -8.23927171e-01 -1.82007977e-02 1.08622477e+02] [ 8.23531747e-01 5.66695454e-01 -2.55289045e-02 5.67882461e+01] [ 3.13482674e-02 -5.29277835e-04 9.99508382e-01 2.86398262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.738040942 meters Centerline goodness [0,1] 0.9999777812340302 Centerline is valid? [True, True] Translation: X:108.64, Y:56.81, Z:2.86 [[ 5.66068682e-01 -8.24151315e-01 -1.84623419e-02 1.08638202e+02] [ 8.23744099e-01 5.66369418e-01 -2.59102823e-02 5.68110337e+01] [ 3.18104990e-02 -5.41245818e-04 9.99493771e-01 2.86468714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:56.84, Z:2.86 [[ 5.64977246e-01 -8.24894807e-01 -1.86887309e-02 1.08654786e+02] [ 8.24477455e-01 5.65285962e-01 -2.62432334e-02 5.68352170e+01] [ 3.22123842e-02 -5.81607569e-04 9.99480877e-01 2.86487058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:56.85, Z:2.86 [[ 5.64501579e-01 -8.25219081e-01 -1.87466302e-02 1.08673384e+02] [ 8.24798889e-01 5.64812460e-01 -2.63377694e-02 5.68547617e+01] [ 3.23227602e-02 -5.94487328e-04 9.99477306e-01 2.86316713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.68, Y:56.88, Z:2.87 [[ 5.63949649e-01 -8.25615011e-01 -1.79065992e-02 1.08684050e+02] [ 8.25231471e-01 5.64233563e-01 -2.51695568e-02 5.68817098e+01] [ 3.08838682e-02 -5.82726505e-04 9.99522810e-01 2.86722540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.70, Y:56.90, Z:2.87 [[ 5.64035207e-01 -8.25565706e-01 -1.74800081e-02 1.08700046e+02] [ 8.25199777e-01 5.64305727e-01 -2.45840372e-02 5.69036026e+01] [ 3.01598067e-02 -5.58236249e-04 9.99544934e-01 2.86818729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:56.93, Z:2.87 [[ 5.64400623e-01 -8.25332505e-01 -1.66791268e-02 1.08715352e+02] [ 8.24998897e-01 5.64646785e-01 -2.34697159e-02 5.69272206e+01] [ 2.87881347e-02 -5.13938940e-04 9.99585404e-01 2.87112547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.73, Y:56.95, Z:2.87 [[ 5.64767110e-01 -8.25085893e-01 -1.64736456e-02 1.08732092e+02] [ 8.24759988e-01 5.65007107e-01 -2.31933425e-02 5.69481085e+01] [ 2.84442265e-02 -4.87966714e-04 9.99595262e-01 2.87196258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.75, Y:56.97, Z:2.87 [[ 5.65142852e-01 -8.24828788e-01 -1.64629049e-02 1.08746750e+02] [ 8.24502911e-01 5.65382393e-01 -2.31883396e-02 5.69720228e+01] [ 2.84342466e-02 -4.68988691e-04 9.99595555e-01 2.87344486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97804094199998 meters Centerline goodness [0,1] 0.9999777911031159 Centerline is valid? [True, True] Translation: X:108.76, Y:56.99, Z:2.87 [[ 5.66389380e-01 -8.23969429e-01 -1.66568618e-02 1.08762160e+02] [ 8.23635066e-01 5.66634098e-01 -2.34750291e-02 5.69949097e+01] [ 2.87810522e-02 -4.23168323e-04 9.99585650e-01 2.87340179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:57.02, Z:2.87 [[ 5.66930530e-01 -8.23589985e-01 -1.70091508e-02 1.08777018e+02] [ 8.23240807e-01 5.67185483e-01 -2.39833757e-02 5.70182377e+01] [ 2.93998114e-02 -4.05719154e-04 9.99567650e-01 2.87375293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.79, Y:57.04, Z:2.87 [[ 5.67490234e-01 -8.23201136e-01 -1.71675197e-02 1.08792081e+02] [ 8.22844826e-01 5.67749719e-01 -2.42208115e-02 5.70408300e+01] [ 2.96854541e-02 -3.81130784e-04 9.99559217e-01 2.87317756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.81, Y:57.06, Z:2.87 [[ 5.67141937e-01 -8.23436859e-01 -1.73713181e-02 1.08807278e+02] [ 8.23071749e-01 5.67407778e-01 -2.45216042e-02 5.70639547e+01] [ 3.00486138e-02 -3.90611082e-04 9.99548362e-01 2.87418492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.82, Y:57.09, Z:2.87 [[ 5.66710679e-01 -8.23732524e-01 -1.74280217e-02 1.08823257e+02] [ 8.23364724e-01 5.66978456e-01 -2.46162696e-02 5.70853733e+01] [ 3.01585347e-02 -3.99315478e-04 9.99545048e-01 2.87424439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.84, Y:57.11, Z:2.87 [[ 5.65763025e-01 -8.24383976e-01 -1.74143412e-02 1.08839842e+02] [ 8.24016659e-01 5.66030810e-01 -2.46103104e-02 5.71068057e+01] [ 3.01453992e-02 -4.26103611e-04 9.99545433e-01 2.87434701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.86, Y:57.13, Z:2.88 [[ 5.63848600e-01 -8.25691543e-01 -1.75565320e-02 1.08857183e+02] [ 8.25318434e-01 5.64121647e-01 -2.48243852e-02 5.71303175e+01] [ 3.04013046e-02 -4.92534679e-04 9.99537652e-01 2.87550812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:57.15, Z:2.88 [[ 5.62801370e-01 -8.26401403e-01 -1.77578070e-02 1.08874838e+02] [ 8.26019633e-01 5.63081203e-01 -2.51222094e-02 5.71532529e+01] [ 3.07601164e-02 -5.29483386e-04 9.99526655e-01 2.87667763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.89, Y:57.18, Z:2.88 [[ 5.60667812e-01 -8.27859047e-01 -1.73494155e-02 1.08893428e+02] [ 8.27494956e-01 5.60935871e-01 -2.45569847e-02 5.71752434e+01] [ 3.00616315e-02 -5.88242969e-04 9.99547874e-01 2.87843779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:57.20, Z:2.88 [[ 5.59283791e-01 -8.28793883e-01 -1.73879221e-02 1.08910510e+02] [ 8.28428239e-01 5.59553660e-01 -2.46242722e-02 5.71982409e+01] [ 3.01379217e-02 -6.32689330e-04 9.99545549e-01 2.87957674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.93, Y:57.22, Z:2.88 [[ 5.58148430e-01 -8.29561462e-01 -1.72659189e-02 1.08927701e+02] [ 8.29200957e-01 5.58415026e-01 -2.44628384e-02 5.72200138e+01] [ 2.99349766e-02 -6.63021668e-04 9.99551628e-01 2.87973703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:57.24, Z:2.88 [[ 5.56041013e-01 -8.30967028e-01 -1.76689202e-02 1.08946056e+02] [ 8.30589940e-01 5.56321161e-01 -2.50423172e-02 5.72425841e+01] [ 3.06389341e-02 -7.51071974e-04 9.99530235e-01 2.87993272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.96, Y:57.26, Z:2.88 [[ 5.55273298e-01 -8.31474884e-01 -1.79187616e-02 1.08962923e+02] [ 8.31086950e-01 5.55561791e-01 -2.54082116e-02 5.72647012e+01] [ 3.10812691e-02 -7.83547410e-04 9.99516554e-01 2.88014078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.98, Y:57.29, Z:2.88 [[ 5.54515722e-01 -8.31977706e-01 -1.80391525e-02 1.08979538e+02] [ 8.31584512e-01 5.54808469e-01 -2.55883017e-02 5.72874193e+01] [ 3.12971712e-02 -8.11964219e-04 9.99509794e-01 2.88034072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.00, Y:57.31, Z:2.88 [[ 5.54232056e-01 -8.32167530e-01 -1.80008133e-02 1.08995141e+02] [ 8.31775658e-01 5.54523706e-01 -2.55482618e-02 5.73108632e+01] [ 3.12423116e-02 -8.12972671e-04 9.99511509e-01 2.88135702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.01, Y:57.33, Z:2.88 [[ 5.54206062e-01 -8.32189942e-01 -1.77634614e-02 1.09011041e+02] [ 8.31807896e-01 5.54490097e-01 -2.52261285e-02 5.73338715e+01] [ 3.08425938e-02 -7.95314105e-04 9.99523938e-01 2.88259510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.03, Y:57.36, Z:2.88 [[ 5.54283223e-01 -8.32143902e-01 -1.75110216e-02 1.09026332e+02] [ 8.31772170e-01 5.54559220e-01 -2.48822884e-02 5.73570232e+01] [ 3.04165431e-02 -7.73345418e-04 9.99537011e-01 2.88404892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:57.38, Z:2.88 [[ 5.54371891e-01 -8.32084487e-01 -1.75275193e-02 1.09042032e+02] [ 8.31711586e-01 5.54648380e-01 -2.49201262e-02 5.73791239e+01] [ 3.04572606e-02 -7.62823388e-04 9.99535779e-01 2.88466079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.518040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.06, Y:57.40, Z:2.89 [[ 5.54354317e-01 -8.32099955e-01 -1.73480713e-02 1.09057605e+02] [ 8.31734262e-01 5.54625193e-01 -2.46781766e-02 5.74019131e+01] [ 3.01563870e-02 -7.48531495e-04 9.99544912e-01 2.88555558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:57.42, Z:2.89 [[ 5.54643222e-01 -8.31903902e-01 -1.75155373e-02 1.09072843e+02] [ 8.31530579e-01 5.54919232e-01 -2.49307328e-02 5.74239082e+01] [ 3.04596824e-02 -7.37042900e-04 9.99535724e-01 2.88613354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:57.45, Z:2.89 [[ 5.54400030e-01 -8.32071296e-01 -1.72616454e-02 1.09088728e+02] [ 8.31708420e-01 5.54668214e-01 -2.45820432e-02 5.74465394e+01] [ 3.00284985e-02 -7.28370322e-04 9.99548778e-01 2.88758451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:57.47, Z:2.89 [[ 5.54462949e-01 -8.32026817e-01 -1.73842944e-02 1.09104861e+02] [ 8.31658298e-01 5.54734939e-01 -2.47713928e-02 5.74689374e+01] [ 3.02541386e-02 -7.22973136e-04 9.99541977e-01 2.88826659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.12, Y:57.49, Z:2.89 [[ 5.53846730e-01 -8.32436578e-01 -1.74110091e-02 1.09120072e+02] [ 8.32066685e-01 5.54119841e-01 -2.48240453e-02 5.74930531e+01] [ 3.03122289e-02 -7.38404351e-04 9.99540206e-01 2.88920694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.14, Y:57.52, Z:2.89 [[ 5.53604035e-01 -8.32600277e-01 -1.73017681e-02 1.09136252e+02] [ 8.32234655e-01 5.53873847e-01 -2.46828022e-02 5.75156741e+01] [ 3.01339048e-02 -7.34632157e-04 9.99545601e-01 2.88967373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:57.54, Z:2.89 [[ 5.53671131e-01 -8.32555742e-01 -1.72978383e-02 1.09152479e+02] [ 8.32189831e-01 5.53940802e-01 -2.46915575e-02 5.75379368e+01] [ 3.01390764e-02 -7.24082601e-04 9.99545453e-01 2.89042202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.17, Y:57.56, Z:2.89 [[ 5.53754864e-01 -8.32505110e-01 -1.70526715e-02 1.09167597e+02] [ 8.32149087e-01 5.54016920e-01 -2.43546692e-02 5.75622155e+01] [ 2.97228551e-02 -7.03848497e-04 9.99557931e-01 2.89146306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.18, Y:57.59, Z:2.89 [[ 5.54729672e-01 -8.31873568e-01 -1.61666015e-02 1.09183082e+02] [ 8.31552954e-01 5.54964840e-01 -2.31021863e-02 5.75868736e+01] [ 2.81899936e-02 -6.27916973e-04 9.99602386e-01 2.89305870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.20, Y:57.61, Z:2.89 [[ 5.54822431e-01 -8.31823971e-01 -1.55226023e-02 1.09199366e+02] [ 8.31528062e-01 5.55039213e-01 -2.21935439e-02 5.76103612e+01] [ 2.70767748e-02 -5.94003422e-04 9.99633180e-01 2.89472208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.22, Y:57.63, Z:2.90 [[ 5.55173897e-01 -8.31597053e-01 -1.51091197e-02 1.09215551e+02] [ 8.31316285e-01 5.55379175e-01 -2.16149800e-02 5.76339266e+01] [ 2.63662441e-02 -5.60384559e-04 9.99652193e-01 2.89632839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.23, Y:57.66, Z:2.90 [[ 5.55857076e-01 -8.31144941e-01 -1.48659796e-02 1.09233445e+02] [ 8.30872655e-01 5.56055584e-01 -2.12795338e-02 5.76553184e+01] [ 2.59526879e-02 -5.23356508e-04 9.99663035e-01 2.89695479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.25, Y:57.68, Z:2.90 [[ 5.56052328e-01 -8.31016676e-01 -1.47340535e-02 1.09246408e+02] [ 8.30748842e-01 5.56247273e-01 -2.11029039e-02 5.76800447e+01] [ 2.57326421e-02 -5.05979006e-04 9.99668733e-01 2.89792410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:57.70, Z:2.90 [[ 5.56266642e-01 -8.30876517e-01 -1.45477489e-02 1.09260227e+02] [ 8.30615054e-01 5.56456626e-01 -2.08483894e-02 5.77043810e+01] [ 2.54176285e-02 -4.86315660e-04 9.99676802e-01 2.89860413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:57.73, Z:2.90 [[ 5.55931313e-01 -8.31106277e-01 -1.42383798e-02 1.09275188e+02] [ 8.30855591e-01 5.56113412e-01 -2.04171746e-02 5.77276328e+01] [ 2.48869959e-02 -4.79490758e-04 9.99690156e-01 2.89935103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:57.75, Z:2.90 [[ 5.55617943e-01 -8.31316085e-01 -1.42221227e-02 1.09290767e+02] [ 8.31065731e-01 5.55799726e-01 -2.04062754e-02 5.77495823e+01] [ 2.48687169e-02 -4.81425996e-04 9.99690610e-01 2.89957066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.31, Y:57.77, Z:2.90 [[ 5.54612098e-01 -8.31985916e-01 -1.43128122e-02 1.09306124e+02] [ 8.31732293e-01 5.54796519e-01 -2.05478569e-02 5.77737751e+01] [ 2.50362259e-02 -5.08338052e-04 9.99686415e-01 2.89983128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:57.80, Z:2.90 [[ 5.54113952e-01 -8.32319512e-01 -1.42112160e-02 1.09321445e+02] [ 8.32069297e-01 5.54295920e-01 -2.04136764e-02 5.77960041e+01] [ 2.48679202e-02 -5.13213559e-04 9.99690614e-01 2.90020216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.34, Y:57.82, Z:2.90 [[ 5.53867770e-01 -8.32476389e-01 -1.46135509e-02 1.09336123e+02] [ 8.32211556e-01 5.54060270e-01 -2.10034073e-02 5.78188349e+01] [ 2.55816286e-02 -5.28455591e-04 9.99672597e-01 2.90018442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:57.84, Z:2.90 [[ 5.53735439e-01 -8.32558952e-01 -1.49216387e-02 1.09351857e+02] [ 8.32282552e-01 5.53936191e-01 -2.14581231e-02 5.78423901e+01] [ 2.61307882e-02 -5.36896337e-04 9.99658388e-01 2.90049598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.37, Y:57.87, Z:2.90 [[ 5.53704789e-01 -8.32574957e-01 -1.51640262e-02 1.09367410e+02] [ 8.32289162e-01 5.53912132e-01 -2.18197131e-02 5.78662341e+01] [ 2.65660848e-02 -5.39174994e-04 9.99646914e-01 2.90056902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:57.89, Z:2.90 [[ 5.53855249e-01 -8.32469494e-01 -1.54565359e-02 1.09381391e+02] [ 8.32172171e-01 5.54070620e-01 -2.22536591e-02 5.78891497e+01] [ 2.70895048e-02 -5.37193181e-04 9.99632868e-01 2.90006727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.178040942 meters Centerline goodness [0,1] 0.9999560893143347 Centerline is valid? [True, True] Translation: X:109.40, Y:57.91, Z:2.90 [[ 5.53615742e-01 -8.32627298e-01 -1.55368115e-02 1.09396221e+02] [ 8.32326616e-01 5.53833449e-01 -2.23811116e-02 5.79133876e+01] [ 2.72399304e-02 -5.41166006e-04 9.99628778e-01 2.90065296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:57.94, Z:2.90 [[ 5.52483420e-01 -8.33377349e-01 -1.56289788e-02 1.09411501e+02] [ 8.33073044e-01 5.52704138e-01 -2.25264197e-02 5.79361401e+01] [ 2.74112092e-02 -5.74607549e-04 9.99624077e-01 2.90073745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.43, Y:57.96, Z:2.90 [[ 5.51594617e-01 -8.33957782e-01 -1.60560623e-02 1.09426837e+02] [ 8.33636605e-01 5.51827908e-01 -2.31510528e-02 5.79604480e+01] [ 2.81671839e-02 -6.14925174e-04 9.99603037e-01 2.90157567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:57.98, Z:2.90 [[ 5.50514826e-01 -8.34672905e-01 -1.59552062e-02 1.09443926e+02] [ 8.34355746e-01 5.50745613e-01 -2.30164908e-02 5.79820147e+01] [ 2.79985011e-02 -6.41398583e-04 9.99607759e-01 2.90231592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.46, Y:58.00, Z:2.90 [[ 5.47454551e-01 -8.36691664e-01 -1.55104756e-02 1.09460892e+02] [ 8.36392545e-01 5.47673755e-01 -2.23823218e-02 5.80038758e+01] [ 2.72217825e-02 -7.19542205e-04 9.99629160e-01 2.90420399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.48, Y:58.03, Z:2.90 [[ 5.47235328e-01 -8.36835171e-01 -1.55045888e-02 1.09476509e+02] [ 8.36535994e-01 5.47454454e-01 -2.23863991e-02 5.80266132e+01] [ 2.72217823e-02 -7.19518140e-04 9.99629160e-01 2.90484207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.49, Y:58.05, Z:2.91 [[ 5.45306314e-01 -8.38099405e-01 -1.51793126e-02 1.09489786e+02] [ 8.37812820e-01 5.45517012e-01 -2.19287060e-02 5.80521810e+01] [ 2.66590087e-02 -7.59560838e-04 9.99644297e-01 2.90660012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.51, Y:58.08, Z:2.91 [[ 5.42078734e-01 -8.40203956e-01 -1.44207334e-02 1.09506040e+02] [ 8.39945786e-01 5.42269904e-01 -2.08429100e-02 5.80754993e+01] [ 2.53322252e-02 -8.14135978e-04 9.99678756e-01 2.90828845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.52, Y:58.10, Z:2.91 [[ 5.40657191e-01 -8.41124070e-01 -1.41457100e-02 1.09522278e+02] [ 8.40875814e-01 5.40841565e-01 -2.04516070e-02 5.80980876e+01] [ 2.48529268e-02 -8.37477006e-04 9.99690768e-01 2.90947317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44804094199998 meters Centerline goodness [0,1] 0.9999344949561116 Centerline is valid? [True, True] Translation: X:109.54, Y:58.12, Z:2.91 [[ 5.39044914e-01 -8.42169202e-01 -1.34764958e-02 1.09537441e+02] [ 8.41944073e-01 5.39212693e-01 -1.94897218e-02 5.81209213e+01] [ 2.36803410e-02 -8.40620352e-04 9.99719228e-01 2.91110011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:58.14, Z:2.91 [[ 5.38666977e-01 -8.42412415e-01 -1.33869222e-02 1.09552959e+02] [ 8.42190181e-01 5.38832640e-01 -1.93671104e-02 5.81446990e+01] [ 2.35284049e-02 -8.41911556e-04 9.99722814e-01 2.91168378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.57, Y:58.17, Z:2.91 [[ 5.38803310e-01 -8.42319226e-01 -1.37591458e-02 1.09567617e+02] [ 8.42084142e-01 5.38978284e-01 -1.99175042e-02 5.81687177e+01] [ 2.41927775e-02 -8.54741337e-04 9.99706947e-01 2.91235047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.58, Y:58.20, Z:2.91 [[ 5.41043481e-01 -8.40877114e-01 -1.40580878e-02 1.09579922e+02] [ 8.40630923e-01 5.41225495e-01 -2.03620805e-02 5.81950819e+01] [ 2.47306030e-02 -8.00892464e-04 9.99693831e-01 2.91246692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.59, Y:58.22, Z:2.91 [[ 5.42455166e-01 -8.39965811e-01 -1.41360818e-02 1.09593386e+02] [ 8.39716300e-01 5.42638795e-01 -2.04859443e-02 5.82194010e+01] [ 2.48782792e-02 -7.57591936e-04 9.99690201e-01 2.91303922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:58.25, Z:2.91 [[ 5.46241205e-01 -8.37501364e-01 -1.45606022e-02 1.09603216e+02] [ 8.37235555e-01 5.46434835e-01 -2.11091650e-02 5.82471414e+01] [ 2.56353747e-02 -6.59958107e-04 9.99671142e-01 2.91248448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.62, Y:58.27, Z:2.91 [[ 5.47921211e-01 -8.36396811e-01 -1.49238347e-02 1.09616101e+02] [ 8.36116863e-01 5.48124067e-01 -2.16471458e-02 5.82709840e+01] [ 2.62857167e-02 -6.17139492e-04 9.99654280e-01 2.91240814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:58.30, Z:2.91 [[ 5.49200426e-01 -8.35555145e-01 -1.50496474e-02 1.09629109e+02] [ 8.35269917e-01 5.49406285e-01 -2.18380349e-02 5.82974241e+01] [ 2.65152533e-02 -5.77059635e-04 9.99648242e-01 2.91316462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.64, Y:58.32, Z:2.91 [[ 5.50644873e-01 -8.34607648e-01 -1.48424446e-02 1.09641996e+02] [ 8.34329589e-01 5.50844629e-01 -2.15483274e-02 5.83235296e+01] [ 2.61602797e-02 -5.18014699e-04 9.99657627e-01 2.91418047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:58.35, Z:2.91 [[ 5.50821462e-01 -8.34491270e-01 -1.48336869e-02 1.09659137e+02] [ 8.34213199e-01 5.51020930e-01 -2.15470016e-02 5.83451706e+01] [ 2.61544566e-02 -5.05906479e-04 9.99657786e-01 2.91469460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:58.37, Z:2.92 [[ 5.50749611e-01 -8.34547625e-01 -1.43222870e-02 1.09670276e+02] [ 8.34288147e-01 5.50935592e-01 -2.08149143e-02 5.83711690e+01] [ 2.52616949e-02 -4.85108336e-04 9.99680755e-01 2.91644258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:58.39, Z:2.92 [[ 5.50694964e-01 -8.34586770e-01 -1.41414066e-02 1.09687389e+02] [ 8.34333513e-01 5.50876300e-01 -2.05643016e-02 5.83922623e+01] [ 2.49528597e-02 -4.73992108e-04 9.99688517e-01 2.91684234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.70, Y:58.42, Z:2.92 [[ 5.50628146e-01 -8.34638740e-01 -1.36681311e-02 1.09699291e+02] [ 8.34401916e-01 5.50797573e-01 -1.98865650e-02 5.84184661e+01] [ 2.41264709e-02 -4.54612350e-04 9.99708811e-01 2.91805525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.71, Y:58.44, Z:2.92 [[ 5.50279762e-01 -8.34878159e-01 -1.30630087e-02 1.09712832e+02] [ 8.34661656e-01 5.50434616e-01 -1.90171695e-02 5.84426760e+01] [ 2.30673517e-02 -4.38428970e-04 9.99733817e-01 2.91954559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.73, Y:58.46, Z:2.92 [[ 5.50116501e-01 -8.34986831e-01 -1.29933815e-02 1.09732191e+02] [ 8.34772389e-01 5.50269756e-01 -1.89276109e-02 5.84624335e+01] [ 2.29541707e-02 -4.34125013e-04 9.99736424e-01 2.92062531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.74, Y:58.49, Z:2.92 [[ 5.49778661e-01 -8.35206939e-01 -1.31450751e-02 1.09741873e+02] [ 8.34987332e-01 5.49935607e-01 -1.91568132e-02 5.84896287e+01] [ 2.32288481e-02 -4.43964081e-04 9.99730075e-01 2.92033903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.76, Y:58.51, Z:2.92 [[ 5.49386257e-01 -8.35465049e-01 -1.31488353e-02 1.09756309e+02] [ 8.35245117e-01 5.49543402e-01 -1.91740300e-02 5.85133998e+01] [ 2.32450876e-02 -4.48551959e-04 9.99729696e-01 2.92031129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:58.54, Z:2.92 [[ 5.49202065e-01 -8.35581154e-01 -1.34620438e-02 1.09771839e+02] [ 8.35350359e-01 5.49366840e-01 -1.96431320e-02 5.85358923e+01] [ 2.38090314e-02 -4.57474488e-04 9.99716420e-01 2.92056135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.79, Y:58.56, Z:2.92 [[ 5.48875859e-01 -8.35792278e-01 -1.36586962e-02 1.09786089e+02] [ 8.35554483e-01 5.49045581e-01 -1.99413208e-02 5.85598676e+01] [ 2.41660488e-02 -4.67275262e-04 9.99707849e-01 2.92051635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:58.58, Z:2.92 [[ 5.48388623e-01 -8.36113463e-01 -1.35718400e-02 1.09801181e+02] [ 8.35878494e-01 5.48556336e-01 -1.98264852e-02 5.85821979e+01] [ 2.40221100e-02 -4.71790246e-04 9.99711316e-01 2.92077742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:58.61, Z:2.92 [[ 5.47005688e-01 -8.37015895e-01 -1.37538429e-02 1.09817855e+02] [ 8.36774591e-01 5.47178334e-01 -2.01035898e-02 5.86061726e+01] [ 2.43528290e-02 -5.12088301e-04 9.99703295e-01 2.92072838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.83, Y:58.63, Z:2.92 [[ 5.46083700e-01 -8.37615925e-01 -1.38619912e-02 1.09834466e+02] [ 8.37370738e-01 5.46259346e-01 -2.02724823e-02 5.86295953e+01] [ 2.45527963e-02 -5.37153657e-04 9.99698390e-01 2.92130083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:58.65, Z:2.92 [[ 5.45089235e-01 -8.38265208e-01 -1.37537694e-02 1.09850378e+02] [ 8.38023760e-01 5.45262443e-01 -2.01257442e-02 5.86533975e+01] [ 2.43701251e-02 -5.55659077e-04 9.99702850e-01 2.92190029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.87, Y:58.67, Z:2.92 [[ 5.44056528e-01 -8.38929611e-01 -1.41280469e-02 1.09867999e+02] [ 8.38674787e-01 5.44239610e-01 -2.06845190e-02 5.86746571e+01] [ 2.50418982e-02 -5.95289152e-04 9.99686225e-01 2.92260243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:58.70, Z:2.92 [[ 5.43657678e-01 -8.39192747e-01 -1.38514241e-02 1.09883463e+02] [ 8.38947740e-01 5.43833782e-01 -2.02856423e-02 5.86976182e+01] [ 2.45564363e-02 -5.92175781e-04 9.99698270e-01 2.92330321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:58.72, Z:2.92 [[ 5.43761151e-01 -8.39125017e-01 -1.38930178e-02 1.09899885e+02] [ 8.38878209e-01 5.43938291e-01 -2.03589265e-02 5.87196311e+01] [ 2.46406289e-02 -5.84156535e-04 9.99696203e-01 2.92384443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:58.74, Z:2.92 [[ 5.45299414e-01 -8.38127646e-01 -1.38057429e-02 1.09915399e+02] [ 8.37883347e-01 5.45473893e-01 -2.02417484e-02 5.87440194e+01] [ 2.44958412e-02 -5.29788509e-04 9.99699791e-01 2.92422701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.93, Y:58.77, Z:2.92 [[ 5.46218280e-01 -8.37531555e-01 -1.36559419e-02 1.09930977e+02] [ 8.37292092e-01 5.46388737e-01 -2.00325053e-02 5.87680651e+01] [ 2.42393082e-02 -4.91891548e-04 9.99706064e-01 2.92460311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28804094199998 meters Centerline goodness [0,1] 0.999956835153451 Centerline is valid? [True, True] Translation: X:109.95, Y:58.79, Z:2.93 [[ 5.48426743e-01 -8.36094285e-01 -1.32081020e-02 1.09946188e+02] [ 8.35869602e-01 5.48585617e-01 -1.93863240e-02 5.87929316e+01] [ 2.34545695e-02 -4.08272389e-04 9.99724820e-01 2.92523816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.96, Y:58.82, Z:2.93 [[ 5.49077590e-01 -8.35667170e-01 -1.31977610e-02 1.09962543e+02] [ 8.35442479e-01 5.49236045e-01 -1.93812174e-02 5.88150107e+01] [ 2.34449331e-02 -3.84178022e-04 9.99725056e-01 2.92604029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:58.84, Z:2.93 [[ 5.49321126e-01 -8.35508411e-01 -1.31147269e-02 1.09978443e+02] [ 8.35286277e-01 5.49477533e-01 -1.92685323e-02 5.88386386e+01] [ 2.33052685e-02 -3.69939564e-04 9.99728327e-01 2.92688280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.00, Y:58.86, Z:2.93 [[ 5.49829630e-01 -8.35176947e-01 -1.29168397e-02 1.09995165e+02] [ 8.34961124e-01 5.49981225e-01 -1.89887658e-02 5.88612660e+01] [ 2.29629988e-02 -3.44472924e-04 9.99736256e-01 2.92772543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:58.88, Z:2.93 [[ 5.49706464e-01 -8.35258095e-01 -1.29119135e-02 1.10011427e+02] [ 8.35042203e-01 5.49857979e-01 -1.89926604e-02 5.88835108e+01] [ 2.29634920e-02 -3.41604492e-04 9.99736246e-01 2.92865728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.03, Y:58.91, Z:2.93 [[ 5.49704855e-01 -8.35268161e-01 -1.23155125e-02 1.10027116e+02] [ 8.35071559e-01 5.49842701e-01 -1.81244446e-02 5.89071899e+01] [ 2.19103662e-02 -3.21239045e-04 9.99759888e-01 2.92986856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.04, Y:58.93, Z:2.93 [[ 5.49485561e-01 -8.35414070e-01 -1.22045221e-02 1.10042891e+02] [ 8.35220794e-01 5.49620989e-01 -1.79720432e-02 5.89303029e+01] [ 2.17219593e-02 -3.18092362e-04 9.99764000e-01 2.93009068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.06, Y:58.95, Z:2.93 [[ 5.49384107e-01 -8.35476028e-01 -1.25263664e-02 1.10060002e+02] [ 8.35272177e-01 5.49526800e-01 -1.84576907e-02 5.89514307e+01] [ 2.23045322e-02 -3.22563349e-04 9.99751171e-01 2.93012660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528040942 meters Centerline goodness [0,1] 0.9999782816436452 Centerline is valid? [True, True] Translation: X:110.08, Y:58.97, Z:2.93 [[ 5.49521187e-01 -8.35383713e-01 -1.26695688e-02 1.10075306e+02] [ 8.35174917e-01 5.49667129e-01 -1.86790416e-02 5.89746741e+01] [ 2.25682126e-02 -3.16776992e-04 9.99745255e-01 2.92971490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.09, Y:58.99, Z:2.93 [[ 5.49314567e-01 -8.35514434e-01 -1.30052920e-02 1.10093492e+02] [ 8.35294179e-01 5.49468403e-01 -1.91861382e-02 5.89945771e+01] [ 2.31762924e-02 -3.24019524e-04 9.99731341e-01 2.93046875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:59.02, Z:2.93 [[ 5.48773530e-01 -8.35864501e-01 -1.33472441e-02 1.10111597e+02] [ 8.35632348e-01 5.48935715e-01 -1.97017761e-02 5.90158947e+01] [ 2.37947942e-02 -3.41575681e-04 9.99716805e-01 2.93096554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:59.04, Z:2.93 [[ 5.48413671e-01 -8.36098352e-01 -1.34904359e-02 1.10126518e+02] [ 8.35860991e-01 5.48579460e-01 -1.99243509e-02 5.90395244e+01] [ 2.40592930e-02 -3.49342644e-04 9.99710472e-01 2.93158561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:59.06, Z:2.93 [[ 5.47549415e-01 -8.36652214e-01 -1.42376438e-02 1.10145056e+02] [ 8.36387676e-01 5.47734354e-01 -2.10412069e-02 5.90608462e+01] [ 2.54026190e-02 -3.87089281e-04 9.99677226e-01 2.93158000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:59.08, Z:2.93 [[ 5.46954381e-01 -8.37042307e-01 -1.41803281e-02 1.10164336e+02] [ 8.36779730e-01 5.47138025e-01 -2.09681977e-02 5.90801200e+01] [ 2.53098653e-02 -3.97163584e-04 9.99679575e-01 2.93139957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:59.10, Z:2.93 [[ 5.46137832e-01 -8.37577808e-01 -1.40315368e-02 1.10179137e+02] [ 8.37320734e-01 5.46317896e-01 -2.07543914e-02 5.91043806e+01] [ 2.50490973e-02 -4.14138366e-04 9.99686136e-01 2.93277477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:59.13, Z:2.93 [[ 5.44492738e-01 -8.38657275e-01 -1.34771468e-02 1.10197520e+02] [ 8.38420180e-01 5.44659326e-01 -1.99454034e-02 5.91252373e+01] [ 2.40678114e-02 -4.39384517e-04 9.99710232e-01 2.93430878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:59.15, Z:2.94 [[ 5.43015837e-01 -8.39617644e-01 -1.32669947e-02 1.10215550e+02] [ 8.39388030e-01 5.43177679e-01 -1.96403639e-02 5.91481390e+01] [ 2.36967314e-02 -4.71127917e-04 9.99719082e-01 2.93533137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:59.17, Z:2.94 [[ 5.40216563e-01 -8.41426280e-01 -1.29568625e-02 1.10235092e+02] [ 8.41207572e-01 5.40371661e-01 -1.91908772e-02 5.91681506e+01] [ 2.31492297e-02 -5.32181076e-04 9.99731879e-01 2.93698467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:59.19, Z:2.94 [[ 5.39217126e-01 -8.42066027e-01 -1.30268054e-02 1.10252359e+02] [ 8.41844937e-01 5.39374170e-01 -1.93030407e-02 5.91889627e+01] [ 2.32807572e-02 -5.58020079e-04 9.99728811e-01 2.93780027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:59.21, Z:2.94 [[ 5.38398219e-01 -8.42591894e-01 -1.28940862e-02 1.10269188e+02] [ 8.42375327e-01 5.38552293e-01 -1.91111355e-02 5.92110600e+01] [ 2.30470275e-02 -5.72258813e-04 9.99734218e-01 2.93853929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:59.23, Z:2.94 [[ 5.37674440e-01 -8.43058849e-01 -1.25687597e-02 1.10286119e+02] [ 8.42852968e-01 5.37821020e-01 -1.86393378e-02 5.92334722e+01] [ 2.24738018e-02 -5.71720914e-04 9.99747269e-01 2.93936894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.30, Y:59.26, Z:2.94 [[ 5.37395272e-01 -8.43231949e-01 -1.28919199e-02 1.10302021e+02] [ 8.43015136e-01 5.37549564e-01 -1.91297379e-02 5.92563328e+01] [ 2.30608521e-02 -5.87852937e-04 9.99733890e-01 2.94008631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:59.28, Z:2.94 [[ 5.38057378e-01 -8.42804564e-01 -1.32183932e-02 1.10315665e+02] [ 8.42576231e-01 5.38219410e-01 -1.96255324e-02 5.92812225e+01] [ 2.36548841e-02 -5.77841429e-04 9.99720017e-01 2.93972300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:59.30, Z:2.94 [[ 5.38678342e-01 -8.42402769e-01 -1.35358625e-02 1.10332103e+02] [ 8.42162923e-01 5.38848080e-01 -2.01086555e-02 5.93034329e+01] [ 2.42333606e-02 -5.67304335e-04 9.99706168e-01 2.93931967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.35, Y:59.33, Z:2.94 [[ 5.39615261e-01 -8.41797645e-01 -1.38598189e-02 1.10345395e+02] [ 8.41545735e-01 5.39792946e-01 -2.05997977e-02 5.93283950e+01] [ 2.48222937e-02 -5.47706276e-04 9.99691729e-01 2.93913871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.36, Y:59.35, Z:2.94 [[ 5.39662861e-01 -8.41764672e-01 -1.40083258e-02 1.10362401e+02] [ 8.41507012e-01 5.39844366e-01 -2.08328947e-02 5.93499606e+01] [ 2.50987105e-02 -5.45364815e-04 9.99684829e-01 2.93945238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:59.37, Z:2.94 [[ 5.39565522e-01 -8.41825626e-01 -1.40948042e-02 1.10378059e+02] [ 8.41564561e-01 5.39749310e-01 -2.09707369e-02 5.93726779e+01] [ 2.52613646e-02 -5.46601093e-04 9.99680731e-01 2.94047241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.39, Y:59.40, Z:2.94 [[ 5.39445961e-01 -8.41905769e-01 -1.38827712e-02 1.10394686e+02] [ 8.41652219e-01 5.39624304e-01 -2.06676568e-02 5.93953932e+01] [ 2.48917002e-02 -5.35381175e-04 9.99690010e-01 2.94163247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:59.42, Z:2.94 [[ 5.39581488e-01 -8.41820706e-01 -1.37737779e-02 1.10411135e+02] [ 8.41570788e-01 5.39757008e-01 -2.05178228e-02 5.94171402e+01] [ 2.47068212e-02 -5.20571733e-04 9.99694604e-01 2.94288343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:59.44, Z:2.95 [[ 5.39323290e-01 -8.41995555e-01 -1.31861435e-02 1.10427215e+02] [ 8.41766321e-01 5.39484231e-01 -1.96526207e-02 5.94401691e+01] [ 2.36611357e-02 -5.00535464e-04 9.99719911e-01 2.94515333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.188040942 meters Centerline goodness [0,1] 0.9999780364594772 Centerline is valid? [True, True] Translation: X:110.44, Y:59.46, Z:2.95 [[ 5.38897098e-01 -8.42275694e-01 -1.27111576e-02 1.10443320e+02] [ 8.42062496e-01 5.39046767e-01 -1.89561358e-02 5.94617074e+01] [ 2.28182008e-02 -4.88182499e-04 9.99739512e-01 2.94638419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:59.48, Z:2.95 [[ 5.38207950e-01 -8.42724799e-01 -1.21291098e-02 1.10459720e+02] [ 8.42530584e-01 5.38344391e-01 -1.80978480e-02 5.94848956e+01] [ 2.17811435e-02 -4.78740316e-04 9.99762648e-01 2.94792281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.48, Y:59.51, Z:2.95 [[ 5.37966917e-01 -8.42878759e-01 -1.21240893e-02 1.10475007e+02] [ 8.42684507e-01 5.38103306e-01 -1.81012106e-02 5.95078613e+01] [ 2.17811385e-02 -4.78929763e-04 9.99762648e-01 2.94856090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.49, Y:59.53, Z:2.95 [[ 5.36945410e-01 -8.43533655e-01 -1.18574525e-02 1.10492839e+02] [ 8.43347774e-01 5.37076097e-01 -1.77143462e-02 5.95291017e+01] [ 2.13110015e-02 -4.88319280e-04 9.99772776e-01 2.94919988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.51, Y:59.55, Z:2.95 [[ 5.36357891e-01 -8.43907740e-01 -1.18295707e-02 1.10509342e+02] [ 8.43722725e-01 5.36488095e-01 -1.76773125e-02 5.95513517e+01] [ 2.12644447e-02 -4.99511576e-04 9.99773761e-01 2.95017469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.53, Y:59.57, Z:2.95 [[ 5.36478064e-01 -8.43831895e-01 -1.17906416e-02 1.10526069e+02] [ 8.43647875e-01 5.36607392e-01 -1.76287019e-02 5.95736252e+01] [ 2.12026064e-02 -4.89737848e-04 9.99775080e-01 2.95089650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.54, Y:59.60, Z:2.95 [[ 5.36926618e-01 -8.43542843e-01 -1.20531461e-02 1.10542216e+02] [ 8.43350216e-01 5.37061671e-01 -1.80326008e-02 5.95959079e+01] [ 2.16845541e-02 -4.82840034e-04 9.99764746e-01 2.95149852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.56, Y:59.62, Z:2.95 [[ 5.37262194e-01 -8.43327353e-01 -1.21782960e-02 1.10557200e+02] [ 8.43130454e-01 5.37399992e-01 -1.82287508e-02 5.96193974e+01] [ 2.19174203e-02 -4.74273568e-04 9.99759672e-01 2.95178462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.57, Y:59.64, Z:2.95 [[ 5.39684063e-01 -8.41778011e-01 -1.22837836e-02 1.10573021e+02] [ 8.41577029e-01 5.39823687e-01 -1.83981467e-02 5.96426371e+01] [ 2.21182327e-02 -4.08563577e-04 9.99755278e-01 2.95169774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.59, Y:59.67, Z:2.95 [[ 5.40477805e-01 -8.41268448e-01 -1.22938992e-02 1.10586809e+02] [ 8.41066934e-01 5.40617470e-01 -1.84163976e-02 5.96675898e+01] [ 2.21394309e-02 -3.86338018e-04 9.99754818e-01 2.95170231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:59.69, Z:2.95 [[ 5.41401286e-01 -8.40670935e-01 -1.25310081e-02 1.10602450e+02] [ 8.40461149e-01 5.41546164e-01 -1.87832167e-02 5.96894686e+01] [ 2.25766237e-02 -3.62567738e-04 9.99745050e-01 2.95142467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:59.71, Z:2.95 [[ 5.43256901e-01 -8.39459772e-01 -1.33877392e-02 1.10618653e+02] [ 8.39219700e-01 5.43421737e-01 -2.00776065e-02 5.97132531e+01] [ 2.41295315e-02 -3.27956147e-04 9.99708787e-01 2.95107720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.63, Y:59.74, Z:2.95 [[ 5.43663682e-01 -8.39193898e-01 -1.35426125e-02 1.10634409e+02] [ 8.38947974e-01 5.43832237e-01 -2.03173644e-02 5.97365142e+01] [ 2.44151175e-02 -3.15734213e-04 9.99701857e-01 2.95157861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57804094199997 meters Centerline goodness [0,1] 0.9999778098302452 Centerline is valid? [True, True] Translation: X:110.65, Y:59.76, Z:2.95 [[ 5.44739291e-01 -8.38498950e-01 -1.33647336e-02 1.10651211e+02] [ 8.38258940e-01 5.44903144e-01 -2.00627406e-02 5.97581444e+01] [ 2.41050723e-02 -2.74144347e-04 9.99709393e-01 2.95287468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.67, Y:59.78, Z:2.95 [[ 5.44845253e-01 -8.38433031e-01 -1.31796626e-02 1.10666976e+02] [ 8.38199370e-01 5.45004573e-01 -1.97947379e-02 5.97817904e+01] [ 2.37795385e-02 -2.62115955e-04 9.99717192e-01 2.95389465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.68, Y:59.80, Z:2.95 [[ 5.44924271e-01 -8.38387434e-01 -1.28081662e-02 1.10683268e+02] [ 8.38166481e-01 5.45074719e-01 -1.92484033e-02 5.98029177e+01] [ 2.31190270e-02 -2.46453427e-04 9.99732689e-01 2.95471468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.70, Y:59.83, Z:2.96 [[ 5.44384661e-01 -8.38737258e-01 -1.28512020e-02 1.10699539e+02] [ 8.38514665e-01 5.44536268e-01 -1.93238122e-02 5.98260748e+01] [ 2.32055468e-02 -2.56334371e-04 9.99730682e-01 2.95517375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:59.85, Z:2.96 [[ 5.43802295e-01 -8.39118121e-01 -1.26429126e-02 1.10716478e+02] [ 8.38902524e-01 5.43949180e-01 -1.90222027e-02 5.98486282e+01] [ 2.28389770e-02 -2.61853786e-04 9.99739122e-01 2.95557724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72804094199998 meters Centerline goodness [0,1] 0.9998885545525465 Centerline is valid? [True, True] Translation: X:110.74, Y:59.87, Z:2.96 [[ 5.42887478e-01 -8.39711372e-01 -1.25696970e-02 1.10735268e+02] [ 8.39498160e-01 5.43032903e-01 -1.89236898e-02 5.98703529e+01] [ 2.27161966e-02 -2.78803225e-04 9.99741915e-01 2.95654431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.75, Y:59.89, Z:2.96 [[ 5.42054930e-01 -8.40251422e-01 -1.24097035e-02 1.10751835e+02] [ 8.40043493e-01 5.42196886e-01 -1.86940439e-02 5.98933299e+01] [ 2.24361995e-02 -2.91492014e-04 9.99748234e-01 2.95736270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78804094199998 meters Centerline goodness [0,1] 0.9999554098945445 Centerline is valid? [True, True] Translation: X:110.77, Y:59.92, Z:2.96 [[ 5.42018072e-01 -8.40270673e-01 -1.27124234e-02 1.10767819e+02] [ 8.40052203e-01 5.42167050e-01 -1.91621013e-02 5.99167426e+01] [ 2.29936088e-02 -2.92894108e-04 9.99735569e-01 2.95695588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:59.94, Z:2.96 [[ 5.42660999e-01 -8.39859183e-01 -1.24736889e-02 1.10782631e+02] [ 8.39648472e-01 5.42804277e-01 -1.88138033e-02 5.99403562e+01] [ 2.25717172e-02 -2.63996571e-04 9.99745191e-01 2.95748499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84804094199998 meters Centerline goodness [0,1] 0.9999776661083194 Centerline is valid? [True, True] Translation: X:110.80, Y:59.96, Z:2.96 [[ 5.43233585e-01 -8.39490588e-01 -1.23622619e-02 1.10797008e+02] [ 8.39283271e-01 5.43374177e-01 -1.86573049e-02 5.99633509e+01] [ 2.23799657e-02 -2.40164959e-04 9.99749508e-01 2.95814891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87804094199998 meters Centerline goodness [0,1] 0.99997774959393 Centerline is valid? [True, True] Translation: X:110.81, Y:59.99, Z:2.96 [[ 5.44013781e-01 -8.38988219e-01 -1.21562577e-02 1.10811082e+02] [ 8.38787468e-01 5.44149542e-01 -1.83537492e-02 5.99883103e+01] [ 2.20134014e-02 -2.11824158e-04 9.99757653e-01 2.95815413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.83, Y:60.01, Z:2.96 [[ 5.44154324e-01 -8.38895171e-01 -1.22867006e-02 1.10825724e+02] [ 8.38689809e-01 5.44292981e-01 -1.85621677e-02 6.00122000e+01] [ 2.22592778e-02 -2.04046825e-04 9.99752211e-01 2.95891919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.84, Y:60.04, Z:2.96 [[ 5.44362005e-01 -8.38762224e-01 -1.21630459e-02 1.10840189e+02] [ 8.38560696e-01 5.44497838e-01 -1.83865019e-02 6.00367050e+01] [ 2.20446554e-02 -1.90539210e-04 9.99756969e-01 2.95894334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968040942 meters Centerline goodness [0,1] 0.9999777094199991 Centerline is valid? [True, True] Translation: X:110.86, Y:60.06, Z:2.96 [[ 5.44208201e-01 -8.38864074e-01 -1.20208096e-02 1.10855424e+02] [ 8.38667019e-01 5.44340914e-01 -1.81824166e-02 6.00599857e+01] [ 2.17959945e-02 -1.86436320e-04 9.99762422e-01 2.95970120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:60.08, Z:2.96 [[ 5.43529968e-01 -8.39300578e-01 -1.22357912e-02 1.10870731e+02] [ 8.39096268e-01 5.43667637e-01 -1.85189931e-02 6.00835394e+01] [ 2.21952053e-02 -2.01378987e-04 9.99753636e-01 2.96030966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.89, Y:60.11, Z:2.96 [[ 5.41597617e-01 -8.40541666e-01 -1.27172872e-02 1.10886057e+02] [ 8.40321019e-01 5.41746844e-01 -1.92598705e-02 6.01064847e+01] [ 2.30782739e-02 -2.55503779e-04 9.99733629e-01 2.96035001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.90, Y:60.13, Z:2.96 [[ 5.40415275e-01 -8.41303550e-01 -1.26359509e-02 1.10901203e+02] [ 8.41085807e-01 5.40562907e-01 -1.91418087e-02 6.01299667e+01] [ 2.29345979e-02 -2.83393149e-04 9.99736927e-01 2.96071676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.92, Y:60.15, Z:2.96 [[ 5.38462452e-01 -8.42560807e-01 -1.22259986e-02 1.10916878e+02] [ 8.42357057e-01 5.38601137e-01 -1.85311873e-02 6.01527484e+01] [ 2.21985889e-02 -3.20307643e-04 9.99753530e-01 2.96279076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:60.18, Z:2.96 [[ 5.37414277e-01 -8.43232364e-01 -1.20447545e-02 1.10931067e+02] [ 8.43034569e-01 5.37549130e-01 -1.82660417e-02 6.01768431e+01] [ 2.18771648e-02 -3.37712868e-04 9.99760609e-01 2.96413311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.95, Y:60.20, Z:2.97 [[ 5.36753913e-01 -8.43653935e-01 -1.19697686e-02 1.10946031e+02] [ 8.43458469e-01 5.36887249e-01 -1.81629535e-02 6.02007076e+01] [ 2.17496633e-02 -3.46966283e-04 9.99763388e-01 2.96521765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.96, Y:60.22, Z:2.97 [[ 5.35918697e-01 -8.44185112e-01 -1.19434823e-02 1.10960122e+02] [ 8.43990396e-01 5.36051645e-01 -1.81341111e-02 6.02249584e+01] [ 2.17108699e-02 -3.61775146e-04 9.99764226e-01 2.96545621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.97, Y:60.25, Z:2.97 [[ 5.35200452e-01 -8.44639751e-01 -1.20069382e-02 1.10974750e+02] [ 8.44442832e-01 5.35334987e-01 -1.82415667e-02 6.02477388e+01] [ 2.18352865e-02 -3.76278178e-04 9.99761511e-01 2.96620922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:60.27, Z:2.97 [[ 5.33578938e-01 -8.45664556e-01 -1.20406161e-02 1.10990221e+02] [ 8.45466631e-01 5.33714611e-01 -1.82999956e-02 6.02704254e+01] [ 2.19019104e-02 -4.15446913e-04 9.99760038e-01 2.96660570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:60.29, Z:2.97 [[ 5.32523438e-01 -8.46326142e-01 -1.22821023e-02 1.11004156e+02] [ 8.46120250e-01 5.32664867e-01 -1.86724903e-02 6.02947784e+01] [ 2.23452611e-02 -4.48596728e-04 9.99750213e-01 2.96675967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:60.32, Z:2.97 [[ 5.31672205e-01 -8.46857069e-01 -1.25606996e-02 1.11019573e+02] [ 8.46641611e-01 5.31820345e-01 -1.91076619e-02 6.03173478e+01] [ 2.28614942e-02 -4.75398201e-04 9.99738529e-01 2.96669792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.03, Y:60.34, Z:2.97 [[ 5.30507742e-01 -8.47584997e-01 -1.26967891e-02 1.11033295e+02] [ 8.47364804e-01 5.30659416e-01 -1.93254616e-02 6.03423911e+01] [ 2.31176420e-02 -5.06505228e-04 9.99732623e-01 2.96753336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.05, Y:60.37, Z:2.97 [[ 5.30444987e-01 -8.47626060e-01 -1.25768838e-02 1.11047869e+02] [ 8.47409779e-01 5.30593831e-01 -1.91533979e-02 6.03667884e+01] [ 2.29081362e-02 -4.97950402e-04 9.99737450e-01 2.96823962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38804094199998 meters Centerline goodness [0,1] 0.9999557208643287 Centerline is valid? [True, True] Translation: X:111.06, Y:60.39, Z:2.97 [[ 5.30910595e-01 -8.47335112e-01 -1.25358431e-02 1.11061334e+02] [ 8.47119880e-01 5.31058358e-01 -1.91030993e-02 6.03906073e+01] [ 2.28439910e-02 -4.77324087e-04 9.99738928e-01 2.96880905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.08, Y:60.41, Z:2.97 [[ 5.30964862e-01 -8.47302421e-01 -1.24468196e-02 1.11075852e+02] [ 8.47090050e-01 5.31110524e-01 -1.89751967e-02 6.04143325e+01] [ 2.26883670e-02 -4.68414289e-04 9.99742476e-01 2.96892216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:60.44, Z:2.97 [[ 5.32138024e-01 -8.46564898e-01 -1.25297991e-02 1.11091224e+02] [ 8.46349204e-01 5.32285342e-01 -1.91138593e-02 6.04388597e+01] [ 2.28505507e-02 -4.33374224e-04 9.99738798e-01 2.97007522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.11, Y:60.46, Z:2.97 [[ 5.32296212e-01 -8.46467968e-01 -1.23580688e-02 1.11106033e+02] [ 8.46257892e-01 5.32439484e-01 -1.88620229e-02 6.04629828e+01] [ 2.25460219e-02 -4.17929921e-04 9.99745719e-01 2.97103911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50804094199998 meters Centerline goodness [0,1] 0.9999558849479442 Centerline is valid? [True, True] Translation: X:111.12, Y:60.49, Z:2.97 [[ 5.32804981e-01 -8.46142731e-01 -1.27015942e-02 1.11120535e+02] [ 8.45920429e-01 5.32956200e-01 -1.93988900e-02 6.04854096e+01] [ 2.31836232e-02 -4.08712724e-04 9.99731140e-01 2.97167164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.13, Y:60.51, Z:2.97 [[ 5.33564080e-01 -8.45658098e-01 -1.31055074e-02 1.11134741e+02] [ 8.45421030e-01 5.33724860e-01 -2.00263883e-02 6.05081310e+01] [ 2.39302126e-02 -3.94310148e-04 9.99713554e-01 2.97210687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.15, Y:60.53, Z:2.97 [[ 5.33695147e-01 -8.45571117e-01 -1.33781645e-02 1.11149665e+02] [ 8.45323844e-01 5.33862651e-01 -2.04515914e-02 6.05303814e+01] [ 2.44353773e-02 -3.93966349e-04 9.99701334e-01 2.97257529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.17, Y:60.55, Z:2.97 [[ 5.33799059e-01 -8.45511525e-01 -1.29932619e-02 1.11165017e+02] [ 8.45278012e-01 5.33957040e-01 -1.98736647e-02 6.05530243e+01] [ 2.37412562e-02 -3.74375096e-04 9.99718067e-01 2.97375140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.18, Y:60.58, Z:2.97 [[ 5.33550585e-01 -8.45668753e-01 -1.29666199e-02 1.11180695e+02] [ 8.45436048e-01 5.33707990e-01 -1.98411450e-02 6.05764786e+01] [ 2.36994250e-02 -3.76193309e-04 9.99719058e-01 2.97467783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65804094199999 meters Centerline goodness [0,1] 0.9998670772502714 Centerline is valid? [True, True] Translation: X:111.20, Y:60.60, Z:2.97 [[ 5.33009004e-01 -8.46009054e-01 -1.30415729e-02 1.11195261e+02] [ 8.45773465e-01 5.33168389e-01 -1.99678688e-02 6.06007013e+01] [ 2.38463522e-02 -3.87162475e-04 9.99715560e-01 2.97492534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.21, Y:60.62, Z:2.97 [[ 5.31981703e-01 -8.46645552e-01 -1.36666390e-02 1.11211279e+02] [ 8.46386706e-01 5.32157050e-01 -2.09384441e-02 6.06243557e+01] [ 2.50002388e-02 -4.28392406e-04 9.99687353e-01 2.97387807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:60.65, Z:2.97 [[ 5.31323847e-01 -8.47054947e-01 -1.38883531e-02 1.11226559e+02] [ 8.46787444e-01 5.31505142e-01 -2.12910494e-02 6.06476304e+01] [ 2.54164198e-02 -4.48040784e-04 9.99676850e-01 2.97400973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.24, Y:60.67, Z:2.97 [[ 5.30773252e-01 -8.47399296e-01 -1.39351369e-02 1.11242530e+02] [ 8.47129766e-01 5.30955951e-01 -2.13760801e-02 6.06702427e+01] [ 2.55130191e-02 -4.59017779e-04 9.99674385e-01 2.97462039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.26, Y:60.69, Z:2.98 [[ 5.30351426e-01 -8.47663167e-01 -1.39470378e-02 1.11259359e+02] [ 8.47392937e-01 5.30534578e-01 -2.14072916e-02 6.06919682e+01] [ 2.55455584e-02 -4.65233715e-04 9.99673551e-01 2.97570647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.28, Y:60.71, Z:2.98 [[ 5.30230009e-01 -8.47738827e-01 -1.39649065e-02 1.11275491e+02] [ 8.47467690e-01 5.30413674e-01 -2.14440667e-02 6.07133923e+01] [ 2.55861453e-02 -4.64519370e-04 9.99672513e-01 2.97650470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:60.74, Z:2.98 [[ 5.30597778e-01 -8.47505038e-01 -1.41847638e-02 1.11288836e+02] [ 8.47224891e-01 5.30787155e-01 -2.17940236e-02 6.07379235e+01] [ 2.59996352e-02 -4.53824498e-04 9.99661849e-01 2.97632086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.30, Y:60.76, Z:2.98 [[ 5.30866475e-01 -8.47336436e-01 -1.42038905e-02 1.11303617e+02] [ 8.47055125e-01 5.31056279e-01 -2.18367272e-02 6.07614724e+01] [ 2.60461199e-02 -4.39091858e-04 9.99660646e-01 2.97638290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.32, Y:60.79, Z:2.98 [[ 5.31043025e-01 -8.47224509e-01 -1.42806373e-02 1.11317576e+02] [ 8.46939754e-01 5.31234833e-01 -2.19682801e-02 6.07862954e+01] [ 2.61984373e-02 -4.28737559e-04 9.99656670e-01 2.97763291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.33, Y:60.81, Z:2.98 [[ 5.30918605e-01 -8.47306286e-01 -1.40531934e-02 1.11333064e+02] [ 8.47030220e-01 5.31104398e-01 -2.16315723e-02 6.08087119e+01] [ 2.57922800e-02 -4.18875325e-04 9.99667236e-01 2.97768252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.35, Y:60.83, Z:2.98 [[ 5.30613329e-01 -8.47498172e-01 -1.40122588e-02 1.11348381e+02] [ 8.47223529e-01 5.30798144e-01 -2.15782790e-02 6.08322751e+01] [ 2.57252330e-02 -4.21792949e-04 9.99668962e-01 2.97808350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.36, Y:60.86, Z:2.98 [[ 5.29879627e-01 -8.47959675e-01 -1.38552977e-02 1.11363845e+02] [ 8.47690977e-01 5.30060564e-01 -2.13496061e-02 6.08555059e+01] [ 2.54477520e-02 -4.32289473e-04 9.99676060e-01 2.97912761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01804094199997 meters Centerline goodness [0,1] 0.9998885719379569 Centerline is valid? [True, True] Translation: X:111.38, Y:60.88, Z:2.98 [[ 5.29566201e-01 -8.48158878e-01 -1.36439015e-02 1.11378464e+02] [ 8.47898064e-01 5.29741761e-01 -2.10366103e-02 6.08779449e+01] [ 2.50701322e-02 -4.28359907e-04 9.99685603e-01 2.97850865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:60.90, Z:2.98 [[ 5.28974525e-01 -8.48523557e-01 -1.39184826e-02 1.11392920e+02] [ 8.48251949e-01 5.29157417e-01 -2.14722813e-02 6.09008116e+01] [ 2.55848048e-02 -4.48090196e-04 9.99672555e-01 2.98052486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:60.92, Z:2.98 [[ 5.28864628e-01 -8.48595626e-01 -1.36992420e-02 1.11406933e+02] [ 8.48332234e-01 5.29041843e-01 -2.11459066e-02 6.09246415e+01] [ 2.51917961e-02 -4.38186565e-04 9.99682540e-01 2.98050197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.42, Y:60.95, Z:2.98 [[ 5.28893375e-01 -8.48573188e-01 -1.39764779e-02 1.11421279e+02] [ 8.48298667e-01 5.29077831e-01 -2.15875137e-02 6.09477047e+01] [ 2.57132299e-02 -4.38734549e-04 9.99669264e-01 2.98095169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:60.97, Z:2.98 [[ 5.28652277e-01 -8.48723503e-01 -1.39708902e-02 1.11436198e+02] [ 8.48448938e-01 5.28836669e-01 -2.15911294e-02 6.09709088e+01] [ 2.57132180e-02 -4.39387207e-04 9.99669264e-01 2.98158989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.45, Y:60.99, Z:2.98 [[ 5.28916708e-01 -8.48562119e-01 -1.37639614e-02 1.11450127e+02] [ 8.48295242e-01 5.29095602e-01 -2.12844109e-02 6.09948490e+01] [ 2.53435962e-02 -4.18222453e-04 9.99678712e-01 2.98197374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.46, Y:61.02, Z:2.98 [[ 5.28774310e-01 -8.48652369e-01 -1.36706073e-02 1.11464810e+02] [ 8.48388807e-01 5.28950835e-01 -2.11529508e-02 6.10181670e+01] [ 2.51825810e-02 -4.12853236e-04 9.99682783e-01 2.98277583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.48, Y:61.04, Z:2.98 [[ 5.28599874e-01 -8.48761058e-01 -1.36689601e-02 1.11478969e+02] [ 8.48497297e-01 5.28776415e-01 -2.11622364e-02 6.10422123e+01] [ 2.51895059e-02 -4.11720160e-04 9.99682609e-01 2.98343966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:61.07, Z:2.98 [[ 5.28583968e-01 -8.48766741e-01 -1.39286716e-02 1.11493104e+02] [ 8.48492513e-01 5.28767292e-01 -2.15779163e-02 6.10659351e+01] [ 2.56796437e-02 -4.12632969e-04 9.99670138e-01 2.98391335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.51, Y:61.09, Z:2.98 [[ 5.28669761e-01 -8.48713483e-01 -1.39178810e-02 1.11507417e+02] [ 8.48439318e-01 5.28852779e-01 -2.15745756e-02 6.10890663e+01] [ 2.56711432e-02 -4.02651786e-04 9.99670361e-01 2.98438905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.52, Y:61.11, Z:2.98 [[ 5.29318255e-01 -8.48312494e-01 -1.37148651e-02 1.11520667e+02] [ 8.48045837e-01 5.29495774e-01 -2.12716593e-02 6.11136338e+01] [ 2.53069775e-02 -3.71356697e-04 9.99679658e-01 2.98433400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:61.14, Z:2.98 [[ 5.29304016e-01 -8.48322510e-01 -1.36447004e-02 1.11533960e+02] [ 8.48058258e-01 5.29479733e-01 -2.11755652e-02 6.11389120e+01] [ 2.51883010e-02 -3.63189177e-04 9.99682658e-01 2.98441079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.55, Y:61.16, Z:2.98 [[ 5.28778507e-01 -8.48650488e-01 -1.36249438e-02 1.11547992e+02] [ 8.48386782e-01 5.28953884e-01 -2.11578975e-02 6.11626852e+01] [ 2.51626269e-02 -3.71380755e-04 9.99683302e-01 2.98461801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40804094199999 meters Centerline goodness [0,1] 0.9999779234827914 Centerline is valid? [True, True] Translation: X:111.56, Y:61.18, Z:2.98 [[ 5.28186447e-01 -8.49014582e-01 -1.39038727e-02 1.11563145e+02] [ 8.48739766e-01 5.28369272e-01 -2.16037399e-02 6.11848872e+01] [ 2.56882693e-02 -3.89967022e-04 9.99669926e-01 2.98452950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:61.21, Z:2.98 [[ 5.27037705e-01 -8.49723087e-01 -1.42103096e-02 1.11578736e+02] [ 8.49435937e-01 5.27229071e-01 -2.20929076e-02 6.12089174e+01] [ 2.62649420e-02 -4.26952305e-04 9.99654926e-01 2.98491230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468040942 meters Centerline goodness [0,1] 0.9999779249448124 Centerline is valid? [True, True] Translation: X:111.59, Y:61.23, Z:2.99 [[ 5.24946033e-01 -8.51012760e-01 -1.44549195e-02 1.11594720e+02] [ 8.50715783e-01 5.25144779e-01 -2.24859437e-02 6.12323745e+01] [ 2.67267505e-02 -4.93121220e-04 9.99642655e-01 2.98528581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:61.26, Z:2.99 [[ 5.22500924e-01 -8.52515619e-01 -1.44881005e-02 1.11610844e+02] [ 8.52217637e-01 5.22701443e-01 -2.25455270e-02 6.12563458e+01] [ 2.67933650e-02 -5.66956076e-04 9.99640833e-01 2.98564092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.63, Y:61.28, Z:2.99 [[ 5.21318011e-01 -8.53236870e-01 -1.46415499e-02 1.11625835e+02] [ 8.52932504e-01 5.21523229e-01 -2.27961579e-02 6.12793775e+01] [ 2.70864308e-02 -6.04206170e-04 9.99632913e-01 2.98551111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:61.30, Z:2.99 [[ 5.20204767e-01 -8.53913857e-01 -1.47690473e-02 1.11641347e+02] [ 8.53604226e-01 5.20413983e-01 -2.30024341e-02 6.13042802e+01] [ 2.73281160e-02 -6.40945292e-04 9.99626312e-01 2.98604537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:61.33, Z:2.99 [[ 5.19145366e-01 -8.54563394e-01 -1.44739287e-02 1.11656065e+02] [ 8.54265943e-01 5.19346682e-01 -2.25548774e-02 6.13293667e+01] [ 2.67915594e-02 -6.55324334e-04 9.99640827e-01 2.98742536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:61.35, Z:2.99 [[ 5.19294213e-01 -8.54474353e-01 -1.43909860e-02 1.11670535e+02] [ 8.54179937e-01 5.19493185e-01 -2.24380449e-02 6.13534652e+01] [ 2.66487530e-02 -6.40544607e-04 9.99644654e-01 2.98782867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:61.38, Z:2.99 [[ 5.19648402e-01 -8.54256985e-01 -1.45100696e-02 1.11685098e+02] [ 8.53957209e-01 5.19850566e-01 -2.26378906e-02 6.13776233e+01] [ 2.68816440e-02 -6.27234877e-04 9.99638427e-01 2.98817927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:61.40, Z:2.99 [[ 5.21300496e-01 -8.53248481e-01 -1.45884639e-02 1.11698864e+02] [ 8.52944689e-01 5.21504271e-01 -2.27739739e-02 6.14032843e+01] [ 2.70398049e-02 -5.71068917e-04 9.99634195e-01 2.98809954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.71, Y:61.43, Z:2.99 [[ 5.22044480e-01 -8.52788210e-01 -1.48939752e-02 1.11711806e+02] [ 8.52471008e-01 5.22256608e-01 -2.32640445e-02 6.14283634e+01] [ 2.76177798e-02 -5.51816026e-04 9.99618404e-01 2.98839949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.73, Y:61.45, Z:2.99 [[ 5.24131807e-01 -8.51494811e-01 -1.55703501e-02 1.11726724e+02] [ 8.51147169e-01 5.24362793e-01 -2.43342757e-02 6.14518041e+01] [ 2.88850218e-02 -4.98291483e-04 9.99582617e-01 2.98667111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:61.48, Z:2.99 [[ 5.24887366e-01 -8.51029301e-01 -1.55686207e-02 1.11739492e+02] [ 8.50681334e-01 5.25117996e-01 -2.43384051e-02 6.14773680e+01] [ 2.88880588e-02 -4.69013701e-04 9.99582543e-01 2.98744962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:61.50, Z:2.99 [[ 5.25601376e-01 -8.50583603e-01 -1.58343745e-02 1.11753756e+02] [ 8.50222996e-01 5.25839650e-01 -2.47693225e-02 6.15010962e+01] [ 2.93947215e-02 -4.43959380e-04 9.99567783e-01 2.98837800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.77, Y:61.53, Z:2.99 [[ 5.26312989e-01 -8.50146649e-01 -1.56624798e-02 1.11767853e+02] [ 8.49793202e-01 5.26545829e-01 -2.45153794e-02 6.15260974e+01] [ 2.90886810e-02 -4.07106302e-04 9.99576752e-01 2.98883563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:61.55, Z:2.99 [[ 5.25906006e-01 -8.50397490e-01 -1.57156543e-02 1.11782504e+02] [ 8.50041311e-01 5.26140606e-01 -2.46136670e-02 6.15500327e+01] [ 2.92000445e-02 -4.14480088e-04 9.99573502e-01 2.98931215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.80, Y:61.57, Z:2.99 [[ 5.24289187e-01 -8.51398474e-01 -1.55398305e-02 1.11798254e+02] [ 8.51050237e-01 5.24519236e-01 -2.43529348e-02 6.15742320e+01] [ 2.88849915e-02 -4.57196041e-04 9.99582637e-01 2.99017270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:61.60, Z:2.99 [[ 5.23018922e-01 -8.52182782e-01 -1.53529794e-02 1.11814220e+02] [ 8.51842822e-01 5.23243986e-01 -2.40735730e-02 6.15977877e+01] [ 2.85484385e-02 -4.87391116e-04 9.99592291e-01 2.99140630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:61.62, Z:2.99 [[ 5.21857700e-01 -8.52901482e-01 -1.49533382e-02 1.11830151e+02] [ 8.52578903e-01 5.22071648e-01 -2.34607805e-02 6.16198332e+01] [ 2.78164484e-02 -5.05711712e-04 9.99612920e-01 2.99195568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.85, Y:61.64, Z:2.99 [[ 5.19934544e-01 -8.54077242e-01 -1.48369380e-02 1.11846666e+02] [ 8.53759782e-01 5.20145897e-01 -2.32912016e-02 6.16434720e+01] [ 2.76098577e-02 -5.57280672e-04 9.99618620e-01 2.99289998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:61.67, Z:2.99 [[ 5.18262138e-01 -8.55088372e-01 -1.51073707e-02 1.11861880e+02] [ 8.54759285e-01 5.18481916e-01 -2.37290409e-02 6.16677739e+01] [ 2.81233255e-02 -6.15301904e-04 9.99604272e-01 2.99200601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:61.69, Z:2.99 [[ 5.17203577e-01 -8.55726580e-01 -1.52473114e-02 1.11877477e+02] [ 8.55391265e-01 5.17427868e-01 -2.39621648e-02 6.16925946e+01] [ 2.83944452e-02 -6.49099659e-04 9.99596586e-01 2.99161839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:61.72, Z:2.99 [[ 5.16539399e-01 -8.56120946e-01 -1.56197083e-02 1.11893189e+02] [ 8.55768819e-01 5.16775061e-01 -2.45614545e-02 6.17166428e+01] [ 2.90994514e-02 -6.79900387e-04 9.99576290e-01 2.99159493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:61.74, Z:2.99 [[ 5.15870295e-01 -8.56523212e-01 -1.56788650e-02 1.11907989e+02] [ 8.56168159e-01 5.16108033e-01 -2.46694702e-02 6.17405304e+01] [ 2.92219620e-02 -6.97498090e-04 9.99572704e-01 2.99232656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:61.76, Z:2.99 [[ 5.16582803e-01 -8.56097830e-01 -1.54503461e-02 1.11923154e+02] [ 8.55752437e-01 5.16813385e-01 -2.43246967e-02 6.17643049e+01] [ 2.88092657e-02 -6.55951364e-04 9.99584712e-01 2.99380437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.94, Y:61.79, Z:2.99 [[ 5.17619727e-01 -8.55466542e-01 -1.57103008e-02 1.11936538e+02] [ 8.55108691e-01 5.17857709e-01 -2.47491176e-02 6.17898866e+01] [ 2.93077424e-02 -6.23383248e-04 9.99570241e-01 2.99339899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:61.81, Z:2.99 [[ 5.18334288e-01 -8.55026719e-01 -1.60896109e-02 1.11950830e+02] [ 8.54650712e-01 5.18583593e-01 -2.53617327e-02 6.18141560e+01] [ 3.00287674e-02 -6.05141736e-04 9.99548852e-01 2.99319160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.218040942 meters Centerline goodness [0,1] 0.9999781191195134 Centerline is valid? [True, True] Translation: X:111.96, Y:61.84, Z:2.99 [[ 5.18779165e-01 -8.54746928e-01 -1.66092314e-02 1.11964846e+02] [ 8.54345592e-01 5.19044631e-01 -2.61969416e-02 6.18369666e+01] [ 3.10126878e-02 -5.99596181e-04 9.99518811e-01 2.99286958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:61.86, Z:2.99 [[ 5.19251837e-01 -8.54459149e-01 -1.66460904e-02 1.11979204e+02] [ 8.54055416e-01 5.19518268e-01 -2.62700479e-02 6.18610546e+01] [ 3.10946309e-02 -5.75913048e-04 9.99516279e-01 2.99317041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.99, Y:61.89, Z:2.99 [[ 5.19893902e-01 -8.54066697e-01 -1.67453863e-02 1.11993524e+02] [ 8.53657418e-01 5.20163223e-01 -2.64430352e-02 6.18857874e+01] [ 3.12944498e-02 -5.47250520e-04 9.99510059e-01 2.99363654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:61.91, Z:2.99 [[ 5.20019197e-01 -8.53993624e-01 -1.65808575e-02 1.12008365e+02] [ 8.53591817e-01 5.20283202e-01 -2.61992396e-02 6.19098192e+01] [ 3.10007252e-02 -5.29176726e-04 9.99519222e-01 2.99455139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.02, Y:61.93, Z:3.00 [[ 5.19667975e-01 -8.54212456e-01 -1.63179880e-02 1.12023190e+02] [ 8.53822924e-01 5.19923845e-01 -2.57994266e-02 6.19329539e+01] [ 3.05223026e-02 -5.25536435e-04 9.99533948e-01 2.99540411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.04, Y:61.96, Z:3.00 [[ 5.18994429e-01 -8.54627092e-01 -1.60410551e-02 1.12037983e+02] [ 8.54250438e-01 5.19241995e-01 -2.53759600e-02 6.19565936e+01] [ 3.00161724e-02 -5.33096472e-04 9.99549271e-01 2.99669397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:61.98, Z:3.00 [[ 5.17517415e-01 -8.55532028e-01 -1.55136754e-02 1.12052759e+02] [ 8.55179725e-01 5.17749589e-01 -2.45560636e-02 6.19810543e+01] [ 2.90406980e-02 -5.58790096e-04 9.99578074e-01 2.99823717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.07, Y:62.00, Z:3.00 [[ 5.16692265e-01 -8.56038284e-01 -1.50850510e-02 1.12067645e+02] [ 8.55705032e-01 5.16912117e-01 -2.38905935e-02 6.20046681e+01] [ 2.82489083e-02 -5.64269168e-04 9.99600761e-01 2.99913980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:62.03, Z:3.00 [[ 5.14681972e-01 -8.57255237e-01 -1.46944569e-02 1.12082405e+02] [ 8.56939158e-01 5.14891338e-01 -2.32849583e-02 6.20288373e+01] [ 2.75272010e-02 -6.07907295e-04 9.99620870e-01 2.99997845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.10, Y:62.05, Z:3.00 [[ 5.13628524e-01 -8.57890988e-01 -1.44496405e-02 1.12097659e+02] [ 8.57585380e-01 5.13831354e-01 -2.29053788e-02 6.20535663e+01] [ 2.70749964e-02 -6.26944571e-04 9.99633208e-01 3.00079875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:62.08, Z:3.00 [[ 5.13013849e-01 -8.58269452e-01 -1.37963159e-02 1.12112404e+02] [ 8.57990700e-01 5.13198961e-01 -2.18811597e-02 6.20778260e+01] [ 2.58601859e-02 -6.11772793e-04 9.99665382e-01 3.00174397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:62.10, Z:3.00 [[ 5.13023017e-01 -8.58264261e-01 -1.37783261e-02 1.12125295e+02] [ 8.57985893e-01 5.13207651e-01 -2.18658234e-02 6.21017004e+01] [ 2.58377972e-02 -6.03938767e-04 9.99665966e-01 3.00202890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57804094199997 meters Centerline goodness [0,1] 0.9999563585580867 Centerline is valid? [True, True] Translation: X:112.14, Y:62.13, Z:3.00 [[ 5.13158383e-01 -8.58176977e-01 -1.41686170e-02 1.12137167e+02] [ 8.57882241e-01 5.13353585e-01 -2.24979467e-02 6.21278174e+01] [ 2.65807303e-02 -6.09994966e-04 9.99646484e-01 3.00248379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:62.15, Z:3.00 [[ 5.13920479e-01 -8.57720105e-01 -1.42113705e-02 1.12148121e+02] [ 8.57423050e-01 5.14116605e-01 -2.25794034e-02 6.21537029e+01] [ 2.66731098e-02 -5.81138809e-04 9.99644040e-01 3.00182766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63804094199998 meters Centerline goodness [0,1] 0.9999782976691697 Centerline is valid? [True, True] Translation: X:112.16, Y:62.18, Z:3.00 [[ 5.14364389e-01 -8.57455646e-01 -1.41099425e-02 1.12160909e+02] [ 8.57162463e-01 5.14557581e-01 -2.24278556e-02 6.21788329e+01] [ 2.64912693e-02 -5.58422839e-04 9.99648889e-01 3.00220411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.17, Y:62.20, Z:3.00 [[ 5.14916983e-01 -8.57125762e-01 -1.39974342e-02 1.12173633e+02] [ 8.56836760e-01 5.15106927e-01 -2.22625338e-02 6.22041625e+01] [ 2.62919666e-02 -5.30159453e-04 9.99654166e-01 3.00288392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.19, Y:62.23, Z:3.00 [[ 5.15567708e-01 -8.56739335e-01 -1.36985545e-02 1.12188625e+02] [ 8.56462075e-01 5.15749424e-01 -2.18001219e-02 6.22270329e+01] [ 2.57420435e-02 -4.92853594e-04 9.99668497e-01 3.00350273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:62.25, Z:3.00 [[ 5.15298971e-01 -8.56904209e-01 -1.34962102e-02 1.12202694e+02] [ 8.56634866e-01 5.15475449e-01 -2.14887780e-02 6.22511447e+01] [ 2.53707893e-02 -4.88179015e-04 9.99677991e-01 3.00414968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:62.28, Z:3.00 [[ 5.15587740e-01 -8.56739406e-01 -1.29179406e-02 1.12214616e+02] [ 8.56492323e-01 5.15749343e-01 -2.05795146e-02 6.22752787e+01] [ 2.42937004e-02 -4.53571554e-04 9.99704762e-01 3.00478127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.23, Y:62.30, Z:3.01 [[ 5.15200309e-01 -8.56975975e-01 -1.26814573e-02 1.12228386e+02] [ 8.56737644e-01 5.15356164e-01 -2.02147054e-02 6.22998507e+01] [ 2.38589840e-02 -4.50059385e-04 9.99715233e-01 3.00542800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:62.32, Z:3.01 [[ 5.15267470e-01 -8.56942720e-01 -1.21905228e-02 1.12242130e+02] [ 8.56722233e-01 5.15411480e-01 -1.94427924e-02 6.23245108e+01] [ 2.29444948e-02 -4.25653470e-04 9.99736650e-01 3.00641080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:62.35, Z:3.01 [[ 5.15071143e-01 -8.57071481e-01 -1.14102636e-02 1.12255267e+02] [ 8.56878137e-01 5.15197358e-01 -1.82082474e-02 6.23477605e+01] [ 2.14843072e-02 -3.98662633e-04 9.99769106e-01 3.00872828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:62.37, Z:3.01 [[ 5.15035947e-01 -8.57095201e-01 -1.12155730e-02 1.12266224e+02] [ 8.56908259e-01 5.15157902e-01 -1.79045169e-02 6.23739408e+01] [ 2.11236666e-02 -3.89247297e-04 9.99776795e-01 3.00954935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.28, Y:62.40, Z:3.01 [[ 5.15490982e-01 -8.56834644e-01 -1.01705656e-02 1.12281682e+02] [ 8.56680682e-01 5.15591193e-01 -1.62459312e-02 6.23964595e+01] [ 1.91639307e-02 -3.38295983e-04 9.99816298e-01 3.01163622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:62.42, Z:3.01 [[ 5.15457430e-01 -8.56860239e-01 -9.70404107e-03 1.12291128e+02] [ 8.56719986e-01 5.15548667e-01 -1.55060441e-02 6.24233495e+01] [ 1.82894181e-02 -3.20940283e-04 9.99832683e-01 3.01101787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.31, Y:62.44, Z:3.01 [[ 5.15386472e-01 -8.56901667e-01 -9.81414144e-03 1.12308156e+02] [ 8.56758030e-01 5.15479805e-01 -1.56923024e-02 6.24448974e+01] [ 1.85057518e-02 -3.20744117e-04 9.99828702e-01 3.01286822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:62.47, Z:3.01 [[ 5.15435676e-01 -8.56875319e-01 -9.52638038e-03 1.12316305e+02] [ 8.56739834e-01 5.15523612e-01 -1.52401799e-02 6.24725707e+01] [ 1.79700080e-02 -3.06297129e-04 9.99838479e-01 3.01172274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:62.50, Z:3.01 [[ 5.14841078e-01 -8.57233156e-01 -9.48580965e-03 1.12330792e+02] [ 8.57098710e-01 5.14928362e-01 -1.51849630e-02 6.24959865e+01] [ 1.79015662e-02 -3.12432477e-04 9.99839705e-01 3.01265254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.35, Y:62.52, Z:3.01 [[ 5.14612956e-01 -8.57370164e-01 -9.48196720e-03 1.12345300e+02] [ 8.57235696e-01 5.14700209e-01 -1.51873618e-02 6.25194245e+01] [ 1.79015614e-02 -3.12667599e-04 9.99839705e-01 3.01329058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:62.55, Z:3.01 [[ 5.13692931e-01 -8.57924096e-01 -9.26383637e-03 1.12357101e+02] [ 8.57795684e-01 5.13776356e-01 -1.48465691e-02 6.25452870e+01] [ 1.74967695e-02 -3.19901264e-04 9.99846869e-01 3.01282155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:62.57, Z:3.01 [[ 5.13149486e-01 -8.58248585e-01 -9.32581431e-03 1.12370397e+02] [ 8.58118350e-01 5.13234116e-01 -1.49545484e-02 6.25697666e+01] [ 1.76210461e-02 -3.28733539e-04 9.99844683e-01 3.01311889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148040942 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:112.38, Y:62.60, Z:3.01 [[ 5.13541325e-01 -8.58013794e-01 -9.36144509e-03 1.12380886e+02] [ 8.57882363e-01 5.13626546e-01 -1.50207275e-02 6.25966752e+01] [ 1.76962781e-02 -3.17254349e-04 9.99843358e-01 3.01235733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:62.62, Z:3.01 [[ 5.13525023e-01 -8.58023628e-01 -9.35441305e-03 1.12393375e+02] [ 8.57892233e-01 5.13610121e-01 -1.50186735e-02 6.26215217e+01] [ 1.76908980e-02 -3.12613637e-04 9.99843455e-01 3.01235985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.41, Y:62.65, Z:3.01 [[ 5.13484263e-01 -8.58047401e-01 -9.41113405e-03 1.12407243e+02] [ 8.57914235e-01 5.13570406e-01 -1.51196406e-02 6.26451248e+01] [ 1.78066482e-02 -3.10248378e-04 9.99841401e-01 3.01289511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.42, Y:62.67, Z:3.01 [[ 5.12934360e-01 -8.58375216e-01 -9.50426338e-03 1.12418135e+02] [ 8.58239306e-01 5.13022305e-01 -1.52776749e-02 6.26719470e+01] [ 1.79898766e-02 -3.20488016e-04 9.99838118e-01 3.01200584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:62.70, Z:3.01 [[ 5.12496110e-01 -8.58634260e-01 -9.74401704e-03 1.12431625e+02] [ 8.58491267e-01 5.12588624e-01 -1.56731121e-02 6.26969082e+01] [ 1.84521433e-02 -3.32744543e-04 9.99829689e-01 3.01230875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:62.72, Z:3.01 [[ 5.11879566e-01 -8.59006433e-01 -9.34118915e-03 1.12444056e+02] [ 8.58874921e-01 5.11964687e-01 -1.50342639e-02 6.27214877e+01] [ 1.76968884e-02 -3.27180612e-04 9.99843344e-01 3.01300451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.46, Y:62.75, Z:3.01 [[ 5.11598862e-01 -8.59178803e-01 -8.85372647e-03 1.12457271e+02] [ 8.59060563e-01 5.11675373e-01 -1.42569813e-02 6.27456171e+01] [ 1.67795300e-02 -3.12031813e-04 9.99859165e-01 3.01415078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:62.77, Z:3.01 [[ 5.11090616e-01 -8.59482183e-01 -8.76118053e-03 1.12470576e+02] [ 8.59366324e-01 5.11165607e-01 -1.41153968e-02 6.27701793e+01] [ 1.66103462e-02 -3.14816678e-04 9.99861989e-01 3.01481342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38804094199998 meters Centerline goodness [0,1] 0.9999576468595146 Centerline is valid? [True, True] Translation: X:112.48, Y:62.80, Z:3.01 [[ 5.10386605e-01 -8.59902300e-01 -8.57603406e-03 1.12481238e+02] [ 8.59791207e-01 5.10458553e-01 -1.38255667e-02 6.27952972e+01] [ 1.62663465e-02 -3.17214641e-04 9.99867644e-01 3.01483791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.49, Y:62.82, Z:3.02 [[ 5.10010597e-01 -8.60126677e-01 -8.44333267e-03 1.12494110e+02] [ 8.60018918e-01 5.10080385e-01 -1.36184258e-02 6.28206110e+01] [ 1.60203497e-02 -3.15884351e-04 9.99871616e-01 3.01532686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:62.85, Z:3.02 [[ 5.09179241e-01 -8.60620973e-01 -8.24865492e-03 1.12504724e+02] [ 8.60518064e-01 5.09245950e-01 -1.33125216e-02 6.28460711e+01] [ 1.56576294e-02 -3.19656922e-04 9.99877361e-01 3.01632702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:62.87, Z:3.02 [[ 5.08570176e-01 -8.60984798e-01 -7.84559222e-03 1.12515098e+02] [ 8.60891660e-01 5.08630593e-01 -1.26676519e-02 6.28732556e+01] [ 1.48971639e-02 -3.11814967e-04 9.99888982e-01 3.01596070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:62.90, Z:3.02 [[ 5.07538087e-01 -8.61593274e-01 -7.88170247e-03 1.12527883e+02] [ 8.61499197e-01 5.07599177e-01 -1.27360962e-02 6.28982952e+01] [ 1.49740805e-02 -3.26026443e-04 9.99887829e-01 3.01663977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:62.93, Z:3.02 [[ 5.06067524e-01 -8.62464113e-01 -7.16348717e-03 1.12539200e+02] [ 8.62386480e-01 5.06118121e-01 -1.15761332e-02 6.29251928e+01] [ 1.36095701e-02 -3.19389422e-04 9.99907335e-01 3.01675515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.55, Y:62.95, Z:3.02 [[ 5.05467711e-01 -8.62818301e-01 -6.85364643e-03 1.12552132e+02] [ 8.62747199e-01 5.05514077e-01 -1.10810320e-02 6.29509388e+01] [ 1.30255320e-02 -3.11860374e-04 9.99915116e-01 3.01712650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:62.98, Z:3.02 [[ 5.05693989e-01 -8.62688516e-01 -6.48951920e-03 1.12562331e+02] [ 8.62624701e-01 5.05735544e-01 -1.04969027e-02 6.29778437e+01] [ 1.23375379e-02 -2.89798956e-04 9.99923848e-01 3.01712498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:63.00, Z:3.02 [[ 5.05667446e-01 -8.62702904e-01 -6.64326547e-03 1.12573729e+02] [ 8.62635904e-01 5.05710998e-01 -1.07556127e-02 6.30022205e+01] [ 1.26384707e-02 -2.91956127e-04 9.99920089e-01 3.01717169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:63.03, Z:3.02 [[ 5.06530578e-01 -8.62190703e-01 -7.34618590e-03 1.12582820e+02] [ 8.62108677e-01 5.06583752e-01 -1.18967126e-02 6.30305070e+01] [ 1.39786934e-02 -3.07161908e-04 9.99902246e-01 3.01614700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:63.05, Z:3.02 [[ 5.06544595e-01 -8.62180860e-01 -7.53246395e-03 1.12595156e+02] [ 8.62094491e-01 5.06600502e-01 -1.22073601e-02 6.30546062e+01] [ 1.43409023e-02 -3.10123368e-04 9.99897116e-01 3.01592744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.61, Y:63.08, Z:3.02 [[ 5.06717842e-01 -8.62076948e-01 -7.76945491e-03 1.12606100e+02] [ 8.61985004e-01 5.06777304e-01 -1.25943270e-02 6.30814527e+01] [ 1.47946624e-02 -3.15383432e-04 9.99890503e-01 3.01578016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:63.11, Z:3.02 [[ 5.06443776e-01 -8.62239374e-01 -7.61337223e-03 1.12618828e+02] [ 8.62151017e-01 5.06500904e-01 -1.23474207e-02 6.31062762e+01] [ 1.45026122e-02 -3.10602219e-04 9.99894783e-01 3.01636773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:63.13, Z:3.02 [[ 5.06138567e-01 -8.62419987e-01 -7.45100689e-03 1.12631582e+02] [ 8.62335272e-01 5.06193316e-01 -1.20915918e-02 6.31312636e+01] [ 1.41996803e-02 -3.05245094e-04 9.99899133e-01 3.01726612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:63.16, Z:3.02 [[ 5.05653856e-01 -8.62706483e-01 -7.19044073e-03 1.12642407e+02] [ 8.62627511e-01 5.05704890e-01 -1.16765494e-02 6.31580731e+01] [ 1.37096759e-02 -2.98379742e-04 9.99905973e-01 3.01820769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:63.18, Z:3.02 [[ 5.05546502e-01 -8.62768655e-01 -7.27890372e-03 1.12654479e+02] [ 8.62687616e-01 5.05598812e-01 -1.18286987e-02 6.31822999e+01] [ 1.38856355e-02 -2.99462865e-04 9.99903545e-01 3.01864065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:63.21, Z:3.02 [[ 5.05106100e-01 -8.63018971e-01 -8.12922065e-03 1.12665463e+02] [ 8.62917837e-01 5.05171398e-01 -1.32160776e-02 6.32076625e+01] [ 1.55123754e-02 -3.39328107e-04 9.99879618e-01 3.01813148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:63.23, Z:3.02 [[ 5.04748454e-01 -8.63227799e-01 -8.17099028e-03 1.12676942e+02] [ 8.63125611e-01 5.04814468e-01 -1.32865568e-02 6.32331610e+01] [ 1.55941593e-02 -3.46221976e-04 9.99878344e-01 3.01782786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:63.26, Z:3.02 [[ 5.04505893e-01 -8.63367351e-01 -8.40367062e-03 1.12689955e+02] [ 8.63259134e-01 5.04575753e-01 -1.36739464e-02 6.32579171e+01] [ 1.60459274e-02 -3.55958858e-04 9.99871192e-01 3.01849227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:63.28, Z:3.02 [[ 5.04011030e-01 -8.63657093e-01 -8.32508796e-03 1.12700770e+02] [ 8.63550796e-01 5.04079654e-01 -1.35545088e-02 6.32842081e+01] [ 1.59029551e-02 -3.57514384e-04 9.99873476e-01 3.01958307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:63.31, Z:3.02 [[ 5.03536491e-01 -8.63934821e-01 -8.22357100e-03 1.12713068e+02] [ 8.63831008e-01 5.03603512e-01 -1.33974752e-02 6.33091008e+01] [ 1.57159646e-02 -3.57657966e-04 9.99876433e-01 3.02042972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:63.33, Z:3.02 [[ 5.02760165e-01 -8.64387830e-01 -8.11759727e-03 1.12723697e+02] [ 8.64286602e-01 5.02825564e-01 -1.32333673e-02 6.33341542e+01] [ 1.55204970e-02 -3.62720646e-04 9.99879484e-01 3.02061363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:63.36, Z:3.02 [[ 5.02333942e-01 -8.64631963e-01 -8.49583223e-03 1.12736627e+02] [ 8.64520982e-01 5.02405635e-01 -1.38581959e-02 6.33577607e+01] [ 1.62505931e-02 -3.83383029e-04 9.99867877e-01 3.02122202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:63.38, Z:3.02 [[ 5.01965076e-01 -8.64846417e-01 -8.46985319e-03 1.12749582e+02] [ 8.64736028e-01 5.02036380e-01 -1.38230054e-02 6.33831648e+01] [ 1.62069511e-02 -3.85521252e-04 9.99868584e-01 3.02193132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:63.41, Z:3.02 [[ 5.02280085e-01 -8.64661568e-01 -8.66544123e-03 1.12759880e+02] [ 8.64545839e-01 5.02354682e-01 -1.41515170e-02 6.34105335e+01] [ 1.65893978e-02 -3.83646013e-04 9.99862313e-01 3.02248296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:63.44, Z:3.02 [[ 5.02829842e-01 -8.64341317e-01 -8.73148174e-03 1.12772316e+02] [ 8.64223638e-01 5.02905508e-01 -1.42672136e-02 6.34362873e+01] [ 1.67228524e-02 -3.71972179e-04 9.99860094e-01 3.02300366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.78, Y:63.46, Z:3.02 [[ 5.03580281e-01 -8.63903224e-01 -8.83852010e-03 1.12782088e+02] [ 8.63782433e-01 5.03657713e-01 -1.44504834e-02 6.34617457e+01] [ 1.69354080e-02 -3.57579901e-04 9.99856522e-01 3.02414087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:63.49, Z:3.02 [[ 5.03657092e-01 -8.63860202e-01 -8.66523254e-03 1.12794693e+02] [ 8.63743999e-01 5.03731508e-01 -1.41729385e-02 6.34868510e+01] [ 1.66083882e-02 -3.46241618e-04 9.99862011e-01 3.02476562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:63.51, Z:3.03 [[ 5.03683212e-01 -8.63846777e-01 -8.48334168e-03 1.12807850e+02] [ 8.63735260e-01 5.03754537e-01 -1.38840466e-02 6.35105203e+01] [ 1.62672107e-02 -3.34200165e-04 9.99867624e-01 3.02624925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.82, Y:63.54, Z:3.03 [[ 5.03614614e-01 -8.63887237e-01 -8.43580124e-03 1.12820559e+02] [ 8.63776856e-01 5.03685153e-01 -1.38134188e-02 6.35354808e+01] [ 1.61822240e-02 -3.30010282e-04 9.99869005e-01 3.02734492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28804094199998 meters Centerline goodness [0,1] 0.9999578548098198 Centerline is valid? [True, True] Translation: X:112.83, Y:63.56, Z:3.03 [[ 5.04341705e-01 -8.63466605e-01 -8.05401398e-03 1.12832471e+02] [ 8.63365801e-01 5.04405922e-01 -1.31969405e-02 6.35601124e+01] [ 1.54576098e-02 -2.97792739e-04 9.99880480e-01 3.02941912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31804094199998 meters Centerline goodness [0,1] 0.9999789251844047 Centerline is valid? [True, True] Translation: X:112.84, Y:63.59, Z:3.03 [[ 5.05072691e-01 -8.63034251e-01 -8.57073030e-03 1.12841840e+02] [ 8.62919951e-01 5.05145317e-01 -1.40487237e-02 6.35884850e+01] [ 1.64539940e-02 -3.00227486e-04 9.99864579e-01 3.02851784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34804094199998 meters Centerline goodness [0,1] 0.9999579575791974 Centerline is valid? [True, True] Translation: X:112.85, Y:63.61, Z:3.03 [[ 5.05246069e-01 -8.62929477e-01 -8.89538407e-03 1.12854896e+02] [ 8.62806195e-01 5.05324278e-01 -1.45891673e-02 6.36139640e+01] [ 1.70844760e-02 -3.03873048e-04 9.99854004e-01 3.02881044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37804094199998 meters Centerline goodness [0,1] 0.9999368274758366 Centerline is valid? [True, True] Translation: X:112.87, Y:63.64, Z:3.03 [[ 5.05382545e-01 -8.62847162e-01 -9.12465415e-03 1.12867146e+02] [ 8.62717290e-01 5.05464819e-01 -1.49731306e-02 6.36390124e+01] [ 1.75317149e-02 -3.04838067e-04 9.99846261e-01 3.02914744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40804094199999 meters Centerline goodness [0,1] 0.9999789646395592 Centerline is valid? [True, True] Translation: X:112.88, Y:63.66, Z:3.03 [[ 5.06272863e-01 -8.62326903e-01 -8.94992773e-03 1.12879690e+02] [ 8.62201695e-01 5.06351890e-01 -1.46969509e-02 6.36639066e+01] [ 1.72053890e-02 -2.75975449e-04 9.99851938e-01 3.03083094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.438040942 meters Centerline goodness [0,1] 0.9999579566953962 Centerline is valid? [True, True] Translation: X:112.89, Y:63.69, Z:3.03 [[ 5.06381981e-01 -8.62262952e-01 -8.93812543e-03 1.12891048e+02] [ 8.62138012e-01 5.06460785e-01 -1.46806295e-02 6.36896325e+01] [ 1.71853730e-02 -2.71891414e-04 9.99852284e-01 3.03085067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.91, Y:63.71, Z:3.03 [[ 5.07136349e-01 -8.61814049e-01 -9.44821354e-03 1.12905114e+02] [ 8.61674140e-01 5.07224284e-01 -1.55306443e-02 6.37135913e+01] [ 1.81768908e-02 -2.65127056e-04 9.99834752e-01 3.03177364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.498040942 meters Centerline goodness [0,1] 0.9999581362247247 Centerline is valid? [True, True] Translation: X:112.92, Y:63.74, Z:3.03 [[ 5.07495781e-01 -8.61603439e-01 -9.35657322e-03 1.12919032e+02] [ 8.61466125e-01 5.07581963e-01 -1.53839425e-02 6.37381296e+01] [ 1.80040856e-02 -2.53084961e-04 9.99837881e-01 3.03269449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528040942 meters Centerline goodness [0,1] 0.9999159575585671 Centerline is valid? [True, True] Translation: X:112.93, Y:63.77, Z:3.03 [[ 5.09269476e-01 -8.60557166e-01 -9.27173553e-03 1.12930724e+02] [ 8.60421992e-01 5.09353827e-01 -1.52537039e-02 6.37652222e+01] [ 1.78492781e-02 -2.09359380e-04 9.99840667e-01 3.03394838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.558040942 meters Centerline goodness [0,1] 0.9998951166303071 Centerline is valid? [True, True] Translation: X:112.94, Y:63.79, Z:3.04 [[ 5.10525986e-01 -8.59811757e-01 -9.32521006e-03 1.12944353e+02] [ 8.59674722e-01 5.10611114e-01 -1.53512780e-02 6.37898062e+01] [ 1.79607652e-02 -1.79421003e-04 9.99838676e-01 3.03537219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588040942 meters Centerline goodness [0,1] 0.9998947966419088 Centerline is valid? [True, True] Translation: X:112.96, Y:63.82, Z:3.04 [[ 5.11476688e-01 -8.59248202e-01 -9.17202370e-03 1.12957239e+02] [ 8.59115477e-01 5.11558896e-01 -1.51027341e-02 6.38151355e+01] [ 1.76690274e-02 -1.55131113e-04 9.99843879e-01 3.03608945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.618040942 meters Centerline goodness [0,1] 0.9999158036541214 Centerline is valid? [True, True] Translation: X:112.97, Y:63.84, Z:3.04 [[ 5.13528709e-01 -8.58016136e-01 -9.82723218e-03 1.12969421e+02] [ 8.57863348e-01 5.13622718e-01 -1.61919881e-02 6.38419576e+01] [ 1.89404768e-02 -1.15371538e-04 9.99820606e-01 3.03610261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648040942 meters Centerline goodness [0,1] 0.9999789818823827 Centerline is valid? [True, True] Translation: X:112.98, Y:63.87, Z:3.04 [[ 5.14118862e-01 -8.57660779e-01 -9.98917678e-03 1.12983643e+02] [ 8.57502652e-01 5.14215886e-01 -1.64688889e-02 6.38653705e+01] [ 1.92613135e-02 -9.87791774e-05 9.99814479e-01 3.03734755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.678040942 meters Centerline goodness [0,1] 0.9999789995379899 Centerline is valid? [True, True] Translation: X:113.00, Y:63.89, Z:3.04 [[ 5.15377133e-01 -8.56901724e-01 -1.02881662e-02 1.12997183e+02] [ 8.56733689e-01 5.15479807e-01 -1.69692116e-02 6.38904955e+01] [ 1.98442886e-02 -6.86749988e-05 9.99803080e-01 3.03801998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.01, Y:63.91, Z:3.04 [[ 5.15767929e-01 -8.56662453e-01 -1.06247055e-02 1.13011132e+02] [ 8.56482972e-01 5.15877348e-01 -1.75351305e-02 6.39142999e+01] [ 2.05027328e-02 -5.58214026e-05 9.99789795e-01 3.03904142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:63.94, Z:3.04 [[ 5.15878300e-01 -8.56596083e-01 -1.06174531e-02 1.13025287e+02] [ 8.56416599e-01 5.15987547e-01 -1.75345279e-02 6.39383534e+01] [ 2.04984815e-02 -4.72805721e-05 9.99789883e-01 3.03995046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76804094199997 meters Centerline goodness [0,1] 0.9998951891835237 Centerline is valid? [True, True] Translation: X:113.04, Y:63.96, Z:3.04 [[ 5.15900597e-01 -8.56575754e-01 -1.11603053e-02 1.13039977e+02] [ 8.56377160e-01 5.16021295e-01 -1.84440642e-02 6.39605928e+01] [ 2.15576934e-02 -4.21268104e-05 9.99767605e-01 3.04110272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79804094199997 meters Centerline goodness [0,1] 0.9999578041267564 Centerline is valid? [True, True] Translation: X:113.06, Y:63.98, Z:3.04 [[ 5.14583851e-01 -8.57367421e-01 -1.11608972e-02 1.13056218e+02] [ 8.57168812e-01 5.14704867e-01 -1.84533901e-02 6.39826848e+01] [ 2.15659036e-02 -7.09565078e-05 9.99767426e-01 3.04331650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82804094199997 meters Centerline goodness [0,1] 0.9998522146687497 Centerline is valid? [True, True] Translation: X:113.07, Y:64.01, Z:3.04 [[ 5.13703796e-01 -8.57896322e-01 -1.10594259e-02 1.13071524e+02] [ 8.57701303e-01 5.13822822e-01 -1.82916075e-02 6.40056254e+01] [ 2.13748882e-02 -8.92158226e-05 9.99771527e-01 3.04439626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85804094199997 meters Centerline goodness [0,1] 0.9999157469036987 Centerline is valid? [True, True] Translation: X:113.09, Y:64.03, Z:3.05 [[ 5.12471795e-01 -8.58633101e-01 -1.10389477e-02 1.13087116e+02] [ 8.58438727e-01 5.12590661e-01 -1.82692775e-02 6.40290111e+01] [ 2.13450678e-02 -1.13770753e-04 9.99772162e-01 3.04519628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88804094199998 meters Centerline goodness [0,1] 0.9998308811094199 Centerline is valid? [True, True] Translation: X:113.10, Y:64.05, Z:3.04 [[ 5.11262332e-01 -8.59345001e-01 -1.17045580e-02 1.13103450e+02] [ 8.59126361e-01 5.11396273e-01 -1.93841990e-02 6.40514921e+01] [ 2.26433818e-02 -1.45283564e-04 9.99743595e-01 3.04463294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91804094199998 meters Centerline goodness [0,1] 0.99995773635941 Centerline is valid? [True, True] Translation: X:113.12, Y:64.07, Z:3.05 [[ 5.10463765e-01 -8.59819091e-01 -1.17420857e-02 1.13118444e+02] [ 8.59598882e-01 5.10598772e-01 -1.94590873e-02 6.40749423e+01] [ 2.27267893e-02 -1.60324759e-04 9.99741700e-01 3.04609787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94804094199998 meters Centerline goodness [0,1] 0.99995773635941 Centerline is valid? [True, True] Translation: X:113.13, Y:64.10, Z:3.05 [[ 5.10214508e-01 -8.59967099e-01 -1.17364477e-02 1.13132592e+02] [ 8.59746852e-01 5.10349452e-01 -1.94624872e-02 6.40985527e+01] [ 2.27267883e-02 -1.60330646e-04 9.99741700e-01 3.04673574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97804094199998 meters Centerline goodness [0,1] 0.9998944145285609 Centerline is valid? [True, True] Translation: X:113.15, Y:64.12, Z:3.05 [[ 5.10111216e-01 -8.60018381e-01 -1.24471817e-02 1.13147690e+02] [ 8.59770316e-01 5.10263028e-01 -2.06554262e-02 6.41218707e+01] [ 2.41153829e-02 -1.65152779e-04 9.99709168e-01 3.04543441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00804094199998 meters Centerline goodness [0,1] 0.9998101025446259 Centerline is valid? [True, True] Translation: X:113.16, Y:64.15, Z:3.04 [[ 5.09836343e-01 -8.60173997e-01 -1.29459712e-02 1.13162606e+02] [ 8.59905336e-01 5.10000652e-01 -2.14976497e-02 6.41455012e+01] [ 2.50941730e-02 -1.72026566e-04 9.99685077e-01 3.04378903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03804094199998 meters Centerline goodness [0,1] 0.9999156278343775 Centerline is valid? [True, True] Translation: X:113.18, Y:64.17, Z:3.05 [[ 5.08798554e-01 -8.60785630e-01 -1.31198683e-02 1.13179612e+02] [ 8.60509554e-01 5.08967642e-01 -2.18001631e-02 6.41672495e+01] [ 2.54428555e-02 -1.97880587e-04 9.99676259e-01 3.04715014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06804094199998 meters Centerline goodness [0,1] 0.999915599350115 Centerline is valid? [True, True] Translation: X:113.19, Y:64.19, Z:3.05 [[ 5.08658656e-01 -8.60862838e-01 -1.34738782e-02 1.13194413e+02] [ 8.60571445e-01 5.08837040e-01 -2.23976469e-02 6.41908362e+01] [ 2.61373101e-02 -2.02477832e-04 9.99658342e-01 3.04638125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09804094199998 meters Centerline goodness [0,1] 0.9999156313935584 Centerline is valid? [True, True] Translation: X:113.21, Y:64.21, Z:3.05 [[ 5.08995549e-01 -8.60664137e-01 -1.34452653e-02 1.13209316e+02] [ 8.60373546e-01 5.09173065e-01 -2.23640832e-02 6.42132653e+01] [ 2.60939313e-02 -1.84731780e-04 9.99659478e-01 3.04716265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12804094199998 meters Centerline goodness [0,1] 0.9999155886635576 Centerline is valid? [True, True] Translation: X:113.22, Y:64.24, Z:3.05 [[ 5.10586423e-01 -8.59727459e-01 -1.30460757e-02 1.13224401e+02] [ 8.59453380e-01 5.10753051e-01 -2.17073351e-02 6.42369641e+01] [ 2.53257151e-02 -1.29023292e-04 9.99679244e-01 3.04973615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15804094199999 meters Centerline goodness [0,1] 0.9999368474233749 Centerline is valid? [True, True] Translation: X:113.24, Y:64.26, Z:3.05 [[ 5.11736937e-01 -8.59045138e-01 -1.29134822e-02 1.13238526e+02] [ 8.58776261e-01 5.11899836e-01 -2.14916471e-02 6.42612841e+01] [ 2.50727044e-02 -9.17222768e-05 9.99685626e-01 3.05147492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.188040942 meters Centerline goodness [0,1] 0.9999578770008425 Centerline is valid? [True, True] Translation: X:113.25, Y:64.28, Z:3.05 [[ 5.14374880e-01 -8.57475551e-01 -1.24162172e-02 1.13252623e+02] [ 8.57226222e-01 5.14524712e-01 -2.06766677e-02 6.42844333e+01] [ 2.41181876e-02 -7.94847940e-06 9.99709114e-01 3.05285523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.27, Y:64.31, Z:3.05 [[ 5.15636503e-01 -8.56712316e-01 -1.27673518e-02 1.13267257e+02] [ 8.56448257e-01 5.15794540e-01 -2.12691139e-02 6.43081968e+01] [ 2.48068422e-02 3.25552868e-05 9.99692262e-01 3.05391053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:64.33, Z:3.05 [[ 5.17920511e-01 -8.55331806e-01 -1.28780974e-02 1.13283436e+02] [ 8.55062371e-01 5.18080582e-01 -2.14674564e-02 6.43321719e+01] [ 2.50336905e-02 1.06859476e-04 9.99686602e-01 3.05442017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.278040942 meters Centerline goodness [0,1] 0.9999579080290435 Centerline is valid? [True, True] Translation: X:113.30, Y:64.35, Z:3.05 [[ 5.18636547e-01 -8.54893541e-01 -1.31592055e-02 1.13298005e+02] [ 8.54611754e-01 5.18803445e-01 -2.19484643e-02 6.43544240e+01] [ 2.55906415e-02 1.37264004e-04 9.99672496e-01 3.05362754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:64.38, Z:3.06 [[ 5.18743215e-01 -8.54828407e-01 -1.31860204e-02 1.13314368e+02] [ 8.54545221e-01 5.18910757e-01 -2.20021035e-02 6.43777376e+01] [ 2.56503909e-02 1.45391167e-04 9.99670964e-01 3.05535773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.338040942 meters Centerline goodness [0,1] 0.9999161161790919 Centerline is valid? [True, True] Translation: X:113.33, Y:64.40, Z:3.06 [[ 5.19460567e-01 -8.54383416e-01 -1.37731082e-02 1.13332035e+02] [ 8.54073890e-01 5.19643095e-01 -2.29966149e-02 6.44000633e+01] [ 2.68050270e-02 1.82582550e-04 9.99640664e-01 3.05524109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368040942 meters Centerline goodness [0,1] 0.999957989371311 Centerline is valid? [True, True] Translation: X:113.35, Y:64.42, Z:3.06 [[ 5.19611683e-01 -8.54288398e-01 -1.39653457e-02 1.13348522e+02] [ 8.53969910e-01 5.19799283e-01 -2.33259039e-02 6.44229054e+01] [ 2.71862258e-02 1.94427125e-04 9.99630367e-01 3.05600685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.398040942 meters Centerline goodness [0,1] 0.9999579575791974 Centerline is valid? [True, True] Translation: X:113.37, Y:64.44, Z:3.06 [[ 5.20546943e-01 -8.53714792e-01 -1.42103718e-02 1.13366039e+02] [ 8.53384424e-01 5.20740818e-01 -2.37492212e-02 6.44443332e+01] [ 2.76749821e-02 2.35674520e-04 9.99616947e-01 3.05708876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428040942 meters Centerline goodness [0,1] 0.9998948541627237 Centerline is valid? [True, True] Translation: X:113.38, Y:64.47, Z:3.06 [[ 5.21317043e-01 -8.53243393e-01 -1.42916827e-02 1.13382618e+02] [ 8.52908836e-01 5.21512839e-01 -2.38930332e-02 6.44679944e+01] [ 2.78398688e-02 2.66342989e-04 9.99612360e-01 3.05830883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.458040942 meters Centerline goodness [0,1] 0.9997477136549984 Centerline is valid? [True, True] Translation: X:113.40, Y:64.49, Z:3.06 [[ 5.22908057e-01 -8.52279879e-01 -1.36444551e-02 1.13400720e+02] [ 8.51974281e-01 5.23085950e-01 -2.28235176e-02 6.44907391e+01] [ 2.65892476e-02 3.09876391e-04 9.99646395e-01 3.06064813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488040942 meters Centerline goodness [0,1] 0.9998953602745746 Centerline is valid? [True, True] Translation: X:113.42, Y:64.51, Z:3.06 [[ 5.23220344e-01 -8.52086075e-01 -1.37765553e-02 1.13417199e+02] [ 8.51774103e-01 5.23401579e-01 -2.30578719e-02 6.45144951e+01] [ 2.68579623e-02 3.29834615e-04 9.99639205e-01 3.06172985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51804094199997 meters Centerline goodness [0,1] 0.9998109442285474 Centerline is valid? [True, True] Translation: X:113.43, Y:64.54, Z:3.06 [[ 5.23147520e-01 -8.52130630e-01 -1.37862647e-02 1.13433607e+02] [ 8.51817871e-01 5.23329033e-01 -2.30876186e-02 6.45370537e+01] [ 2.68884196e-02 3.34843775e-04 9.99638385e-01 3.06266767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54804094199997 meters Centerline goodness [0,1] 0.9999579955475281 Centerline is valid? [True, True] Translation: X:113.45, Y:64.56, Z:3.06 [[ 5.21593846e-01 -8.53092798e-01 -1.31353851e-02 1.13453561e+02] [ 8.52808834e-01 5.21759140e-01 -2.20111985e-02 6.45587323e+01] [ 2.56311021e-02 2.78933224e-04 9.99671430e-01 3.06398211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57804094199997 meters Centerline goodness [0,1] 0.9998739892890895 Centerline is valid? [True, True] Translation: X:113.47, Y:64.58, Z:3.07 [[ 5.20753829e-01 -8.53607847e-01 -1.30036181e-02 1.13470211e+02] [ 8.53329410e-01 5.20916095e-01 -2.18023087e-02 6.45803271e+01] [ 2.53844158e-02 2.57265960e-04 9.99677731e-01 3.06521735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60804094199997 meters Centerline goodness [0,1] 0.9999580299246638 Centerline is valid? [True, True] Translation: X:113.49, Y:64.60, Z:3.07 [[ 5.19519878e-01 -8.54352619e-01 -1.34424183e-02 1.13488701e+02] [ 8.54055124e-01 5.19693707e-01 -2.25454147e-02 6.46010945e+01] [ 2.62476743e-02 2.32224912e-04 9.99655443e-01 3.06551015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63804094199998 meters Centerline goodness [0,1] 0.9999164525763937 Centerline is valid? [True, True] Translation: X:113.51, Y:64.62, Z:3.07 [[ 5.19093719e-01 -8.54611248e-01 -1.34657099e-02 1.13505010e+02] [ 8.54312603e-01 5.19268297e-01 -2.25922912e-02 6.46242641e+01] [ 2.62999424e-02 2.23590789e-04 9.99654072e-01 3.06547118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66804094199998 meters Centerline goodness [0,1] 0.9998951012273156 Centerline is valid? [True, True] Translation: X:113.52, Y:64.65, Z:3.07 [[ 5.18457808e-01 -8.54998401e-01 -1.33878940e-02 1.13521040e+02] [ 8.54702957e-01 5.18630591e-01 -2.24758777e-02 6.46465448e+01] [ 2.61602109e-02 2.10121628e-04 9.99657741e-01 3.06631403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69804094199998 meters Centerline goodness [0,1] 0.999916022841787 Centerline is valid? [True, True] Translation: X:113.54, Y:64.67, Z:3.07 [[ 5.17649603e-01 -8.55489372e-01 -1.32975096e-02 1.13539909e+02] [ 8.55197731e-01 5.17820334e-01 -2.23370052e-02 6.46676237e+01] [ 2.59947915e-02 1.90741802e-04 9.99662060e-01 3.06672549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:64.69, Z:3.07 [[ 5.17162342e-01 -8.55778985e-01 -1.36176488e-02 1.13559014e+02] [ 8.55472825e-01 5.17341563e-01 -2.28900347e-02 6.46891054e+01] [ 2.66337864e-02 1.88335455e-04 9.99645240e-01 3.06885269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75804094199998 meters Centerline goodness [0,1] 0.9999580809456938 Centerline is valid? [True, True] Translation: X:113.57, Y:64.71, Z:3.07 [[ 5.16883237e-01 -8.55942516e-01 -1.39330500e-02 1.13574413e+02] [ 8.55621665e-01 5.17070956e-01 -2.34348811e-02 6.47114060e+01] [ 2.72632866e-02 1.91677775e-04 9.99628269e-01 3.06892596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:64.73, Z:3.07 [[ 5.16208950e-01 -8.56347897e-01 -1.40213642e-02 1.13591371e+02] [ 8.56022846e-01 5.16399310e-01 -2.35931944e-02 6.47338415e+01] [ 2.74446052e-02 1.76409999e-04 9.99623310e-01 3.06953316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:64.75, Z:3.07 [[ 5.15338339e-01 -8.56874847e-01 -1.38525401e-02 1.13609069e+02] [ 8.56557382e-01 5.15524464e-01 -2.33233449e-02 6.47548139e+01] [ 2.71265109e-02 1.53918406e-04 9.99631997e-01 3.07052006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84804094199998 meters Centerline goodness [0,1] 0.9999789349511291 Centerline is valid? [True, True] Translation: X:113.63, Y:64.78, Z:3.07 [[ 5.14461490e-01 -8.57402670e-01 -1.37854028e-02 1.13625938e+02] [ 8.57088222e-01 5.14646136e-01 -2.32192885e-02 6.47779085e+01] [ 2.70028843e-02 1.30123368e-04 9.99635347e-01 3.07181241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:64.80, Z:3.07 [[ 5.12106859e-01 -8.58809009e-01 -1.39158735e-02 1.13645158e+02] [ 8.58488684e-01 5.12295893e-01 -2.34541505e-02 6.47981064e+01] [ 2.72716806e-02 6.44114070e-05 9.99628056e-01 3.07224432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90804094199999 meters Centerline goodness [0,1] 0.9999789752538738 Centerline is valid? [True, True] Translation: X:113.66, Y:64.82, Z:3.07 [[ 5.10702722e-01 -8.59637457e-01 -1.43586626e-02 1.13662406e+02] [ 8.59296340e-01 5.10904532e-01 -2.42148528e-02 6.48205911e+01] [ 2.81519003e-02 2.82450163e-05 9.99603656e-01 3.07250528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:64.84, Z:3.07 [[ 5.09381627e-01 -8.60412378e-01 -1.48626305e-02 1.13678812e+02] [ 8.60046746e-01 5.09598411e-01 -2.50809475e-02 6.48421047e+01] [ 2.91539306e-02 -6.78312031e-06 9.99574934e-01 3.07280760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:64.86, Z:3.07 [[ 5.07854240e-01 -8.61298669e-01 -1.57693880e-02 1.13698145e+02] [ 8.60886971e-01 5.08099006e-01 -2.66274786e-02 6.48637014e+01] [ 3.09466222e-02 -5.27827519e-05 9.99521037e-01 3.07256414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:64.89, Z:3.07 [[ 5.06943875e-01 -8.61834894e-01 -1.57646361e-02 1.13717057e+02] [ 8.61423192e-01 5.07188929e-01 -2.66359596e-02 6.48856474e+01] [ 3.09514483e-02 -7.70866171e-05 9.99520886e-01 3.07295273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.73, Y:64.91, Z:3.07 [[ 5.06832582e-01 -8.61897601e-01 -1.59141041e-02 1.13733012e+02] [ 8.61477557e-01 5.07082360e-01 -2.69053753e-02 6.49073192e+01] [ 3.12594399e-02 -7.31226360e-05 9.99511302e-01 3.07418432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.058040942 meters Centerline goodness [0,1] 0.9999787748864456 Centerline is valid? [True, True] Translation: X:113.75, Y:64.93, Z:3.08 [[ 5.06432355e-01 -8.62135366e-01 -1.57759290e-02 1.13749280e+02] [ 8.61722217e-01 5.06678008e-01 -2.66874045e-02 6.49297225e+01] [ 3.10014715e-02 -7.91033678e-05 9.99519336e-01 3.07534080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.77, Y:64.95, Z:3.08 [[ 5.05636945e-01 -8.62601805e-01 -1.57925840e-02 1.13767043e+02] [ 8.62187499e-01 5.05883500e-01 -2.67320318e-02 6.49501788e+01] [ 3.10483066e-02 -9.94656324e-05 9.99517880e-01 3.07651562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.118040942 meters Centerline goodness [0,1] 0.999978728382719 Centerline is valid? [True, True] Translation: X:113.78, Y:64.97, Z:3.08 [[ 5.05309953e-01 -8.62794568e-01 -1.57284470e-02 1.13783580e+02] [ 8.62383236e-01 5.05554668e-01 -2.66389119e-02 6.49732075e+01] [ 3.09354983e-02 -1.03041667e-04 9.99521378e-01 3.07694706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.80, Y:64.99, Z:3.08 [[ 5.04828258e-01 -8.63078555e-01 -1.56152866e-02 1.13802841e+02] [ 8.62672768e-01 5.05069693e-01 -2.64631888e-02 6.49933577e+01] [ 3.07266188e-02 -1.11516953e-04 9.99527820e-01 3.07961417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:65.02, Z:3.08 [[ 5.04454364e-01 -8.63299741e-01 -1.54710095e-02 1.13819427e+02] [ 8.62901070e-01 5.04691533e-01 -2.62335787e-02 6.50161829e+01] [ 3.04555292e-02 -1.16307372e-04 9.99536116e-01 3.08064307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:65.04, Z:3.08 [[ 5.04683473e-01 -8.63164674e-01 -1.55350344e-02 1.13837404e+02] [ 8.62762145e-01 5.04922504e-01 -2.63580177e-02 6.50367818e+01] [ 3.05952982e-02 -1.00583702e-04 9.99531849e-01 3.08232034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.85, Y:65.06, Z:3.08 [[ 5.04823783e-01 -8.63077655e-01 -1.58085274e-02 1.13852758e+02] [ 8.62660338e-01 5.05071236e-01 -2.68363284e-02 6.50587735e+01] [ 3.11462678e-02 -8.97727600e-05 9.99514833e-01 3.08287936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.87, Y:65.08, Z:3.08 [[ 5.05462678e-01 -8.62701127e-01 -1.59451278e-02 1.13867907e+02] [ 8.62275953e-01 5.05714111e-01 -2.70817162e-02 6.50821500e+01] [ 3.14271033e-02 -6.03034640e-05 9.99506045e-01 3.08379608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.88, Y:65.11, Z:3.08 [[ 5.07836521e-01 -8.61301207e-01 -1.61956184e-02 1.13884142e+02] [ 8.60861280e-01 5.08094705e-01 -2.75250293e-02 6.51055392e+01] [ 3.19362489e-02 3.60343627e-05 9.99489907e-01 3.08485128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32804094199997 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:113.90, Y:65.13, Z:3.08 [[ 5.09312415e-01 -8.60428646e-01 -1.62298986e-02 1.13898630e+02] [ 8.59985885e-01 5.09570933e-01 -2.75996810e-02 6.51284869e+01] [ 3.20178407e-02 9.93764696e-05 9.99487293e-01 3.08374986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35804094199997 meters Centerline goodness [0,1] 0.9999784250269688 Centerline is valid? [True, True] Translation: X:113.92, Y:65.15, Z:3.09 [[ 5.11294194e-01 -8.59241936e-01 -1.67792461e-02 1.13915643e+02] [ 8.58767660e-01 5.11569410e-01 -2.85454967e-02 6.51506766e+01] [ 3.31112369e-02 1.85672872e-04 9.99451655e-01 3.08517545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:65.17, Z:3.09 [[ 5.11492339e-01 -8.59121451e-01 -1.69091572e-02 1.13932229e+02] [ 8.58639357e-01 5.11771719e-01 -2.87778132e-02 6.51734889e+01] [ 3.33772651e-02 2.00763175e-04 9.99442804e-01 3.08720832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:65.20, Z:3.09 [[ 5.10709055e-01 -8.59590882e-01 -1.67265495e-02 1.13951588e+02] [ 8.59118809e-01 5.10982861e-01 -2.84848571e-02 6.51950710e+01] [ 3.30323036e-02 1.77381137e-04 9.99454269e-01 3.08947938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:65.22, Z:3.09 [[ 5.10035419e-01 -8.59993146e-01 -1.66030064e-02 1.13967923e+02] [ 8.59527634e-01 5.10305558e-01 -2.82928098e-02 6.52179183e+01] [ 3.28042290e-02 1.59592288e-04 9.99461784e-01 3.09062910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:65.24, Z:3.09 [[ 5.09145885e-01 -8.60518845e-01 -1.66668806e-02 1.13984412e+02] [ 8.60049414e-01 5.09418589e-01 -2.84201871e-02 6.52410172e+01] [ 3.29465253e-02 1.35680407e-04 9.99457107e-01 3.09183601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:65.26, Z:3.09 [[ 5.06814203e-01 -8.61887490e-01 -1.70093362e-02 1.14003072e+02] [ 8.61398754e-01 5.07099547e-01 -2.90213143e-02 6.52613496e+01] [ 3.36385344e-02 5.65932830e-05 9.99434063e-01 3.09333686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.02, Y:65.28, Z:3.09 [[ 5.05431601e-01 -8.62695815e-01 -1.71705675e-02 1.14020124e+02] [ 8.62197727e-01 5.05723176e-01 -2.93112214e-02 6.52841965e+01] [ 3.39702220e-02 1.03933059e-05 9.99422845e-01 3.09401930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:65.31, Z:3.10 [[ 5.02609026e-01 -8.64342079e-01 -1.72318660e-02 1.14039310e+02] [ 8.63840742e-01 5.02904327e-01 -2.94348535e-02 6.53052690e+01] [ 3.41077624e-02 -9.13648298e-05 9.99418157e-01 3.09607510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.06, Y:65.33, Z:3.10 [[ 5.01215687e-01 -8.65152523e-01 -1.71448831e-02 1.14055370e+02] [ 8.64656080e-01 5.01508817e-01 -2.93047923e-02 6.53275757e+01] [ 3.39514250e-02 -1.36405865e-04 9.99423475e-01 3.09609674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:65.35, Z:3.10 [[ 4.99249707e-01 -8.66283855e-01 -1.73784997e-02 1.14073807e+02] [ 8.65773846e-01 4.99552039e-01 -2.97221781e-02 6.53499154e+01] [ 3.44293079e-02 -2.07061820e-04 9.99407114e-01 3.09774574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65804094199999 meters Centerline goodness [0,1] 0.9999129052626995 Centerline is valid? [True, True] Translation: X:114.09, Y:65.37, Z:3.10 [[ 4.98468643e-01 -8.66730848e-01 -1.75114022e-02 1.14090138e+02] [ 8.66212692e-01 4.98776086e-01 -2.99664577e-02 6.53720637e+01] [ 3.47071219e-02 -2.31259346e-04 9.99397500e-01 3.09581568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.688040942 meters Centerline goodness [0,1] 0.9999781945050152 Centerline is valid? [True, True] Translation: X:114.11, Y:65.39, Z:3.10 [[ 4.97702253e-01 -8.67155350e-01 -1.82774803e-02 1.14108672e+02] [ 8.66590573e-01 4.98037678e-01 -3.12929682e-02 6.53936377e+01] [ 3.62387387e-02 -2.64511340e-04 9.99343126e-01 3.09919438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.718040942 meters Centerline goodness [0,1] 0.9999780807505151 Centerline is valid? [True, True] Translation: X:114.12, Y:65.42, Z:3.10 [[ 4.97550432e-01 -8.67238492e-01 -1.84652551e-02 1.14123565e+02] [ 8.66661397e-01 4.97892888e-01 -3.16337563e-02 6.54169596e+01] [ 3.66277303e-02 -2.63734701e-04 9.99328945e-01 3.10127303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.14, Y:65.44, Z:3.10 [[ 4.97291808e-01 -8.67384574e-01 -1.85703473e-02 1.14139094e+02] [ 8.66800229e-01 4.97638352e-01 -3.18344585e-02 6.54408218e+01] [ 3.68540352e-02 -2.65765843e-04 9.99320624e-01 3.10196409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:65.46, Z:3.10 [[ 4.97147679e-01 -8.67461317e-01 -1.88427376e-02 1.14156528e+02] [ 8.66858992e-01 4.97504565e-01 -3.23217593e-02 6.54620574e+01] [ 3.74122238e-02 -2.65308900e-04 9.99299882e-01 3.10117624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.17, Y:65.49, Z:3.10 [[ 4.97592367e-01 -8.67201270e-01 -1.90733771e-02 1.14172917e+02] [ 8.66583151e-01 4.97957730e-01 -3.27374768e-02 6.54852950e+01] [ 3.78877170e-02 -2.38748685e-04 9.99281974e-01 3.10434205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.838040942 meters Centerline goodness [0,1] 0.999867786077874 Centerline is valid? [True, True] Translation: X:114.19, Y:65.51, Z:3.10 [[ 4.97659875e-01 -8.67158538e-01 -1.92540665e-02 1.14187450e+02] [ 8.66527784e-01 4.98032147e-01 -3.30693385e-02 6.55093733e+01] [ 3.82655033e-02 -2.26900709e-04 9.99267582e-01 3.10417689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868040942 meters Centerline goodness [0,1] 0.999867786077874 Centerline is valid? [True, True] Translation: X:114.20, Y:65.53, Z:3.10 [[ 4.97409396e-01 -8.67302451e-01 -1.92444968e-02 1.14201257e+02] [ 8.66671589e-01 4.97781485e-01 -3.30749073e-02 6.55332528e+01] [ 3.82655024e-02 -2.26888960e-04 9.99267582e-01 3.10481484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.898040942 meters Centerline goodness [0,1] 0.9998016047967552 Centerline is valid? [True, True] Translation: X:114.22, Y:65.56, Z:3.11 [[ 4.97906616e-01 -8.67009673e-01 -1.95762060e-02 1.14216404e+02] [ 8.66355876e-01 4.98291267e-01 -3.36646553e-02 6.55559500e+01] [ 3.89422342e-02 -1.98106479e-04 9.99241444e-01 3.10566603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928040942 meters Centerline goodness [0,1] 0.9998677773370356 Centerline is valid? [True, True] Translation: X:114.23, Y:65.58, Z:3.11 [[ 4.98611981e-01 -8.66597582e-01 -1.98676497e-02 1.14232080e+02] [ 8.65923147e-01 4.99007620e-01 -3.41832998e-02 6.55787285e+01] [ 3.95372736e-02 -1.59654979e-04 9.99218084e-01 3.10587316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:65.60, Z:3.11 [[ 4.99297324e-01 -8.66207348e-01 -1.96726167e-02 1.14247141e+02] [ 8.65544980e-01 4.99684717e-01 -3.38684419e-02 6.56026499e+01] [ 3.91671992e-02 -1.17112160e-04 9.99232664e-01 3.10943849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988040942 meters Centerline goodness [0,1] 0.9999559704121169 Centerline is valid? [True, True] Translation: X:114.26, Y:65.63, Z:3.11 [[ 5.00976096e-01 -8.65239943e-01 -1.95650941e-02 1.14260144e+02] [ 8.64583250e-01 5.01357997e-01 -3.37040577e-02 6.56258934e+01] [ 3.89712133e-02 -3.07253377e-05 9.99240333e-01 3.11046695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01804094199997 meters Centerline goodness [0,1] 0.9999560526489266 Centerline is valid? [True, True] Translation: X:114.27, Y:65.65, Z:3.11 [[ 5.01401028e-01 -8.64996937e-01 -1.94244067e-02 1.14273332e+02] [ 8.64348699e-01 5.01777140e-01 -3.34817512e-02 6.56507900e+01] [ 3.87083355e-02 -1.67621886e-06 9.99250552e-01 3.11158983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04804094199997 meters Centerline goodness [0,1] 0.9999340992465348 Centerline is valid? [True, True] Translation: X:114.29, Y:65.68, Z:3.11 [[ 5.02128290e-01 -8.64578008e-01 -1.92885783e-02 1.14286410e+02] [ 8.63937673e-01 5.02498624e-01 -3.32690603e-02 6.56756819e+01] [ 3.84561819e-02 4.12069235e-05 9.99260287e-01 3.11280102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.30, Y:65.70, Z:3.12 [[ 5.03328432e-01 -8.63877835e-01 -1.93797704e-02 1.14299216e+02] [ 8.63230067e-01 5.03701375e-01 -3.34481026e-02 6.57006710e+01] [ 3.86566915e-02 1.06180501e-04 9.99252545e-01 3.11590468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.31, Y:65.72, Z:3.12 [[ 5.03200649e-01 -8.63948173e-01 -1.95617375e-02 1.14312430e+02] [ 8.63287403e-01 5.03580720e-01 -3.37834057e-02 6.57246167e+01] [ 3.90380255e-02 1.12430087e-04 9.99237719e-01 3.11596380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.33, Y:65.75, Z:3.12 [[ 5.01976548e-01 -8.64644569e-01 -2.02315357e-02 1.14325696e+02] [ 8.63937484e-01 5.02384081e-01 -3.49608196e-02 6.57483457e+01] [ 4.03926842e-02 7.07294766e-05 9.99183880e-01 3.11670384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:65.77, Z:3.12 [[ 5.00790088e-01 -8.65326843e-01 -2.04631905e-02 1.14340343e+02] [ 8.64603172e-01 5.01207995e-01 -3.53822154e-02 6.57727777e+01] [ 4.08734954e-02 2.65233162e-05 9.99164329e-01 3.11798560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19804094199998 meters Centerline goodness [0,1] 0.9997585919325813 Centerline is valid? [True, True] Translation: X:114.36, Y:65.79, Z:3.12 [[ 4.97719456e-01 -8.67095360e-01 -2.05177785e-02 1.14355240e+02] [ 8.66368537e-01 4.98142173e-01 -3.54955582e-02 6.57948081e+01] [ 4.09988046e-02 -1.09127869e-04 9.99159190e-01 3.11983527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22804094199998 meters Centerline goodness [0,1] 0.9996265049652869 Centerline is valid? [True, True] Translation: X:114.37, Y:65.82, Z:3.12 [[ 4.95700954e-01 -8.68241319e-01 -2.09183312e-02 1.14369542e+02] [ 8.67486119e-01 4.96142089e-01 -3.62058069e-02 6.58188416e+01] [ 4.18138421e-02 -1.99108954e-04 9.99125399e-01 3.11860518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25804094199998 meters Centerline goodness [0,1] 0.9999560081824781 Centerline is valid? [True, True] Translation: X:114.39, Y:65.84, Z:3.12 [[ 4.92660108e-01 -8.69969381e-01 -2.09593634e-02 1.14385046e+02] [ 8.69211926e-01 4.93105632e-01 -3.62968772e-02 6.58411583e+01] [ 4.19123519e-02 -3.36105232e-04 9.99121235e-01 3.12246526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28804094199998 meters Centerline goodness [0,1] 0.9999780432109608 Centerline is valid? [True, True] Translation: X:114.40, Y:65.87, Z:3.13 [[ 4.90841748e-01 -8.71001135e-01 -2.07701872e-02 1.14398445e+02] [ 8.70257342e-01 4.91280830e-01 -3.59903393e-02 6.58653632e+01] [ 4.15516212e-02 -4.09846876e-04 9.99136274e-01 3.12501825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31804094199998 meters Centerline goodness [0,1] 0.9998904061547903 Centerline is valid? [True, True] Translation: X:114.41, Y:65.89, Z:3.12 [[ 4.89254216e-01 -8.71892039e-01 -2.08467005e-02 1.14413575e+02] [ 8.71142638e-01 4.89697913e-01 -3.61449731e-02 6.58882054e+01] [ 4.17231000e-02 -4.76369170e-04 9.99129099e-01 3.12356888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:65.91, Z:3.13 [[ 4.87149048e-01 -8.73073921e-01 -2.06816966e-02 1.14426614e+02] [ 8.72336710e-01 4.87587540e-01 -3.58755490e-02 6.59133455e+01] [ 4.14061438e-02 -5.64663637e-04 9.99142238e-01 3.12627755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:65.94, Z:3.13 [[ 4.86085316e-01 -8.73664183e-01 -2.07836758e-02 1.14440234e+02] [ 8.72919558e-01 4.86529057e-01 -3.60683108e-02 6.59366598e+01] [ 4.16234534e-02 -6.10200809e-04 9.99133182e-01 3.12644245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40804094199999 meters Centerline goodness [0,1] 0.9999123652615897 Centerline is valid? [True, True] Translation: X:114.45, Y:65.96, Z:3.13 [[ 4.84567659e-01 -8.74514064e-01 -2.04776994e-02 1.14453649e+02] [ 8.73791106e-01 4.84999705e-01 -3.55582589e-02 6.59615273e+01] [ 4.10278756e-02 -6.62849281e-04 9.99157782e-01 3.12716179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.438040942 meters Centerline goodness [0,1] 0.9998901195499297 Centerline is valid? [True, True] Translation: X:114.47, Y:65.99, Z:3.13 [[ 4.84095309e-01 -8.74781100e-01 -2.02425268e-02 1.14466609e+02] [ 8.74073995e-01 4.84517887e-01 -3.51719763e-02 6.59863635e+01] [ 4.05756464e-02 -6.66877501e-04 9.99176247e-01 3.12609039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468040942 meters Centerline goodness [0,1] 0.9999561037706861 Centerline is valid? [True, True] Translation: X:114.48, Y:66.01, Z:3.13 [[ 4.83832391e-01 -8.74934602e-01 -1.98912112e-02 1.14479924e+02] [ 8.74251085e-01 4.84240654e-01 -3.45836513e-02 6.60109260e+01] [ 3.98905663e-02 -6.57222237e-04 9.99203838e-01 3.12838838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.49, Y:66.04, Z:3.13 [[ 4.84748460e-01 -8.74439865e-01 -1.93352907e-02 1.14492151e+02] [ 8.73792828e-01 4.85133565e-01 -3.36380492e-02 6.60367488e+01] [ 3.87946498e-02 -5.89045810e-04 9.99247031e-01 3.12821244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:66.06, Z:3.13 [[ 4.84984469e-01 -8.74319832e-01 -1.88386867e-02 1.14504983e+02] [ 8.73704765e-01 4.85349898e-01 -3.27942203e-02 6.60618992e+01] [ 3.78159919e-02 -5.54762779e-04 9.99284566e-01 3.12826517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.558040942 meters Centerline goodness [0,1] 0.9998902184652542 Centerline is valid? [True, True] Translation: X:114.52, Y:66.09, Z:3.13 [[ 4.86036778e-01 -8.73751890e-01 -1.80522973e-02 1.14517417e+02] [ 8.73186030e-01 4.86371674e-01 -3.14444211e-02 6.60875247e+01] [ 3.62547484e-02 -4.79868726e-04 9.99342465e-01 3.12829589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588040942 meters Centerline goodness [0,1] 0.9999341643258427 Centerline is valid? [True, True] Translation: X:114.53, Y:66.11, Z:3.13 [[ 4.86122052e-01 -8.73714312e-01 -1.75684835e-02 1.14530611e+02] [ 8.73177699e-01 4.86439199e-01 -3.06204622e-02 6.61123207e+01] [ 3.52995351e-02 -4.55126110e-04 9.99376674e-01 3.12842956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.618040942 meters Centerline goodness [0,1] 0.9999340079190497 Centerline is valid? [True, True] Translation: X:114.54, Y:66.14, Z:3.13 [[ 4.86052617e-01 -8.73764073e-01 -1.70058314e-02 1.14544915e+02] [ 8.73260723e-01 4.86349828e-01 -2.96572887e-02 6.61351656e+01] [ 3.41842565e-02 -4.35521830e-04 9.99415453e-01 3.12558871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648040942 meters Centerline goodness [0,1] 0.9998239978879746 Centerline is valid? [True, True] Translation: X:114.56, Y:66.16, Z:3.13 [[ 4.85839840e-01 -8.73888628e-01 -1.66828156e-02 1.14558702e+02] [ 8.73403760e-01 4.86125995e-01 -2.91099443e-02 6.61598379e+01] [ 3.35487996e-02 -4.28063185e-04 9.99436989e-01 3.12646313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.678040942 meters Centerline goodness [0,1] 0.9998457776113155 Centerline is valid? [True, True] Translation: X:114.57, Y:66.19, Z:3.13 [[ 4.85629765e-01 -8.74016898e-01 -1.60683853e-02 1.14570901e+02] [ 8.73566636e-01 4.85895350e-01 -2.80542702e-02 6.61858162e+01] [ 3.23274599e-02 -4.12816690e-04 9.99477246e-01 3.12832449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708040942 meters Centerline goodness [0,1] 0.9999781157675894 Centerline is valid? [True, True] Translation: X:114.58, Y:66.21, Z:3.13 [[ 4.85102720e-01 -8.74320523e-01 -1.54587932e-02 1.14584510e+02] [ 8.73903429e-01 4.85348798e-01 -2.70063017e-02 6.62098345e+01] [ 3.11150706e-02 -4.08662014e-04 9.99515725e-01 3.12775910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.738040942 meters Centerline goodness [0,1] 0.9999560507174721 Centerline is valid? [True, True] Translation: X:114.60, Y:66.23, Z:3.13 [[ 4.84284336e-01 -8.74780810e-01 -1.50737089e-02 1.14598212e+02] [ 8.74383950e-01 4.84518688e-01 -2.63504914e-02 6.62341582e+01] [ 3.03543979e-02 -4.19078971e-04 9.99539111e-01 3.12799119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76804094199997 meters Centerline goodness [0,1] 0.9999779958632223 Centerline is valid? [True, True] Translation: X:114.61, Y:66.26, Z:3.13 [[ 4.83184203e-01 -8.75397701e-01 -1.45564566e-02 1.14613266e+02] [ 8.75027418e-01 4.83403223e-01 -2.54625490e-02 6.62583185e+01] [ 2.93264949e-02 -4.34197208e-04 9.99569792e-01 3.12705938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79804094199997 meters Centerline goodness [0,1] 0.999956013987552 Centerline is valid? [True, True] Translation: X:114.63, Y:66.28, Z:3.13 [[ 4.82509625e-01 -8.75772278e-01 -1.44006416e-02 1.14627628e+02] [ 8.75409580e-01 4.82724269e-01 -2.52061070e-02 6.62808143e+01] [ 2.90263489e-02 -4.44270342e-04 9.99578548e-01 3.12721043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82804094199997 meters Centerline goodness [0,1] 0.9999340789733899 Centerline is valid? [True, True] Translation: X:114.64, Y:66.30, Z:3.13 [[ 4.81697805e-01 -8.76224095e-01 -1.40911506e-02 1.14641674e+02] [ 8.75876603e-01 4.81903652e-01 -2.46788624e-02 6.63045389e+01] [ 2.84147907e-02 -4.54355261e-04 9.99596115e-01 3.12768601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85804094199997 meters Centerline goodness [0,1] 0.9999779944105803 Centerline is valid? [True, True] Translation: X:114.66, Y:66.33, Z:3.13 [[ 4.80559241e-01 -8.76861914e-01 -1.32664781e-02 1.14657558e+02] [ 8.76553797e-01 4.80742108e-01 -2.32479401e-02 6.63283554e+01] [ 2.67629879e-02 -4.56769321e-04 9.99641703e-01 3.12813882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88804094199998 meters Centerline goodness [0,1] 0.9999339904946313 Centerline is valid? [True, True] Translation: X:114.67, Y:66.35, Z:3.13 [[ 4.79931114e-01 -8.77213910e-01 -1.27232637e-02 1.14671965e+02] [ 8.76930284e-01 4.80099524e-01 -2.23097168e-02 6.63512902e+01] [ 2.56788267e-02 -4.50288002e-04 9.99670143e-01 3.12777962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91804094199998 meters Centerline goodness [0,1] 0.9999779963473937 Centerline is valid? [True, True] Translation: X:114.69, Y:66.38, Z:3.13 [[ 4.79749088e-01 -8.77314406e-01 -1.26588008e-02 1.14685875e+02] [ 8.77033347e-01 4.79915860e-01 -2.22098342e-02 6.63758843e+01] [ 2.55601668e-02 -4.47042777e-04 9.99673186e-01 3.12815809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:66.40, Z:3.13 [[ 4.79746675e-01 -8.77325149e-01 -1.19879002e-02 1.14698737e+02] [ 8.77072787e-01 4.79896247e-01 -2.10456276e-02 6.64010068e+01] [ 2.42168067e-02 -4.17691131e-04 9.99706643e-01 3.12870944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97804094199998 meters Centerline goodness [0,1] 0.9999780181130749 Centerline is valid? [True, True] Translation: X:114.71, Y:66.43, Z:3.13 [[ 4.80661261e-01 -8.76828226e-01 -1.17053149e-02 1.14712016e+02] [ 8.76587162e-01 4.80803619e-01 -2.05627720e-02 6.64252901e+01] [ 2.36579767e-02 -3.77000877e-04 9.99720040e-01 3.12800226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:66.45, Z:3.13 [[ 4.81627603e-01 -8.76304282e-01 -1.12096642e-02 1.14725246e+02] [ 8.76082841e-01 4.81757921e-01 -1.97018101e-02 6.64501780e+01] [ 2.26651251e-02 -3.31658924e-04 9.99743058e-01 3.12815366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.74, Y:66.48, Z:3.13 [[ 4.83847351e-01 -8.75088266e-01 -1.05956397e-02 1.14737727e+02] [ 8.74889889e-01 4.83963286e-01 -1.86338368e-02 6.64759873e+01] [ 2.14341525e-02 -2.54085497e-04 9.99770230e-01 3.12830585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06804094199998 meters Centerline goodness [0,1] 0.9998901509326186 Centerline is valid? [True, True] Translation: X:114.75, Y:66.50, Z:3.13 [[ 4.85362207e-01 -8.74249608e-01 -1.05427931e-02 1.14750605e+02] [ 8.74052785e-01 4.85476651e-01 -1.85513204e-02 6.65016089e+01] [ 2.13367645e-02 -2.10847862e-04 9.99772323e-01 3.12846325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:66.53, Z:3.13 [[ 4.86525055e-01 -8.73605379e-01 -1.03446721e-02 1.14763523e+02] [ 8.73415496e-01 4.86634988e-01 -1.82142581e-02 6.65264669e+01] [ 2.09461532e-02 -1.73503983e-04 9.99780590e-01 3.12862922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:66.55, Z:3.13 [[ 4.88559626e-01 -8.72471182e-01 -1.01748647e-02 1.14776214e+02] [ 8.72286993e-01 4.88665553e-01 -1.79270609e-02 6.65505791e+01] [ 2.06129499e-02 -1.16963955e-04 9.99787524e-01 3.12895273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.79, Y:66.58, Z:3.13 [[ 4.88866763e-01 -8.72304309e-01 -9.72015403e-03 1.14788793e+02] [ 8.72136017e-01 4.88963376e-01 -1.71343345e-02 6.65760730e+01] [ 1.96991531e-02 -1.00889796e-04 9.99805948e-01 3.12902027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.80, Y:66.60, Z:3.13 [[ 4.89315822e-01 -8.72054915e-01 -9.50012013e-03 1.14801590e+02] [ 8.71893906e-01 4.89408029e-01 -1.67570269e-02 6.66007159e+01] [ 1.92624828e-02 -8.36184320e-05 9.99814458e-01 3.12951143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.81, Y:66.63, Z:3.13 [[ 4.89383340e-01 -8.72023988e-01 -8.83805787e-03 1.14814652e+02] [ 8.71884465e-01 4.89463134e-01 -1.55987289e-02 6.66250946e+01] [ 1.79283693e-02 -7.20073293e-05 9.99839271e-01 3.12976982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.83, Y:66.65, Z:3.13 [[ 4.89019053e-01 -8.72233191e-01 -8.34420269e-03 1.14828263e+02] [ 8.72108683e-01 4.89090232e-01 -1.47373374e-02 6.66486029e+01] [ 1.69354628e-02 -7.02128548e-05 9.99856582e-01 3.13014450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.84, Y:66.67, Z:3.13 [[ 4.88221946e-01 -8.72680668e-01 -8.23304773e-03 1.14842173e+02] [ 8.72559434e-01 4.88291353e-01 -1.45460943e-02 6.66730154e+01] [ 1.67142213e-02 -8.21009793e-05 9.99860304e-01 3.13007005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.86, Y:66.70, Z:3.13 [[ 4.86044555e-01 -8.73898867e-01 -7.83972605e-03 1.14857432e+02] [ 8.73788959e-01 4.86107763e-01 -1.38599250e-02 6.66968903e+01] [ 1.59231244e-02 -1.13724996e-04 9.99873213e-01 3.12998708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.87, Y:66.72, Z:3.13 [[ 4.84776460e-01 -8.74602791e-01 -7.85764844e-03 1.14872226e+02] [ 8.74492333e-01 4.84840119e-01 -1.39002851e-02 6.67208396e+01] [ 1.59669313e-02 -1.32922333e-04 9.99872512e-01 3.13020858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.89, Y:66.74, Z:3.13 [[ 4.82026985e-01 -8.76123250e-01 -7.61817232e-03 1.14887144e+02] [ 8.76019447e-01 4.82087151e-01 -1.34873139e-02 6.67439648e+01] [ 1.54891722e-02 -1.72417873e-04 9.99880021e-01 3.13010775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:66.77, Z:3.13 [[ 4.80687827e-01 -8.76860146e-01 -7.44962791e-03 1.14902766e+02] [ 8.76760939e-01 4.80745513e-01 -1.31912288e-02 6.67663698e+01] [ 1.51482380e-02 -1.90679661e-04 9.99885241e-01 3.13172927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:66.79, Z:3.13 [[ 4.78857419e-01 -8.77865187e-01 -6.94879789e-03 1.14916068e+02] [ 8.77778886e-01 4.78907791e-01 -1.23107508e-02 6.67925484e+01] [ 1.41350130e-02 -2.04413694e-04 9.99900075e-01 3.13094998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:66.82, Z:3.13 [[ 4.74769013e-01 -8.80086896e-01 -6.43740808e-03 1.14931778e+02] [ 8.80012954e-01 4.74812589e-01 -1.14107827e-02 6.68159419e+01] [ 1.30990427e-02 -2.47516468e-04 9.99914173e-01 3.13190486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.95, Y:66.84, Z:3.13 [[ 4.72785357e-01 -8.81154810e-01 -6.34087220e-03 1.14946585e+02] [ 8.81083072e-01 4.72827799e-01 -1.12468755e-02 6.68397721e+01] [ 1.29083791e-02 -2.69477126e-04 9.99916647e-01 3.13243521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:66.86, Z:3.13 [[ 4.69183284e-01 -8.83078685e-01 -6.25159272e-03 1.14963703e+02] [ 8.83009089e-01 4.69224824e-01 -1.10910859e-02 6.68631426e+01] [ 1.27277040e-02 -3.16461104e-04 9.99918949e-01 3.13310400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:66.89, Z:3.13 [[ 4.67808545e-01 -8.83808509e-01 -6.13873215e-03 1.14978552e+02] [ 8.83741388e-01 4.67848706e-01 -1.08971723e-02 6.68873463e+01] [ 1.25030115e-02 -3.27261374e-04 9.99921781e-01 3.13384568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:66.91, Z:3.13 [[ 4.66295316e-01 -8.84609459e-01 -5.89774994e-03 1.14992173e+02] [ 8.84547496e-01 4.66332494e-01 -1.04752860e-02 6.69122233e+01] [ 1.20168496e-02 -3.32263131e-04 9.99927740e-01 3.13451127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.00, Y:66.94, Z:3.13 [[ 4.65889550e-01 -8.84825481e-01 -5.54935087e-03 1.15004494e+02] [ 8.84770582e-01 4.65922492e-01 -9.86145703e-03 6.69380851e+01] [ 1.13112358e-02 -3.15552625e-04 9.99935976e-01 3.13448787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:66.96, Z:3.13 [[ 4.65874424e-01 -8.84833686e-01 -5.51083899e-03 1.15015047e+02] [ 8.84779482e-01 4.65906913e-01 -9.79884828e-03 6.69639980e+01] [ 1.12378890e-02 -3.10844465e-04 9.99936805e-01 3.13368880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.03, Y:66.99, Z:3.13 [[ 4.66026165e-01 -8.84754695e-01 -5.36128547e-03 1.15027937e+02] [ 8.84703298e-01 4.66056909e-01 -9.54111812e-03 6.69878796e+01] [ 1.09402132e-02 -2.96736242e-04 9.99940110e-01 3.13460465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:67.01, Z:3.14 [[ 4.66058142e-01 -8.84738879e-01 -5.18884960e-03 1.15040698e+02] [ 8.84690717e-01 4.66086938e-01 -9.23590174e-03 6.70125581e+01] [ 1.05898164e-02 -2.86059869e-04 9.99943885e-01 3.13601279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:67.04, Z:3.14 [[ 4.66531535e-01 -8.84493848e-01 -4.35418926e-03 1.15052475e+02] [ 8.84459898e-01 4.66551795e-01 -7.75312463e-03 6.70384885e+01] [ 8.88904586e-03 -2.34028651e-04 9.99960464e-01 3.13803216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.07, Y:67.06, Z:3.14 [[ 4.66285891e-01 -8.84623382e-01 -4.35204901e-03 1.15065888e+02] [ 8.84589426e-01 4.66306142e-01 -7.75432520e-03 6.70625956e+01] [ 8.88904456e-03 -2.34044105e-04 9.99960464e-01 3.13867030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:67.09, Z:3.14 [[ 4.66510774e-01 -8.84504424e-01 -4.42965917e-03 1.15078357e+02] [ 8.84469191e-01 4.66531746e-01 -7.89812617e-03 6.70877938e+01] [ 9.05250416e-03 -2.33336109e-04 9.99958998e-01 3.13915569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:67.11, Z:3.14 [[ 4.66755371e-01 -8.84376401e-01 -4.21957650e-03 1.15089268e+02] [ 8.84344390e-01 4.66774393e-01 -7.52765962e-03 6.71138309e+01] [ 8.62687478e-03 -2.17983251e-04 9.99962764e-01 3.13937653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.10, Y:67.14, Z:3.14 [[ 4.66591443e-01 -8.84462959e-01 -4.20716257e-03 1.15100834e+02] [ 8.84431095e-01 4.66610360e-01 -7.51066352e-03 6.71401145e+01] [ 8.60600932e-03 -2.16534068e-04 9.99962944e-01 3.13935944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:67.17, Z:3.14 [[ 4.66112101e-01 -8.84716556e-01 -4.01556739e-03 1.15112388e+02] [ 8.84687504e-01 4.66129351e-01 -7.17273938e-03 6.71654684e+01] [ 8.21761510e-03 -2.09221673e-04 9.99966213e-01 3.13984662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.12, Y:67.19, Z:3.14 [[ 4.64719887e-01 -8.85449358e-01 -3.85507803e-03 1.15124936e+02] [ 8.85422552e-01 4.64735829e-01 -6.89300465e-03 6.71903295e+01] [ 7.89499942e-03 -2.10056678e-04 9.99968812e-01 3.14122542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:67.21, Z:3.14 [[ 4.63804018e-01 -8.85930216e-01 -3.67224477e-03 1.15138417e+02] [ 8.85905915e-01 4.63818508e-01 -6.56514783e-03 6.72145864e+01] [ 7.51951793e-03 -2.08321422e-04 9.99971706e-01 3.14233556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:67.24, Z:3.14 [[ 4.62252889e-01 -8.86739657e-01 -3.87900713e-03 1.15148128e+02] [ 8.86712534e-01 4.62269106e-01 -6.93940823e-03 6.72419608e+01] [ 7.94659364e-03 -2.31802737e-04 9.99968398e-01 3.14204002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:67.27, Z:3.14 [[ 4.61722906e-01 -8.87016422e-01 -3.71817710e-03 1.15161077e+02] [ 8.86991454e-01 4.61737823e-01 -6.65904142e-03 6.72664660e+01] [ 7.62350209e-03 -2.23359358e-04 9.99970916e-01 3.14278134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.17, Y:67.29, Z:3.14 [[ 4.60770847e-01 -8.87510137e-01 -3.99783397e-03 1.15172068e+02] [ 8.87481301e-01 4.60788123e-01 -7.15869450e-03 6.72920123e+01] [ 8.19556834e-03 -2.49485162e-04 9.99966385e-01 3.14295239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:67.32, Z:3.14 [[ 4.60500559e-01 -8.87648775e-01 -4.34599636e-03 1.15183341e+02] [ 8.87614661e-01 4.60520986e-01 -7.78685306e-03 6.73175271e+01] [ 8.91341311e-03 -2.71719899e-04 9.99960238e-01 3.14259480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:67.34, Z:3.14 [[ 4.61310647e-01 -8.87225508e-01 -4.83582544e-03 1.15194116e+02] [ 8.87183166e-01 4.61335902e-01 -8.67270937e-03 6.73442487e+01] [ 9.92558887e-03 -2.89449744e-04 9.99950698e-01 3.14169512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:67.37, Z:3.14 [[ 4.61733155e-01 -8.87005317e-01 -4.90524251e-03 1.15206379e+02] [ 8.86961678e-01 4.61759121e-01 -8.80316042e-03 6.73682888e+01] [ 1.00734906e-02 -2.86051091e-04 9.99949220e-01 3.14269231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:67.39, Z:3.14 [[ 4.62422774e-01 -8.86645810e-01 -4.93814899e-03 1.15217952e+02] [ 8.86601530e-01 4.62449056e-01 -8.86548480e-03 6.73941117e+01] [ 1.01441873e-02 -2.78568381e-04 9.99948508e-01 3.14335295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:67.42, Z:3.14 [[ 4.64469860e-01 -8.85575035e-01 -4.96039848e-03 1.15226666e+02] [ 8.85530231e-01 4.64496278e-01 -8.91166342e-03 6.74219980e+01] [ 1.01960333e-02 -2.53383742e-04 9.99947987e-01 3.14350147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:67.45, Z:3.14 [[ 4.65334952e-01 -8.85119494e-01 -5.18301931e-03 1.15238464e+02] [ 8.85070468e-01 4.65363749e-01 -9.31925925e-03 6.74464224e+01] [ 1.06606473e-02 -2.50760263e-04 9.99943142e-01 3.14423093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:67.47, Z:3.14 [[ 4.66781066e-01 -8.84355137e-01 -5.60612333e-03 1.15247952e+02] [ 8.84297684e-01 4.66814663e-01 -1.00834576e-02 6.74745314e+01] [ 1.15343781e-02 -2.50714763e-04 9.99933445e-01 3.14386343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:67.50, Z:3.14 [[ 4.67343742e-01 -8.84056341e-01 -5.84917703e-03 1.15259485e+02] [ 8.83993688e-01 4.67380277e-01 -1.05278904e-02 6.74991215e+01] [ 1.20410382e-02 -2.50491895e-04 9.99927473e-01 3.14429414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:67.53, Z:3.14 [[ 4.68250048e-01 -8.83573636e-01 -6.28667799e-03 1.15268820e+02] [ 8.83501140e-01 4.68292180e-01 -1.13211774e-02 6.75267087e+01] [ 1.29470960e-02 -2.53145293e-04 9.99916151e-01 3.14309081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:67.55, Z:3.14 [[ 4.68152645e-01 -8.83624158e-01 -6.43802453e-03 1.15281290e+02] [ 8.83548052e-01 4.68196840e-01 -1.15999952e-02 6.75519013e+01] [ 1.32642988e-02 -2.57735582e-04 9.99911992e-01 3.14330743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:67.58, Z:3.14 [[ 4.68174352e-01 -8.83611251e-01 -6.62819113e-03 1.15293834e+02] [ 8.83530458e-01 4.68221197e-01 -1.19515819e-02 6.75754634e+01] [ 1.36640118e-02 -2.60784631e-04 9.99906609e-01 3.14402511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:67.60, Z:3.14 [[ 4.68307072e-01 -8.83539872e-01 -6.76623736e-03 1.15305110e+02] [ 8.83455580e-01 4.68355877e-01 -1.22070176e-02 6.76010827e+01] [ 1.39543938e-02 -2.61037462e-04 9.99902599e-01 3.14457062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:67.63, Z:3.15 [[ 4.68381535e-01 -8.83499208e-01 -6.91996026e-03 1.15317041e+02] [ 8.83410909e-01 4.68432578e-01 -1.24934482e-02 6.76250423e+01] [ 1.42794865e-02 -2.61467910e-04 9.99898009e-01 3.14581926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:67.65, Z:3.15 [[ 4.69311849e-01 -8.83006769e-01 -6.74055447e-03 1.15326196e+02] [ 8.82922853e-01 4.69360192e-01 -1.21755810e-02 6.76525491e+01] [ 1.39148683e-02 -2.37245169e-04 9.99903155e-01 3.14599520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:67.68, Z:3.15 [[ 4.70059195e-01 -8.82608907e-01 -6.77281164e-03 1.15338392e+02] [ 8.82524028e-01 4.70107933e-01 -1.22421983e-02 6.76785929e+01] [ 1.39890258e-02 -2.22611112e-04 9.99902124e-01 3.14673466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:67.70, Z:3.15 [[ 4.71083766e-01 -8.82062352e-01 -6.78909590e-03 1.15350476e+02] [ 8.81976894e-01 4.71132641e-01 -1.22797542e-02 6.77026339e+01] [ 1.40300736e-02 -2.03032848e-04 9.99901553e-01 3.14800049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:67.73, Z:3.15 [[ 4.72963409e-01 -8.81052113e-01 -7.26547286e-03 1.15361820e+02] [ 8.80954014e-01 4.73019176e-01 -1.31485579e-02 6.77295775e+01] [ 1.50212727e-02 -1.81760718e-04 9.99887158e-01 3.14842642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.37, Y:67.76, Z:3.15 [[ 4.75213867e-01 -8.79833105e-01 -8.09250720e-03 1.15373101e+02] [ 8.79711061e-01 4.75282741e-01 -1.46548512e-02 6.77563927e+01] [ 1.67400522e-02 -1.54879606e-04 9.99859864e-01 3.14775494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:67.78, Z:3.15 [[ 4.76090092e-01 -8.79354445e-01 -8.60142832e-03 1.15385905e+02] [ 8.79216313e-01 4.76167765e-01 -1.55863645e-02 6.77808005e+01] [ 1.78016618e-02 -1.42002379e-04 9.99841528e-01 3.14781366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:67.81, Z:3.15 [[ 4.76569014e-01 -8.79091949e-01 -8.90620982e-03 1.15398562e+02] [ 8.78943648e-01 4.76652209e-01 -1.61473051e-02 6.78061785e+01] [ 1.84401305e-02 -1.32751263e-04 9.99829958e-01 3.14760838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:67.83, Z:3.15 [[ 4.77513082e-01 -8.78577527e-01 -9.09870545e-03 1.15410865e+02] [ 8.78422449e-01 4.77599746e-01 -1.65070743e-02 6.78320401e+01] [ 1.88482840e-02 -1.10163182e-04 9.99822349e-01 3.14812649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:67.86, Z:3.15 [[ 4.77352416e-01 -8.78664571e-01 -9.12372977e-03 1.15424081e+02] [ 8.78508471e-01 4.77439587e-01 -1.65622049e-02 6.78570164e+01] [ 1.89086524e-02 -1.09265386e-04 9.99821209e-01 3.14866569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:67.88, Z:3.15 [[ 4.77965337e-01 -8.78330550e-01 -9.19685643e-03 1.15437437e+02] [ 8.78171654e-01 4.78053801e-01 -1.67065435e-02 6.78808035e+01] [ 1.90704597e-02 -9.12699563e-05 9.99818138e-01 3.14999761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:67.91, Z:3.15 [[ 4.77984792e-01 -8.78319756e-01 -9.21650552e-03 1.15450776e+02] [ 8.78159989e-01 4.78073632e-01 -1.67521672e-02 6.79057854e+01] [ 1.91199277e-02 -8.62852422e-05 9.99817194e-01 3.15063447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:67.93, Z:3.15 [[ 4.77189729e-01 -8.78751510e-01 -9.25987669e-03 1.15465800e+02] [ 8.78590110e-01 4.77279555e-01 -1.68417537e-02 6.79297676e+01] [ 1.92192663e-02 -9.89242163e-05 9.99815288e-01 3.15157037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:67.95, Z:3.15 [[ 4.76384902e-01 -8.79188420e-01 -9.22759242e-03 1.15480048e+02] [ 8.79028026e-01 4.76474250e-01 -1.67934338e-02 6.79528729e+01] [ 1.91613027e-02 -1.11174057e-04 9.99816399e-01 3.15268248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:67.98, Z:3.15 [[ 4.73960819e-01 -8.80503458e-01 -8.64885688e-03 1.15496120e+02] [ 8.80362595e-01 4.74039701e-01 -1.57500105e-02 6.79767836e+01] [ 1.79678402e-02 -1.49242237e-04 9.99838554e-01 3.15418391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:68.00, Z:3.15 [[ 4.72463479e-01 -8.81309129e-01 -8.51354496e-03 1.15510585e+02] [ 8.81172608e-01 4.72540146e-01 -1.55127607e-02 6.80011474e+01] [ 1.76945294e-02 -1.72689707e-04 9.99843425e-01 3.15488487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.53, Y:68.02, Z:3.16 [[ 4.70006613e-01 -8.82621653e-01 -8.53240793e-03 1.15527090e+02] [ 8.82484532e-01 4.70084004e-01 -1.55589240e-02 6.80235024e+01] [ 1.77435917e-02 -2.16920865e-04 9.99842547e-01 3.15590438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.54, Y:68.05, Z:3.16 [[ 4.69001462e-01 -8.83155793e-01 -8.57171885e-03 1.15541771e+02] [ 8.83017433e-01 4.69079727e-01 -1.56340570e-02 6.80477809e+01] [ 1.78281275e-02 -2.36581591e-04 9.99841038e-01 3.15670504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.56, Y:68.07, Z:3.16 [[ 4.68610714e-01 -8.83360722e-01 -8.82235578e-03 1.15556031e+02] [ 8.83213988e-01 4.68693689e-01 -1.61020535e-02 6.80714751e+01] [ 1.83589041e-02 -2.46433223e-04 9.99831431e-01 3.15702964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:68.09, Z:3.16 [[ 4.68336070e-01 -8.83505952e-01 -8.86330775e-03 1.15571179e+02] [ 8.83357663e-01 4.68419866e-01 -1.61884884e-02 6.80941888e+01] [ 1.84543753e-02 -2.47817806e-04 9.99829673e-01 3.15807418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:68.12, Z:3.16 [[ 4.68496129e-01 -8.83421067e-01 -8.86540077e-03 1.15584392e+02] [ 8.83272576e-01 4.68579940e-01 -1.61986615e-02 6.81187482e+01] [ 1.84643878e-02 -2.41555155e-04 9.99829489e-01 3.15832308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:68.14, Z:3.16 [[ 4.69166393e-01 -8.83063118e-01 -9.07885187e-03 1.15597687e+02] [ 8.82907094e-01 4.69254172e-01 -1.66007528e-02 6.81420803e+01] [ 1.89198016e-02 -2.27267421e-04 9.99820979e-01 3.15816358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:68.17, Z:3.16 [[ 4.69323383e-01 -8.82978433e-01 -9.20052009e-03 1.15611355e+02] [ 8.82818003e-01 4.69413504e-01 -1.68325601e-02 6.81671045e+01] [ 1.91816359e-02 -2.22470725e-04 9.99815991e-01 3.15833181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:68.19, Z:3.16 [[ 4.68999827e-01 -8.83151168e-01 -9.12010207e-03 1.15625121e+02] [ 8.82993355e-01 4.69088440e-01 -1.66964341e-02 6.81918557e+01] [ 1.90236098e-02 -2.22364808e-04 9.99819010e-01 3.15867740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:68.21, Z:3.16 [[ 4.68153147e-01 -8.83599707e-01 -9.17547026e-03 1.15641117e+02] [ 8.83439832e-01 4.68242995e-01 -1.68095501e-02 6.82144251e+01] [ 1.91492633e-02 -2.36532113e-04 9.99816608e-01 3.16007933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:68.24, Z:3.16 [[ 4.66890212e-01 -8.84268940e-01 -9.05380493e-03 1.15656398e+02] [ 8.84113212e-01 4.66977919e-01 -1.65967314e-02 6.82378397e+01] [ 1.89039011e-02 -2.55737110e-04 9.99821273e-01 3.16096075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:68.26, Z:3.16 [[ 4.66256416e-01 -8.84604800e-01 -8.90524787e-03 1.15670619e+02] [ 8.84454016e-01 4.66341378e-01 -1.63344150e-02 6.82617408e+01] [ 1.86023874e-02 -2.60256463e-04 9.99826927e-01 3.16207259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:68.29, Z:3.16 [[ 4.65692354e-01 -8.84901507e-01 -8.94171030e-03 1.15684021e+02] [ 8.84749342e-01 4.65778113e-01 -1.64119224e-02 6.82868208e+01] [ 1.86877878e-02 -2.68265541e-04 9.99825332e-01 3.16279200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:68.31, Z:3.16 [[ 4.64716646e-01 -8.85413687e-01 -9.00234755e-03 1.15699020e+02] [ 8.85259332e-01 4.64803745e-01 -1.65346257e-02 6.83108665e+01] [ 1.88243087e-02 -2.85496406e-04 9.99822766e-01 3.16328760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:68.33, Z:3.16 [[ 4.63661278e-01 -8.85968635e-01 -8.82029919e-03 1.15712936e+02] [ 8.85820358e-01 4.63745070e-01 -1.62112049e-02 6.83340008e+01] [ 1.84529894e-02 -2.96692583e-04 9.99829685e-01 3.16414486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:68.36, Z:3.16 [[ 4.62315608e-01 -8.86671377e-01 -8.84016177e-03 1.15727848e+02] [ 8.86522373e-01 4.62400007e-01 -1.62577890e-02 6.83583019e+01] [ 1.85030070e-02 -3.20771580e-04 9.99828753e-01 3.16468065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.74, Y:68.38, Z:3.16 [[ 4.61716661e-01 -8.86982789e-01 -8.90257882e-03 1.15741561e+02] [ 8.86831550e-01 4.61802362e-01 -1.63823289e-02 6.83820566e+01] [ 1.86420757e-02 -3.31093575e-04 9.99826167e-01 3.16496093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.76, Y:68.41, Z:3.16 [[ 4.60488757e-01 -8.87616403e-01 -9.33941672e-03 1.15756222e+02] [ 8.87449867e-01 4.60583309e-01 -1.71973579e-02 6.84062902e+01] [ 1.95662364e-02 -3.69074159e-04 9.99808495e-01 3.16476219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:68.43, Z:3.17 [[ 4.60486775e-01 -8.87615716e-01 -9.50114394e-03 1.15769872e+02] [ 8.87443120e-01 4.60584633e-01 -1.75072770e-02 6.84291337e+01] [ 1.99158151e-02 -3.69855307e-04 9.99801592e-01 3.16541354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.78, Y:68.45, Z:3.17 [[ 4.60396214e-01 -8.87662796e-01 -9.49141856e-03 1.15782924e+02] [ 8.87490416e-01 4.60493892e-01 -1.74967333e-02 6.84541697e+01] [ 1.99019395e-02 -3.68113241e-04 9.99801869e-01 3.16599004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:68.48, Z:3.17 [[ 4.60402392e-01 -8.87656952e-01 -9.73511540e-03 1.15795942e+02] [ 8.87475343e-01 4.60505154e-01 -1.79588240e-02 6.84782563e+01] [ 2.04243458e-02 -3.71389367e-04 9.99791332e-01 3.16615841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:68.50, Z:3.17 [[ 4.60145596e-01 -8.87787937e-01 -9.93020930e-03 1.15809227e+02] [ 8.87598837e-01 4.60252576e-01 -1.83267998e-02 6.85026993e+01] [ 2.08407162e-02 -3.81046003e-04 9.99782736e-01 3.16605924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:68.53, Z:3.17 [[ 4.59866374e-01 -8.87929294e-01 -1.02218680e-02 1.15822400e+02] [ 8.87728683e-01 4.59979797e-01 -1.88778288e-02 6.85273189e+01] [ 2.14640300e-02 -3.92966777e-04 9.99769544e-01 3.16636146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.84, Y:68.55, Z:3.17 [[ 4.59602797e-01 -8.88065183e-01 -1.02713037e-02 1.15835128e+02] [ 8.87862390e-01 4.59717386e-01 -1.89816163e-02 6.85523255e+01] [ 2.15788094e-02 -3.95500282e-04 9.99767072e-01 3.16656696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.85, Y:68.58, Z:3.17 [[ 4.59197892e-01 -8.88275886e-01 -1.01610444e-02 1.15849533e+02] [ 8.88077207e-01 4.59310129e-01 -1.87904205e-02 6.85756110e+01] [ 2.13581480e-02 -3.95270424e-04 9.99771811e-01 3.16747812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:68.60, Z:3.17 [[ 4.58638411e-01 -8.88565653e-01 -1.00939602e-02 1.15862762e+02] [ 8.88369422e-01 4.58749299e-01 -1.86775167e-02 6.86006533e+01] [ 2.12267969e-02 -4.00938998e-04 9.99774606e-01 3.16793122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.88, Y:68.63, Z:3.17 [[ 4.58609456e-01 -8.88577513e-01 -1.03619550e-02 1.15876272e+02] [ 8.88370438e-01 4.58726321e-01 -1.91866326e-02 6.86257988e+01] [ 2.18021118e-02 -4.06083349e-04 9.99762223e-01 3.16800070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:68.65, Z:3.17 [[ 4.58361889e-01 -8.88705306e-01 -1.03566001e-02 1.15889288e+02] [ 8.88498198e-01 4.58478696e-01 -1.91895226e-02 6.86501026e+01] [ 2.18021110e-02 -4.06074722e-04 9.99762223e-01 3.16863867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.90, Y:68.67, Z:3.17 [[ 4.58188928e-01 -8.88793775e-01 -1.04178353e-02 1.15902773e+02] [ 8.88583949e-01 4.58307168e-01 -1.93159468e-02 6.86746401e+01] [ 2.19424618e-02 -4.06768315e-04 9.99759152e-01 3.16902327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.92, Y:68.70, Z:3.17 [[ 4.58271296e-01 -8.88749537e-01 -1.05678736e-02 1.15916800e+02] [ 8.88533313e-01 4.58392951e-01 -1.96074972e-02 6.86973688e+01] [ 2.22703929e-02 -4.04354607e-04 9.99751902e-01 3.16982858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.93, Y:68.72, Z:3.17 [[ 4.58740081e-01 -8.88507658e-01 -1.05678919e-02 1.15930368e+02] [ 8.88291112e-01 4.58861627e-01 -1.96190540e-02 6.87218062e+01] [ 2.22808798e-02 -3.87318078e-04 9.99751675e-01 3.17089945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:68.75, Z:3.17 [[ 4.59877015e-01 -8.87920326e-01 -1.05178361e-02 1.15943175e+02] [ 8.87705394e-01 4.59997142e-01 -1.95387541e-02 6.87473478e+01] [ 2.21870315e-02 -3.51315913e-04 9.99753776e-01 3.17168578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.96, Y:68.77, Z:3.17 [[ 4.61448579e-01 -8.87101268e-01 -1.07957950e-02 1.15955654e+02] [ 8.86874301e-01 4.61574741e-01 -2.00682214e-02 6.87728779e+01] [ 2.27856109e-02 -3.14060849e-04 9.99740325e-01 3.17141885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:68.80, Z:3.17 [[ 4.62378185e-01 -8.86614787e-01 -1.09833468e-02 1.15968874e+02] [ 8.86379418e-01 4.62508526e-01 -2.04301449e-02 6.87982943e+01] [ 2.31935601e-02 -2.88959205e-04 9.99730951e-01 3.17196519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.98, Y:68.82, Z:3.17 [[ 4.63118660e-01 -8.86225960e-01 -1.11648561e-02 1.15981501e+02] [ 8.85982305e-01 4.63253144e-01 -2.07816974e-02 6.88229101e+01] [ 2.35894344e-02 -2.67473048e-04 9.99721695e-01 3.17221621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.99, Y:68.85, Z:3.17 [[ 4.65064887e-01 -8.85205816e-01 -1.11944210e-02 1.15994493e+02] [ 8.84960235e-01 4.65199548e-01 -2.08509455e-02 6.88481217e+01] [ 2.36650178e-02 -2.09574805e-04 9.99719922e-01 3.17222629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:68.87, Z:3.17 [[ 4.65696215e-01 -8.84873959e-01 -1.11853426e-02 1.16007619e+02] [ 8.84628352e-01 4.65830486e-01 -2.08479640e-02 6.88716824e+01] [ 2.36582940e-02 -1.86053303e-04 9.99720086e-01 3.17271762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:68.90, Z:3.17 [[ 4.66923971e-01 -8.84227626e-01 -1.11135862e-02 1.16021245e+02] [ 8.83984682e-01 4.67056190e-01 -2.07267112e-02 6.88952461e+01] [ 2.35177999e-02 -1.46441671e-04 9.99723408e-01 3.17279741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:68.92, Z:3.17 [[ 4.67209082e-01 -8.84075749e-01 -1.12135314e-02 1.16034157e+02] [ 8.83828085e-01 4.67343612e-01 -2.09252042e-02 6.89201225e+01] [ 2.37400378e-02 -1.34388522e-04 9.99718157e-01 3.17315247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.05, Y:68.94, Z:3.17 [[ 4.67354845e-01 -8.83999639e-01 -1.11394952e-02 1.16049283e+02] [ 8.83754877e-01 4.67487566e-01 -2.08012923e-02 6.89440264e+01] [ 2.35959104e-02 -1.22998515e-04 9.99721570e-01 3.17370717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:68.97, Z:3.17 [[ 4.67155478e-01 -8.84104584e-01 -1.11734100e-02 1.16063834e+02] [ 8.83858018e-01 4.67289065e-01 -2.08790132e-02 6.89664275e+01] [ 2.36804435e-02 -1.21962638e-04 9.99719572e-01 3.17408175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:68.99, Z:3.17 [[ 4.66889673e-01 -8.84244360e-01 -1.12224971e-02 1.16077751e+02] [ 8.83995425e-01 4.67024513e-01 -2.09807694e-02 6.89908139e+01] [ 2.37933083e-02 -1.24931538e-04 9.99716891e-01 3.17450158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.09, Y:69.01, Z:3.18 [[ 4.66289085e-01 -8.84557960e-01 -1.14762675e-02 1.16093433e+02] [ 8.84297365e-01 4.66430270e-01 -2.14702738e-02 6.90142104e+01] [ 2.43445802e-02 -1.37078817e-04 9.99703617e-01 3.17542990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:69.04, Z:3.18 [[ 4.66223022e-01 -8.84591640e-01 -1.15638907e-02 1.16108744e+02] [ 8.84326694e-01 4.66366393e-01 -2.16491779e-02 6.90378231e+01] [ 2.45436918e-02 -1.32912122e-04 9.99698749e-01 3.17643670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:69.06, Z:3.18 [[ 4.66296877e-01 -8.84551803e-01 -1.16331965e-02 1.16123526e+02] [ 8.84283293e-01 4.66441950e-01 -2.17936855e-02 6.90604813e+01] [ 2.47038547e-02 -1.24713852e-04 9.99694805e-01 3.17660523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:69.09, Z:3.18 [[ 4.66083308e-01 -8.84664729e-01 -1.16046124e-02 1.16136798e+02] [ 8.84397315e-01 4.66227736e-01 -2.17505796e-02 6.90853341e+01] [ 2.46523627e-02 -1.25505942e-04 9.99696076e-01 3.17760921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:69.11, Z:3.18 [[ 4.65443630e-01 -8.84998929e-01 -1.17950789e-02 1.16152604e+02] [ 8.84722388e-01 4.65593038e-01 -2.21228251e-02 6.91074000e+01] [ 2.50703832e-02 -1.38442366e-04 9.99685679e-01 3.17796338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:69.13, Z:3.18 [[ 4.64838973e-01 -8.85317286e-01 -1.17487083e-02 1.16167527e+02] [ 8.85042751e-01 4.64987398e-01 -2.20465145e-02 6.91308665e+01] [ 2.49811617e-02 -1.50029937e-04 9.99687911e-01 3.17876049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.18, Y:69.16, Z:3.18 [[ 4.64871148e-01 -8.85298005e-01 -1.19271838e-02 1.16181239e+02] [ 8.85014680e-01 4.65024108e-01 -2.23963253e-02 6.91550090e+01] [ 2.53738501e-02 -1.44327291e-04 9.99678022e-01 3.17949530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:69.18, Z:3.18 [[ 4.64522046e-01 -8.85477149e-01 -1.22265229e-02 1.16193798e+02] [ 8.85179086e-01 4.64682899e-01 -2.29736830e-02 6.91795581e+01] [ 2.60241274e-02 -1.50880113e-04 9.99661304e-01 3.17988829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.21, Y:69.20, Z:3.18 [[ 4.64609863e-01 -8.85430196e-01 -1.22899561e-02 1.16206244e+02] [ 8.85128638e-01 4.64772361e-01 -2.31073043e-02 6.92037006e+01] [ 2.61719368e-02 -1.42310602e-04 9.99657446e-01 3.18028816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:69.23, Z:3.18 [[ 4.65914645e-01 -8.84745307e-01 -1.22182416e-02 1.16216005e+02] [ 8.84446651e-01 4.66074814e-01 -2.29867060e-02 6.92305726e+01] [ 2.60319949e-02 -9.65399467e-05 9.99661106e-01 3.18044573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428040942 meters Centerline goodness [0,1] 0.999912625600699 Centerline is valid? [True, True] Translation: X:116.23, Y:69.26, Z:3.18 [[ 4.65920276e-01 -8.84739590e-01 -1.24159246e-02 1.16226073e+02] [ 8.84430756e-01 4.66085668e-01 -2.33749216e-02 6.92569406e+01] [ 2.64676031e-02 -9.01756525e-05 9.99649668e-01 3.17775932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:69.28, Z:3.18 [[ 4.65952595e-01 -8.84721649e-01 -1.24812810e-02 1.16238455e+02] [ 8.84409114e-01 4.66119724e-01 -2.35142981e-02 6.92812921e+01] [ 2.66213799e-02 -8.20104706e-05 9.99645585e-01 3.18107240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:69.31, Z:3.18 [[ 4.65534557e-01 -8.84941165e-01 -1.25184007e-02 1.16251001e+02] [ 8.84626445e-01 4.65702830e-01 -2.35992989e-02 6.93066114e+01] [ 2.67138457e-02 -8.78191216e-05 9.99643118e-01 3.18149486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:69.33, Z:3.18 [[ 4.64143072e-01 -8.85667111e-01 -1.28443458e-02 1.16264093e+02] [ 8.85335592e-01 4.64320744e-01 -2.42308926e-02 6.93313704e+01] [ 2.74244008e-02 -1.24955575e-04 9.99623873e-01 3.18119937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:69.36, Z:3.18 [[ 4.63160160e-01 -8.86176762e-01 -1.31686266e-02 1.16277899e+02] [ 8.85828001e-01 4.63347304e-01 -2.48601777e-02 6.93559478e+01] [ 2.81321594e-02 -1.50894270e-04 9.99604201e-01 3.18189082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:69.38, Z:3.18 [[ 4.60641285e-01 -8.87476052e-01 -1.39951370e-02 1.16293065e+02] [ 8.87082168e-01 4.60853775e-01 -2.64391009e-02 6.93811195e+01] [ 2.99137806e-02 -2.35895087e-04 9.99552455e-01 3.18165114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:69.40, Z:3.18 [[ 4.59534664e-01 -8.88042659e-01 -1.44266624e-02 1.16306286e+02] [ 8.87623862e-01 4.59760983e-01 -2.72711844e-02 6.94048415e+01] [ 3.08507916e-02 -2.73395236e-04 9.99523964e-01 3.18122907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.32, Y:69.43, Z:3.18 [[ 4.58187620e-01 -8.88738338e-01 -1.44316318e-02 1.16319419e+02] [ 8.88319069e-01 4.58414736e-01 -2.72976399e-02 6.94298666e+01] [ 3.08761318e-02 -3.12453048e-04 9.99523170e-01 3.18100091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:69.45, Z:3.18 [[ 4.56335880e-01 -8.89685653e-01 -1.47310368e-02 1.16332639e+02] [ 8.89248776e-01 4.56573430e-01 -2.78804342e-02 6.94548530e+01] [ 3.15306223e-02 -3.76713918e-04 9.99502715e-01 3.18088209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:69.48, Z:3.18 [[ 4.55068259e-01 -8.90337208e-01 -1.45786370e-02 1.16345663e+02] [ 8.89909304e-01 4.55301534e-01 -2.76033245e-02 6.94785268e+01] [ 3.12139427e-02 -4.12267850e-04 9.99512641e-01 3.18147868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:69.50, Z:3.18 [[ 4.54030298e-01 -8.90873066e-01 -1.42010353e-02 1.16358837e+02] [ 8.90466811e-01 4.54252128e-01 -2.69047029e-02 6.95037535e+01] [ 3.04195257e-02 -4.30000389e-04 9.99537127e-01 3.18412630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:69.53, Z:3.19 [[ 4.54104360e-01 -8.90840518e-01 -1.38708907e-02 1.16372174e+02] [ 8.90452403e-01 4.54315973e-01 -2.62966712e-02 6.95271583e+01] [ 2.97279073e-02 -4.09934895e-04 9.99557944e-01 3.18533028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:69.55, Z:3.19 [[ 4.54901488e-01 -8.90437045e-01 -1.36566608e-02 1.16383115e+02] [ 8.90060131e-01 4.55106286e-01 -2.59081307e-02 6.95529762e+01] [ 2.92847915e-02 -3.69602069e-04 9.99571040e-01 3.18559047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:69.58, Z:3.19 [[ 4.55378439e-01 -8.90191169e-01 -1.37898077e-02 1.16393389e+02] [ 8.89806249e-01 4.55587050e-01 -2.61778563e-02 6.95794248e+01] [ 2.95857543e-02 -3.49425667e-04 9.99562185e-01 3.18667488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:69.60, Z:3.19 [[ 4.56009838e-01 -8.89865908e-01 -1.39173931e-02 1.16405619e+02] [ 8.89473147e-01 4.56222054e-01 -2.64378412e-02 6.96040987e+01] [ 2.98755552e-02 -3.23231745e-04 9.99553574e-01 3.18617112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:69.63, Z:3.19 [[ 4.56671169e-01 -8.89525475e-01 -1.39954524e-02 1.16416852e+02] [ 8.89127642e-01 4.56885480e-01 -2.66025117e-02 6.96304675e+01] [ 3.00579308e-02 -2.95143474e-04 9.99548115e-01 3.18582137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:69.66, Z:3.19 [[ 4.56745298e-01 -8.89484538e-01 -1.41770425e-02 1.16428508e+02] [ 8.89075741e-01 4.56965177e-01 -2.69657957e-02 6.96554973e+01] [ 3.04640731e-02 -2.87964141e-04 9.99535821e-01 3.18719759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:69.68, Z:3.19 [[ 4.56699865e-01 -8.89504184e-01 -1.44062452e-02 1.16441128e+02] [ 8.89081516e-01 4.56926936e-01 -2.74195800e-02 6.96788946e+01] [ 3.09724326e-02 -2.85807803e-04 9.99520198e-01 3.18823503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:69.70, Z:3.19 [[ 4.57054691e-01 -8.89323734e-01 -1.42935435e-02 1.16453604e+02] [ 8.88907126e-01 4.57278062e-01 -2.72193904e-02 6.97045250e+01] [ 3.07429738e-02 -2.64882631e-04 9.99527288e-01 3.18918989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:69.73, Z:3.19 [[ 4.59026047e-01 -8.88306525e-01 -1.43737886e-02 1.16465131e+02] [ 8.87884160e-01 4.59251001e-01 -2.73904525e-02 6.97289783e+01] [ 3.09322944e-02 -1.89328064e-04 9.99521464e-01 3.18896899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:69.75, Z:3.19 [[ 4.60637737e-01 -8.87472481e-01 -1.43342485e-02 1.16477462e+02] [ 8.87051527e-01 4.60860695e-01 -2.73314479e-02 6.97545911e+01] [ 3.08619996e-02 -1.25320676e-04 9.99523647e-01 3.18986402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:69.78, Z:3.19 [[ 4.64220107e-01 -8.85603741e-01 -1.43424269e-02 1.16488608e+02] [ 8.85180821e-01 4.64441614e-01 -2.73660506e-02 6.97807598e+01] [ 3.08966967e-02 8.22975005e-06 9.99522583e-01 3.19122352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:69.81, Z:3.19 [[ 4.65960027e-01 -8.84688553e-01 -1.44020099e-02 1.16500642e+02] [ 8.84261078e-01 4.66182538e-01 -2.74988475e-02 6.98050449e+01] [ 3.10418811e-02 7.82269052e-05 9.99518082e-01 3.19171205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:69.83, Z:3.19 [[ 4.67031703e-01 -8.84124410e-01 -1.43323690e-02 1.16512901e+02] [ 8.83700287e-01 4.67251552e-01 -2.73823010e-02 6.98291162e+01] [ 3.09061824e-02 1.22884062e-04 9.99522282e-01 3.19151025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:69.85, Z:3.19 [[ 4.68288506e-01 -8.83452670e-01 -1.47395542e-02 1.16527706e+02] [ 8.83003284e-01 4.68520381e-01 -2.81754138e-02 6.98537447e+01] [ 3.17974261e-02 1.79147683e-04 9.99494318e-01 3.19250783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:69.88, Z:3.19 [[ 4.68315119e-01 -8.83435632e-01 -1.49141848e-02 1.16541546e+02] [ 8.82974893e-01 4.68552502e-01 -2.85287789e-02 6.98781684e+01] [ 3.21914184e-02 1.91607758e-04 9.99481704e-01 3.19275619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:69.90, Z:3.19 [[ 4.68446392e-01 -8.83362808e-01 -1.51038523e-02 1.16555486e+02] [ 8.82889582e-01 4.68689775e-01 -2.89116091e-02 6.99010628e+01] [ 3.26184614e-02 2.08505150e-04 9.99467855e-01 3.19319744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:69.93, Z:3.19 [[ 4.68153505e-01 -8.83520300e-01 -1.49724792e-02 1.16569421e+02] [ 8.83054749e-01 4.68392824e-01 -2.86787714e-02 6.99259971e+01] [ 3.23512786e-02 2.04548464e-04 9.99476539e-01 3.19416427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.58, Y:69.95, Z:3.20 [[ 4.66758212e-01 -8.84267227e-01 -1.44306478e-02 1.16583680e+02] [ 8.83834551e-01 4.66981207e-01 -2.76593419e-02 6.99500017e+01] [ 3.11970909e-02 1.55919829e-04 9.99513240e-01 3.19604711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:69.97, Z:3.20 [[ 4.65724548e-01 -8.84815731e-01 -1.42045143e-02 1.16596980e+02] [ 8.84396204e-01 4.65941098e-01 -2.72442329e-02 6.99743734e+01] [ 3.07245928e-02 1.25889548e-04 9.99527880e-01 3.19681788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:70.00, Z:3.20 [[ 4.62795748e-01 -8.86357604e-01 -1.37946655e-02 1.16611612e+02] [ 8.85962110e-01 4.63001292e-01 -2.64753451e-02 6.99977914e+01] [ 2.98535714e-02 3.11261849e-05 9.99554282e-01 3.19800126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:70.02, Z:3.20 [[ 4.60873329e-01 -8.87364103e-01 -1.34433371e-02 1.16625847e+02] [ 8.86988489e-01 4.61069353e-01 -2.58161421e-02 7.00222283e+01] [ 2.91066285e-02 -2.61138653e-05 9.99576312e-01 3.19928552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:70.05, Z:3.20 [[ 4.56401840e-01 -8.89678291e-01 -1.30345155e-02 1.16640973e+02] [ 8.89325641e-01 4.56587902e-01 -2.50477911e-02 7.00459422e+01] [ 2.82358780e-02 -1.60070903e-04 9.99601275e-01 3.20077399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41804094199998 meters Centerline goodness [0,1] 0.9999781792790434 Centerline is valid? [True, True] Translation: X:116.66, Y:70.07, Z:3.20 [[ 4.53690422e-01 -8.91063832e-01 -1.30479087e-02 1.16655096e+02] [ 8.90710545e-01 4.53877946e-01 -2.50905222e-02 7.00702457e+01] [ 2.82794149e-02 -2.38580290e-04 9.99600029e-01 3.20156502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:70.09, Z:3.20 [[ 4.49749403e-01 -8.93060156e-01 -1.30012278e-02 1.16670111e+02] [ 8.92709759e-01 4.49937141e-01 -2.50171062e-02 7.00936247e+01] [ 2.81915160e-02 -3.54894372e-04 9.99602477e-01 3.20218610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:70.12, Z:3.20 [[ 4.48556807e-01 -8.93657736e-01 -1.31393573e-02 1.16683314e+02] [ 8.93299643e-01 4.48749039e-01 -2.52991855e-02 7.01188285e+01] [ 2.85050868e-02 -3.89261312e-04 9.99593572e-01 3.20266538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:70.14, Z:3.20 [[ 4.46760660e-01 -8.94552931e-01 -1.34151862e-02 1.16696104e+02] [ 8.94179544e-01 4.46961804e-01 -2.58474354e-02 7.01444260e+01] [ 2.91179749e-02 -4.47967742e-04 9.99575881e-01 3.20233964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:70.17, Z:3.20 [[ 4.46079954e-01 -8.94891835e-01 -1.34639614e-02 1.16709627e+02] [ 8.94515409e-01 4.46282856e-01 -2.59575521e-02 7.01679288e+01] [ 2.92379366e-02 -4.64577271e-04 9.99572372e-01 3.20245654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:70.19, Z:3.20 [[ 4.45834619e-01 -8.95014189e-01 -1.34570966e-02 1.16722233e+02] [ 8.94637712e-01 4.46037425e-01 -2.59611108e-02 7.01924514e+01] [ 2.92379312e-02 -4.64864160e-04 9.99572372e-01 3.20309458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:70.22, Z:3.20 [[ 4.45481673e-01 -8.95189364e-01 -1.34937673e-02 1.16734079e+02] [ 8.94810396e-01 4.45685744e-01 -2.60494437e-02 7.02182944e+01] [ 2.93331647e-02 -4.69813512e-04 9.99569580e-01 3.20412508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:70.24, Z:3.20 [[ 4.46363822e-01 -8.94750981e-01 -1.34171328e-02 1.16743257e+02] [ 8.94375594e-01 4.46565220e-01 -2.59191376e-02 7.02448789e+01] [ 2.91827987e-02 -4.30590793e-04 9.99573999e-01 3.20461499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:70.27, Z:3.21 [[ 4.47242467e-01 -8.94309142e-01 -1.36137518e-02 1.16754463e+02] [ 8.93921923e-01 4.47449437e-01 -2.63172437e-02 7.02708824e+01] [ 2.96272172e-02 -3.99442147e-04 9.99560938e-01 3.20506062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:70.30, Z:3.21 [[ 4.49603643e-01 -8.93121968e-01 -1.37736659e-02 1.16764556e+02] [ 8.92724496e-01 4.49814461e-01 -2.66444224e-02 7.02980365e+01] [ 2.99923131e-02 -3.16659605e-04 9.99550079e-01 3.20601461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:70.32, Z:3.21 [[ 4.50739723e-01 -8.92551880e-01 -1.35957446e-02 1.16776091e+02] [ 8.92163890e-01 4.50944642e-01 -2.63158480e-02 7.03226043e+01] [ 2.96191878e-02 -2.68034396e-04 9.99561220e-01 3.20695561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:70.35, Z:3.21 [[ 4.51523995e-01 -8.92157373e-01 -1.34649060e-02 1.16788310e+02] [ 8.91776192e-01 4.51724659e-01 -2.60778654e-02 7.03481855e+01] [ 2.93479900e-02 -2.32900643e-04 9.99569228e-01 3.20800581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.778040942 meters Centerline goodness [0,1] 0.9999565585699082 Centerline is valid? [True, True] Translation: X:116.80, Y:70.37, Z:3.21 [[ 4.53193347e-01 -8.91312317e-01 -1.33470596e-02 1.16799234e+02] [ 8.90936902e-01 4.53389816e-01 -2.58671754e-02 7.03746741e+01] [ 2.91071530e-02 -1.68556114e-04 9.99576283e-01 3.20906632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:70.40, Z:3.21 [[ 4.53701900e-01 -8.91054654e-01 -1.32736663e-02 1.16810943e+02] [ 8.90682748e-01 4.53896005e-01 -2.57421632e-02 7.03995654e+01] [ 2.89625385e-02 -1.43357252e-04 9.99580487e-01 3.20987117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.838040942 meters Centerline goodness [0,1] 0.9999783371604349 Centerline is valid? [True, True] Translation: X:116.82, Y:70.43, Z:3.21 [[ 4.55251833e-01 -8.90273254e-01 -1.26214846e-02 1.16822112e+02] [ 8.89936294e-01 4.55426752e-01 -2.44921743e-02 7.04256457e+01] [ 2.75528895e-02 -8.22099810e-05 9.99620344e-01 3.21297137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868040942 meters Centerline goodness [0,1] 0.9999349889481212 Centerline is valid? [True, True] Translation: X:116.83, Y:70.45, Z:3.21 [[ 4.55551004e-01 -8.90122929e-01 -1.24279699e-02 1.16834232e+02] [ 8.89795724e-01 4.55720493e-01 -2.41330013e-02 7.04511113e+01] [ 2.71450184e-02 -6.45415037e-05 9.99631504e-01 3.21488585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.898040942 meters Centerline goodness [0,1] 0.9999783886583679 Centerline is valid? [True, True] Translation: X:116.85, Y:70.48, Z:3.22 [[ 4.56050765e-01 -8.89870595e-01 -1.21665161e-02 1.16845591e+02] [ 8.89556494e-01 4.56213024e-01 -2.36415100e-02 7.04756238e+01] [ 2.65884076e-02 -4.10746581e-05 9.99646465e-01 3.21659229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:70.50, Z:3.22 [[ 4.55981162e-01 -8.89909139e-01 -1.19542406e-02 1.16857552e+02] [ 8.89605534e-01 4.56137833e-01 -2.32437227e-02 7.05013089e+01] [ 2.61375826e-02 -3.58588929e-05 9.99658354e-01 3.21795121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:70.53, Z:3.22 [[ 4.55988639e-01 -8.89905088e-01 -1.19705971e-02 1.16869152e+02] [ 8.89600222e-01 4.56145737e-01 -2.32918800e-02 7.05260512e+01] [ 2.61878994e-02 -2.82132108e-05 9.99657038e-01 3.21823664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:70.55, Z:3.22 [[ 4.55266806e-01 -8.90264777e-01 -1.26791987e-02 1.16879482e+02] [ 8.89922424e-01 4.55443328e-01 -2.46871255e-02 7.05515946e+01] [ 2.77527348e-02 -4.42744356e-05 9.99614818e-01 3.21721475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:70.58, Z:3.22 [[ 4.54471391e-01 -8.90668138e-01 -1.28849790e-02 1.16891571e+02] [ 8.90314290e-01 4.54654005e-01 -2.51038134e-02 7.05761176e+01] [ 2.82173740e-02 -6.27159461e-05 9.99601809e-01 3.21642674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:70.60, Z:3.22 [[ 4.52364793e-01 -8.91734771e-01 -1.32360342e-02 1.16904812e+02] [ 8.91361344e-01 4.52558375e-01 -2.58044815e-02 7.06008853e+01] [ 2.90008315e-02 -1.25050282e-04 9.99579380e-01 3.21780691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:70.63, Z:3.22 [[ 4.50620730e-01 -8.92617940e-01 -1.31973805e-02 1.16918470e+02] [ 8.92246557e-01 4.50813912e-01 -2.57468156e-02 7.06254269e+01] [ 2.89316323e-02 -1.73268472e-04 9.99581378e-01 3.21922900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:70.65, Z:3.22 [[ 4.47429696e-01 -8.94220010e-01 -1.33132164e-02 1.16933341e+02] [ 8.93842263e-01 4.47627636e-01 -2.59905544e-02 7.06500854e+01] [ 2.92006374e-02 -2.70969635e-04 9.99573534e-01 3.22007303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:70.68, Z:3.22 [[ 4.46111701e-01 -8.94870777e-01 -1.38073216e-02 1.16946147e+02] [ 8.94464316e-01 4.46325207e-01 -2.69703056e-02 7.06754364e+01] [ 3.02974940e-02 -3.18387591e-04 9.99540875e-01 3.22062302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:70.70, Z:3.22 [[ 4.44945748e-01 -8.95446346e-01 -1.41111199e-02 1.16958604e+02] [ 8.95021740e-01 4.45169307e-01 -2.75748495e-02 7.06994966e+01] [ 3.09736357e-02 -3.60447035e-04 9.99520137e-01 3.21946042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:70.73, Z:3.22 [[ 4.43473751e-01 -8.96176185e-01 -1.41165540e-02 1.16969057e+02] [ 8.95751073e-01 4.43698188e-01 -2.76031423e-02 7.07259714e+01] [ 3.10007682e-02 -4.03649370e-04 9.99519279e-01 3.22000702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:70.75, Z:3.22 [[ 4.42665818e-01 -8.96580405e-01 -1.38040006e-02 1.16981378e+02] [ 8.96173565e-01 4.42880802e-01 -2.70099449e-02 7.07512934e+01] [ 3.03301142e-02 -4.14401098e-04 9.99539850e-01 3.22068749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:70.78, Z:3.22 [[ 4.42207855e-01 -8.96816690e-01 -1.31163218e-02 1.16992341e+02] [ 8.96448992e-01 4.42402152e-01 -2.56815332e-02 7.07768268e+01] [ 2.88343165e-02 -4.01537738e-04 9.99584124e-01 3.22264350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:70.80, Z:3.22 [[ 4.42186302e-01 -8.96830086e-01 -1.29255918e-02 1.17004168e+02] [ 8.96472526e-01 4.42375006e-01 -2.53251773e-02 7.08013307e+01] [ 2.84303397e-02 -3.88991399e-04 9.99595701e-01 3.22405891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:70.83, Z:3.23 [[ 4.42013756e-01 -8.96921422e-01 -1.24820652e-02 1.17015247e+02] [ 8.96587609e-01 4.42189804e-01 -2.44711392e-02 7.08270982e+01] [ 2.74681309e-02 -3.74684862e-04 9.99622609e-01 3.22593315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:70.85, Z:3.23 [[ 4.41564822e-01 -8.97145883e-01 -1.22381486e-02 1.17026156e+02] [ 8.96824643e-01 4.41734224e-01 -2.40090620e-02 7.08525745e+01] [ 2.69456402e-02 -3.73916044e-04 9.99636830e-01 3.22744653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:70.88, Z:3.23 [[ 4.41308130e-01 -8.97276230e-01 -1.19374130e-02 1.17038023e+02] [ 8.96970206e-01 4.41469404e-01 -2.34353303e-02 7.08776122e+01] [ 2.62979674e-02 -3.65302026e-04 9.99654082e-01 3.22863771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:70.90, Z:3.23 [[ 4.41498912e-01 -8.97187909e-01 -1.15137424e-02 1.17049479e+02] [ 8.96902807e-01 4.41648888e-01 -2.26189013e-02 7.09017158e+01] [ 2.53784363e-02 -3.40487587e-04 9.99677858e-01 3.22998651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:70.93, Z:3.23 [[ 4.41810678e-01 -8.97036451e-01 -1.13547101e-02 1.17059001e+02] [ 8.96758776e-01 4.41956448e-01 -2.23202865e-02 7.09281418e+01] [ 2.50403980e-02 -3.21094999e-04 9.99686389e-01 3.23089986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:70.95, Z:3.23 [[ 4.42399162e-01 -8.96743335e-01 -1.15918872e-02 1.17068391e+02] [ 8.96453418e-01 4.42550899e-01 -2.28028654e-02 7.09534792e+01] [ 2.55783177e-02 -3.03618411e-04 9.99672775e-01 3.23067123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:70.98, Z:3.23 [[ 4.42578643e-01 -8.96649493e-01 -1.19929884e-02 1.17079397e+02] [ 8.96338724e-01 4.42741003e-01 -2.36071169e-02 7.09794252e+01] [ 2.64770971e-02 -3.01774171e-04 9.99649375e-01 3.23049527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528040942 meters Centerline goodness [0,1] 0.9999569503637694 Centerline is valid? [True, True] Translation: X:117.09, Y:71.01, Z:3.23 [[ 4.42494772e-01 -8.96688295e-01 -1.21851576e-02 1.17089185e+02] [ 8.96367051e-01 4.42662411e-01 -2.40020884e-02 7.10060629e+01] [ 2.69163029e-02 -3.01575113e-04 9.99637645e-01 3.23063057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:71.03, Z:3.23 [[ 4.41573273e-01 -8.97135243e-01 -1.27043130e-02 1.17099445e+02] [ 8.96785709e-01 4.41755863e-01 -2.50429649e-02 7.10310424e+01] [ 2.80791312e-02 -3.34742384e-04 9.99605647e-01 3.22924508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:71.06, Z:3.23 [[ 4.40126767e-01 -8.97841693e-01 -1.29893196e-02 1.17111999e+02] [ 8.97476128e-01 4.40318235e-01 -2.56213037e-02 7.10567493e+01] [ 2.87233090e-02 -3.80982655e-04 9.99587328e-01 3.22992922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:71.08, Z:3.23 [[ 4.35850258e-01 -8.99920202e-01 -1.33485054e-02 1.17124935e+02] [ 8.99534612e-01 4.36054303e-01 -2.63462982e-02 7.10827773e+01] [ 2.95302393e-02 -5.24401728e-04 9.99563750e-01 3.22988064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:71.11, Z:3.23 [[ 4.33444080e-01 -9.01079590e-01 -1.34833942e-02 1.17140027e+02] [ 9.00686263e-01 4.33653328e-01 -2.66279396e-02 7.11060429e+01] [ 2.98410116e-02 -6.02585160e-04 9.99554476e-01 3.22906419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.678040942 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:117.15, Y:71.13, Z:3.23 [[ 4.28822555e-01 -9.03287947e-01 -1.34944686e-02 1.17149014e+02] [ 9.02894729e-01 4.29034171e-01 -2.66606173e-02 7.11334669e+01] [ 2.98718024e-02 -7.51410536e-04 9.99553456e-01 3.23023959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:71.16, Z:3.23 [[ 4.26946510e-01 -9.04176344e-01 -1.34839252e-02 1.17165995e+02] [ 9.03783876e-01 4.27158618e-01 -2.66499688e-02 7.11558641e+01] [ 2.98560462e-02 -8.08443058e-04 9.99553882e-01 3.23019458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.738040942 meters Centerline goodness [0,1] 0.9999567950573546 Centerline is valid? [True, True] Translation: X:117.17, Y:71.18, Z:3.23 [[ 4.24179157e-01 -9.05484005e-01 -1.30675169e-02 1.17174187e+02] [ 9.05115724e-01 4.24379504e-01 -2.58372403e-02 7.11833808e+01] [ 2.89407941e-02 -8.67996200e-04 9.99580751e-01 3.23193191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76804094199997 meters Centerline goodness [0,1] 0.9999783531041648 Centerline is valid? [True, True] Translation: X:117.18, Y:71.21, Z:3.23 [[ 4.23646067e-01 -9.05735216e-01 -1.29510361e-02 1.17184774e+02] [ 9.05373278e-01 4.23843081e-01 -2.56177764e-02 7.12097064e+01] [ 2.86921293e-02 -8.72651768e-04 9.99587915e-01 3.23440840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:71.24, Z:3.23 [[ 4.23539323e-01 -9.05790168e-01 -1.25942022e-02 1.17194713e+02] [ 9.05447451e-01 4.23725687e-01 -2.49289943e-02 7.12353250e+01] [ 2.79169249e-02 -8.44978909e-04 9.99609890e-01 3.23487184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:71.26, Z:3.24 [[ 4.23911684e-01 -9.05616674e-01 -1.25428583e-02 1.17205411e+02] [ 9.05276247e-01 4.24096405e-01 -2.48426271e-02 7.12603248e+01] [ 2.78172785e-02 -8.23671773e-04 9.99612685e-01 3.23574176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:71.29, Z:3.24 [[ 4.24463595e-01 -9.05358850e-01 -1.24903942e-02 1.17215822e+02] [ 9.05020755e-01 4.24646580e-01 -2.47530867e-02 7.12867095e+01] [ 2.77144293e-02 -7.97281847e-04 9.99615563e-01 3.23581260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:71.31, Z:3.23 [[ 4.26516112e-01 -9.04393781e-01 -1.24858043e-02 1.17224459e+02] [ 9.04055105e-01 4.26698207e-01 -2.47589855e-02 7.13133747e+01] [ 2.77195428e-02 -7.27748871e-04 9.99615475e-01 3.23485471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:71.34, Z:3.23 [[ 4.28627297e-01 -9.03401067e-01 -1.20478979e-02 1.17232564e+02] [ 9.03085174e-01 4.28796112e-01 -2.38969316e-02 7.13416478e+01] [ 2.67546053e-02 -6.37400787e-04 9.99641828e-01 3.23489487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:71.37, Z:3.24 [[ 4.30086228e-01 -9.02709840e-01 -1.18651293e-02 1.17243409e+02] [ 9.02402820e-01 4.30249473e-01 -2.35486993e-02 7.13683164e+01] [ 2.63626082e-02 -5.79154891e-04 9.99652278e-01 3.23545668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:71.40, Z:3.24 [[ 4.31266480e-01 -9.02149873e-01 -1.16116236e-02 1.17253770e+02] [ 9.01855274e-01 4.31422448e-01 -2.30594137e-02 7.13956622e+01] [ 2.58125622e-02 -5.27251782e-04 9.99666661e-01 3.23609708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:71.42, Z:3.24 [[ 4.34926116e-01 -9.00390744e-01 -1.16525620e-02 1.17263921e+02] [ 9.00093079e-01 4.35081985e-01 -2.31541782e-02 7.14214985e+01] [ 2.59176275e-02 -4.18033592e-04 9.99663994e-01 3.23619606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:71.45, Z:3.24 [[ 4.36889537e-01 -8.99438850e-01 -1.17169695e-02 1.17272825e+02] [ 8.99137380e-01 4.37046479e-01 -2.32883294e-02 7.14489778e+01] [ 2.60672885e-02 -3.60737843e-04 9.99660125e-01 3.23727144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:71.48, Z:3.24 [[ 4.40480847e-01 -8.97691053e-01 -1.12869940e-02 1.17280800e+02] [ 8.97410395e-01 4.40625368e-01 -2.24470070e-02 7.14777715e+01] [ 2.51238132e-02 -2.41589090e-04 9.99684318e-01 3.23795085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09804094199998 meters Centerline goodness [0,1] 0.9999571789491715 Centerline is valid? [True, True] Translation: X:117.29, Y:71.50, Z:3.24 [[ 4.41784683e-01 -8.97049010e-01 -1.13739539e-02 1.17292064e+02] [ 8.96763463e-01 4.41931027e-01 -2.26331205e-02 7.15028154e+01] [ 2.53295215e-02 -2.00780274e-04 9.99679136e-01 3.23794230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12804094199998 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:117.30, Y:71.53, Z:3.24 [[ 4.42702809e-01 -8.96594567e-01 -1.15067944e-02 1.17302597e+02] [ 8.96301798e-01 4.42852294e-01 -2.29114181e-02 7.15292711e+01] [ 2.56380632e-02 -1.70611374e-04 9.99671276e-01 3.23835485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15804094199999 meters Centerline goodness [0,1] 0.9999786602932076 Centerline is valid? [True, True] Translation: X:117.31, Y:71.55, Z:3.24 [[ 4.43876456e-01 -8.96011952e-01 -1.16736173e-02 1.17313698e+02] [ 8.95709995e-01 4.44029914e-01 -2.32602563e-02 7.15549588e+01] [ 2.60249030e-02 -1.31495520e-04 9.99661286e-01 3.23879065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.188040942 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:117.33, Y:71.58, Z:3.24 [[ 4.44034850e-01 -8.95932366e-01 -1.17578565e-02 1.17326004e+02] [ 8.95625569e-01 4.44190478e-01 -2.34448256e-02 7.15804821e+01] [ 2.62277060e-02 -1.20317310e-04 9.99655987e-01 3.23992023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.218040942 meters Centerline goodness [0,1] 0.9999786434307193 Centerline is valid? [True, True] Translation: X:117.34, Y:71.61, Z:3.24 [[ 4.43491448e-01 -8.96202571e-01 -1.16742322e-02 1.17337686e+02] [ 8.95899790e-01 4.43645056e-01 -2.32944426e-02 7.16052202e+01] [ 2.60557548e-02 -1.28056063e-04 9.99660483e-01 3.24071459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248040942 meters Centerline goodness [0,1] 0.9999786803112675 Centerline is valid? [True, True] Translation: X:117.35, Y:71.63, Z:3.24 [[ 4.42839011e-01 -8.96523143e-01 -1.18264430e-02 1.17350191e+02] [ 8.96212117e-01 4.42996878e-01 -2.36137030e-02 7.16304013e+01] [ 2.64093086e-02 -1.41932639e-04 9.99651203e-01 3.24093770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.278040942 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:117.36, Y:71.66, Z:3.24 [[ 4.41854197e-01 -8.97007510e-01 -1.19329341e-02 1.17362524e+02] [ 8.96690582e-01 4.42015270e-01 -2.38432559e-02 7.16555985e+01] [ 2.66621187e-02 -1.64906935e-04 9.99644489e-01 3.24126668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:71.68, Z:3.24 [[ 4.39864291e-01 -8.97984678e-01 -1.19550807e-02 1.17376187e+02] [ 8.97666469e-01 4.40026671e-01 -2.39047894e-02 7.16790417e+01] [ 2.67266890e-02 -2.16811820e-04 9.99642755e-01 3.24183319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:71.70, Z:3.24 [[ 4.38776286e-01 -8.98515356e-01 -1.20634108e-02 1.17389717e+02] [ 8.98191119e-01 4.38942018e-01 -2.41374878e-02 7.17032669e+01] [ 2.69830413e-02 -2.44291186e-04 9.99635862e-01 3.24186933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368040942 meters Centerline goodness [0,1] 0.9999785416934895 Centerline is valid? [True, True] Translation: X:117.40, Y:71.73, Z:3.24 [[ 4.36713863e-01 -8.99515184e-01 -1.23869273e-02 1.17404727e+02] [ 8.99173258e-01 4.36889391e-01 -2.48014477e-02 7.17268854e+01] [ 2.77209959e-02 -3.06857774e-04 9.99615652e-01 3.24228934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:71.75, Z:3.24 [[ 4.35549591e-01 -9.00077100e-01 -1.25606135e-02 1.17418388e+02] [ 8.99725467e-01 4.35730533e-01 -2.51592409e-02 7.17515426e+01] [ 2.81182994e-02 -3.43006755e-04 9.99604544e-01 3.24286691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.43, Y:71.78, Z:3.24 [[ 4.34098634e-01 -9.00773314e-01 -1.28768726e-02 1.17432332e+02] [ 9.00403577e-01 4.34289402e-01 -2.58091917e-02 7.17758540e+01] [ 2.88405204e-02 -3.90647248e-04 9.99583949e-01 3.24270970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:71.80, Z:3.24 [[ 4.31618753e-01 -9.01965432e-01 -1.27910562e-02 1.17447039e+02] [ 9.01600847e-01 4.31807996e-01 -2.56469880e-02 7.18003375e+01] [ 2.86559769e-02 -4.62706112e-04 9.99589226e-01 3.24298873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:71.83, Z:3.24 [[ 4.31364235e-01 -9.02087275e-01 -1.27845539e-02 1.17459257e+02] [ 9.01722647e-01 4.31553395e-01 -2.56502290e-02 7.18250350e+01] [ 2.86559628e-02 -4.63530434e-04 9.99589226e-01 3.24362689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:71.85, Z:3.24 [[ 4.30242029e-01 -9.02625295e-01 -1.26243299e-02 1.17472623e+02] [ 9.02269483e-01 4.30426929e-01 -2.53463884e-02 7.18499725e+01] [ 2.83121429e-02 -4.85465999e-04 9.99599013e-01 3.24428491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:71.87, Z:3.25 [[ 4.29007009e-01 -9.03216787e-01 -1.23459049e-02 1.17487057e+02] [ 9.02876324e-01 4.29184318e-01 -2.48025079e-02 7.18735561e+01] [ 2.77007102e-02 -5.06375551e-04 9.99616133e-01 3.24537043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:71.90, Z:3.25 [[ 4.28564302e-01 -9.03426395e-01 -1.23849931e-02 1.17501139e+02] [ 9.03083604e-01 4.28742908e-01 -2.48902249e-02 7.18965719e+01] [ 2.77964641e-02 -5.17622280e-04 9.99613470e-01 3.24620681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:71.92, Z:3.25 [[ 4.28221928e-01 -9.03592034e-01 -1.21414831e-02 1.17515118e+02] [ 9.03262238e-01 4.28393714e-01 -2.44162835e-02 7.19213648e+01] [ 2.72636943e-02 -5.11355249e-04 9.99628146e-01 3.24759181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:71.95, Z:3.25 [[ 4.28678530e-01 -9.03373863e-01 -1.22629680e-02 1.17527630e+02] [ 9.03036864e-01 4.28853609e-01 -2.46780044e-02 7.19465199e+01] [ 2.75524823e-02 -4.94981492e-04 9.99620236e-01 3.24781113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:71.97, Z:3.25 [[ 4.29203204e-01 -9.03126200e-01 -1.21522004e-02 1.17539596e+02] [ 9.02794701e-01 4.29374950e-01 -2.44720345e-02 7.19721124e+01] [ 2.73191860e-02 -4.67466468e-04 9.99626652e-01 3.24830798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:72.00, Z:3.25 [[ 4.31816850e-01 -9.01877334e-01 -1.23078614e-02 1.17554179e+02] [ 9.01536323e-01 4.31992044e-01 -2.48018758e-02 7.19958725e+01] [ 2.76851478e-02 -3.86116284e-04 9.99616618e-01 3.24822173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:72.02, Z:3.25 [[ 4.34580046e-01 -9.00546355e-01 -1.25078256e-02 1.17567252e+02] [ 9.00193340e-01 4.34759901e-01 -2.52146652e-02 7.20199038e+01] [ 2.81448759e-02 -3.01670939e-04 9.99603809e-01 3.24854709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:72.04, Z:3.25 [[ 4.36232722e-01 -8.99749537e-01 -1.23200113e-02 1.17579546e+02] [ 8.99406385e-01 4.36406590e-01 -2.48483858e-02 7.20448510e+01] [ 2.77338578e-02 -2.41017880e-04 9.99615314e-01 3.24958576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:72.07, Z:3.25 [[ 4.37553341e-01 -8.99108298e-01 -1.23021275e-02 1.17592453e+02] [ 8.98765417e-01 4.37726206e-01 -2.48292783e-02 7.20702647e+01] [ 2.77091738e-02 -1.92593063e-04 9.99616009e-01 3.25087832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81804094199998 meters Centerline goodness [0,1] 0.9999783886583679 Centerline is valid? [True, True] Translation: X:117.61, Y:72.09, Z:3.25 [[ 4.40189810e-01 -8.97824411e-01 -1.20107648e-02 1.17607133e+02] [ 8.97496663e-01 4.40353627e-01 -2.42574181e-02 7.20934799e+01] [ 2.70678860e-02 -1.01753105e-04 9.99633592e-01 3.25223327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:72.12, Z:3.25 [[ 4.42266269e-01 -8.96799951e-01 -1.22635661e-02 1.17620947e+02] [ 8.96457462e-01 4.42436263e-01 -2.47824720e-02 7.21165485e+01] [ 2.76507660e-02 -3.33139152e-05 9.99617644e-01 3.25230699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87804094199998 meters Centerline goodness [0,1] 0.9999784640565104 Centerline is valid? [True, True] Translation: X:117.63, Y:72.14, Z:3.25 [[ 4.42969677e-01 -8.96449592e-01 -1.24897666e-02 1.17634176e+02] [ 8.96093750e-01 4.43145719e-01 -2.52559328e-02 7.21405359e+01] [ 2.81754573e-02 -4.38938649e-06 9.99602993e-01 3.25195185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90804094199999 meters Centerline goodness [0,1] 0.9999568761050498 Centerline is valid? [True, True] Translation: X:117.65, Y:72.17, Z:3.25 [[ 4.43655547e-01 -8.96109080e-01 -1.25806057e-02 1.17647961e+02] [ 8.95747379e-01 4.43833883e-01 -2.54581459e-02 7.21650686e+01] [ 2.83969748e-02 2.56030573e-05 9.99596724e-01 3.25346880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.938040942 meters Centerline goodness [0,1] 0.999935036812473 Centerline is valid? [True, True] Translation: X:117.66, Y:72.19, Z:3.25 [[ 4.44394442e-01 -8.95743070e-01 -1.25670986e-02 1.17663086e+02] [ 8.95381487e-01 4.44572096e-01 -2.54488616e-02 7.21882112e+01] [ 2.83826228e-02 5.69852510e-05 9.99597131e-01 3.25236440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:72.21, Z:3.25 [[ 4.43870315e-01 -8.96003045e-01 -1.25573449e-02 1.17677961e+02] [ 8.95641651e-01 4.44047904e-01 -2.54458695e-02 7.22120495e+01] [ 2.83756393e-02 4.77849942e-05 9.99597329e-01 3.25483944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:72.23, Z:3.26 [[ 4.42185802e-01 -8.96839297e-01 -1.22878495e-02 1.17696215e+02] [ 8.96493098e-01 4.42356502e-01 -2.49168810e-02 7.22346971e+01] [ 2.77820482e-02 1.91870676e-06 9.99614004e-01 3.25663759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.71, Y:72.26, Z:3.26 [[ 4.40657128e-01 -8.97592018e-01 -1.22419196e-02 1.17711505e+02] [ 8.97248195e-01 4.40827141e-01 -2.48416589e-02 7.22589582e+01] [ 2.76942452e-02 -3.73861605e-05 9.99616440e-01 3.25754636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.058040942 meters Centerline goodness [0,1] 0.9999345692475463 Centerline is valid? [True, True] Translation: X:117.73, Y:72.28, Z:3.26 [[ 4.38002799e-01 -8.98885707e-01 -1.25711778e-02 1.17729290e+02] [ 8.98523129e-01 4.38183151e-01 -2.55286711e-02 7.22816862e+01] [ 2.84558359e-02 -1.13864672e-04 9.99595044e-01 3.25676315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:72.31, Z:3.26 [[ 4.36716756e-01 -8.99509510e-01 -1.26931953e-02 1.17744350e+02] [ 8.99139587e-01 4.36901156e-01 -2.57950121e-02 7.23053232e+01] [ 2.87485303e-02 -1.47840363e-04 9.99586665e-01 3.25798888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.118040942 meters Centerline goodness [0,1] 0.9998906625847365 Centerline is valid? [True, True] Translation: X:117.76, Y:72.33, Z:3.26 [[ 4.35347926e-01 -9.00170166e-01 -1.28784990e-02 1.17759453e+02] [ 8.99789091e-01 4.35538332e-01 -2.61907020e-02 7.23296409e+01] [ 2.91851685e-02 -1.85865068e-04 9.99574005e-01 3.25664025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:72.35, Z:3.26 [[ 4.34106330e-01 -9.00762006e-01 -1.33978750e-02 1.17778114e+02] [ 9.00349252e-01 4.34312972e-01 -2.72665794e-02 7.23511596e+01] [ 3.03795697e-02 -2.26172071e-04 9.99538409e-01 3.25749664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:72.37, Z:3.26 [[ 4.33296523e-01 -9.01148630e-01 -1.36114130e-02 1.17792684e+02] [ 9.00722229e-01 4.33510190e-01 -2.77196796e-02 7.23747912e+01] [ 3.08802375e-02 -2.49261445e-04 9.99523061e-01 3.25787583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208040942 meters Centerline goodness [0,1] 0.9998903653028111 Centerline is valid? [True, True] Translation: X:117.81, Y:72.40, Z:3.26 [[ 4.31621059e-01 -9.01935703e-01 -1.46713712e-02 1.17810717e+02] [ 9.01440020e-01 4.31870218e-01 -2.98999351e-02 7.23979887e+01] [ 3.33039472e-02 -3.19919548e-04 9.99445218e-01 3.25568326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:72.42, Z:3.26 [[ 4.30735457e-01 -9.02355021e-01 -1.49124618e-02 1.17825982e+02] [ 9.01842501e-01 4.30993380e-01 -3.04106750e-02 7.24208716e+01] [ 3.38683976e-02 -3.49735859e-04 9.99426240e-01 3.25701145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:72.44, Z:3.26 [[ 4.29366778e-01 -9.02996191e-01 -1.55579230e-02 1.17844646e+02] [ 9.02438000e-01 4.29648358e-01 -3.17481315e-02 7.24437921e+01] [ 3.53528779e-02 -4.08467942e-04 9.99374808e-01 3.25690260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:72.47, Z:3.26 [[ 4.28495606e-01 -9.03402232e-01 -1.59976018e-02 1.17859791e+02] [ 9.02811526e-01 4.28793901e-01 -3.26670962e-02 7.24674264e+01] [ 3.63712016e-02 -4.45112095e-04 9.99338250e-01 3.25738007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:72.49, Z:3.26 [[ 4.29084219e-01 -9.03127967e-01 -1.57037578e-02 1.17874303e+02] [ 9.02557847e-01 4.29371297e-01 -3.20877285e-02 7.24917964e+01] [ 3.57220679e-02 -4.05211926e-04 9.99361681e-01 3.25897226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35804094199997 meters Centerline goodness [0,1] 0.9999340412901524 Centerline is valid? [True, True] Translation: X:117.89, Y:72.52, Z:3.26 [[ 4.30610933e-01 -9.02407909e-01 -1.53032367e-02 1.17885292e+02] [ 9.01865313e-01 4.30882650e-01 -3.12905656e-02 7.25178873e+01] [ 3.48307530e-02 -3.27398725e-04 9.99393172e-01 3.25943136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:72.54, Z:3.26 [[ 4.31692724e-01 -9.01892858e-01 -1.51876569e-02 1.17896896e+02] [ 9.01357361e-01 4.31959718e-01 -3.10758802e-02 7.25437835e+01] [ 3.45875704e-02 -2.74274985e-04 9.99401633e-01 3.26197575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:72.57, Z:3.26 [[ 4.34890280e-01 -9.00361170e-01 -1.48393721e-02 1.17906840e+02] [ 8.99848417e-01 4.35143359e-01 -3.03822861e-02 7.25691498e+01] [ 3.38122849e-02 -1.40224561e-04 9.99428191e-01 3.26184208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44804094199998 meters Centerline goodness [0,1] 0.9999780359770696 Centerline is valid? [True, True] Translation: X:117.92, Y:72.60, Z:3.26 [[ 4.36492783e-01 -8.99587784e-01 -1.46924776e-02 1.17917021e+02] [ 8.99084144e-01 4.36739983e-01 -3.00979784e-02 7.25954791e+01] [ 3.34925662e-02 -7.22233389e-05 9.99438964e-01 3.26456152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47804094199998 meters Centerline goodness [0,1] 0.9999340760762081 Centerline is valid? [True, True] Translation: X:117.93, Y:72.62, Z:3.27 [[ 4.38885204e-01 -8.98426095e-01 -1.45027320e-02 1.17928000e+02] [ 8.97934028e-01 4.39124756e-01 -2.97309705e-02 7.26217461e+01] [ 3.30795884e-02 2.59865124e-05 9.99452720e-01 3.26530598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:72.65, Z:3.27 [[ 4.39176062e-01 -8.98287788e-01 -1.42630748e-02 1.17939912e+02] [ 8.97811109e-01 4.39407609e-01 -2.92602901e-02 7.26462327e+01] [ 3.25514649e-02 4.48719862e-05 9.99470060e-01 3.26767009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:72.67, Z:3.27 [[ 4.39186012e-01 -8.98284054e-01 -1.41917098e-02 1.17952080e+02] [ 8.97811494e-01 4.39415242e-01 -2.91335905e-02 7.26713997e+01] [ 3.24062933e-02 5.35852579e-05 9.99474777e-01 3.26966873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:72.70, Z:3.27 [[ 4.38872269e-01 -8.98435228e-01 -1.43273428e-02 1.17963885e+02] [ 8.97952959e-01 4.39106067e-01 -2.94337323e-02 7.26973163e+01] [ 3.27355252e-02 5.23690285e-05 9.99464048e-01 3.26961772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59804094199998 meters Centerline goodness [0,1] 0.9999561259186136 Centerline is valid? [True, True] Translation: X:117.98, Y:72.72, Z:3.27 [[ 4.38736487e-01 -8.98499789e-01 -1.44369046e-02 1.17975698e+02] [ 8.98009449e-01 4.38973947e-01 -2.96800188e-02 7.27215946e+01] [ 3.30049156e-02 5.72304173e-05 9.99455188e-01 3.26834443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:72.75, Z:3.27 [[ 4.38519574e-01 -8.98603685e-01 -1.45602604e-02 1.17989690e+02] [ 8.98104305e-01 4.38761228e-01 -2.99540120e-02 7.27464122e+01] [ 3.33052633e-02 5.87880127e-05 9.99445224e-01 3.27084765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65804094199999 meters Centerline goodness [0,1] 0.9999781100190442 Centerline is valid? [True, True] Translation: X:118.00, Y:72.77, Z:3.27 [[ 4.38225440e-01 -8.98745959e-01 -1.46343487e-02 1.18002430e+02] [ 8.98240840e-01 4.38469722e-01 -3.01279910e-02 7.27711979e+01] [ 3.34941290e-02 5.76824227e-05 9.99438913e-01 3.27112126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:72.80, Z:3.27 [[ 4.37041961e-01 -8.99317086e-01 -1.49366122e-02 1.18016321e+02] [ 8.98790444e-01 4.37297127e-01 -3.07727090e-02 7.27957075e+01] [ 3.42061605e-02 2.40808022e-05 9.99414798e-01 3.27275157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:72.82, Z:3.27 [[ 4.36391422e-01 -8.99633387e-01 -1.49095837e-02 1.18028978e+02] [ 8.99108086e-01 4.36646045e-01 -3.07389123e-02 7.28192715e+01] [ 3.41639625e-02 8.87035426e-06 9.99416241e-01 3.27298153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:72.84, Z:3.27 [[ 4.35443060e-01 -9.00090997e-01 -1.50179155e-02 1.18042037e+02] [ 8.99557575e-01 4.35701958e-01 -3.09834412e-02 7.28442507e+01] [ 3.44312517e-02 -1.79552218e-05 9.99407069e-01 3.27363157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:72.87, Z:3.27 [[ 4.34183633e-01 -9.00695328e-01 -1.52479263e-02 1.18055247e+02] [ 9.00145006e-01 4.34451290e-01 -3.14808523e-02 7.28688358e+01] [ 3.49791378e-02 -5.68738377e-05 9.99388041e-01 3.27436291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808040942 meters Centerline goodness [0,1] 0.9998459744317557 Centerline is valid? [True, True] Translation: X:118.07, Y:72.89, Z:3.27 [[ 4.33320900e-01 -9.01116744e-01 -1.48866324e-02 1.18067025e+02] [ 9.00591784e-01 4.33576530e-01 -3.07543750e-02 7.28936112e+01] [ 3.41677766e-02 -8.02653805e-05 9.99416108e-01 3.27371336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:72.92, Z:3.28 [[ 4.31815970e-01 -9.01854027e-01 -1.39384933e-02 1.18079347e+02] [ 9.01393722e-01 4.32040853e-01 -2.88107550e-02 7.29184071e+01] [ 3.20050940e-02 -1.23126286e-04 9.99487698e-01 3.27714545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868040942 meters Centerline goodness [0,1] 0.9998680361580927 Centerline is valid? [True, True] Translation: X:118.09, Y:72.94, Z:3.28 [[ 4.30723821e-01 -9.02377761e-01 -1.38335406e-02 1.18090778e+02] [ 9.01923987e-01 4.30945883e-01 -2.86141283e-02 7.29436487e+01] [ 3.17822604e-02 -1.52015435e-04 9.99494805e-01 3.27634693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.898040942 meters Centerline goodness [0,1] 0.9998680303530189 Centerline is valid? [True, True] Translation: X:118.10, Y:72.97, Z:3.28 [[ 4.29468330e-01 -9.02981080e-01 -1.34952930e-02 1.18102977e+02] [ 9.02548907e-01 4.29680271e-01 -2.79344714e-02 7.29693804e+01] [ 3.10229603e-02 -1.83191151e-04 9.99518655e-01 3.27865161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:72.99, Z:3.28 [[ 4.28824787e-01 -9.03287963e-01 -1.34222741e-02 1.18115669e+02] [ 9.02859973e-01 4.29034751e-01 -2.78038065e-02 7.29948688e+01] [ 3.08734657e-02 -1.95472649e-04 9.99523282e-01 3.28210317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.958040942 meters Centerline goodness [0,1] 0.9999340949033392 Centerline is valid? [True, True] Translation: X:118.13, Y:73.02, Z:3.28 [[ 4.27761378e-01 -9.03789335e-01 -1.36030114e-02 1.18126944e+02] [ 9.03349334e-01 4.27977555e-01 -2.81991720e-02 7.30212044e+01] [ 3.13078945e-02 -2.25754634e-04 9.99509762e-01 3.28104010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:73.05, Z:3.28 [[ 4.27120680e-01 -9.04090367e-01 -1.37307208e-02 1.18138643e+02] [ 9.03641551e-01 4.27341257e-01 -2.84850535e-02 7.30462903e+01] [ 3.16207660e-02 -2.41094407e-04 9.99499909e-01 3.28292297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01804094199997 meters Centerline goodness [0,1] 0.9998902690602642 Centerline is valid? [True, True] Translation: X:118.15, Y:73.07, Z:3.28 [[ 4.26049454e-01 -9.04591299e-01 -1.40158350e-02 1.18149835e+02] [ 9.04123230e-01 4.26279844e-01 -2.90977517e-02 7.30712679e+01] [ 3.22962410e-02 -2.74960743e-04 9.99478303e-01 3.28065888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04804094199997 meters Centerline goodness [0,1] 0.9998244189364177 Centerline is valid? [True, True] Translation: X:118.16, Y:73.10, Z:3.28 [[ 4.23443269e-01 -9.05811565e-01 -1.41847323e-02 1.18162246e+02] [ 9.05332240e-01 4.23680629e-01 -2.94662482e-02 7.30962933e+01] [ 3.27006647e-02 -3.64611030e-04 9.99465124e-01 3.28057410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07804094199997 meters Centerline goodness [0,1] 0.9999121342588525 Centerline is valid? [True, True] Translation: X:118.18, Y:73.12, Z:3.28 [[ 4.21076166e-01 -9.06916288e-01 -1.40609098e-02 1.18175581e+02] [ 9.06445430e-01 4.21310638e-01 -2.92237613e-02 7.31220169e+01] [ 3.24275159e-02 -4.40018080e-04 9.99473993e-01 3.28287132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:73.15, Z:3.29 [[ 4.16623589e-01 -9.08971824e-01 -1.39645253e-02 1.18190457e+02] [ 9.08507960e-01 4.16857143e-01 -2.90414848e-02 7.31459316e+01] [ 3.22191036e-02 -5.87514707e-04 9.99480657e-01 3.28535417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13804094199998 meters Centerline goodness [0,1] 0.9999123210802043 Centerline is valid? [True, True] Translation: X:118.20, Y:73.17, Z:3.28 [[ 4.14571739e-01 -9.09907534e-01 -1.40908722e-02 1.18203760e+02] [ 9.09435207e-01 4.14810614e-01 -2.93216301e-02 7.31714701e+01] [ 3.25250155e-02 -6.58816063e-04 9.99470705e-01 3.28418458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:73.20, Z:3.29 [[ 4.13007649e-01 -9.10618784e-01 -1.40752455e-02 1.18218093e+02] [ 9.10147296e-01 4.13246817e-01 -2.93081392e-02 7.31965408e+01] [ 3.25050925e-02 -7.06061008e-04 9.99471320e-01 3.28645224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:73.22, Z:3.29 [[ 4.11871013e-01 -9.11133221e-01 -1.40898253e-02 1.18231878e+02] [ 9.10660413e-01 4.12111281e-01 -2.93582011e-02 7.32198835e+01] [ 3.25558083e-02 -7.39254135e-04 9.99469646e-01 3.28772383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:73.25, Z:3.29 [[ 4.11678655e-01 -9.11218242e-01 -1.42127061e-02 1.18244417e+02] [ 9.10736550e-01 4.11923248e-01 -2.96340149e-02 7.32452382e+01] [ 3.28575990e-02 -7.44339521e-04 9.99459766e-01 3.28840812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:73.27, Z:3.29 [[ 4.11893745e-01 -9.11116566e-01 -1.44964086e-02 1.18255633e+02] [ 9.10614709e-01 4.12148095e-01 -3.02456649e-02 7.32693714e+01] [ 3.35319935e-02 -7.42642675e-04 9.99437369e-01 3.28759435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:73.29, Z:3.29 [[ 4.12053152e-01 -9.11039745e-01 -1.47913437e-02 1.18266952e+02] [ 9.10516581e-01 4.12317875e-01 -3.08792050e-02 7.32946776e+01] [ 3.42309185e-02 -7.43889930e-04 9.99413674e-01 3.28817767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:73.32, Z:3.29 [[ 4.12304561e-01 -9.10926611e-01 -1.47532254e-02 1.18277134e+02] [ 9.10405319e-01 4.12567795e-01 -3.08215953e-02 7.33208117e+01] [ 3.41629170e-02 -7.23530555e-04 9.99416015e-01 3.28910884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34804094199998 meters Centerline goodness [0,1] 0.9999560120526976 Centerline is valid? [True, True] Translation: X:118.29, Y:73.35, Z:3.29 [[ 4.12886832e-01 -9.10661884e-01 -1.48120509e-02 1.18288465e+02] [ 9.10135524e-01 4.13151847e-01 -3.09657753e-02 7.33457804e+01] [ 3.43189775e-02 -6.95612842e-04 9.99410688e-01 3.28907002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37804094199998 meters Centerline goodness [0,1] 0.9999560120526976 Centerline is valid? [True, True] Translation: X:118.30, Y:73.37, Z:3.29 [[ 4.12630996e-01 -9.10777960e-01 -1.48043534e-02 1.18300285e+02] [ 9.10251543e-01 4.12895897e-01 -3.09694553e-02 7.33706993e+01] [ 3.43189541e-02 -6.96728291e-04 9.99410688e-01 3.28970842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:73.40, Z:3.29 [[ 4.13710770e-01 -9.10291136e-01 -1.46098202e-02 1.18312728e+02] [ 9.09777419e-01 4.13968163e-01 -3.05844312e-02 7.33951061e+01] [ 3.38887370e-02 -6.38575921e-04 9.99425408e-01 3.29169557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:73.42, Z:3.29 [[ 4.15803934e-01 -9.09341166e-01 -1.43433762e-02 1.18320981e+02] [ 9.08844831e-01 4.16050897e-01 -3.00453839e-02 7.34229925e+01] [ 3.32890790e-02 -5.42914485e-04 9.99445618e-01 3.29316711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:73.45, Z:3.29 [[ 4.16318086e-01 -9.09101493e-01 -1.46194019e-02 1.18331566e+02] [ 9.08585174e-01 4.16574361e-01 -3.06395674e-02 7.34494112e+01] [ 3.39445444e-02 -5.27165800e-04 9.99423579e-01 3.29372364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:73.48, Z:3.29 [[ 4.16674663e-01 -9.08939377e-01 -1.45407465e-02 1.18342210e+02] [ 9.08427760e-01 4.16927999e-01 -3.04966913e-02 7.34751016e+01] [ 3.37820879e-02 -5.02019212e-04 9.99429096e-01 3.29360335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:73.50, Z:3.29 [[ 4.16799006e-01 -9.08883689e-01 -1.44577825e-02 1.18352490e+02] [ 9.08377120e-01 4.17049402e-01 -3.03447621e-02 7.35004227e+01] [ 3.36094689e-02 -4.85452179e-04 9.99434924e-01 3.29390213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.558040942 meters Centerline goodness [0,1] 0.999956159579132 Centerline is valid? [True, True] Translation: X:118.36, Y:73.53, Z:3.29 [[ 4.16009330e-01 -9.09243829e-01 -1.45566650e-02 1.18364692e+02] [ 9.08729752e-01 4.16263619e-01 -3.05751199e-02 7.35254270e+01] [ 3.38596491e-02 -5.08539484e-04 9.99426468e-01 3.29366028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588040942 meters Centerline goodness [0,1] 0.9999123076248521 Centerline is valid? [True, True] Translation: X:118.38, Y:73.55, Z:3.29 [[ 4.15187965e-01 -9.09615499e-01 -1.47850668e-02 1.18377178e+02] [ 9.09084627e-01 4.15450785e-01 -3.10770923e-02 7.35507958e+01] [ 3.44106725e-02 -5.38042227e-04 9.99407633e-01 3.29379207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.618040942 meters Centerline goodness [0,1] 0.9998902329257316 Centerline is valid? [True, True] Translation: X:118.39, Y:73.58, Z:3.29 [[ 4.14356991e-01 -9.09992877e-01 -1.48743810e-02 1.18389242e+02] [ 9.09455046e-01 4.14623498e-01 -3.12869535e-02 7.35759524e+01] [ 3.46381727e-02 -5.63612928e-04 9.99399760e-01 3.29441595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:73.60, Z:3.30 [[ 4.13990726e-01 -9.10159028e-01 -1.49071342e-02 1.18400822e+02] [ 9.09618151e-01 4.14258639e-01 -3.13783425e-02 7.36008590e+01] [ 3.47346909e-02 -5.69457044e-04 9.99396406e-01 3.29589669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.678040942 meters Centerline goodness [0,1] 0.9999342854639446 Centerline is valid? [True, True] Translation: X:118.41, Y:73.63, Z:3.30 [[ 4.13943098e-01 -9.10177563e-01 -1.50968560e-02 1.18410266e+02] [ 9.09622004e-01 4.14217914e-01 -3.18014077e-02 7.36269919e+01] [ 3.51983160e-02 -5.68459226e-04 9.99380186e-01 3.29628253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:73.65, Z:3.30 [[ 4.14284987e-01 -9.10018361e-01 -1.53144405e-02 1.18422743e+02] [ 9.09445734e-01 4.14567578e-01 -3.22828100e-02 7.36508319e+01] [ 3.57268203e-02 -5.53369017e-04 9.99361440e-01 3.29816365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:73.67, Z:3.30 [[ 4.14320320e-01 -9.10000343e-01 -1.54288063e-02 1.18436167e+02] [ 9.09418298e-01 4.14607136e-01 -3.25466088e-02 7.36742942e+01] [ 3.60143183e-02 -5.46517385e-04 9.99351125e-01 3.29743866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:73.70, Z:3.30 [[ 4.14000645e-01 -9.10145431e-01 -1.54518675e-02 1.18447854e+02] [ 9.09560881e-01 4.14288537e-01 -3.26192079e-02 7.36996068e+01] [ 3.60897546e-02 -5.50041067e-04 9.99348401e-01 3.29795972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:73.73, Z:3.30 [[ 4.13768627e-01 -9.10255305e-01 -1.51922004e-02 1.18457255e+02] [ 9.09689538e-01 4.14047083e-01 -3.20929531e-02 7.37264390e+01] [ 3.55030670e-02 -5.41128611e-04 9.99369421e-01 3.29965578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82804094199997 meters Centerline goodness [0,1] 0.9999125530147348 Centerline is valid? [True, True] Translation: X:118.47, Y:73.75, Z:3.30 [[ 4.13300421e-01 -9.10465030e-01 -1.53684781e-02 1.18468168e+02] [ 9.09885354e-01 4.13585686e-01 -3.24888219e-02 7.37525581e+01] [ 3.59361188e-02 -5.55909372e-04 9.99353934e-01 3.29884194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:73.78, Z:3.30 [[ 4.13218100e-01 -9.10510969e-01 -1.48518139e-02 1.18480350e+02] [ 9.09968885e-01 4.13484572e-01 -3.14187381e-02 7.37780710e+01] [ 3.47481016e-02 -5.31897272e-04 9.99395961e-01 3.30192132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:73.80, Z:3.30 [[ 4.13344373e-01 -9.10456824e-01 -1.46561078e-02 1.18492443e+02] [ 9.09928222e-01 4.13603808e-01 -3.10245274e-02 7.38019851e+01] [ 3.43083147e-02 -5.12192324e-04 9.99411165e-01 3.30268211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91804094199998 meters Centerline goodness [0,1] 0.9999127475787453 Centerline is valid? [True, True] Translation: X:118.50, Y:73.83, Z:3.30 [[ 4.13926134e-01 -9.10196150e-01 -1.44265287e-02 1.18502815e+02] [ 9.09683248e-01 4.14177187e-01 -3.05556207e-02 7.38279746e+01] [ 3.37867474e-02 -4.75801519e-04 9.99428952e-01 3.30303192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:73.85, Z:3.31 [[ 4.14623930e-01 -9.09882267e-01 -1.41864750e-02 1.18514801e+02] [ 9.09385436e-01 4.14866329e-01 -3.00675510e-02 7.38521067e+01] [ 3.32434223e-02 -4.34247592e-04 9.99447190e-01 3.30548299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:73.88, Z:3.31 [[ 4.15256513e-01 -9.09597322e-01 -1.39549297e-02 1.18526027e+02] [ 9.09115898e-01 4.15490737e-01 -2.95927488e-02 7.38785735e+01] [ 3.27156291e-02 -3.98066753e-04 9.99464621e-01 3.30630290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:73.90, Z:3.31 [[ 4.17759088e-01 -9.08457042e-01 -1.35331623e-02 1.18536288e+02] [ 9.08003236e-01 4.17978129e-01 -2.87124967e-02 7.39048285e+01] [ 3.17406357e-02 -2.93248743e-04 9.99496096e-01 3.30792072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:73.93, Z:3.31 [[ 4.18987418e-01 -9.07898269e-01 -1.30490458e-02 1.18547869e+02] [ 9.07475498e-01 4.19190505e-01 -2.77045232e-02 7.39292516e+01] [ 3.06229247e-02 -2.33842654e-04 9.99530981e-01 3.30807740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:73.96, Z:3.31 [[ 4.21585701e-01 -9.06696537e-01 -1.29184490e-02 1.18557800e+02] [ 9.06281020e-01 4.21783560e-01 -2.74470686e-02 7.39561732e+01] [ 3.03349514e-02 -1.36453430e-04 9.99539780e-01 3.30887489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:73.98, Z:3.31 [[ 4.22550996e-01 -9.06247732e-01 -1.28726425e-02 1.18568525e+02] [ 9.05834381e-01 4.22747016e-01 -2.73684887e-02 7.39821023e+01] [ 3.02445020e-02 -9.59000262e-05 9.99542526e-01 3.30944927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:74.01, Z:3.31 [[ 4.22937196e-01 -9.06069230e-01 -1.27545300e-02 1.18579612e+02] [ 9.05662758e-01 4.23129466e-01 -2.71371410e-02 7.40081158e+01] [ 2.99849459e-02 -7.39965075e-05 9.99550348e-01 3.30979988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15804094199999 meters Centerline goodness [0,1] 0.9999563756925359 Centerline is valid? [True, True] Translation: X:118.59, Y:74.03, Z:3.31 [[ 4.23514205e-01 -9.05807752e-01 -1.21669078e-02 1.18590067e+02] [ 9.05437239e-01 4.23688935e-01 -2.59054398e-02 7.40341095e+01] [ 2.86203324e-02 -4.50496947e-05 9.99590353e-01 3.30952793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:74.06, Z:3.31 [[ 4.24376488e-01 -9.05415635e-01 -1.12749433e-02 1.18599370e+02] [ 9.05096887e-01 4.24526239e-01 -2.40228696e-02 7.40599509e+01] [ 2.65371911e-02 -1.01750819e-05 9.99647827e-01 3.31182922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:74.09, Z:3.31 [[ 4.24566050e-01 -9.05335762e-01 -1.05274483e-02 1.18609785e+02] [ 9.05057516e-01 4.24696548e-01 -2.24440520e-02 7.40860055e+01] [ 2.47903739e-02 1.03627407e-06 9.99692671e-01 3.31346115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:74.11, Z:3.31 [[ 4.24980227e-01 -9.05149474e-01 -9.81003099e-03 1.18620430e+02] [ 9.04907474e-01 4.25093437e-01 -2.09292716e-02 7.41114682e+01] [ 2.31142990e-02 1.73562402e-05 9.99732829e-01 3.31476787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:74.14, Z:3.32 [[ 4.26306677e-01 -9.04536008e-01 -8.78792120e-03 1.18630883e+02] [ 9.04341420e-01 4.26397242e-01 -1.87613366e-02 7.41368814e+01] [ 2.07174499e-02 5.08019419e-05 9.99785369e-01 3.31694781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:74.16, Z:3.32 [[ 4.26767194e-01 -9.04321482e-01 -8.50997000e-03 1.18641619e+02] [ 9.04138729e-01 4.26852028e-01 -1.81797910e-02 7.41623118e+01] [ 2.00728735e-02 6.43449541e-05 9.99798518e-01 3.31818238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:74.19, Z:3.32 [[ 4.27640582e-01 -9.03913890e-01 -7.95059490e-03 1.18650810e+02] [ 9.03754067e-01 4.27714475e-01 -1.69974972e-02 7.41886177e+01] [ 1.87648583e-02 8.34371243e-05 9.99823921e-01 3.31999325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:74.21, Z:3.32 [[ 4.27749333e-01 -9.03865970e-01 -7.53773235e-03 1.18660461e+02] [ 9.03722194e-01 4.27815734e-01 -1.61212137e-02 7.42145138e+01] [ 1.77961770e-02 8.38223992e-05 9.99841632e-01 3.32112344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:74.24, Z:3.32 [[ 4.27531114e-01 -9.03969118e-01 -7.54851675e-03 1.18670034e+02] [ 9.03824758e-01 4.27597739e-01 -1.61549003e-02 7.42410253e+01] [ 1.78312597e-02 8.41861870e-05 9.99841007e-01 3.32118176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428040942 meters Centerline goodness [0,1] 0.9999783291797595 Centerline is valid? [True, True] Translation: X:118.68, Y:74.27, Z:3.32 [[ 4.26614508e-01 -9.04400824e-01 -7.69490768e-03 1.18678017e+02] [ 9.04250650e-01 4.26683893e-01 -1.64808083e-02 7.42684451e+01] [ 1.81885497e-02 7.28266349e-05 9.99834572e-01 3.32002393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:74.29, Z:3.32 [[ 4.25522191e-01 -9.04914690e-01 -7.76330292e-03 1.18687890e+02] [ 9.04761680e-01 4.25592999e-01 -1.66403755e-02 7.42935692e+01] [ 1.83621276e-02 5.69100617e-05 9.99831400e-01 3.32047899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:74.32, Z:3.32 [[ 4.22411609e-01 -9.06370909e-01 -7.75943078e-03 1.18698588e+02] [ 9.06218092e-01 4.22482871e-01 -1.66431341e-02 7.43201197e+01] [ 1.83630792e-02 -1.48350399e-06 9.99831384e-01 3.32033464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:74.35, Z:3.32 [[ 4.20439547e-01 -9.07288497e-01 -7.62691876e-03 1.18709698e+02] [ 9.07140804e-01 4.20508717e-01 -1.63701123e-02 7.43457337e+01] [ 1.80596004e-02 -3.60466075e-05 9.99836911e-01 3.32126904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:74.37, Z:3.32 [[ 4.18512703e-01 -9.08180676e-01 -7.41470238e-03 1.18720140e+02] [ 9.08041016e-01 4.18578375e-01 -1.59265962e-02 7.43706059e+01] [ 1.75678610e-02 -6.73710651e-05 9.99845671e-01 3.32196251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:74.40, Z:3.32 [[ 4.15592968e-01 -9.09517799e-01 -7.73684508e-03 1.18728015e+02] [ 9.09365752e-01 4.15664959e-01 -1.66304297e-02 7.43982991e+01] [ 1.83416072e-02 -1.24132291e-04 9.99831771e-01 3.32107165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:74.43, Z:3.32 [[ 4.12956454e-01 -9.10717617e-01 -7.77106132e-03 1.18735925e+02] [ 9.10564199e-01 4.13029530e-01 -1.67166851e-02 7.44268339e+01] [ 1.84338574e-02 -1.72787214e-04 9.99830067e-01 3.31994794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:74.45, Z:3.32 [[ 4.11748043e-01 -9.11264639e-01 -7.76573338e-03 1.18746637e+02] [ 9.11111327e-01 4.11821224e-01 -1.67161171e-02 7.44512629e+01] [ 1.84309002e-02 -1.92619154e-04 9.99830118e-01 3.32088951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:74.48, Z:3.32 [[ 4.10284383e-01 -9.11925513e-01 -7.65401248e-03 1.18757634e+02] [ 9.11776501e-01 4.10355715e-01 -1.64863503e-02 7.44777392e+01] [ 1.81751912e-02 -2.14656653e-04 9.99834795e-01 3.32146725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:74.50, Z:3.32 [[ 4.07946559e-01 -9.12975063e-01 -7.49257019e-03 1.18767554e+02] [ 9.12832204e-01 4.08015283e-01 -1.61523054e-02 7.45033513e+01] [ 1.78037352e-02 -2.50181946e-04 9.99841470e-01 3.32260889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:74.53, Z:3.32 [[ 4.06638690e-01 -9.13559162e-01 -7.39143730e-03 1.18777282e+02] [ 9.13420190e-01 4.06705771e-01 -1.59364968e-02 7.45297546e+01] [ 1.75650728e-02 -2.71091903e-04 9.99845685e-01 3.32281233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:74.56, Z:3.32 [[ 4.04280441e-01 -9.14602949e-01 -7.66617910e-03 1.18784330e+02] [ 9.14453410e-01 4.04352991e-01 -1.65414489e-02 7.45582625e+01] [ 1.82287004e-02 -3.22979365e-04 9.99833791e-01 3.32196931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:74.58, Z:3.32 [[ 4.02796753e-01 -9.15255150e-01 -7.92371144e-03 1.18795414e+02] [ 9.15095277e-01 4.02874522e-01 -1.71100240e-02 7.45837735e+01] [ 1.88522991e-02 -3.59088797e-04 9.99822215e-01 3.32212095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.81, Y:74.61, Z:3.32 [[ 4.01196871e-01 -9.15957539e-01 -7.92832004e-03 1.18805793e+02] [ 9.15797527e-01 4.01275012e-01 -1.71246751e-02 7.46104658e+01] [ 1.88669119e-02 -3.90369835e-04 9.99821928e-01 3.32224912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.82, Y:74.64, Z:3.32 [[ 3.98173223e-01 -9.17279000e-01 -7.57108073e-03 1.18815316e+02] [ 9.17133144e-01 3.98244967e-01 -1.63628363e-02 7.46377602e+01] [ 1.80244309e-02 -4.28445812e-04 9.99837455e-01 3.32318711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:74.66, Z:3.33 [[ 3.97032566e-01 -9.17775975e-01 -7.23883298e-03 1.18826834e+02] [ 9.17642529e-01 3.97098322e-01 -1.56560499e-02 7.46631723e+01] [ 1.72432749e-02 -4.26699318e-04 9.99851233e-01 3.32507719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:74.69, Z:3.33 [[ 3.95854242e-01 -9.18287142e-01 -6.93852907e-03 1.18833180e+02] [ 9.18164560e-01 3.95914815e-01 -1.50100155e-02 7.46920470e+01] [ 1.65305707e-02 -4.28933190e-04 9.99863269e-01 3.32565338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.84, Y:74.72, Z:3.33 [[ 3.95542834e-01 -9.18422057e-01 -6.84035981e-03 1.18841612e+02] [ 9.18302788e-01 3.95601749e-01 -1.48069557e-02 7.47176138e+01] [ 1.63050931e-02 -4.24736244e-04 9.99866973e-01 3.32615411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.85, Y:74.74, Z:3.33 [[ 3.95948070e-01 -9.18246448e-01 -6.97036320e-03 1.18849803e+02] [ 9.18122392e-01 3.96009196e-01 -1.50993237e-02 7.47442086e+01] [ 1.66252283e-02 -4.21098452e-04 9.99861703e-01 3.32689186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.998040942 meters Centerline goodness [0,1] 0.9999789251844047 Centerline is valid? [True, True] Translation: X:118.86, Y:74.77, Z:3.33 [[ 3.95762130e-01 -9.18326860e-01 -6.93649481e-03 1.18857575e+02] [ 9.18203889e-01 3.95822691e-01 -1.50338285e-02 7.47718464e+01] [ 1.65515906e-02 -4.19296515e-04 9.99862925e-01 3.32702658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.87, Y:74.80, Z:3.33 [[ 3.96250288e-01 -9.18115882e-01 -6.99547682e-03 1.18866294e+02] [ 9.17990587e-01 3.96311821e-01 -1.51731171e-02 7.47994155e+01] [ 1.67030699e-02 -4.09429861e-04 9.99860410e-01 3.32761167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.87, Y:74.83, Z:3.33 [[ 3.96834828e-01 -9.17860654e-01 -7.34430687e-03 1.18872931e+02] [ 9.17722311e-01 3.96902567e-01 -1.59409089e-02 7.48273037e+01] [ 1.75465073e-02 -4.14126430e-04 9.99845962e-01 3.32735174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.88, Y:74.85, Z:3.33 [[ 3.97273855e-01 -9.17667129e-01 -7.77980123e-03 1.18882843e+02] [ 9.17511597e-01 3.97349797e-01 -1.68999164e-02 7.48529369e+01] [ 1.85998002e-02 -4.24162908e-04 9.99826919e-01 3.32805725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:74.88, Z:3.33 [[ 3.98325404e-01 -9.17209729e-01 -7.94886639e-03 1.18889710e+02] [ 9.17047080e-01 3.98404501e-01 -1.72773655e-02 7.48817987e+01] [ 1.90138319e-02 -4.07471117e-04 9.99819138e-01 3.32811615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.90, Y:74.91, Z:3.33 [[ 3.99001571e-01 -9.16914561e-01 -8.08913181e-03 1.18898857e+02] [ 9.16745841e-01 3.99083364e-01 -1.75935015e-02 7.49081947e+01] [ 1.93599757e-02 -3.95843191e-04 9.99812500e-01 3.32829113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:74.93, Z:3.33 [[ 3.99169783e-01 -9.16840369e-01 -8.19889574e-03 1.18907461e+02] [ 9.16666771e-01 3.99253783e-01 -1.78450894e-02 7.49347100e+01] [ 1.96345385e-02 -3.92434822e-04 9.99807147e-01 3.32875971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:74.96, Z:3.33 [[ 4.01621743e-01 -9.15770671e-01 -8.00328665e-03 1.18914582e+02] [ 9.15604796e-01 4.01701345e-01 -1.74323644e-02 7.49632347e+01] [ 1.91789791e-02 -3.26631056e-04 9.99816013e-01 3.33057034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.92, Y:74.99, Z:3.33 [[ 4.03062717e-01 -9.15137754e-01 -7.95843343e-03 1.18924411e+02] [ 9.14973385e-01 4.03141174e-01 -1.73463976e-02 7.49884089e+01] [ 1.90827156e-02 -2.90068616e-04 9.99817866e-01 3.33235725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.93, Y:75.02, Z:3.33 [[ 4.05823508e-01 -9.13915052e-01 -8.15828265e-03 1.18930857e+02] [ 9.13741867e-01 4.05905435e-01 -1.77926511e-02 7.50158512e+01] [ 1.95724630e-02 -2.33888314e-04 9.99808414e-01 3.33289133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:75.04, Z:3.33 [[ 4.05576297e-01 -9.14024811e-01 -8.15549643e-03 1.18942240e+02] [ 9.13851622e-01 4.05658217e-01 -1.77939281e-02 7.50409269e+01] [ 1.95724359e-02 -2.36118175e-04 9.99808414e-01 3.33352973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32804094199997 meters Centerline goodness [0,1] 0.9999578503688092 Centerline is valid? [True, True] Translation: X:118.95, Y:75.07, Z:3.33 [[ 4.06696060e-01 -9.13527412e-01 -8.12297745e-03 1.18951826e+02] [ 9.13355256e-01 4.06777120e-01 -1.77356125e-02 7.50675948e+01] [ 1.95062095e-02 -2.06160446e-04 9.99809715e-01 3.33375308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:75.09, Z:3.33 [[ 4.07069416e-01 -9.13357681e-01 -8.49921276e-03 1.18961721e+02] [ 9.13168887e-01 4.07158084e-01 -1.85708956e-02 7.50940255e+01] [ 2.04223934e-02 -2.01573011e-04 9.99791421e-01 3.33357562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38804094199998 meters Centerline goodness [0,1] 0.9999789500273649 Centerline is valid? [True, True] Translation: X:118.97, Y:75.12, Z:3.33 [[ 4.06781057e-01 -9.13485945e-01 -8.52056189e-03 1.18973346e+02] [ 9.13295951e-01 4.06870234e-01 -1.86311210e-02 7.51197180e+01] [ 2.04860302e-02 -2.03007572e-04 9.99790119e-01 3.33469908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41804094199998 meters Centerline goodness [0,1] 0.999979035639413 Centerline is valid? [True, True] Translation: X:118.98, Y:75.15, Z:3.34 [[ 4.06434090e-01 -9.13639339e-01 -8.63063969e-03 1.18984205e+02] [ 9.13444150e-01 4.06525663e-01 -1.88857312e-02 7.51459359e+01] [ 2.07633235e-02 -2.07802377e-04 9.99784397e-01 3.33538898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.00, Y:75.17, Z:3.34 [[ 4.06588519e-01 -9.13570647e-01 -8.62838069e-03 1.18995567e+02] [ 9.13375237e-01 4.06680014e-01 -1.88955610e-02 7.51702650e+01] [ 2.07714199e-02 -1.98231095e-04 9.99784231e-01 3.33665388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.01, Y:75.19, Z:3.34 [[ 4.06561233e-01 -9.13581177e-01 -8.79758636e-03 1.19006806e+02] [ 9.13377735e-01 4.06656360e-01 -1.92800036e-02 7.51943317e+01] [ 2.11914428e-02 -1.97017464e-04 9.99775417e-01 3.33747546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:75.22, Z:3.34 [[ 4.07316992e-01 -9.13240471e-01 -9.20376264e-03 1.19018738e+02] [ 9.13017485e-01 4.07420922e-01 -2.01807955e-02 7.52201183e+01] [ 2.21797247e-02 -1.83215278e-04 9.99753983e-01 3.33759550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.03, Y:75.25, Z:3.34 [[ 4.07250610e-01 -9.13266058e-01 -9.59415186e-03 1.19030466e+02] [ 9.13023375e-01 4.07363563e-01 -2.10533564e-02 7.52453890e+01] [ 2.31356237e-02 -1.85692657e-04 9.99732318e-01 3.33805218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:75.27, Z:3.34 [[ 4.06778438e-01 -9.13474038e-01 -9.82260695e-03 1.19042563e+02] [ 9.13219321e-01 4.06896969e-01 -2.15714620e-02 7.52711951e+01] [ 2.37017595e-02 -1.95388824e-04 9.99719055e-01 3.33859559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:75.30, Z:3.34 [[ 4.05551221e-01 -9.14016499e-01 -1.01018296e-02 1.19056379e+02] [ 9.13746838e-01 4.05676951e-01 -2.22019714e-02 7.52950145e+01] [ 2.43910476e-02 -2.26478195e-04 9.99702468e-01 3.34008925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:75.32, Z:3.34 [[ 4.04561556e-01 -9.14456824e-01 -9.93300366e-03 1.19069774e+02] [ 9.14195878e-01 4.04683405e-01 -2.18457742e-02 7.53200326e+01] [ 2.39967390e-02 -2.42750617e-04 9.99712007e-01 3.34195384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.09, Y:75.34, Z:3.34 [[ 4.02166821e-01 -9.15516093e-01 -9.59854954e-03 1.19086136e+02] [ 9.15272366e-01 4.02281245e-01 -2.11257204e-02 7.53435769e+01] [ 2.32022534e-02 -2.89223344e-04 9.99730750e-01 3.34432575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.10, Y:75.37, Z:3.35 [[ 4.00634724e-01 -9.16189748e-01 -9.38956478e-03 1.19099934e+02] [ 9.15956530e-01 4.00744613e-01 -2.06734303e-02 7.53686887e+01] [ 2.27036024e-02 -3.17939118e-04 9.99742189e-01 3.34506984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:75.39, Z:3.35 [[ 3.98871561e-01 -9.16959020e-01 -9.36123172e-03 1.19113792e+02] [ 9.16727086e-01 3.98981239e-01 -2.06257223e-02 7.53935156e+01] [ 2.26478980e-02 -3.54680620e-04 9.99743441e-01 3.34593118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:75.42, Z:3.35 [[ 3.98149204e-01 -9.17271670e-01 -9.48132013e-03 1.19126787e+02] [ 9.17033662e-01 3.98261903e-01 -2.08978351e-02 7.54186614e+01] [ 2.29450407e-02 -3.74233329e-04 9.99736658e-01 3.34690824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.14, Y:75.44, Z:3.35 [[ 3.98738320e-01 -9.17016762e-01 -9.38143164e-03 1.19140433e+02] [ 9.16783311e-01 3.98848514e-01 -2.06935870e-02 7.54423897e+01] [ 2.27181362e-02 -3.49413862e-04 9.99741849e-01 3.34766421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.15, Y:75.47, Z:3.35 [[ 3.99202567e-01 -9.16817700e-01 -9.08926327e-03 1.19153010e+02] [ 9.16598236e-01 3.99305898e-01 -2.00617248e-02 7.54668222e+01] [ 2.20223408e-02 -3.22510670e-04 9.99757427e-01 3.34892345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.17, Y:75.49, Z:3.35 [[ 3.99924288e-01 -9.16504650e-01 -8.93258721e-03 1.19165771e+02] [ 9.16292334e-01 4.00023924e-01 -1.97286277e-02 7.54913589e+01] [ 2.16546276e-02 -2.94903792e-04 9.99765468e-01 3.35007626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868040942 meters Centerline goodness [0,1] 0.999978984532616 Centerline is valid? [True, True] Translation: X:119.18, Y:75.52, Z:3.35 [[ 4.01354622e-01 -9.15879513e-01 -8.89854564e-03 1.19178832e+02] [ 9.15668344e-01 4.01453176e-01 -1.96680275e-02 7.55167975e+01] [ 2.15858928e-02 -2.54262811e-04 9.99766965e-01 3.35147197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:75.54, Z:3.35 [[ 4.01893672e-01 -9.15642514e-01 -8.95894821e-03 1.19190860e+02] [ 9.15428089e-01 4.01993445e-01 -1.98162744e-02 7.55408650e+01] [ 2.17460618e-02 -2.37237563e-04 9.99763498e-01 3.35182980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.21, Y:75.57, Z:3.35 [[ 4.01562772e-01 -9.15788634e-01 -8.86097821e-03 1.19205189e+02] [ 9.15578640e-01 4.01660455e-01 -1.96120807e-02 7.55653942e+01] [ 2.15196252e-02 -2.37440869e-04 9.99768398e-01 3.35235900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:75.59, Z:3.35 [[ 4.00673361e-01 -9.16176843e-01 -8.99171673e-03 1.19218409e+02] [ 9.15960358e-01 4.00774160e-01 -1.99172107e-02 7.55885915e+01] [ 2.18513349e-02 -2.55760330e-04 9.99761198e-01 3.35296346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.23, Y:75.61, Z:3.35 [[ 3.99645019e-01 -9.16626952e-01 -8.88202549e-03 1.19232009e+02] [ 9.16415533e-01 3.99743615e-01 -1.96878737e-02 7.56133248e+01] [ 2.15969686e-02 -2.71465481e-04 9.99766721e-01 3.35402949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.25, Y:75.64, Z:3.36 [[ 3.98089595e-01 -9.17303237e-01 -8.91321536e-03 1.19246870e+02] [ 9.17090178e-01 3.98189251e-01 -1.97718321e-02 7.56381349e+01] [ 2.16859122e-02 -3.03261613e-04 9.99764787e-01 3.35525335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:75.66, Z:3.36 [[ 3.97368112e-01 -9.17612682e-01 -9.24933264e-03 1.19259748e+02] [ 9.17382976e-01 3.97475610e-01 -2.05332659e-02 7.56616849e+01] [ 2.25179693e-02 -3.25915206e-04 9.99746385e-01 3.35583608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:75.69, Z:3.36 [[ 3.96830546e-01 -9.17843777e-01 -9.39785722e-03 1.19274351e+02] [ 9.17606356e-01 3.96941667e-01 -2.08779294e-02 7.56853006e+01] [ 2.28930787e-02 -3.38533385e-04 9.99737862e-01 3.35586954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.29, Y:75.71, Z:3.36 [[ 3.96661605e-01 -9.17912492e-01 -9.80960639e-03 1.19287444e+02] [ 9.17653546e-01 3.96782727e-01 -2.18045264e-02 7.57098360e+01] [ 2.39069295e-02 -3.52801655e-04 9.99714126e-01 3.35675160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:75.73, Z:3.36 [[ 3.96848209e-01 -9.17824202e-01 -1.04992350e-02 1.19301672e+02] [ 9.17527053e-01 3.96986904e-01 -2.33560624e-02 7.57341507e+01] [ 2.56048182e-02 -3.64520568e-04 9.99672076e-01 3.35614671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.32, Y:75.76, Z:3.36 [[ 3.97152184e-01 -9.17691507e-01 -1.06037810e-02 1.19315211e+02] [ 9.17387902e-01 3.97293561e-01 -2.36064283e-02 7.57579472e+01] [ 2.58762326e-02 -3.52435867e-04 9.99665092e-01 3.35674169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:75.78, Z:3.36 [[ 3.97469535e-01 -9.17550942e-01 -1.08737197e-02 1.19327579e+02] [ 9.17231181e-01 3.97618096e-01 -2.42241918e-02 7.57826850e+01] [ 2.65505177e-02 -3.45336485e-04 9.99647413e-01 3.35794325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.34, Y:75.81, Z:3.36 [[ 3.98939419e-01 -9.16906812e-01 -1.13683173e-02 1.19341376e+02] [ 9.16556493e-01 3.99101245e-01 -2.53454437e-02 7.58065932e+01] [ 2.77765196e-02 -3.08408433e-04 9.99614110e-01 3.35855366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:75.83, Z:3.36 [[ 3.99255860e-01 -9.16766695e-01 -1.15579343e-02 1.19353940e+02] [ 9.16404058e-01 3.99423008e-01 -2.57849390e-02 7.58318584e+01] [ 2.82552782e-02 -2.96949907e-04 9.99600696e-01 3.35920328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:75.86, Z:3.36 [[ 4.00163918e-01 -9.16372140e-01 -1.14429005e-02 1.19368359e+02] [ 9.16015995e-01 4.00327409e-01 -2.55472712e-02 7.58567283e+01] [ 2.79917143e-02 -2.58783742e-04 9.99608122e-01 3.36146856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.38, Y:75.88, Z:3.36 [[ 4.00238206e-01 -9.16341456e-01 -1.13010952e-02 1.19381188e+02] [ 9.15993587e-01 4.00397646e-01 -2.52482219e-02 7.58806127e+01] [ 2.76609243e-02 -2.46427697e-04 9.99617333e-01 3.36277399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34804094199998 meters Centerline goodness [0,1] 0.999936153911637 Centerline is valid? [True, True] Translation: X:119.39, Y:75.90, Z:3.36 [[ 4.00237311e-01 -9.16343195e-01 -1.11912221e-02 1.19394571e+02] [ 9.16001614e-01 4.00393671e-01 -2.50190167e-02 7.59047329e+01] [ 2.74069002e-02 -2.37633575e-04 9.99624332e-01 3.36405137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37804094199998 meters Centerline goodness [0,1] 0.9999356926968339 Centerline is valid? [True, True] Translation: X:119.41, Y:75.93, Z:3.36 [[ 3.99265767e-01 -9.16768399e-01 -1.10701967e-02 1.19410150e+02] [ 9.16433966e-01 3.99419122e-01 -2.47618817e-02 7.59283464e+01] [ 2.71225589e-02 -2.58532611e-04 9.99632082e-01 3.36388507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:75.95, Z:3.37 [[ 3.97913692e-01 -9.17355762e-01 -1.10949864e-02 1.19423750e+02] [ 9.17019551e-01 3.98068236e-01 -2.48359233e-02 7.59529523e+01] [ 2.71999390e-02 -2.91765460e-04 9.99629971e-01 3.36713828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:75.98, Z:3.37 [[ 3.95762658e-01 -9.18285162e-01 -1.11480773e-02 1.19441196e+02] [ 9.17945587e-01 3.95919485e-01 -2.49732145e-02 7.59766645e+01] [ 2.73462733e-02 -3.49862595e-04 9.99625960e-01 3.36823487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:76.00, Z:3.37 [[ 3.94446681e-01 -9.18851726e-01 -1.11050003e-02 1.19455632e+02] [ 9.18514539e-01 3.94602788e-01 -2.48933925e-02 7.60004778e+01] [ 2.72554007e-02 -3.80988133e-04 9.99628430e-01 3.36971781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:76.02, Z:3.37 [[ 3.92819028e-01 -9.19553108e-01 -1.07374137e-02 1.19472549e+02] [ 9.19237733e-01 3.92965537e-01 -2.40847766e-02 7.60227538e+01] [ 2.63666648e-02 -4.09277242e-04 9.99652255e-01 3.37202765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.49, Y:76.05, Z:3.37 [[ 3.92134208e-01 -9.19844467e-01 -1.08129111e-02 1.19485755e+02] [ 9.19524418e-01 3.92283027e-01 -2.42666615e-02 7.60463088e+01] [ 2.65632759e-02 -4.26947746e-04 9.99647043e-01 3.37248090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:76.07, Z:3.37 [[ 3.91711074e-01 -9.20023391e-01 -1.09267578e-02 1.19500454e+02] [ 9.19696116e-01 3.91863203e-01 -2.45414940e-02 7.60692668e+01] [ 2.68605429e-02 -4.36121665e-04 9.99639095e-01 3.37262964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:76.09, Z:3.37 [[ 3.91657563e-01 -9.20043900e-01 -1.11164691e-02 1.19513415e+02] [ 9.19704632e-01 3.91815047e-01 -2.49871755e-02 7.60945332e+01] [ 2.73448982e-02 -4.37451827e-04 9.99625963e-01 3.37407111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.53, Y:76.12, Z:3.37 [[ 3.92176058e-01 -9.19820147e-01 -1.13506044e-02 1.19527219e+02] [ 9.19465799e-01 3.92340053e-01 -2.55328673e-02 7.61183029e+01] [ 2.79389425e-02 -4.23113321e-04 9.99609542e-01 3.37423938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:76.14, Z:3.38 [[ 3.93365507e-01 -9.19309059e-01 -1.15944877e-02 1.19541106e+02] [ 9.18938579e-01 3.93536153e-01 -2.60994911e-02 7.61425001e+01] [ 2.85563487e-02 -3.87982522e-04 9.99592109e-01 3.37503186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:76.17, Z:3.38 [[ 3.94126986e-01 -9.18981550e-01 -1.16974511e-02 1.19553754e+02] [ 9.18603738e-01 3.94300370e-01 -2.63512892e-02 7.61671873e+01] [ 2.88286579e-02 -3.59568176e-04 9.99584303e-01 3.37552407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:76.19, Z:3.38 [[ 3.94576608e-01 -9.18788693e-01 -1.16891942e-02 1.19566466e+02] [ 9.18410752e-01 3.94749570e-01 -2.63527631e-02 7.61921192e+01] [ 2.88269252e-02 -3.37297765e-04 9.99584361e-01 3.37528700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:76.22, Z:3.38 [[ 3.94842230e-01 -9.18670915e-01 -1.19734896e-02 1.19579363e+02] [ 9.18273687e-01 3.95023598e-01 -2.70146852e-02 7.62174598e+01] [ 2.95474165e-02 -3.28401878e-04 9.99563326e-01 3.37624329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:76.24, Z:3.38 [[ 3.95278523e-01 -9.18481224e-01 -1.21297456e-02 1.19594033e+02] [ 9.18072835e-01 3.95464468e-01 -2.73884006e-02 7.62417837e+01] [ 2.99526151e-02 -3.09943364e-04 9.99551272e-01 3.37714491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:76.27, Z:3.38 [[ 3.95391973e-01 -9.18434918e-01 -1.19368937e-02 1.19609751e+02] [ 9.18038782e-01 3.95572011e-01 -2.69736654e-02 7.62657281e+01] [ 2.94954572e-02 -2.93360548e-04 9.99564871e-01 3.37864428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:76.29, Z:3.38 [[ 3.95254255e-01 -9.18494433e-01 -1.19184565e-02 1.19623012e+02] [ 9.18098942e-01 3.95433803e-01 -2.69525447e-02 7.62895108e+01] [ 2.94687228e-02 -2.89214307e-04 9.99565661e-01 3.37954509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:76.31, Z:3.38 [[ 3.94996917e-01 -9.18603022e-01 -1.20798636e-02 1.19635973e+02] [ 9.18196204e-01 3.95181479e-01 -2.73373167e-02 7.63145637e+01] [ 2.98858801e-02 -2.93529136e-04 9.99553274e-01 3.38101045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.65, Y:76.34, Z:3.38 [[ 3.95135471e-01 -9.18543111e-01 -1.21042792e-02 1.19650063e+02] [ 9.18133981e-01 3.95320724e-01 -2.74138186e-02 7.63389809e+01] [ 2.99658466e-02 -2.81177976e-04 9.99550884e-01 3.38130818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:76.36, Z:3.38 [[ 3.94757485e-01 -9.18702152e-01 -1.23646458e-02 1.19662745e+02] [ 9.18274621e-01 3.94950974e-01 -2.80258401e-02 7.63639423e+01] [ 3.06308285e-02 -2.90730296e-04 9.99530724e-01 3.38190563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:76.39, Z:3.38 [[ 3.94756671e-01 -9.18702889e-01 -1.23358170e-02 1.19677159e+02] [ 9.18276696e-01 3.94949266e-01 -2.79819041e-02 7.63872567e+01] [ 3.05790780e-02 -2.81649933e-04 9.99532311e-01 3.38299109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:76.41, Z:3.38 [[ 3.94789289e-01 -9.18689939e-01 -1.22561186e-02 1.19690066e+02] [ 9.18268625e-01 3.94979394e-01 -2.78210486e-02 7.64119883e+01] [ 3.03998318e-02 -2.70957178e-04 9.99537782e-01 3.38398038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.70, Y:76.44, Z:3.38 [[ 3.94268490e-01 -9.18916919e-01 -1.20022186e-02 1.19703173e+02] [ 9.18512416e-01 3.94451036e-01 -2.72639196e-02 7.64356101e+01] [ 2.97875646e-02 -2.74882390e-04 9.99556214e-01 3.38442507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:76.46, Z:3.39 [[ 3.93772576e-01 -9.19126630e-01 -1.22227716e-02 1.19716354e+02] [ 9.18706723e-01 3.93962122e-01 -2.77813460e-02 7.64608040e+01] [ 3.03498839e-02 -2.89610271e-04 9.99539294e-01 3.38554268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:76.48, Z:3.39 [[ 3.93035546e-01 -9.19436187e-01 -1.26553559e-02 1.19731400e+02] [ 9.18985530e-01 3.93239110e-01 -2.87853732e-02 7.64838216e+01] [ 3.14428946e-02 -3.16414089e-04 9.99505500e-01 3.38629087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:76.51, Z:3.39 [[ 3.92139058e-01 -9.19818489e-01 -1.26849071e-02 1.19746643e+02] [ 9.19365409e-01 3.92344021e-01 -2.88689011e-02 7.65079663e+01] [ 3.15309965e-02 -3.41441155e-04 9.99502716e-01 3.38706648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:76.53, Z:3.39 [[ 3.91308877e-01 -9.20176129e-01 -1.23795873e-02 1.19760154e+02] [ 9.19744129e-01 3.91504492e-01 -2.81952027e-02 7.65327415e+01] [ 3.07912165e-02 -3.53019649e-04 9.99525776e-01 3.38843970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15804094199999 meters Centerline goodness [0,1] 0.9999559160641862 Centerline is valid? [True, True] Translation: X:119.77, Y:76.56, Z:3.39 [[ 3.89780843e-01 -9.20823331e-01 -1.24614849e-02 1.19773553e+02] [ 9.20385246e-01 3.89979788e-01 -2.84035923e-02 7.65571186e+01] [ 3.10144177e-02 -3.98190739e-04 9.99518858e-01 3.38997898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.188040942 meters Centerline goodness [0,1] 0.9999559160641862 Centerline is valid? [True, True] Translation: X:119.78, Y:76.58, Z:3.39 [[ 3.89521437e-01 -9.20933201e-01 -1.24534777e-02 1.19784551e+02] [ 9.20495060e-01 3.89720260e-01 -2.84071029e-02 7.65824138e+01] [ 3.10144168e-02 -3.98189117e-04 9.99518858e-01 3.39061690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:76.60, Z:3.39 [[ 3.87667113e-01 -9.21717080e-01 -1.23221410e-02 1.19800448e+02] [ 9.21287915e-01 3.87862636e-01 -2.81274489e-02 7.66047998e+01] [ 3.07048481e-02 -4.48152692e-04 9.99528395e-01 3.39128752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:76.63, Z:3.39 [[ 3.86787341e-01 -9.22085997e-01 -1.23679374e-02 1.19813227e+02] [ 9.21653294e-01 3.86984741e-01 -2.82491753e-02 7.66301054e+01] [ 3.08343721e-02 -4.72526837e-04 9.99524396e-01 3.39275709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:76.65, Z:3.39 [[ 3.85482878e-01 -9.22637438e-01 -1.19628539e-02 1.19827559e+02] [ 9.22232267e-01 3.85668144e-01 -2.73446408e-02 7.66535719e+01] [ 2.98428810e-02 -4.91639087e-04 9.99554481e-01 3.39404048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308040942 meters Centerline goodness [0,1] 0.9999337426564777 Centerline is valid? [True, True] Translation: X:119.84, Y:76.68, Z:3.39 [[ 3.85368335e-01 -9.22687551e-01 -1.17868516e-02 1.19840329e+02] [ 9.22293615e-01 3.85548250e-01 -2.69636004e-02 7.66789268e+01] [ 2.94233784e-02 -4.80020152e-04 9.99566923e-01 3.39490865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:76.70, Z:3.40 [[ 3.85167146e-01 -9.22773116e-01 -1.16638819e-02 1.19851663e+02] [ 9.22386810e-01 3.85343421e-01 -2.67024266e-02 7.67043230e+01] [ 2.91348816e-02 -4.73713342e-04 9.99575377e-01 3.39600004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.87, Y:76.73, Z:3.40 [[ 3.85573079e-01 -9.22599846e-01 -1.19551508e-02 1.19865887e+02] [ 9.22193262e-01 3.85758098e-01 -2.73911984e-02 7.67281405e+01] [ 2.98829116e-02 -4.63650820e-04 9.99553299e-01 3.39588802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.88, Y:76.75, Z:3.40 [[ 3.85713180e-01 -9.22541540e-01 -1.19351925e-02 1.19876564e+02] [ 9.22135626e-01 3.85897530e-01 -2.73675552e-02 7.67538915e+01] [ 2.98534679e-02 -4.49839490e-04 9.99554185e-01 3.39721111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428040942 meters Centerline goodness [0,1] 0.9999778300004434 Centerline is valid? [True, True] Translation: X:119.89, Y:76.78, Z:3.40 [[ 3.86606365e-01 -9.22166545e-01 -1.20159408e-02 1.19890012e+02] [ 9.21754293e-01 3.86792828e-01 -2.75741265e-02 7.67787508e+01] [ 3.00756167e-02 -4.15412221e-04 9.99547540e-01 3.39866890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:76.80, Z:3.40 [[ 3.87205719e-01 -9.21916008e-01 -1.19417312e-02 1.19900995e+02] [ 9.21508085e-01 3.87389630e-01 -2.74248865e-02 7.68046583e+01] [ 2.99095447e-02 -3.85328971e-04 9.99552535e-01 3.39982990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:76.83, Z:3.40 [[ 3.88118311e-01 -9.21530524e-01 -1.20693869e-02 1.19912186e+02] [ 9.21113027e-01 3.88305768e-01 -2.77384467e-02 7.68290788e+01] [ 3.02484379e-02 -3.51470403e-04 9.99542350e-01 3.40019406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.92, Y:76.85, Z:3.40 [[ 3.89240052e-01 -9.21053763e-01 -1.23347924e-02 1.19924755e+02] [ 9.20616951e-01 3.89435317e-01 -2.83648275e-02 7.68536102e+01] [ 3.09291349e-02 -3.14892069e-04 9.99521530e-01 3.39899956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:76.88, Z:3.40 [[ 3.89592836e-01 -9.20904248e-01 -1.23607607e-02 1.19934820e+02] [ 9.20464978e-01 3.89788761e-01 -2.84419822e-02 7.68796973e+01] [ 3.10104278e-02 -2.96854802e-04 9.99519017e-01 3.40013814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.95, Y:76.90, Z:3.40 [[ 3.89669022e-01 -9.20868269e-01 -1.26366350e-02 1.19946662e+02] [ 9.20408426e-01 3.89873756e-01 -2.90995378e-02 7.69048981e+01] [ 3.17235333e-02 -2.91676893e-04 9.99496639e-01 3.40066090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.96, Y:76.93, Z:3.40 [[ 3.89198682e-01 -9.21065766e-01 -1.27373746e-02 1.19959693e+02] [ 9.20597943e-01 3.89406938e-01 -2.93541196e-02 7.69300277e+01] [ 3.19970967e-02 -3.01416178e-04 9.99487916e-01 3.40088536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.97, Y:76.95, Z:3.40 [[ 3.88401760e-01 -9.21403518e-01 -1.26344954e-02 1.19971318e+02] [ 9.20942688e-01 3.88607073e-01 -2.91394657e-02 7.69543161e+01] [ 3.17590605e-02 -3.17826336e-04 9.99495503e-01 3.40128967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66804094199998 meters Centerline goodness [0,1] 0.9999776875362577 Centerline is valid? [True, True] Translation: X:119.99, Y:76.98, Z:3.40 [[ 3.86618045e-01 -9.22149034e-01 -1.29478594e-02 1.19985947e+02] [ 9.21664711e-01 3.86834610e-01 -2.98855418e-02 7.69782728e+01] [ 3.25676037e-02 -3.79295365e-04 9.99469463e-01 3.39994029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69804094199998 meters Centerline goodness [0,1] 0.9999330581278589 Centerline is valid? [True, True] Translation: X:120.00, Y:77.00, Z:3.40 [[ 3.85481955e-01 -9.22624852e-01 -1.29246195e-02 1.19995160e+02] [ 9.22141850e-01 3.85698347e-01 -2.98528704e-02 7.70044274e+01] [ 3.25280045e-02 -4.10589702e-04 9.99470740e-01 3.40295773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:77.03, Z:3.40 [[ 3.84224913e-01 -9.23150839e-01 -1.27962674e-02 1.20006675e+02] [ 9.22676944e-01 3.84437684e-01 -2.95791094e-02 7.70297422e+01] [ 3.22253471e-02 -4.41790155e-04 9.99480531e-01 3.40409222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75804094199998 meters Centerline goodness [0,1] 0.9999776959964314 Centerline is valid? [True, True] Translation: X:120.02, Y:77.06, Z:3.41 [[ 3.81968624e-01 -9.24090584e-01 -1.25125043e-02 1.20018473e+02] [ 9.23637296e-01 3.82173183e-01 -2.89448410e-02 7.70555379e+01] [ 3.15295986e-02 -5.00994589e-04 9.99502693e-01 3.40616435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.03, Y:77.08, Z:3.41 [[ 3.80806471e-01 -9.24569854e-01 -1.25306047e-02 1.20029604e+02] [ 9.24114875e-01 3.81012204e-01 -2.90068653e-02 7.70807643e+01] [ 3.15931865e-02 -5.33716167e-04 9.99500668e-01 3.40673639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:77.11, Z:3.41 [[ 3.78622276e-01 -9.25464091e-01 -1.27038383e-02 1.20041391e+02] [ 9.24996421e-01 3.78834849e-01 -2.94241018e-02 7.71053372e+01] [ 3.20436063e-02 -6.10384534e-04 9.99486285e-01 3.40719302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.05, Y:77.13, Z:3.41 [[ 3.77314341e-01 -9.25999478e-01 -1.26037943e-02 1.20052564e+02] [ 9.25538937e-01 3.77524240e-01 -2.92083031e-02 7.71318806e+01] [ 3.18051113e-02 -6.44590682e-04 9.99493882e-01 3.40793892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87804094199998 meters Centerline goodness [0,1] 0.9999556147359077 Centerline is valid? [True, True] Translation: X:120.06, Y:77.16, Z:3.41 [[ 3.76306316e-01 -9.26408391e-01 -1.26905212e-02 1.20062749e+02] [ 9.25941017e-01 3.76519636e-01 -2.94312123e-02 7.71581870e+01] [ 3.20435525e-02 -6.75523066e-04 9.99486245e-01 3.40862607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.07, Y:77.18, Z:3.41 [[ 3.74389973e-01 -9.27184620e-01 -1.26818531e-02 1.20073454e+02] [ 9.26717680e-01 3.74603981e-01 -2.94312478e-02 7.71834056e+01] [ 3.20388730e-02 -7.33733412e-04 9.99486354e-01 3.40907231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.08, Y:77.21, Z:3.41 [[ 3.73047510e-01 -9.27727152e-01 -1.25653248e-02 1.20083673e+02] [ 9.27268546e-01 3.73258280e-01 -2.91770448e-02 7.72099011e+01] [ 3.17584482e-02 -7.67006585e-04 9.99495279e-01 3.41033980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.09, Y:77.23, Z:3.41 [[ 3.72619514e-01 -9.27898300e-01 -1.26270618e-02 1.20094511e+02] [ 9.27434548e-01 3.72832591e-01 -2.93431176e-02 7.72349736e+01] [ 3.19352091e-02 -7.76955148e-04 9.99489639e-01 3.41080197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.10, Y:77.26, Z:3.41 [[ 3.72700585e-01 -9.27864630e-01 -1.27083426e-02 1.20104488e+02] [ 9.27394090e-01 3.72916391e-01 -2.95561568e-02 7.72613844e+01] [ 3.21632617e-02 -7.70044866e-04 9.99482332e-01 3.41110182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.11, Y:77.29, Z:3.41 [[ 3.73346671e-01 -9.27605333e-01 -1.26732246e-02 1.20112555e+02] [ 9.27136516e-01 3.73560977e-01 -2.94970767e-02 7.72886593e+01] [ 3.20958678e-02 -7.37173901e-04 9.99484523e-01 3.41201765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.12, Y:77.32, Z:3.41 [[ 3.73564675e-01 -9.27518053e-01 -1.26370856e-02 1.20121954e+02] [ 9.27051128e-01 3.73777668e-01 -2.94357042e-02 7.73153316e+01] [ 3.20256074e-02 -7.19085231e-04 9.99486790e-01 3.41336088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088040942 meters Centerline goodness [0,1] 0.9999778486620592 Centerline is valid? [True, True] Translation: X:120.13, Y:77.34, Z:3.41 [[ 3.74993438e-01 -9.26942594e-01 -1.25438677e-02 1.20130783e+02] [ 9.26481498e-01 3.75202607e-01 -2.92410308e-02 7.73424771e+01] [ 3.18112488e-02 -6.56466623e-04 9.99493679e-01 3.41393960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.14, Y:77.37, Z:3.41 [[ 3.75004825e-01 -9.26938484e-01 -1.25071298e-02 1.20141000e+02] [ 9.26479381e-01 3.75212779e-01 -2.91775001e-02 7.73685839e+01] [ 3.17385827e-02 -6.45894586e-04 9.99495996e-01 3.41405422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.15, Y:77.39, Z:3.41 [[ 3.75469134e-01 -9.26748358e-01 -1.26652735e-02 1.20151091e+02] [ 9.26276712e-01 3.75682159e-01 -2.95697240e-02 7.73944957e+01] [ 3.21618105e-02 -6.29029188e-04 9.99482477e-01 3.41459957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.178040942 meters Centerline goodness [0,1] 0.9999559868840915 Centerline is valid? [True, True] Translation: X:120.16, Y:77.42, Z:3.41 [[ 3.76524681e-01 -9.26319980e-01 -1.26672363e-02 1.20160037e+02] [ 9.25847195e-01 3.76737247e-01 -2.95975919e-02 7.74197841e+01] [ 3.21890605e-02 -5.83701393e-04 9.99481627e-01 3.41471576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:77.45, Z:3.42 [[ 3.76761326e-01 -9.26223239e-01 -1.27049355e-02 1.20170304e+02] [ 9.25746820e-01 3.76975051e-01 -2.97091895e-02 7.74459238e+01] [ 3.23067854e-02 -5.68279972e-04 9.99477838e-01 3.41521074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.18, Y:77.47, Z:3.42 [[ 3.78182527e-01 -9.25644485e-01 -1.26595235e-02 1.20180686e+02] [ 9.25170485e-01 3.78394012e-01 -2.96234008e-02 7.74725552e+01] [ 3.22110255e-02 -5.09164906e-04 9.99480961e-01 3.41627662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:77.50, Z:3.42 [[ 3.78401512e-01 -9.25558430e-01 -1.24052070e-02 1.20191481e+02] [ 9.25102738e-01 3.78604486e-01 -2.90442102e-02 7.74989755e+01] [ 3.15787806e-02 -4.85717896e-04 9.99501148e-01 3.41742764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29804094199997 meters Centerline goodness [0,1] 0.9999778800212352 Centerline is valid? [True, True] Translation: X:120.20, Y:77.52, Z:3.42 [[ 3.78898521e-01 -9.25356448e-01 -1.23026057e-02 1.20201947e+02] [ 9.24907474e-01 3.79097922e-01 -2.88258565e-02 7.75246524e+01] [ 3.13380844e-02 -4.56697596e-04 9.99508737e-01 3.41831951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32804094199997 meters Centerline goodness [0,1] 0.9999780045750484 Centerline is valid? [True, True] Translation: X:120.21, Y:77.55, Z:3.42 [[ 3.79232831e-01 -9.25223149e-01 -1.20243503e-02 1.20211922e+02] [ 9.24793547e-01 3.79423170e-01 -2.81949236e-02 7.75503690e+01] [ 3.06489131e-02 -4.27600859e-04 9.99530120e-01 3.41912495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.22, Y:77.58, Z:3.42 [[ 3.79087330e-01 -9.25286996e-01 -1.16949215e-02 1.20222363e+02] [ 9.24880039e-01 3.79267457e-01 -2.74428354e-02 7.75764131e+01] [ 2.98280019e-02 -4.13168277e-04 9.99554961e-01 3.42032272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.24, Y:77.60, Z:3.42 [[ 3.78683065e-01 -9.25453755e-01 -1.15966670e-02 1.20235316e+02] [ 9.25053063e-01 3.78860363e-01 -2.72333607e-02 7.76005784e+01] [ 2.95967334e-02 -4.14719791e-04 9.99561835e-01 3.42123368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.25, Y:77.63, Z:3.42 [[ 3.78222261e-01 -9.25643493e-01 -1.14911080e-02 1.20247079e+02] [ 9.25249521e-01 3.78396551e-01 -2.70069138e-02 7.76262025e+01] [ 2.93469697e-02 -4.17526159e-04 9.99569198e-01 3.42219095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44804094199998 meters Centerline goodness [0,1] 0.9999778280342335 Centerline is valid? [True, True] Translation: X:120.26, Y:77.65, Z:3.42 [[ 3.78133434e-01 -9.25680884e-01 -1.14020791e-02 1.20257092e+02] [ 9.25292420e-01 3.78305081e-01 -2.68179738e-02 7.76519790e+01] [ 2.91383501e-02 -4.09484836e-04 9.99575304e-01 3.42396218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.27, Y:77.68, Z:3.42 [[ 3.77477773e-01 -9.25953237e-01 -1.10060297e-02 1.20269254e+02] [ 9.25590848e-01 3.77637969e-01 -2.59064910e-02 7.76778447e+01] [ 2.81444939e-02 -4.07955768e-04 9.99603782e-01 3.42423469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50804094199998 meters Centerline goodness [0,1] 0.999977875127218 Centerline is valid? [True, True] Translation: X:120.28, Y:77.70, Z:3.42 [[ 3.77271997e-01 -9.26037000e-01 -1.10142948e-02 1.20281421e+02] [ 9.25673513e-01 3.77432523e-01 -2.59468176e-02 7.77019415e+01] [ 2.81848662e-02 -4.06633263e-04 9.99602645e-01 3.42415809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:77.73, Z:3.42 [[ 3.76910056e-01 -9.26183802e-01 -1.10622998e-02 1.20293428e+02] [ 9.25816588e-01 3.77072136e-01 -2.60816013e-02 7.77277986e+01] [ 2.83276417e-02 -4.11242815e-04 9.99598607e-01 3.42472750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.30, Y:77.75, Z:3.42 [[ 3.76742538e-01 -9.26252630e-01 -1.10057507e-02 1.20304906e+02] [ 9.25888621e-01 3.76903039e-01 -2.59684601e-02 7.77536230e+01] [ 2.82014553e-02 -4.06675796e-04 9.99602177e-01 3.42483543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59804094199998 meters Centerline goodness [0,1] 0.999911190053286 Centerline is valid? [True, True] Translation: X:120.32, Y:77.78, Z:3.43 [[ 3.76469529e-01 -9.26361468e-01 -1.11858956e-02 1.20318017e+02] [ 9.25984887e-01 3.76635447e-01 -2.64145756e-02 7.77783761e+01] [ 2.86824498e-02 -4.13687375e-04 9.99588488e-01 3.42583653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.33, Y:77.80, Z:3.43 [[ 3.75729606e-01 -9.26662723e-01 -1.11113204e-02 1.20329720e+02] [ 9.26290693e-01 3.75893624e-01 -2.62590036e-02 7.78035385e+01] [ 2.85099143e-02 -4.26027634e-04 9.99593419e-01 3.42627655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:77.83, Z:3.43 [[ 3.75456441e-01 -9.26772219e-01 -1.12122713e-02 1.20340882e+02] [ 9.26392836e-01 3.75623573e-01 -2.65187533e-02 7.78287784e+01] [ 2.87884373e-02 -4.30331104e-04 9.99585434e-01 3.42685546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:77.85, Z:3.43 [[ 3.76242604e-01 -9.26451536e-01 -1.13602309e-02 1.20350165e+02] [ 9.26061271e-01 3.76413855e-01 -2.68911375e-02 7.78538460e+01] [ 2.91894840e-02 -4.02678216e-04 9.99573815e-01 3.42719427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.718040942 meters Centerline goodness [0,1] 0.9999777846892078 Centerline is valid? [True, True] Translation: X:120.36, Y:77.88, Z:3.43 [[ 3.77294501e-01 -9.26023880e-01 -1.13416751e-02 1.20360593e+02] [ 9.25634068e-01 3.77464759e-01 -2.68687279e-02 7.78802665e+01] [ 2.91621663e-02 -3.60817569e-04 9.99574628e-01 3.42770113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748040942 meters Centerline goodness [0,1] 0.999955628521986 Centerline is valid? [True, True] Translation: X:120.37, Y:77.91, Z:3.43 [[ 3.77704742e-01 -9.25854473e-01 -1.15162249e-02 1.20370307e+02] [ 9.25451857e-01 3.77880108e-01 -2.73035499e-02 7.79065558e+01] [ 2.96308661e-02 -3.45031479e-04 9.99560850e-01 3.42813126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.778040942 meters Centerline goodness [0,1] 0.9999778177059071 Centerline is valid? [True, True] Translation: X:120.38, Y:77.93, Z:3.43 [[ 3.78415378e-01 -9.25564220e-01 -1.15185622e-02 1.20379435e+02] [ 9.25160676e-01 3.78590513e-01 -2.73303430e-02 7.79333658e+01] [ 2.96568059e-02 -3.14298728e-04 9.99560091e-01 3.42940575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.39, Y:77.96, Z:3.43 [[ 3.77981040e-01 -9.25743642e-01 -1.13596802e-02 1.20390288e+02] [ 9.25350612e-01 3.78151569e-01 -2.69747080e-02 7.79582436e+01] [ 2.92673453e-02 -3.15758859e-04 9.99571570e-01 3.42987536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.40, Y:77.98, Z:3.43 [[ 3.76319316e-01 -9.26419165e-01 -1.14587371e-02 1.20401274e+02] [ 9.26018893e-01 3.76493557e-01 -2.72325494e-02 7.79842115e+01] [ 2.95428963e-02 -3.62872667e-04 9.99563448e-01 3.43094451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:78.01, Z:3.43 [[ 3.75175510e-01 -9.26886441e-01 -1.11742137e-02 1.20412474e+02] [ 9.26505418e-01 3.75341685e-01 -2.65768655e-02 7.80098123e+01] [ 2.88278845e-02 -3.81980491e-04 9.99584317e-01 3.43181204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.898040942 meters Centerline goodness [0,1] 0.9999556924167571 Centerline is valid? [True, True] Translation: X:120.42, Y:78.03, Z:3.43 [[ 3.73903638e-01 -9.27402252e-01 -1.10060000e-02 1.20423816e+02] [ 9.27032255e-01 3.74065364e-01 -2.61973634e-02 7.80348090e+01] [ 2.84124572e-02 -4.07627492e-04 9.99596202e-01 3.43243585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:78.06, Z:3.43 [[ 3.71721646e-01 -9.28282060e-01 -1.07441049e-02 1.20435645e+02] [ 9.27929263e-01 3.71876606e-01 -2.55944046e-02 7.80607974e+01] [ 2.77543078e-02 -4.55775124e-04 9.99614671e-01 3.43410286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:78.09, Z:3.43 [[ 3.70469402e-01 -9.28782328e-01 -1.07614754e-02 1.20445932e+02] [ 9.28428078e-01 3.70625350e-01 -2.56545318e-02 7.80866717e+01] [ 2.78159514e-02 -4.87036828e-04 9.99612943e-01 3.43464998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:78.11, Z:3.44 [[ 3.68924452e-01 -9.29396517e-01 -1.08102790e-02 1.20456204e+02] [ 9.29038823e-01 3.69082421e-01 -2.57882029e-02 7.81126322e+01] [ 2.79573500e-02 -5.29270264e-04 9.99608977e-01 3.43535707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.47, Y:78.14, Z:3.44 [[ 3.68170696e-01 -9.29695578e-01 -1.07921637e-02 1.20467700e+02] [ 9.29338811e-01 3.68328433e-01 -2.57592694e-02 7.81370498e+01] [ 2.79233396e-02 -5.45768394e-04 9.99609919e-01 3.43570993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.48, Y:78.16, Z:3.44 [[ 3.67330890e-01 -9.30029657e-01 -1.06233328e-02 1.20477606e+02] [ 9.29683532e-01 3.67484054e-01 -2.53771390e-02 7.81630495e+01] [ 2.75053973e-02 -5.54530543e-04 9.99621501e-01 3.43663474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.49, Y:78.19, Z:3.44 [[ 3.65818410e-01 -9.30625315e-01 -1.06496372e-02 1.20489168e+02] [ 9.30277195e-01 3.65972911e-01 -2.54591464e-02 7.81875710e+01] [ 2.75904049e-02 -5.93690157e-04 9.99619136e-01 3.43737369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:78.21, Z:3.44 [[ 3.65557676e-01 -9.30727820e-01 -1.06447273e-02 1.20499733e+02] [ 9.30379685e-01 3.65712140e-01 -2.54611992e-02 7.82130594e+01] [ 2.75903525e-02 -5.96101226e-04 9.99619136e-01 3.43801262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:78.24, Z:3.44 [[ 3.64529883e-01 -9.31130021e-01 -1.07167444e-02 1.20510960e+02] [ 9.30776770e-01 3.64686846e-01 -2.56536151e-02 7.82394523e+01] [ 2.77951069e-02 -6.23387436e-04 9.99613447e-01 3.43829251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:78.26, Z:3.44 [[ 3.63097602e-01 -9.31685140e-01 -1.10874504e-02 1.20522343e+02] [ 9.31306698e-01 3.63266205e-01 -2.65612326e-02 7.82649225e+01] [ 2.87744018e-02 -6.81496931e-04 9.99585699e-01 3.43856509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:78.29, Z:3.44 [[ 3.62276183e-01 -9.32004908e-01 -1.10823585e-02 1.20532162e+02] [ 9.31626408e-01 3.62444978e-01 -2.65682900e-02 7.82914693e+01] [ 2.87785218e-02 -6.99559149e-04 9.99585568e-01 3.43930304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.54, Y:78.32, Z:3.44 [[ 3.61731554e-01 -9.32216956e-01 -1.10376050e-02 1.20544069e+02] [ 9.31840994e-01 3.61899224e-01 -2.64823150e-02 7.83160002e+01] [ 2.86817638e-02 -7.05803808e-04 9.99588344e-01 3.43956693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.55, Y:78.34, Z:3.44 [[ 3.61420205e-01 -9.32337588e-01 -1.10479893e-02 1.20552850e+02] [ 9.31960338e-01 3.61588331e-01 -2.65293750e-02 7.83431043e+01] [ 2.87291575e-02 -7.08035735e-04 9.99586982e-01 3.44036454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:78.37, Z:3.44 [[ 3.60924056e-01 -9.32532847e-01 -1.07848981e-02 1.20563051e+02] [ 9.32172872e-01 3.61084478e-01 -2.59178710e-02 7.83697363e+01] [ 2.80635253e-02 -6.99006360e-04 9.99605897e-01 3.44111143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.57, Y:78.40, Z:3.44 [[ 3.60692850e-01 -9.32624288e-01 -1.06115559e-02 1.20573516e+02] [ 9.32275273e-01 3.60848257e-01 -2.55215838e-02 7.83961524e+01] [ 2.76312104e-02 -6.87438382e-04 9.99617949e-01 3.44244921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:78.42, Z:3.44 [[ 3.60957275e-01 -9.32521362e-01 -1.06655897e-02 1.20584661e+02] [ 9.32168158e-01 3.61114183e-01 -2.56724051e-02 7.84206465e+01] [ 2.77915618e-02 -6.75481756e-04 9.99613512e-01 3.44279120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:78.45, Z:3.44 [[ 3.61113789e-01 -9.32461511e-01 -1.06001050e-02 1.20593469e+02] [ 9.32112022e-01 3.61268731e-01 -2.55358930e-02 7.84473784e+01] [ 2.76407239e-02 -6.59122263e-04 9.99617705e-01 3.44370449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40804094199999 meters Centerline goodness [0,1] 0.9999555674042477 Centerline is valid? [True, True] Translation: X:120.60, Y:78.47, Z:3.44 [[ 3.62543393e-01 -9.31904911e-01 -1.07482541e-02 1.20603447e+02] [ 9.31544750e-01 3.62702158e-01 -2.59137624e-02 7.84734460e+01] [ 2.80475774e-02 -6.17616370e-04 9.99606399e-01 3.44293924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:78.50, Z:3.44 [[ 3.63739593e-01 -9.31438926e-01 -1.07254980e-02 1.20612964e+02] [ 9.31079530e-01 3.63897237e-01 -2.58787467e-02 7.85000201e+01] [ 2.80074511e-02 -5.73166890e-04 9.99607550e-01 3.44357112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:78.53, Z:3.44 [[ 3.66975114e-01 -9.30170338e-01 -1.06022353e-02 1.20620749e+02] [ 9.29818091e-01 3.67127943e-01 -2.56005883e-02 7.85277782e+01] [ 2.77052847e-02 -4.63371411e-04 9.99616028e-01 3.44375376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.63, Y:78.55, Z:3.44 [[ 3.68498778e-01 -9.29566092e-01 -1.07485249e-02 1.20629557e+02] [ 9.29203237e-01 3.68655268e-01 -2.59737951e-02 7.85542003e+01] [ 2.81068595e-02 -4.16252364e-04 9.99604838e-01 3.44412203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:78.58, Z:3.44 [[ 3.71946864e-01 -9.28190263e-01 -1.08795961e-02 1.20636970e+02] [ 9.27817355e-01 3.72105819e-01 -2.63099984e-02 7.85811568e+01] [ 2.84690453e-02 -3.08356659e-04 9.99594627e-01 3.44363405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.558040942 meters Centerline goodness [0,1] 0.999955859633635 Centerline is valid? [True, True] Translation: X:120.65, Y:78.61, Z:3.44 [[ 3.73083273e-01 -9.27731095e-01 -1.11304081e-02 1.20645993e+02] [ 9.27340139e-01 3.73249166e-01 -2.69318892e-02 7.86079640e+01] [ 2.91399666e-02 -2.73836833e-04 9.99575304e-01 3.44442648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:78.63, Z:3.45 [[ 3.75603222e-01 -9.26715121e-01 -1.10138122e-02 1.20653970e+02] [ 9.26331266e-01 3.75764621e-01 -2.66708889e-02 7.86347748e+01] [ 2.88549170e-02 -1.84766835e-04 9.99583593e-01 3.44500294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:78.66, Z:3.45 [[ 3.76550906e-01 -9.26330007e-01 -1.10514012e-02 1.20663505e+02] [ 9.25942740e-01 3.76713016e-01 -2.67833323e-02 7.86617128e+01] [ 2.89734111e-02 -1.47676630e-04 9.99580172e-01 3.44533070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.67, Y:78.69, Z:3.45 [[ 3.77187905e-01 -9.26071787e-01 -1.09694689e-02 1.20672657e+02] [ 9.25689521e-01 3.77347361e-01 -2.66060115e-02 7.86869157e+01] [ 2.87783768e-02 -1.18856697e-04 9.99585810e-01 3.44541183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.678040942 meters Centerline goodness [0,1] 0.9999779575462341 Centerline is valid? [True, True] Translation: X:120.68, Y:78.71, Z:3.45 [[ 3.77984522e-01 -9.25745720e-01 -1.10708413e-02 1.20681126e+02] [ 9.25355561e-01 3.78146605e-01 -2.68743718e-02 7.87134641e+01] [ 2.90652357e-02 -8.63680080e-05 9.99577513e-01 3.44573710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708040942 meters Centerline goodness [0,1] 0.9998453243768782 Centerline is valid? [True, True] Translation: X:120.69, Y:78.74, Z:3.45 [[ 3.77984940e-01 -9.25745427e-01 -1.10810106e-02 1.20691988e+02] [ 9.25353920e-01 3.78147323e-01 -2.69207124e-02 7.87394363e+01] [ 2.91119809e-02 -7.82327187e-05 9.99576153e-01 3.44739791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:78.76, Z:3.45 [[ 3.77268474e-01 -9.26042986e-01 -1.06247834e-02 1.20703159e+02] [ 9.25682612e-01 3.77418044e-01 -2.58325906e-02 7.87638047e+01] [ 2.79320743e-02 -8.93551502e-05 9.99609820e-01 3.44930912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:78.79, Z:3.45 [[ 3.76778360e-01 -9.26245657e-01 -1.03465355e-02 1.20714312e+02] [ 9.25903488e-01 3.76920382e-01 -2.51745182e-02 7.87892566e+01] [ 2.72176083e-02 -9.46796163e-05 9.99629528e-01 3.45084626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.73, Y:78.81, Z:3.45 [[ 3.76363954e-01 -9.26415609e-01 -1.02124477e-02 1.20725892e+02] [ 9.26081797e-01 3.76502471e-01 -2.48675521e-02 7.88137683e+01] [ 2.68827002e-02 -9.83116545e-05 9.99638590e-01 3.45148263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82804094199997 meters Centerline goodness [0,1] 0.9999559131489033 Centerline is valid? [True, True] Translation: X:120.74, Y:78.84, Z:3.45 [[ 3.75217325e-01 -9.26881990e-01 -1.00864209e-02 1.20737513e+02] [ 9.26556134e-01 3.75352849e-01 -2.45757711e-02 7.88393612e+01] [ 2.65648065e-02 -1.24380009e-04 9.99647086e-01 3.45298933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85804094199997 meters Centerline goodness [0,1] 0.9999779725979118 Centerline is valid? [True, True] Translation: X:120.75, Y:78.86, Z:3.45 [[ 3.74704449e-01 -9.27089285e-01 -1.01011640e-02 1.20748691e+02] [ 9.26762015e-01 3.74840553e-01 -2.46318435e-02 7.88644796e+01] [ 2.66222440e-02 -1.31713760e-04 9.99645557e-01 3.45325837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.76, Y:78.89, Z:3.45 [[ 3.74075095e-01 -9.27345298e-01 -9.92580969e-03 1.20759683e+02] [ 9.27028853e-01 3.74206732e-01 -2.42245336e-02 7.88905574e+01] [ 2.61788121e-02 -1.39717286e-04 9.99657266e-01 3.45422585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:78.92, Z:3.45 [[ 3.73805793e-01 -9.27454189e-01 -9.89730271e-03 1.20770637e+02] [ 9.27139089e-01 3.73936770e-01 -2.41744074e-02 7.89167040e+01] [ 2.61216208e-02 -1.39642694e-04 9.99658762e-01 3.45491828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:78.94, Z:3.46 [[ 3.73590797e-01 -9.27542825e-01 -9.70688606e-03 1.20781749e+02] [ 9.27239283e-01 3.73716856e-01 -2.37281110e-02 7.89425379e+01] [ 2.56364661e-02 -1.36002154e-04 9.99671323e-01 3.45576057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.79, Y:78.97, Z:3.46 [[ 3.72403155e-01 -9.28019440e-01 -9.78825302e-03 1.20793597e+02] [ 9.27710447e-01 3.72531734e-01 -2.39464796e-02 7.89683374e+01] [ 2.58692335e-02 -1.62920027e-04 9.99665322e-01 3.45710405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:78.99, Z:3.46 [[ 3.71635679e-01 -9.28327572e-01 -9.73865466e-03 1.20804545e+02] [ 9.28021305e-01 3.71763215e-01 -2.38446828e-02 7.89928821e+01] [ 2.57561501e-02 -1.76144123e-04 9.99668240e-01 3.45762015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:79.02, Z:3.46 [[ 3.69809018e-01 -9.29056413e-01 -9.77100464e-03 1.20816299e+02] [ 9.28747827e-01 3.69938014e-01 -2.39445072e-02 7.90187305e+01] [ 2.58604640e-02 -2.19904654e-04 9.99665538e-01 3.45832833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:79.04, Z:3.46 [[ 3.68923708e-01 -9.29406096e-01 -9.98031731e-03 1.20827438e+02] [ 9.29083741e-01 3.69058600e-01 -2.44775929e-02 7.90447513e+01] [ 2.64329460e-02 -2.42186188e-04 9.99650559e-01 3.45923544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.84, Y:79.07, Z:3.46 [[ 3.67721112e-01 -9.29883805e-01 -9.86374707e-03 1.20838358e+02] [ 9.29568599e-01 3.67853285e-01 -2.42111523e-02 7.90702365e+01] [ 2.61419702e-02 -2.66077688e-04 9.99658205e-01 3.46005960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.85, Y:79.10, Z:3.46 [[ 3.65638968e-01 -9.30705737e-01 -9.74555238e-03 1.20850961e+02] [ 9.30397838e-01 3.65768687e-01 -2.39401530e-02 7.90951399e+01] [ 2.58458557e-02 -3.13788004e-04 9.99665891e-01 3.46127965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:79.12, Z:3.46 [[ 3.63080105e-01 -9.31708547e-01 -9.59269792e-03 1.20863492e+02] [ 9.31410149e-01 3.63206613e-01 -2.35815928e-02 7.91203020e+01] [ 2.54553029e-02 -3.72728991e-04 9.99675892e-01 3.46240348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.87, Y:79.15, Z:3.46 [[ 3.61890539e-01 -9.32173358e-01 -9.38445919e-03 1.20874203e+02] [ 9.31887501e-01 3.62011986e-01 -2.30869503e-02 7.91465860e+01] [ 2.49183267e-02 -3.90311349e-04 9.99689414e-01 3.46324608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.89, Y:79.17, Z:3.46 [[ 3.60774515e-01 -9.32606377e-01 -9.33251135e-03 1.20885103e+02] [ 9.32323363e-01 3.60894967e-01 -2.29775867e-02 7.91729612e+01] [ 2.47971003e-02 -4.11190654e-04 9.99692420e-01 3.46406736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:79.20, Z:3.46 [[ 3.59953476e-01 -9.32924200e-01 -9.27000266e-03 1.20895876e+02] [ 9.32644623e-01 3.60072574e-01 -2.28418094e-02 7.91993441e+01] [ 2.46475505e-02 -4.23629443e-04 9.99696113e-01 3.46477179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.278040942 meters Centerline goodness [0,1] 0.9999780239099859 Centerline is valid? [True, True] Translation: X:120.91, Y:79.22, Z:3.47 [[ 3.58866924e-01 -9.33342671e-01 -9.27308241e-03 1.20906117e+02] [ 9.33062601e-01 3.58986435e-01 -2.28674931e-02 7.92248954e+01] [ 2.46721179e-02 -4.45979487e-04 9.99695497e-01 3.46585292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:79.25, Z:3.47 [[ 3.58315719e-01 -9.33558116e-01 -8.89323641e-03 1.20915292e+02] [ 9.33300236e-01 3.58425799e-01 -2.19457370e-02 7.92499404e+01] [ 2.36751862e-02 -4.36557123e-04 9.99719608e-01 3.46731665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:79.27, Z:3.47 [[ 3.57854057e-01 -9.33737387e-01 -8.65828661e-03 1.20924931e+02] [ 9.33492608e-01 3.57958527e-01 -2.13832672e-02 7.92748889e+01] [ 2.30656636e-02 -4.30357612e-04 9.99733860e-01 3.46821023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:79.30, Z:3.47 [[ 3.57505268e-01 -9.33871460e-01 -8.60697642e-03 1.20934705e+02] [ 9.33629214e-01 3.57608601e-01 -2.12739258e-02 7.93010827e+01] [ 2.29450409e-02 -4.30184084e-04 9.99736635e-01 3.46936865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:79.33, Z:3.47 [[ 3.56270490e-01 -9.34344002e-01 -8.52196029e-03 1.20943654e+02] [ 9.34106284e-01 3.56372113e-01 -2.10799928e-02 7.93284013e+01] [ 2.27329538e-02 -4.50237301e-04 9.99741472e-01 3.47083509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:79.35, Z:3.47 [[ 3.55330906e-01 -9.34702814e-01 -8.40218239e-03 1.20954414e+02] [ 9.34471481e-01 3.55429933e-01 -2.07993819e-02 7.93535575e+01] [ 2.24276279e-02 -4.60936607e-04 9.99748363e-01 3.47201491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:79.38, Z:3.47 [[ 3.53684139e-01 -9.35328683e-01 -8.23315919e-03 1.20961714e+02] [ 9.35106358e-01 3.53779621e-01 -2.03980279e-02 7.93812960e+01] [ 2.19915845e-02 -4.84420570e-04 9.99758039e-01 3.47287815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:79.41, Z:3.47 [[ 3.53025530e-01 -9.35577981e-01 -8.17411543e-03 1.20971243e+02] [ 9.35358562e-01 3.53119810e-01 -2.02672138e-02 7.94073543e+01] [ 2.18480011e-02 -4.90884956e-04 9.99761183e-01 3.47317703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51804094199997 meters Centerline goodness [0,1] 0.9999125147631337 Centerline is valid? [True, True] Translation: X:120.98, Y:79.43, Z:3.47 [[ 3.52522045e-01 -9.35767316e-01 -8.23028719e-03 1.20980550e+02] [ 9.35544555e-01 3.52617753e-01 -2.04231960e-02 7.94324820e+01] [ 2.20135047e-02 -5.00173535e-04 9.99757548e-01 3.47391144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:79.46, Z:3.47 [[ 3.51421587e-01 -9.36183064e-01 -8.00868185e-03 1.20988630e+02] [ 9.35971885e-01 3.51512467e-01 -1.98901057e-02 7.94586468e+01] [ 2.14359316e-02 -5.06088518e-04 9.99770096e-01 3.47418588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57804094199997 meters Centerline goodness [0,1] 0.999978117204254 Centerline is valid? [True, True] Translation: X:121.00, Y:79.49, Z:3.47 [[ 3.50708321e-01 -9.36451853e-01 -7.84859605e-03 1.20997485e+02] [ 9.36248816e-01 3.50795766e-01 -1.95060356e-02 7.94850823e+01] [ 2.10197174e-02 -5.07309774e-04 9.99778933e-01 3.47476690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:79.51, Z:3.48 [[ 3.50404331e-01 -9.36568216e-01 -7.53541804e-03 1.21003359e+02] [ 9.36380802e-01 3.50485005e-01 -1.87417943e-02 7.95134056e+01] [ 2.01940199e-02 -4.88814896e-04 9.99795960e-01 3.47628603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:79.54, Z:3.48 [[ 3.49960076e-01 -9.36735267e-01 -7.41521472e-03 1.21013264e+02] [ 9.36553503e-01 3.50038291e-01 -1.84589129e-02 7.95386789e+01] [ 1.98867238e-02 -4.84862752e-04 9.99802122e-01 3.47776690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:79.57, Z:3.48 [[ 3.49847339e-01 -9.36778584e-01 -7.26112446e-03 1.21021854e+02] [ 9.36604134e-01 3.49922362e-01 -1.80841394e-02 7.95658323e+01] [ 1.94816643e-02 -4.74111138e-04 9.99810102e-01 3.47833284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:79.59, Z:3.48 [[ 3.50558266e-01 -9.36511917e-01 -7.37098287e-03 1.21030683e+02] [ 9.36331785e-01 3.50635447e-01 -1.83731416e-02 7.95911843e+01] [ 1.97911939e-02 -4.60828891e-04 9.99804029e-01 3.47938341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:79.62, Z:3.48 [[ 3.52417470e-01 -9.35810824e-01 -7.74779356e-03 1.21034155e+02] [ 9.35611269e-01 3.52502356e-01 -1.93298349e-02 7.96209341e+01] [ 2.08201842e-02 -4.36751456e-04 9.99783141e-01 3.47870235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:79.65, Z:3.48 [[ 3.53171717e-01 -9.35526433e-01 -7.74795131e-03 1.21040224e+02] [ 9.35326519e-01 3.53256451e-01 -1.93438060e-02 7.96490090e+01] [ 2.08336556e-02 -4.15179137e-04 9.99782870e-01 3.47821481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:79.68, Z:3.48 [[ 3.53465648e-01 -9.35414320e-01 -7.87950137e-03 1.21048712e+02] [ 9.35207175e-01 3.53553225e-01 -1.96890269e-02 7.96750862e+01] [ 2.12032208e-02 -4.09571575e-04 9.99775103e-01 3.47865649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:79.70, Z:3.48 [[ 3.53853529e-01 -9.35269050e-01 -7.71255268e-03 1.21054915e+02] [ 9.35070352e-01 3.53937356e-01 -1.92817216e-02 7.97028249e+01] [ 2.07633579e-02 -3.88874129e-04 9.99784343e-01 3.47917731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:79.73, Z:3.48 [[ 3.53169827e-01 -9.35529088e-01 -7.50991477e-03 1.21063338e+02] [ 9.35340451e-01 3.53249451e-01 -1.87900777e-02 7.97294077e+01] [ 2.02315375e-02 -3.88238591e-04 9.99795246e-01 3.47943954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.07, Y:79.76, Z:3.48 [[ 3.52136026e-01 -9.35916131e-01 -7.82400317e-03 1.21071307e+02] [ 9.35711118e-01 3.52222682e-01 -1.95930006e-02 7.97556566e+01] [ 2.10931967e-02 -4.21605381e-04 9.99777425e-01 3.47959841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:79.78, Z:3.48 [[ 3.51799588e-01 -9.36042367e-01 -7.85731290e-03 1.21080212e+02] [ 9.35835326e-01 3.51887065e-01 -1.96910352e-02 7.97827163e+01] [ 2.11965299e-02 -4.25852911e-04 9.99775238e-01 3.47999144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:79.81, Z:3.48 [[ 3.51480668e-01 -9.36162382e-01 -7.83168042e-03 1.21088842e+02] [ 9.35956371e-01 3.51567651e-01 -1.96432744e-02 7.98083574e+01] [ 2.11426601e-02 -4.25879979e-04 9.99776378e-01 3.48015805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:79.83, Z:3.48 [[ 3.52323374e-01 -9.35843705e-01 -8.04981883e-03 1.21095852e+02] [ 9.35625637e-01 3.52415081e-01 -2.02059123e-02 7.98343596e+01] [ 2.17464534e-02 -4.12601649e-04 9.99763433e-01 3.48013705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:79.86, Z:3.48 [[ 3.52070944e-01 -9.35938750e-01 -8.04397934e-03 1.21105954e+02] [ 9.35720654e-01 3.52162584e-01 -2.02082367e-02 7.98600124e+01] [ 2.17464604e-02 -4.12184623e-04 9.99763433e-01 3.48077487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:79.89, Z:3.48 [[ 3.52524031e-01 -9.35767163e-01 -8.16235326e-03 1.21113998e+02] [ 9.35542193e-01 3.52618285e-01 -2.05219606e-02 7.98855500e+01] [ 2.20819718e-02 -4.01741608e-04 9.99756083e-01 3.48136483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.12, Y:79.91, Z:3.48 [[ 3.53362212e-01 -9.35446992e-01 -8.60656319e-03 1.21120134e+02] [ 9.35196337e-01 3.53466787e-01 -2.16573908e-02 7.99133324e+01] [ 2.33014753e-02 -3.95922832e-04 9.99728405e-01 3.48135659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:79.94, Z:3.48 [[ 3.53293323e-01 -9.35471453e-01 -8.77425568e-03 1.21128742e+02] [ 9.35210505e-01 3.53402038e-01 -2.20977390e-02 7.99404861e+01] [ 2.37726439e-02 -3.98792434e-04 9.99717311e-01 3.48141618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.118040942 meters Centerline goodness [0,1] 0.9999354672173464 Centerline is valid? [True, True] Translation: X:121.14, Y:79.97, Z:3.48 [[ 3.53098871e-01 -9.35545347e-01 -8.72306352e-03 1.21136473e+02] [ 9.35287033e-01 3.53206382e-01 -2.19867733e-02 7.99672267e+01] [ 2.36506652e-02 -3.95063362e-04 9.99720206e-01 3.48135019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:79.99, Z:3.48 [[ 3.53668631e-01 -9.35333184e-01 -8.38652315e-03 1.21143785e+02] [ 9.35093970e-01 3.53767869e-01 -2.11556802e-02 7.99938178e+01] [ 2.27544921e-02 -3.60086781e-04 9.99741018e-01 3.48260411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:80.02, Z:3.48 [[ 3.53741752e-01 -9.35306550e-01 -8.27228582e-03 1.21152686e+02] [ 9.35073551e-01 3.53838290e-01 -2.08786856e-02 8.00191330e+01] [ 2.24550228e-02 -3.49532865e-04 9.99747793e-01 3.48377099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:80.05, Z:3.49 [[ 3.54219046e-01 -9.35127546e-01 -8.08337116e-03 1.21159980e+02] [ 9.34904639e-01 3.54311118e-01 -2.04193063e-02 8.00462865e+01] [ 2.19586840e-02 -3.24273995e-04 9.99758826e-01 3.48510159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:80.07, Z:3.49 [[ 3.54053430e-01 -9.35191354e-01 -7.95607474e-03 1.21169773e+02] [ 9.34975068e-01 3.54142669e-01 -2.01144646e-02 8.00720199e+01] [ 2.16284590e-02 -3.17136321e-04 9.99766027e-01 3.48603477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:80.10, Z:3.49 [[ 3.53461913e-01 -9.35415509e-01 -7.90582886e-03 1.21178838e+02] [ 9.35201683e-01 3.53550168e-01 -2.00022805e-02 8.00987313e+01] [ 2.15055505e-02 -3.23500137e-04 9.99768677e-01 3.48636092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:80.13, Z:3.49 [[ 3.52072980e-01 -9.35937484e-01 -8.10200766e-03 1.21188520e+02] [ 9.35712661e-01 3.52166009e-01 -2.05162861e-02 8.01255639e+01] [ 2.20552129e-02 -3.57921178e-04 9.99756690e-01 3.48631888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:80.15, Z:3.49 [[ 3.50812040e-01 -9.36410960e-01 -8.08869599e-03 1.21198649e+02] [ 9.36186637e-01 3.50905071e-01 -2.04990883e-02 8.01512059e+01] [ 2.20339354e-02 -3.81202122e-04 9.99757151e-01 3.48652480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:80.18, Z:3.49 [[ 3.47798910e-01 -9.37533100e-01 -8.22219929e-03 1.21209782e+02] [ 9.37301266e-01 3.47895790e-01 -2.08531977e-02 8.01759970e+01] [ 2.24110316e-02 -4.53958383e-04 9.99748738e-01 3.48719918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:80.20, Z:3.49 [[ 3.46287408e-01 -9.38090466e-01 -8.44444839e-03 1.21220842e+02] [ 9.37845698e-01 3.46389997e-01 -2.14340246e-02 8.02022813e+01] [ 2.30321265e-02 -4.97256786e-04 9.99734602e-01 3.48814007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:80.23, Z:3.49 [[ 3.44180958e-01 -9.38867313e-01 -8.22409068e-03 1.21231862e+02] [ 9.38635021e-01 3.44278793e-01 -2.08904166e-02 8.02285075e+01] [ 2.24447093e-02 -5.29335930e-04 9.99747946e-01 3.48900206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:80.25, Z:3.49 [[ 3.43305685e-01 -9.39186931e-01 -8.31355426e-03 1.21241219e+02] [ 9.38949281e-01 3.43405890e-01 -2.11339326e-02 8.02549453e+01] [ 2.27036368e-02 -5.50606571e-04 9.99742088e-01 3.48976399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:80.28, Z:3.49 [[ 3.42568820e-01 -9.39457545e-01 -8.13171955e-03 1.21251873e+02] [ 9.39229883e-01 3.42664878e-01 -2.06883660e-02 8.02800042e+01] [ 2.22222962e-02 -5.50364883e-04 9.99752903e-01 3.49065721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:80.31, Z:3.49 [[ 3.42964791e-01 -9.39313398e-01 -8.09277546e-03 1.21259580e+02] [ 9.39087468e-01 3.43059845e-01 -2.06075166e-02 8.03076390e+01] [ 2.21332227e-02 -5.32171400e-04 9.99754889e-01 3.49154558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:80.33, Z:3.49 [[ 3.43206537e-01 -9.39224313e-01 -8.18305553e-03 1.21268339e+02] [ 9.38993052e-01 3.43303670e-01 -2.08479915e-02 8.03341405e+01] [ 2.23902135e-02 -5.28665318e-04 9.99749168e-01 3.49204143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:80.36, Z:3.49 [[ 3.44921660e-01 -9.38594454e-01 -8.33659408e-03 1.21274279e+02] [ 9.38353843e-01 3.45022042e-01 -2.12568893e-02 8.03624376e+01] [ 2.28279072e-02 -4.90713528e-04 9.99739289e-01 3.49091259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:80.39, Z:3.49 [[ 3.45364298e-01 -9.38430302e-01 -8.48941913e-03 1.21282717e+02] [ 9.38180331e-01 3.45468285e-01 -2.16640523e-02 8.03887876e+01] [ 2.32630282e-02 -4.82615827e-04 9.99729263e-01 3.49125508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:80.41, Z:3.49 [[ 3.45710568e-01 -9.38302501e-01 -8.52175115e-03 1.21292547e+02] [ 9.38050161e-01 3.45815263e-01 -2.17646167e-02 8.04142384e+01] [ 2.33687459e-02 -4.69572034e-04 9.99726803e-01 3.49159701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:80.44, Z:3.49 [[ 3.46285847e-01 -9.38089748e-01 -8.58702405e-03 1.21300998e+02] [ 9.37833015e-01 3.46392004e-01 -2.19503104e-02 8.04399849e+01] [ 2.35658377e-02 -4.52112800e-04 9.99722185e-01 3.49221103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:80.47, Z:3.49 [[ 3.46398058e-01 -9.38048566e-01 -8.55998607e-03 1.21309306e+02] [ 9.37793009e-01 3.46503525e-01 -2.18993026e-02 8.04663606e+01] [ 2.35086748e-02 -4.41619191e-04 9.99723535e-01 3.49329062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:80.49, Z:3.49 [[ 3.47521220e-01 -9.37635987e-01 -8.23147655e-03 1.21316285e+02] [ 9.37399183e-01 3.47618471e-01 -2.10753470e-02 8.04935830e+01] [ 2.26224170e-02 -3.92049113e-04 9.99744004e-01 3.49391893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.33, Y:80.52, Z:3.50 [[ 3.48246082e-01 -9.37366519e-01 -8.28701655e-03 1.21325457e+02] [ 9.37126025e-01 3.48344472e-01 -2.12353858e-02 8.05191553e+01] [ 2.27920760e-02 -3.70838983e-04 9.99740158e-01 3.49504449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.33, Y:80.55, Z:3.50 [[ 3.49911140e-01 -9.36747346e-01 -8.16115555e-03 1.21334525e+02] [ 9.36513611e-01 3.50006153e-01 -2.09272387e-02 8.05465119e+01] [ 2.24599900e-02 -3.20359314e-04 9.99747691e-01 3.49572918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:80.57, Z:3.50 [[ 3.50588188e-01 -9.36495451e-01 -8.01205833e-03 1.21343959e+02] [ 9.36269778e-01 3.50679604e-01 -2.05601154e-02 8.05730645e+01] [ 2.20641200e-02 -2.93314468e-04 9.99756515e-01 3.49677694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.35, Y:80.60, Z:3.50 [[ 3.51546357e-01 -9.36136384e-01 -7.98938990e-03 1.21353148e+02] [ 9.35911521e-01 3.51637031e-01 -2.05188357e-02 8.05999213e+01] [ 2.20177940e-02 -2.64040120e-04 9.99757544e-01 3.49782111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868040942 meters Centerline goodness [0,1] 0.9999787563996346 Centerline is valid? [True, True] Translation: X:121.36, Y:80.63, Z:3.50 [[ 3.54014653e-01 -9.35208832e-01 -7.62007369e-03 1.21361261e+02] [ 9.35003744e-01 3.54096602e-01 -1.95856014e-02 8.06275173e+01] [ 2.10148696e-02 -1.91207559e-04 9.99779145e-01 3.49808556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:80.65, Z:3.50 [[ 3.55139658e-01 -9.34781065e-01 -7.75781900e-03 1.21370364e+02] [ 9.34568033e-01 3.55224343e-01 -1.99564141e-02 8.06529461e+01] [ 2.14106442e-02 -1.62895582e-04 9.99770753e-01 3.49872720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:80.68, Z:3.50 [[ 3.57442133e-01 -9.33902235e-01 -7.85731713e-03 1.21378456e+02] [ 9.33683175e-01 3.57528466e-01 -2.02268179e-02 8.06786691e+01] [ 2.16990850e-02 -1.06327881e-04 9.99764541e-01 3.49911793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.39, Y:80.71, Z:3.50 [[ 3.58547846e-01 -9.33480082e-01 -7.64056642e-03 1.21387483e+02] [ 9.33272504e-01 3.58629239e-01 -1.96850589e-02 8.07051537e+01] [ 2.11157409e-02 -7.26951040e-05 9.99777035e-01 3.49879956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:80.73, Z:3.50 [[ 3.59161980e-01 -9.33242901e-01 -7.76922199e-03 1.21397043e+02] [ 9.33027834e-01 3.59245996e-01 -2.00343551e-02 8.07300161e+01] [ 2.14879816e-02 -5.33217142e-05 9.99769105e-01 3.49969733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:80.76, Z:3.50 [[ 3.60080849e-01 -9.32888417e-01 -7.80919711e-03 1.21407346e+02] [ 9.32670711e-01 3.60165518e-01 -2.01530162e-02 8.07557539e+01] [ 2.16131189e-02 -2.66942368e-05 9.99766409e-01 3.49992860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04804094199997 meters Centerline goodness [0,1] 0.9999787924416262 Centerline is valid? [True, True] Translation: X:121.42, Y:80.78, Z:3.50 [[ 3.60067089e-01 -9.32894428e-01 -7.72509249e-03 1.21417755e+02] [ 9.32681021e-01 3.60149948e-01 -1.99531319e-02 8.07807102e+01] [ 2.13963572e-02 -2.05810500e-05 9.99771072e-01 3.50067550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:80.81, Z:3.50 [[ 3.60341519e-01 -9.32790422e-01 -7.48451204e-03 1.21428333e+02] [ 9.32589782e-01 3.60419240e-01 -1.93460520e-02 8.08058174e+01] [ 2.07433742e-02 -8.79367339e-06 9.99784833e-01 3.50188218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:80.83, Z:3.50 [[ 3.60425411e-01 -9.32759362e-01 -7.31410718e-03 1.21438444e+02] [ 9.32567430e-01 3.60499616e-01 -1.89213228e-02 8.08309332e+01] [ 2.02857738e-02 -1.17257526e-06 9.99794223e-01 3.50258227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:80.86, Z:3.50 [[ 3.60468682e-01 -9.32744750e-01 -7.03994758e-03 1.21449148e+02] [ 9.32566649e-01 3.60537421e-01 -1.82267356e-02 8.08572048e+01] [ 1.95390565e-02 4.94704537e-06 9.99809094e-01 3.50248235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:80.88, Z:3.50 [[ 3.60176379e-01 -9.32854306e-01 -7.47120200e-03 1.21461131e+02] [ 9.32653372e-01 3.60253859e-01 -1.93608976e-02 8.08829685e+01] [ 2.07524261e-02 5.29627635e-06 9.99784645e-01 3.50273243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:80.91, Z:3.50 [[ 3.59161012e-01 -9.33244897e-01 -7.57166952e-03 1.21472241e+02] [ 9.33038238e-01 3.59240814e-01 -1.96388415e-02 8.09074803e+01] [ 2.10479013e-02 -1.11510069e-05 9.99778468e-01 3.50275475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:80.93, Z:3.50 [[ 3.57647729e-01 -9.33823695e-01 -7.83639168e-03 1.21486280e+02] [ 9.33602111e-01 3.57733568e-01 -2.03418950e-02 8.09325744e+01] [ 2.17990839e-02 -4.08392556e-05 9.99762371e-01 3.50368852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:80.96, Z:3.50 [[ 3.56218992e-01 -9.34370999e-01 -7.67245695e-03 1.21498084e+02] [ 9.34158356e-01 3.56301603e-01 -1.99332344e-02 8.09565513e+01] [ 2.13587448e-02 -6.66931190e-05 9.99771874e-01 3.50411035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:80.98, Z:3.50 [[ 3.54588485e-01 -9.34989873e-01 -7.80666930e-03 1.21510453e+02] [ 9.34769527e-01 3.54674397e-01 -2.02978868e-02 8.09820401e+01] [ 2.17471443e-02 -1.00039644e-04 9.99763498e-01 3.50444511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:81.01, Z:3.50 [[ 3.52025176e-01 -9.35953868e-01 -8.28450710e-03 1.21525314e+02] [ 9.35705535e-01 3.52122609e-01 -2.15596879e-02 8.10066604e+01] [ 2.30960355e-02 -1.62306214e-04 9.99733238e-01 3.50402247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:81.03, Z:3.50 [[ 3.50950931e-01 -9.36356161e-01 -8.40145609e-03 1.21538271e+02] [ 9.36100443e-01 3.51051429e-01 -2.18827605e-02 8.10303184e+01] [ 2.34394008e-02 -1.84831581e-04 9.99725242e-01 3.50427860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:81.06, Z:3.51 [[ 3.48620347e-01 -9.37224097e-01 -8.65129765e-03 1.21551777e+02] [ 9.36952710e-01 3.48727591e-01 -2.25540715e-02 8.10556219e+01] [ 2.41551655e-02 -2.43048551e-04 9.99708192e-01 3.50527163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:81.08, Z:3.51 [[ 3.47706530e-01 -9.37561623e-01 -8.85281627e-03 1.21563350e+02] [ 9.37277075e-01 3.47819109e-01 -2.30987465e-02 8.10798182e+01] [ 2.47356769e-02 -2.65956734e-04 9.99693991e-01 3.50541355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:81.10, Z:3.51 [[ 3.46269049e-01 -9.38090795e-01 -9.13272777e-03 1.21576750e+02] [ 9.37787655e-01 3.46389329e-01 -2.38484127e-02 8.11045292e+01] [ 2.55354559e-02 -3.06592162e-04 9.99673870e-01 3.50568190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:81.13, Z:3.51 [[ 3.45364027e-01 -9.38425201e-01 -9.04605516e-03 1.21588267e+02] [ 9.38127398e-01 3.45482328e-01 -2.36420333e-02 8.11287688e+01] [ 2.53115320e-02 -3.21244382e-04 9.99679560e-01 3.50598482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:81.15, Z:3.51 [[ 3.44004157e-01 -9.38919863e-01 -9.51997269e-03 1.21602013e+02] [ 9.38589647e-01 3.44135662e-01 -2.49022216e-02 8.11523415e+01] [ 2.66573526e-02 -3.68880063e-04 9.99644562e-01 3.50643039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:81.18, Z:3.51 [[ 3.43224825e-01 -9.39201363e-01 -9.87517944e-03 1.21613999e+02] [ 9.38845831e-01 3.43366624e-01 -2.58431380e-02 8.11775587e+01] [ 2.76627175e-02 -4.01264517e-04 9.99617233e-01 3.50749495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:81.20, Z:3.51 [[ 3.42842583e-01 -9.39341462e-01 -9.82762015e-03 1.21626293e+02] [ 9.38988818e-01 3.42983172e-01 -2.57399148e-02 8.12025947e+01] [ 2.75492776e-02 -4.03286553e-04 9.99620365e-01 3.50808647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:81.23, Z:3.51 [[ 3.43030541e-01 -9.39273385e-01 -9.77526136e-03 1.21638952e+02] [ 9.38923918e-01 3.43169574e-01 -2.56226512e-02 8.12282655e+01] [ 2.74212466e-02 -3.88874781e-04 9.99623891e-01 3.51039411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:81.25, Z:3.51 [[ 3.43048779e-01 -9.39268652e-01 -9.58824270e-03 1.21649826e+02] [ 9.38932044e-01 3.43182543e-01 -2.51467648e-02 8.12545622e+01] [ 2.69100854e-02 -3.76141348e-04 9.99637787e-01 3.51123665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:81.28, Z:3.51 [[ 3.43695583e-01 -9.39032982e-01 -9.50814208e-03 1.21661557e+02] [ 9.38701315e-01 3.43826901e-01 -2.49580420e-02 8.12796854e+01] [ 2.67055796e-02 -3.47336687e-04 9.99643282e-01 3.51278167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:81.30, Z:3.51 [[ 3.43683136e-01 -9.39039571e-01 -9.30513301e-03 1.21673253e+02] [ 9.38721387e-01 3.43808919e-01 -2.44455696e-02 8.13040871e+01] [ 2.61545449e-02 -3.33397331e-04 9.99657856e-01 3.51327386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:81.33, Z:3.51 [[ 3.43439359e-01 -9.39126987e-01 -9.48202450e-03 1.21685330e+02] [ 9.38796090e-01 3.43570061e-01 -2.49301798e-02 8.13292692e+01] [ 2.66703444e-02 -3.39682554e-04 9.99644225e-01 3.51414549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.738040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:81.35, Z:3.52 [[ 3.42904634e-01 -9.39319384e-01 -9.77274769e-03 1.21699268e+02] [ 9.38967342e-01 3.43043680e-01 -2.57170093e-02 8.13545053e+01] [ 2.75089646e-02 -3.57809277e-04 9.99621493e-01 3.51562867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:81.38, Z:3.52 [[ 3.42679079e-01 -9.39401154e-01 -9.82453071e-03 1.21711158e+02] [ 9.39044775e-01 3.42819696e-01 -2.58759968e-02 8.13799047e+01] [ 2.76759839e-02 -3.58511474e-04 9.99616882e-01 3.51580892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79804094199997 meters Centerline goodness [0,1] 0.9999120705194434 Centerline is valid? [True, True] Translation: X:121.72, Y:81.40, Z:3.52 [[ 3.43300123e-01 -9.39170555e-01 -1.01829924e-02 1.21724222e+02] [ 9.38786934e-01 3.43450942e-01 -2.68429259e-02 8.14038374e+01] [ 2.87074440e-02 -3.44480445e-04 9.99587797e-01 3.51583370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.73, Y:81.43, Z:3.52 [[ 3.43993791e-01 -9.38915285e-01 -1.03131077e-02 1.21734767e+02] [ 9.38521136e-01 3.44148203e-01 -2.72046231e-02 8.14294005e+01] [ 2.90920739e-02 -3.20848108e-04 9.99576685e-01 3.51614626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.75, Y:81.46, Z:3.52 [[ 3.44579836e-01 -9.38699268e-01 -1.04125072e-02 1.21745713e+02] [ 9.38296681e-01 3.44736995e-01 -2.74907767e-02 8.14553932e+01] [ 2.93951484e-02 -2.97253643e-04 9.99567825e-01 3.51621849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.76, Y:81.48, Z:3.52 [[ 3.46312862e-01 -9.38056439e-01 -1.08406604e-02 1.21758780e+02] [ 9.37618949e-01 3.46482408e-01 -2.86469570e-02 8.14804129e+01] [ 3.06285606e-02 -2.43598938e-04 9.99530806e-01 3.51640360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:81.51, Z:3.52 [[ 3.46041604e-01 -9.38156633e-01 -1.08323724e-02 1.21768464e+02] [ 9.37719094e-01 3.46211024e-01 -2.86500910e-02 8.15062388e+01] [ 3.06285597e-02 -2.43598930e-04 9.99530806e-01 3.51704149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:81.53, Z:3.52 [[ 3.46521973e-01 -9.37977159e-01 -1.10168516e-02 1.21779878e+02] [ 9.37523680e-01 3.46696985e-01 -2.91642108e-02 8.15308130e+01] [ 3.11748729e-02 -2.22519355e-04 9.99513921e-01 3.51734496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97804094199998 meters Centerline goodness [0,1] 0.999933981778971 Centerline is valid? [True, True] Translation: X:121.79, Y:81.56, Z:3.52 [[ 3.48309084e-01 -9.37315188e-01 -1.10008902e-02 1.21791216e+02] [ 9.36861868e-01 3.48482731e-01 -2.91483559e-02 8.15566215e+01] [ 3.11548170e-02 -1.53677381e-04 9.99514559e-01 3.51836367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00804094199998 meters Centerline goodness [0,1] 0.9998238312303186 Centerline is valid? [True, True] Translation: X:121.80, Y:81.58, Z:3.52 [[ 3.50254145e-01 -9.36590789e-01 -1.09419951e-02 1.21798918e+02] [ 9.36141239e-01 3.50425009e-01 -2.90153990e-02 8.15824931e+01] [ 3.10099042e-02 -8.04891386e-05 9.99519074e-01 3.51899932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:81.61, Z:3.52 [[ 3.51802087e-01 -9.36012333e-01 -1.07798245e-02 1.21807310e+02] [ 9.35575148e-01 3.51967204e-01 -2.86047225e-02 8.16097392e+01] [ 3.05685177e-02 -2.21347732e-05 9.99532673e-01 3.52025598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:81.64, Z:3.52 [[ 3.54116691e-01 -9.35139535e-01 -1.07433509e-02 1.21814653e+02] [ 9.34704148e-01 3.54279616e-01 -2.85326132e-02 8.16368874e+01] [ 3.04881248e-02 6.20199454e-05 9.99535127e-01 3.52159649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.82, Y:81.66, Z:3.52 [[ 3.54462887e-01 -9.35004976e-01 -1.10343350e-02 1.21822654e+02] [ 9.34544784e-01 3.54634583e-01 -2.93318885e-02 8.16630723e+01] [ 3.13386185e-02 8.49856906e-05 9.99508821e-01 3.52149973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:81.69, Z:3.52 [[ 3.54194060e-01 -9.35100466e-01 -1.15622755e-02 1.21830281e+02] [ 9.34594279e-01 3.54382717e-01 -3.07640077e-02 8.16899074e+01] [ 3.28649085e-02 9.03922816e-05 9.99459799e-01 3.52079581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:81.72, Z:3.52 [[ 3.53187732e-01 -9.35478278e-01 -1.17820995e-02 1.21839593e+02] [ 9.34951931e-01 3.53384193e-01 -3.13767298e-02 8.17158856e+01] [ 3.35158568e-02 6.61793437e-05 9.99438184e-01 3.52120776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.85, Y:81.74, Z:3.52 [[ 3.50187339e-01 -9.36603331e-01 -1.19594500e-02 1.21848890e+02] [ 9.36060684e-01 3.50391495e-01 -3.18778326e-02 8.17419521e+01] [ 3.40473738e-02 -3.15575909e-05 9.99420220e-01 3.52093146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:81.77, Z:3.52 [[ 3.47814040e-01 -9.37489923e-01 -1.17489728e-02 1.21859149e+02] [ 9.36965825e-01 3.48012405e-01 -3.13433973e-02 8.17676368e+01] [ 3.34729074e-02 -1.06712297e-04 9.99439620e-01 3.52115999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.87, Y:81.79, Z:3.52 [[ 3.45568492e-01 -9.38320859e-01 -1.16782839e-02 1.21869995e+02] [ 9.37802629e-01 3.45765721e-01 -3.11816546e-02 8.17932276e+01] [ 3.32963472e-02 -1.76527945e-04 9.99445507e-01 3.52263629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:81.82, Z:3.52 [[ 3.40162122e-01 -9.40290846e-01 -1.19522427e-02 1.21883140e+02] [ 9.39748316e-01 3.40371841e-01 -3.19392128e-02 8.18171125e+01] [ 3.41003563e-02 -3.67589561e-04 9.99418346e-01 3.52357915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:81.84, Z:3.52 [[ 3.37528314e-01 -9.41236848e-01 -1.21587150e-02 1.21894330e+02] [ 9.40675236e-01 3.37746920e-01 -3.25133535e-02 8.18420588e+01] [ 3.47093349e-02 -4.63224711e-04 9.99397342e-01 3.52343838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:81.87, Z:3.52 [[ 3.33409863e-01 -9.42697853e-01 -1.25945309e-02 1.21906070e+02] [ 9.42095288e-01 3.33647067e-01 -3.37061186e-02 8.18683437e+01] [ 3.59768139e-02 -6.27295877e-04 9.99352428e-01 3.52291646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:81.89, Z:3.52 [[ 3.32314239e-01 -9.43084232e-01 -1.26245266e-02 1.21915627e+02] [ 9.42478065e-01 3.32553296e-01 -3.38142207e-02 8.18943341e+01] [ 3.60879862e-02 -6.61392407e-04 9.99348398e-01 3.52289183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:81.92, Z:3.52 [[ 3.32186145e-01 -9.43129620e-01 -1.26049568e-02 1.21923148e+02] [ 9.42524301e-01 3.32424563e-01 -3.37912874e-02 8.19205115e+01] [ 3.60597613e-02 -6.55480577e-04 9.99349420e-01 3.52180085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.93, Y:81.95, Z:3.52 [[ 3.32211909e-01 -9.43118665e-01 -1.27448638e-02 1.21931829e+02] [ 9.42498713e-01 3.32455651e-01 -3.41967349e-02 8.19467639e+01] [ 3.64886809e-02 -6.51455111e-04 9.99333854e-01 3.52242047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:81.97, Z:3.52 [[ 3.32200866e-01 -9.43125254e-01 -1.25435285e-02 1.21940214e+02] [ 9.42523727e-01 3.32436995e-01 -3.36848553e-02 8.19732051e+01] [ 3.59389707e-02 -6.32435090e-04 9.99353786e-01 3.52403847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.95, Y:82.00, Z:3.53 [[ 3.31939068e-01 -9.43221365e-01 -1.22438205e-02 1.21948965e+02] [ 9.42647338e-01 3.32164227e-01 -3.29077824e-02 8.20002818e+01] [ 3.51062826e-02 -6.18226134e-04 9.99383393e-01 3.52562020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.96, Y:82.03, Z:3.53 [[ 3.31141823e-01 -9.43504024e-01 -1.20520027e-02 1.21958411e+02] [ 9.42947169e-01 3.31360470e-01 -3.24172062e-02 8.20254539e+01] [ 3.45793218e-02 -6.29709069e-04 9.99401758e-01 3.52652548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:82.05, Z:3.53 [[ 3.29492504e-01 -9.44084268e-01 -1.18146085e-02 1.21967053e+02] [ 9.43548777e-01 3.29703574e-01 -3.18003037e-02 8.20523145e+01] [ 3.39174851e-02 -6.69697672e-04 9.99424412e-01 3.52833513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:82.08, Z:3.53 [[ 3.28846659e-01 -9.44313956e-01 -1.14467038e-02 1.21976808e+02] [ 9.43810596e-01 3.29045152e-01 -3.08357986e-02 8.20778467e+01] [ 3.28851574e-02 -6.63270936e-04 9.99458917e-01 3.52883884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.99, Y:82.10, Z:3.53 [[ 3.28676336e-01 -9.44373153e-01 -1.14548751e-02 1.21986122e+02] [ 9.43868196e-01 3.28875222e-01 -3.08855480e-02 8.21038706e+01] [ 3.29347070e-02 -6.60543481e-04 9.99457287e-01 3.52879168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.00, Y:82.13, Z:3.53 [[ 3.29051103e-01 -9.44240471e-01 -1.16320701e-02 1.21995632e+02] [ 9.43718775e-01 3.29255999e-01 -3.13904554e-02 8.21300548e+01] [ 3.34700673e-02 -6.48338914e-04 9.99439510e-01 3.52905869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.01, Y:82.16, Z:3.53 [[ 3.29846045e-01 -9.43959679e-01 -1.19042774e-02 1.22007315e+02] [ 9.43412119e-01 3.30060199e-01 -3.21533689e-02 8.21550508e+01] [ 3.42806120e-02 -6.24978021e-04 9.99412052e-01 3.52784909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.01, Y:82.18, Z:3.53 [[ 3.32807638e-01 -9.42916385e-01 -1.21559402e-02 1.22012973e+02] [ 9.42343710e-01 3.33029161e-01 -3.28619917e-02 8.21833693e+01] [ 3.50343930e-02 -5.18351909e-04 9.99385973e-01 3.52891149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.02, Y:82.21, Z:3.53 [[ 3.34086419e-01 -9.42462517e-01 -1.22747062e-02 1.22020888e+02] [ 9.41877296e-01 3.34311512e-01 -3.32110383e-02 8.22090559e+01] [ 3.54037344e-02 -4.65910226e-04 9.99372983e-01 3.52884659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:82.23, Z:3.53 [[ 3.36109362e-01 -9.41743221e-01 -1.22557225e-02 1.22028674e+02] [ 9.41158312e-01 3.36332517e-01 -3.31884067e-02 8.22349096e+01] [ 3.53769551e-02 -3.79640903e-04 9.99373968e-01 3.52701821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.04, Y:82.26, Z:3.53 [[ 3.36382508e-01 -9.41648255e-01 -1.20570145e-02 1.22035327e+02] [ 9.41081144e-01 3.36598333e-01 -3.26778755e-02 8.22624955e+01] [ 3.48294355e-02 -3.54363309e-04 9.99393208e-01 3.52979563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.04, Y:82.29, Z:3.53 [[ 3.35799258e-01 -9.41856504e-01 -1.20492003e-02 1.22043982e+02] [ 9.41289267e-01 3.36015165e-01 -3.26852290e-02 8.22887457e+01] [ 3.48335095e-02 -3.66107290e-04 9.99393062e-01 3.53140431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:82.31, Z:3.53 [[ 3.34597456e-01 -9.42286256e-01 -1.18808370e-02 1.22055466e+02] [ 9.41734085e-01 3.34808087e-01 -3.22561151e-02 8.23132855e+01] [ 3.43722943e-02 -3.95775132e-04 9.99409020e-01 3.53116760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:82.34, Z:3.53 [[ 3.30583233e-01 -9.43705381e-01 -1.16137751e-02 1.22069136e+02] [ 9.43177791e-01 3.30786761e-01 -3.15558634e-02 8.23375024e+01] [ 3.36211211e-02 -5.22015362e-04 9.99434514e-01 3.53251166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.08, Y:82.36, Z:3.53 [[ 3.27968125e-01 -9.44619049e-01 -1.14787138e-02 1.22079119e+02] [ 9.44103406e-01 3.28168390e-01 -3.12132545e-02 8.23639806e+01] [ 3.32515858e-02 -6.00140199e-04 9.99446833e-01 3.53427055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.09, Y:82.39, Z:3.53 [[ 3.25269433e-01 -9.45553689e-01 -1.13144602e-02 1.22092157e+02] [ 9.45052509e-01 3.25465453e-01 -3.07895069e-02 8.23880525e+01] [ 3.27955978e-02 -6.77873586e-04 9.99461850e-01 3.53324950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:82.42, Z:3.53 [[ 3.20201472e-01 -9.47288802e-01 -1.07211472e-02 1.22097939e+02] [ 9.46839185e-01 3.20379900e-01 -2.91937794e-02 8.24161602e+01] [ 3.10897804e-02 -8.03311113e-04 9.99516273e-01 3.53459973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.11, Y:82.44, Z:3.53 [[ 3.17726100e-01 -9.48123330e-01 -1.05961073e-02 1.22109094e+02] [ 9.47683963e-01 3.17901555e-01 -2.88739929e-02 8.24408226e+01] [ 3.07446253e-02 -8.67739848e-04 9.99526896e-01 3.53456706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.12, Y:82.47, Z:3.53 [[ 3.14103760e-01 -9.49335178e-01 -1.00770556e-02 1.22119479e+02] [ 9.48938057e-01 3.14263978e-01 -2.74721039e-02 8.24674045e+01] [ 2.92470902e-02 -9.33410443e-04 9.99571777e-01 3.53497582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:82.49, Z:3.54 [[ 3.12444821e-01 -9.49884080e-01 -9.92312393e-03 1.22128879e+02] [ 9.49498651e-01 3.12600876e-01 -2.70740451e-02 8.24937846e+01] [ 2.88191816e-02 -9.62847606e-04 9.99584177e-01 3.53641975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:82.52, Z:3.54 [[ 3.10841194e-01 -9.50411771e-01 -9.75791759e-03 1.22139177e+02] [ 9.50038720e-01 3.10992747e-01 -2.66447240e-02 8.25205410e+01] [ 2.83581009e-02 -9.88121711e-04 9.99597340e-01 3.53733575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:82.54, Z:3.54 [[ 3.09375756e-01 -9.50891433e-01 -9.59812130e-03 1.22157026e+02] [ 9.50530174e-01 3.09522963e-01 -2.62283183e-02 8.25437535e+01] [ 2.79111221e-02 -1.00889809e-03 9.99609900e-01 3.53598467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:82.57, Z:3.54 [[ 3.08799449e-01 -9.51079800e-01 -9.49282464e-03 1.22157399e+02] [ 9.50726095e-01 3.08943673e-01 -2.59557239e-02 8.25734310e+01] [ 2.76187128e-02 -1.00996287e-03 9.99618020e-01 3.53729974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:82.60, Z:3.54 [[ 3.10651084e-01 -9.50478850e-01 -9.26605140e-03 1.22164205e+02] [ 9.50141035e-01 3.10787863e-01 -2.53558148e-02 8.25995040e+01] [ 2.69799420e-02 -9.27244327e-04 9.99635545e-01 3.53773839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:82.63, Z:3.54 [[ 3.12730932e-01 -9.49798867e-01 -9.02647566e-03 1.22172541e+02] [ 9.49477690e-01 3.12860039e-01 -2.47125793e-02 8.26256431e+01] [ 2.62960034e-02 -8.42049290e-04 9.99653846e-01 3.53815649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.238040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:82.65, Z:3.54 [[ 3.14175302e-01 -9.49324997e-01 -8.71376960e-03 1.22177893e+02] [ 9.49025197e-01 3.14295173e-01 -2.38687791e-02 8.26538911e+01] [ 2.53979244e-02 -7.70606036e-04 9.99677124e-01 3.53920137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:82.68, Z:3.54 [[ 3.18158997e-01 -9.47999768e-01 -8.44353495e-03 1.22182742e+02] [ 9.47717352e-01 3.18270379e-01 -2.31470757e-02 8.26825721e+01] [ 2.46307495e-02 -6.37634182e-04 9.99696414e-01 3.54000000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:82.71, Z:3.54 [[ 3.19326267e-01 -9.47609214e-01 -8.21663100e-03 1.22189430e+02] [ 9.47341217e-01 3.19431424e-01 -2.25429387e-02 8.27101505e+01] [ 2.39865466e-02 -5.85400758e-04 9.99712110e-01 3.54037658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:82.74, Z:3.54 [[ 3.21767418e-01 -9.46787509e-01 -7.69040290e-03 1.22197489e+02] [ 9.46552124e-01 3.21858942e-01 -2.11163093e-02 8.27363422e+01] [ 2.24678828e-02 -4.84826869e-04 9.99747448e-01 3.54166101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:82.76, Z:3.54 [[ 3.22486822e-01 -9.46542780e-01 -7.68213162e-03 1.22206044e+02] [ 9.46307582e-01 3.22577976e-01 -2.11047219e-02 8.27631241e+01] [ 2.24546086e-02 -4.63664701e-04 9.99747756e-01 3.54301688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:82.79, Z:3.54 [[ 3.23220789e-01 -9.46294297e-01 -7.44477161e-03 1.22215832e+02] [ 9.46072972e-01 3.23306234e-01 -2.04697694e-02 8.27887468e+01] [ 2.17773671e-02 -4.27042178e-04 9.99762754e-01 3.54462184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:82.82, Z:3.55 [[ 3.24001358e-01 -9.46031017e-01 -6.95959546e-03 1.22222822e+02] [ 9.45837207e-01 3.24075876e-01 -1.91521372e-02 8.28157862e+01] [ 2.03739528e-02 -3.77325876e-04 9.99792358e-01 3.54548344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:82.84, Z:3.55 [[ 3.24217972e-01 -9.45957528e-01 -6.86013515e-03 1.22230747e+02] [ 9.45768877e-01 3.24290338e-01 -1.88946627e-02 8.28423198e+01] [ 2.00982240e-02 -3.62113083e-04 9.99797945e-01 3.54549482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:82.87, Z:3.54 [[ 3.23125427e-01 -9.46329645e-01 -7.08248595e-03 1.22238155e+02] [ 9.46128285e-01 3.23202800e-01 -1.95248349e-02 8.28697742e+01] [ 2.07660093e-02 -3.91969670e-04 9.99784286e-01 3.54480094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50804094199998 meters Centerline goodness [0,1] 0.9999565236294075 Centerline is valid? [True, True] Translation: X:122.25, Y:82.89, Z:3.55 [[ 3.21779482e-01 -9.46787570e-01 -7.15973193e-03 1.22248697e+02] [ 9.46581534e-01 3.21858851e-01 -1.97555168e-02 8.28947985e+01] [ 2.10087008e-02 -4.20350081e-04 9.99779205e-01 3.54540090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:82.92, Z:3.55 [[ 3.19005936e-01 -9.47725822e-01 -7.14001548e-03 1.22260471e+02] [ 9.47520819e-01 3.19085476e-01 -1.97169231e-02 8.29194179e+01] [ 2.09645124e-02 -4.75497820e-04 9.99780107e-01 3.54613953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:82.95, Z:3.55 [[ 3.17054589e-01 -9.48380535e-01 -7.12377263e-03 1.22271070e+02] [ 9.48176282e-01 3.17134196e-01 -1.96885996e-02 8.29462659e+01] [ 2.09314765e-02 -5.12231407e-04 9.99780781e-01 3.54712755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:82.97, Z:3.55 [[ 3.15053889e-01 -9.49047606e-01 -7.04900678e-03 1.22280317e+02] [ 9.48847456e-01 3.15132264e-01 -1.94977076e-02 8.29728791e+01] [ 2.07256222e-02 -5.45603549e-04 9.99785052e-01 3.54773148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:83.00, Z:3.55 [[ 3.11892668e-01 -9.50090463e-01 -7.14679803e-03 1.22291001e+02] [ 9.49884628e-01 3.11973927e-01 -1.97853841e-02 8.29981702e+01] [ 2.10275194e-02 -6.17717353e-04 9.99778706e-01 3.54811702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:83.03, Z:3.55 [[ 3.10303286e-01 -9.50610825e-01 -7.13656437e-03 1.22300088e+02] [ 9.50405505e-01 3.10384663e-01 -1.97670702e-02 8.30255929e+01] [ 2.10058710e-02 -6.48843239e-04 9.99779142e-01 3.54859260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:83.05, Z:3.55 [[ 3.08082078e-01 -9.51332010e-01 -7.26910684e-03 1.22310896e+02] [ 9.51118806e-01 3.08167015e-01 -2.01520932e-02 8.30504848e+01] [ 2.14114303e-02 -7.05285471e-04 9.99770500e-01 3.54939914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:83.08, Z:3.55 [[ 3.07146489e-01 -9.51634386e-01 -7.28220474e-03 1.22320555e+02] [ 9.51420347e-01 3.07231948e-01 -2.01953782e-02 8.30770546e+01] [ 2.14559423e-02 -7.25498262e-04 9.99769532e-01 3.55008886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.33, Y:83.10, Z:3.55 [[ 3.06237114e-01 -9.51928145e-01 -7.18587066e-03 1.22328844e+02] [ 9.51719468e-01 3.06320538e-01 -1.99444639e-02 8.31039354e+01] [ 2.11868763e-02 -7.31197941e-04 9.99775266e-01 3.55077901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:83.13, Z:3.55 [[ 3.05933548e-01 -9.52026691e-01 -7.06001958e-03 1.22336368e+02] [ 9.51824958e-01 3.06014152e-01 -1.96109085e-02 8.31310855e+01] [ 2.08305742e-02 -7.20268030e-04 9.99782761e-01 3.55150447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:83.16, Z:3.55 [[ 3.05664332e-01 -9.52113203e-01 -7.05448229e-03 1.22345627e+02] [ 9.51911447e-01 3.05744878e-01 -1.96129000e-02 8.31570722e+01] [ 2.08305729e-02 -7.20278456e-04 9.99782761e-01 3.55214269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:83.18, Z:3.55 [[ 3.05770508e-01 -9.52077770e-01 -7.23296690e-03 1.22354009e+02] [ 9.51865274e-01 3.05855172e-01 -2.01274479e-02 8.31826926e+01] [ 2.13751360e-02 -7.30430043e-04 9.99771259e-01 3.55257934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.36, Y:83.21, Z:3.55 [[ 3.05612064e-01 -9.52131007e-01 -6.91460074e-03 1.22360442e+02] [ 9.51936474e-01 3.05689483e-01 -1.92584860e-02 8.32098842e+01] [ 2.04503223e-02 -6.96635006e-04 9.99790628e-01 3.55383557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:83.24, Z:3.56 [[ 3.05501813e-01 -9.52166862e-01 -6.84901474e-03 1.22369093e+02] [ 9.51975674e-01 3.05577804e-01 -1.90924624e-02 8.32367648e+01] [ 2.02721169e-02 -6.87313538e-04 9.99794263e-01 3.55507427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:83.26, Z:3.56 [[ 3.06394322e-01 -9.51878795e-01 -7.01990552e-03 1.22376076e+02] [ 9.51677492e-01 3.06473976e-01 -1.95870672e-02 8.32636382e+01] [ 2.07959323e-02 -6.79319922e-04 9.99783510e-01 3.55532789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:83.29, Z:3.56 [[ 3.06988859e-01 -9.51686375e-01 -7.13336349e-03 1.22384068e+02] [ 9.51478213e-01 3.07070987e-01 -1.99153049e-02 8.32907608e+01] [ 2.11435732e-02 -6.73463231e-04 9.99776223e-01 3.55565886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:83.32, Z:3.56 [[ 3.08104920e-01 -9.51324998e-01 -7.21844606e-03 1.22390101e+02] [ 9.51111366e-01 3.08188780e-01 -2.01704090e-02 8.33189627e+01] [ 2.14132584e-02 -6.50943853e-04 9.99770498e-01 3.55558233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:83.35, Z:3.56 [[ 3.10541310e-01 -9.50530596e-01 -7.46192230e-03 1.22397061e+02] [ 9.50301667e-01 3.10630348e-01 -2.08693197e-02 8.33455950e+01] [ 2.21548264e-02 -6.10291329e-04 9.99754365e-01 3.55614243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:83.37, Z:3.56 [[ 3.11995672e-01 -9.50053098e-01 -7.60332146e-03 1.22401082e+02] [ 9.49815017e-01 3.12087759e-01 -2.12759278e-02 8.33740483e+01] [ 2.25861647e-02 -5.83751497e-04 9.99744730e-01 3.55684775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:83.40, Z:3.56 [[ 3.15357947e-01 -9.48941106e-01 -7.75517278e-03 1.22404897e+02] [ 9.48692644e-01 3.15452880e-01 -2.17197432e-02 8.34025112e+01] [ 2.30571487e-02 -5.07781747e-04 9.99734020e-01 3.55657105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10804094199997 meters Centerline goodness [0,1] 0.9998706283151494 Centerline is valid? [True, True] Translation: X:122.41, Y:83.43, Z:3.56 [[ 3.16791946e-01 -9.48462880e-01 -7.81201514e-03 1.22412065e+02] [ 9.48210156e-01 3.16887904e-01 -2.18987935e-02 8.34285475e+01] [ 2.32457259e-02 -4.70070683e-04 9.99729671e-01 3.55664416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:83.45, Z:3.56 [[ 3.17885615e-01 -9.48095941e-01 -7.92599673e-03 1.22421040e+02] [ 9.47835331e-01 3.17984100e-01 -2.22328119e-02 8.34537191e+01] [ 2.35991796e-02 -4.45048659e-04 9.99721402e-01 3.55730218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:83.48, Z:3.56 [[ 3.18956403e-01 -9.47736750e-01 -7.86550213e-03 1.22424335e+02] [ 9.47479529e-01 3.19053109e-01 -2.20829256e-02 8.34819588e+01] [ 2.34383130e-02 -4.08911745e-04 9.99725201e-01 3.55819185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:83.51, Z:3.56 [[ 3.18978739e-01 -9.47729034e-01 -7.88938051e-03 1.22434248e+02] [ 9.47469785e-01 3.19076035e-01 -2.21696095e-02 8.35073144e+01] [ 2.35280949e-02 -4.03315556e-04 9.99723095e-01 3.55863336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:83.54, Z:3.56 [[ 3.18028475e-01 -9.48047063e-01 -8.04079727e-03 1.22439957e+02] [ 9.47777505e-01 3.18129817e-01 -2.26101961e-02 8.35355139e+01] [ 2.39935474e-02 -4.30200581e-04 9.99712021e-01 3.55900202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:83.56, Z:3.56 [[ 3.17579293e-01 -9.48197341e-01 -8.07437089e-03 1.22448465e+02] [ 9.47925090e-01 3.17681620e-01 -2.27246945e-02 8.35617961e+01] [ 2.41125741e-02 -4.37006346e-04 9.99709154e-01 3.55942639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28804094199998 meters Centerline goodness [0,1] 0.9999568956227505 Centerline is valid? [True, True] Translation: X:122.46, Y:83.59, Z:3.56 [[ 3.15968790e-01 -9.48734856e-01 -8.11770635e-03 1.22456721e+02] [ 9.48459370e-01 3.16072695e-01 -2.28664613e-02 8.35876475e+01] [ 2.42599942e-02 -4.74226542e-04 9.99705571e-01 3.55936976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:83.61, Z:3.56 [[ 3.14693587e-01 -9.49159054e-01 -8.06454496e-03 1.22468527e+02] [ 9.48887003e-01 3.14796507e-01 -2.27291781e-02 8.36128709e+01] [ 2.41122957e-02 -4.99615322e-04 9.99709131e-01 3.56005880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:83.64, Z:3.56 [[ 3.13642982e-01 -9.49506195e-01 -8.12812715e-03 1.22473803e+02] [ 9.49229515e-01 3.13747846e-01 -2.29263464e-02 8.36407495e+01] [ 2.43188903e-02 -5.24770536e-04 9.99704114e-01 3.56111661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:83.67, Z:3.56 [[ 3.12645366e-01 -9.49833700e-01 -8.29560531e-03 1.22482428e+02] [ 9.49545085e-01 3.12754911e-01 -2.34200345e-02 8.36670978e+01] [ 2.48396294e-02 -5.54885971e-04 9.99691295e-01 3.56131324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:83.69, Z:3.56 [[ 3.12580450e-01 -9.49854061e-01 -8.40983904e-03 1.22489717e+02] [ 9.49556908e-01 3.12693064e-01 -2.37639543e-02 8.36939038e+01] [ 2.52019868e-02 -5.57473233e-04 9.99682224e-01 3.56127799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:83.72, Z:3.56 [[ 3.13230679e-01 -9.49639569e-01 -8.43985536e-03 1.22497562e+02] [ 9.49339670e-01 3.13343905e-01 -2.38702511e-02 8.37209918e+01] [ 2.53127121e-02 -5.35394538e-04 9.99679439e-01 3.56154866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:83.75, Z:3.56 [[ 3.14190149e-01 -9.49323111e-01 -8.37738555e-03 1.22504777e+02] [ 9.49026992e-01 3.14301417e-01 -2.37146982e-02 8.37480364e+01] [ 2.51459353e-02 -4.99440444e-04 9.99683666e-01 3.56157594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:83.77, Z:3.56 [[ 3.15168416e-01 -9.48996604e-01 -8.62067973e-03 1.22511364e+02] [ 9.48682330e-01 3.15285927e-01 -2.44258396e-02 8.37749089e+01] [ 2.58980179e-02 -4.80033343e-04 9.99664475e-01 3.56142497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:83.80, Z:3.56 [[ 3.15187743e-01 -9.48989166e-01 -8.73207887e-03 1.22520210e+02] [ 9.48666125e-01 3.15308315e-01 -2.47638778e-02 8.38005491e+01] [ 2.62539488e-02 -4.78556693e-04 9.99655191e-01 3.56158856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:83.83, Z:3.56 [[ 3.13978034e-01 -9.49389227e-01 -8.82548723e-03 1.22527130e+02] [ 9.49058776e-01 3.14101632e-01 -2.50520229e-02 8.38285447e+01] [ 2.65562206e-02 -5.10121205e-04 9.99647191e-01 3.56231508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:83.86, Z:3.56 [[ 3.12817130e-01 -9.49773092e-01 -8.74734064e-03 1.22536787e+02] [ 9.49448093e-01 3.12938956e-01 -2.48501293e-02 8.38552127e+01] [ 2.63393678e-02 -5.31599757e-04 9.99652917e-01 3.56269113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:83.88, Z:3.56 [[ 3.11251426e-01 -9.50286619e-01 -8.82561088e-03 1.22546861e+02] [ 9.49955396e-01 3.11375999e-01 -2.50944847e-02 8.38820980e+01] [ 2.65950365e-02 -5.73242535e-04 9.99646125e-01 3.56285354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:83.91, Z:3.56 [[ 3.08476093e-01 -9.51191058e-01 -8.83580255e-03 1.22556617e+02] [ 9.50858858e-01 3.08601937e-01 -2.51451075e-02 8.39087475e+01] [ 2.66445472e-02 -6.44936577e-04 9.99644763e-01 3.56345481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:83.93, Z:3.56 [[ 3.07607886e-01 -9.51468224e-01 -9.25243846e-03 1.22565560e+02] [ 9.51103422e-01 3.07746225e-01 -2.63541537e-02 8.39347987e+01] [ 2.79225428e-02 -6.93280381e-04 9.99609849e-01 3.56360114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:83.96, Z:3.56 [[ 3.08001755e-01 -9.51339950e-01 -9.33906321e-03 1.22573827e+02] [ 9.50967599e-01 3.08142556e-01 -2.66231099e-02 8.39615478e+01] [ 2.82053909e-02 -6.81181950e-04 9.99601917e-01 3.56381920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73804094199997 meters Centerline goodness [0,1] 0.9999356015884941 Centerline is valid? [True, True] Translation: X:122.58, Y:83.99, Z:3.56 [[ 3.08777212e-01 -9.51088007e-01 -9.39341309e-03 1.22582252e+02] [ 9.50710506e-01 3.08919366e-01 -2.68022270e-02 8.39887230e+01] [ 2.83930839e-02 -6.54499575e-04 9.99596621e-01 3.56348334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76804094199997 meters Centerline goodness [0,1] 0.999957264957265 Centerline is valid? [True, True] Translation: X:122.59, Y:84.02, Z:3.56 [[ 3.11212095e-01 -9.50293262e-01 -9.47349834e-03 1.22588495e+02] [ 9.49908242e-01 3.11355713e-01 -2.70545989e-02 8.40171317e+01] [ 2.86594309e-02 -5.79235745e-04 9.99589066e-01 3.56481985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79804094199997 meters Centerline goodness [0,1] 0.9998930023539482 Centerline is valid? [True, True] Translation: X:122.60, Y:84.04, Z:3.57 [[ 3.12440373e-01 -9.49890835e-01 -9.40288673e-03 1.22595837e+02] [ 9.49510740e-01 3.12581379e-01 -2.68744357e-02 8.40448596e+01] [ 2.84669475e-02 -5.31483226e-04 9.99594593e-01 3.56524646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82804094199997 meters Centerline goodness [0,1] 0.9998505710321273 Centerline is valid? [True, True] Translation: X:122.60, Y:84.07, Z:3.57 [[ 3.14124889e-01 -9.49334604e-01 -9.45327112e-03 1.22604737e+02] [ 9.48949563e-01 3.14266739e-01 -2.70396599e-02 8.40707824e+01] [ 2.86405335e-02 -4.76847340e-04 9.99589662e-01 3.56535126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:84.10, Z:3.57 [[ 3.14940806e-01 -9.49064306e-01 -9.44628218e-03 1.22613066e+02] [ 9.48679170e-01 3.15082124e-01 -2.70386486e-02 8.40971438e+01] [ 2.86377709e-02 -4.45917348e-04 9.99589755e-01 3.56729844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:84.12, Z:3.57 [[ 3.15190070e-01 -9.48979978e-01 -9.60316420e-03 1.22619659e+02] [ 9.48581188e-01 3.15336026e-01 -2.75121802e-02 8.41244375e+01] [ 2.91367318e-02 -4.37814918e-04 9.99575339e-01 3.56849843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91804094199998 meters Centerline goodness [0,1] 0.9999362136417758 Centerline is valid? [True, True] Translation: X:122.63, Y:84.15, Z:3.57 [[ 3.15987512e-01 -9.48715700e-01 -9.50853779e-03 1.22628380e+02] [ 9.48323916e-01 3.16130288e-01 -2.72651919e-02 8.41499052e+01] [ 2.88728524e-02 -4.01713643e-04 9.99583012e-01 3.56810500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94804094199998 meters Centerline goodness [0,1] 0.9999575019655341 Centerline is valid? [True, True] Translation: X:122.64, Y:84.18, Z:3.57 [[ 3.17916224e-01 -9.48072398e-01 -9.38100658e-03 1.22636037e+02] [ 9.47690185e-01 3.18054427e-01 -2.69201517e-02 8.41761294e+01] [ 2.85059234e-02 -3.31934886e-04 9.99593568e-01 3.57004267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97804094199998 meters Centerline goodness [0,1] 0.9999362543028345 Centerline is valid? [True, True] Translation: X:122.64, Y:84.20, Z:3.57 [[ 3.18693260e-01 -9.47812185e-01 -9.30954952e-03 1.22643226e+02] [ 9.47435002e-01 3.18829064e-01 -2.67384452e-02 8.42037494e+01] [ 2.83111792e-02 -2.98830803e-04 9.99599114e-01 3.57156117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:84.23, Z:3.57 [[ 3.20257799e-01 -9.47284154e-01 -9.36340600e-03 1.22652212e+02] [ 9.46901669e-01 3.20394555e-01 -2.69176136e-02 8.42299328e+01] [ 2.84986131e-02 -2.45649089e-04 9.99593802e-01 3.57173397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03804094199998 meters Centerline goodness [0,1] 0.9999787762378759 Centerline is valid? [True, True] Translation: X:122.66, Y:84.26, Z:3.57 [[ 3.21592482e-01 -9.46830762e-01 -9.47542263e-03 1.22659504e+02] [ 9.46438160e-01 3.21731982e-01 -2.72642828e-02 8.42573423e+01] [ 2.88632081e-02 -1.99913201e-04 9.99583351e-01 3.57271921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:84.28, Z:3.57 [[ 3.24389544e-01 -9.45874773e-01 -9.60924663e-03 1.22666709e+02] [ 9.45469826e-01 3.24531820e-01 -2.76749891e-02 8.42838766e+01] [ 2.92955804e-02 -1.07775622e-04 9.99570787e-01 3.57242527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:84.31, Z:3.57 [[ 3.26510046e-01 -9.45143478e-01 -9.74655717e-03 1.22675766e+02] [ 9.44725757e-01 3.26655483e-01 -2.80969533e-02 8.43105174e+01] [ 2.97394185e-02 -3.38860848e-05 9.99557685e-01 3.57329290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:84.34, Z:3.57 [[ 3.26941486e-01 -9.44995427e-01 -9.63886659e-03 1.22685282e+02] [ 9.44586102e-01 3.27083541e-01 -2.78110384e-02 8.43370220e+01] [ 2.94340187e-02 -1.21571966e-05 9.99566725e-01 3.57418748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:84.36, Z:3.57 [[ 3.27329274e-01 -9.44860499e-01 -9.70485873e-03 1.22694574e+02] [ 9.44444734e-01 3.27473110e-01 -2.80268986e-02 8.43625666e+01] [ 2.96595897e-02 8.32165212e-06 9.99560058e-01 3.57424407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:84.39, Z:3.57 [[ 3.27509609e-01 -9.44794703e-01 -1.00212745e-02 1.22705126e+02] [ 9.44350493e-01 3.27662890e-01 -2.89685437e-02 8.43879438e+01] [ 3.06529264e-02 2.38809184e-05 9.99530088e-01 3.57404363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:84.41, Z:3.58 [[ 3.27200455e-01 -9.44900280e-01 -1.01648063e-02 1.22715762e+02] [ 9.44442448e-01 3.27358306e-01 -2.94109219e-02 8.44137124e+01] [ 3.11179221e-02 2.31925139e-05 9.99515720e-01 3.57570331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:84.44, Z:3.58 [[ 3.26808949e-01 -9.45032483e-01 -1.04650895e-02 1.22727890e+02] [ 9.44546441e-01 3.26976462e-01 -3.03053617e-02 8.44376231e+01] [ 3.20613892e-02 1.93003377e-05 9.99485901e-01 3.57521558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:84.46, Z:3.58 [[ 3.26296743e-01 -9.45209057e-01 -1.05011511e-02 1.22738702e+02] [ 9.44719073e-01 3.26465678e-01 -3.04308038e-02 8.44636577e+01] [ 3.21917367e-02 8.83443620e-06 9.99481712e-01 3.57719381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:84.49, Z:3.58 [[ 3.25358454e-01 -9.45531817e-01 -1.05574856e-02 1.22750829e+02] [ 9.45035795e-01 3.25529697e-01 -3.06229119e-02 8.44882945e+01] [ 3.23917126e-02 -1.37785097e-05 9.99475251e-01 3.57713527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:84.51, Z:3.58 [[ 3.24483422e-01 -9.45832657e-01 -1.05401280e-02 1.22761221e+02] [ 9.45337474e-01 3.24654562e-01 -3.06018908e-02 8.45141055e+01] [ 3.23661683e-02 -3.41717439e-05 9.99476078e-01 3.57939749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:84.54, Z:3.58 [[ 3.23747913e-01 -9.46082438e-01 -1.07382146e-02 1.22771333e+02] [ 9.45567719e-01 3.23925944e-01 -3.12037193e-02 8.45391800e+01] [ 3.29996771e-02 -5.15701226e-05 9.99455361e-01 3.57969038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:84.56, Z:3.58 [[ 3.21855399e-01 -9.46723122e-01 -1.11549265e-02 1.22784830e+02] [ 9.46167206e-01 3.22048626e-01 -3.24391729e-02 8.45649576e+01] [ 3.43033438e-02 -1.13702665e-04 9.99411461e-01 3.58061697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:84.59, Z:3.58 [[ 3.20685557e-01 -9.47118030e-01 -1.13230197e-02 1.22796616e+02] [ 9.46544528e-01 3.20885361e-01 -3.29551389e-02 8.45897469e+01] [ 3.48457975e-02 -1.49505308e-04 9.99392690e-01 3.58086809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:84.61, Z:3.58 [[ 3.18542111e-01 -9.47837554e-01 -1.16144327e-02 1.22811044e+02] [ 9.47233722e-01 3.18753699e-01 -3.38283247e-02 8.46142476e+01] [ 3.57658999e-02 -2.25836358e-04 9.99360170e-01 3.58241684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:84.64, Z:3.58 [[ 3.17577015e-01 -9.48160619e-01 -1.16739551e-02 1.22821777e+02] [ 9.47549711e-01 3.17791405e-01 -3.40318589e-02 8.46386702e+01] [ 3.59775509e-02 -2.53916653e-04 9.99352566e-01 3.58287637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:84.66, Z:3.58 [[ 3.16426732e-01 -9.48540851e-01 -1.20157332e-02 1.22834535e+02] [ 9.47892666e-01 3.16654650e-01 -3.50617617e-02 8.46642854e+01] [ 3.70623511e-02 -2.95146687e-04 9.99312911e-01 3.58288204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:84.69, Z:3.58 [[ 3.15788799e-01 -9.48754184e-01 -1.19554646e-02 1.22845250e+02] [ 9.48111490e-01 3.16014878e-01 -3.49170382e-02 8.46905263e+01] [ 3.69057908e-02 -3.08703797e-04 9.99318702e-01 3.58417556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:84.71, Z:3.58 [[ 3.15862540e-01 -9.48730201e-01 -1.19106103e-02 1.22856203e+02] [ 9.48091230e-01 3.16086886e-01 -3.48152276e-02 8.47149885e+01] [ 3.67950456e-02 -2.95518989e-04 9.99322789e-01 3.58449068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.87, Y:84.74, Z:3.59 [[ 3.15571427e-01 -9.48827522e-01 -1.18746516e-02 1.22868920e+02] [ 9.48191490e-01 3.15794624e-01 -3.47369292e-02 8.47401890e+01] [ 3.67093056e-02 -2.97461244e-04 9.99325942e-01 3.58616380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.88, Y:84.77, Z:3.59 [[ 3.15316279e-01 -9.48911698e-01 -1.19261359e-02 1.22879797e+02] [ 9.48268988e-01 3.15541597e-01 -3.49202811e-02 8.47660390e+01] [ 3.68994552e-02 -2.98251701e-04 9.99318939e-01 3.58720894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.89, Y:84.79, Z:3.59 [[ 3.15700113e-01 -9.48780695e-01 -1.21914714e-02 1.22893017e+02] [ 9.48107644e-01 3.15935303e-01 -3.57320515e-02 8.47900567e+01] [ 3.77535969e-02 -2.78214525e-04 9.99287040e-01 3.58708667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.90, Y:84.82, Z:3.59 [[ 3.15565098e-01 -9.48823898e-01 -1.23239138e-02 1.22904206e+02] [ 9.48134824e-01 3.15805532e-01 -3.61555273e-02 8.48154319e+01] [ 3.81971885e-02 -2.75309289e-04 9.99270183e-01 3.58746820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.91, Y:84.84, Z:3.59 [[ 3.15295834e-01 -9.48913542e-01 -1.23136409e-02 1.22913016e+02] [ 9.48224399e-01 3.15536073e-01 -3.61590263e-02 8.48415570e+01] [ 3.81971876e-02 -2.75304373e-04 9.99270183e-01 3.58810612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.93, Y:84.87, Z:3.59 [[ 3.15278055e-01 -9.48922869e-01 -1.20472882e-02 1.22926133e+02] [ 9.48261998e-01 3.15508037e-01 -3.54098966e-02 8.48652118e+01] [ 3.74022770e-02 -2.60022272e-04 9.99300256e-01 3.58918628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.94, Y:84.89, Z:3.59 [[ 3.15061626e-01 -9.48997164e-01 -1.18555897e-02 1.22937238e+02] [ 9.48355997e-01 3.15284505e-01 -3.48795628e-02 8.48905823e+01] [ 3.68384899e-02 -2.54107800e-04 9.99321200e-01 3.59141270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.95, Y:84.91, Z:3.59 [[ 3.14474125e-01 -9.49195783e-01 -1.15494610e-02 1.22951771e+02] [ 9.48586290e-01 3.14686031e-01 -3.40110711e-02 8.49137746e+01] [ 3.59176193e-02 -2.60058497e-04 9.99354720e-01 3.59319262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.96, Y:84.94, Z:3.59 [[ 3.13463310e-01 -9.49533188e-01 -1.12906417e-02 1.22964156e+02] [ 9.48949812e-01 3.13666457e-01 -3.32807384e-02 8.49387993e+01] [ 3.51426612e-02 -2.81961954e-04 9.99382266e-01 3.59466287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.98, Y:84.96, Z:3.60 [[ 3.12192003e-01 -9.49953288e-01 -1.11760216e-02 1.22976527e+02] [ 9.49380899e-01 3.12391822e-01 -3.29735976e-02 8.49640812e+01] [ 3.48146752e-02 -3.16207924e-04 9.99393735e-01 3.59642559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.99, Y:84.99, Z:3.60 [[ 3.10136633e-01 -9.50627479e-01 -1.10754410e-02 1.22992675e+02] [ 9.50064687e-01 3.10334100e-01 -3.27083659e-02 8.49871042e+01] [ 3.45305584e-02 -3.78322908e-04 9.99403571e-01 3.59671904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.00, Y:85.01, Z:3.60 [[ 3.08811162e-01 -9.51059595e-01 -1.10141828e-02 1.23004364e+02] [ 9.50502190e-01 3.09007240e-01 -3.25593624e-02 8.50131509e+01] [ 3.43693563e-02 -4.14310329e-04 9.99409113e-01 3.59827057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.02, Y:85.04, Z:3.60 [[ 3.07479413e-01 -9.51491361e-01 -1.09818337e-02 1.23019450e+02] [ 9.50936456e-01 3.07675131e-01 -3.24941505e-02 8.50374522e+01] [ 3.42967406e-02 -4.51743655e-04 9.99411592e-01 3.59847362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.03, Y:85.06, Z:3.60 [[ 3.07558756e-01 -9.51466466e-01 -1.09167683e-02 1.23030940e+02] [ 9.50917165e-01 3.07752128e-01 -3.23291369e-02 8.50621735e+01] [ 3.41197483e-02 -4.37833291e-04 9.99417656e-01 3.59877095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.04, Y:85.09, Z:3.60 [[ 3.08091753e-01 -9.51292660e-01 -1.10338779e-02 1.23044302e+02] [ 9.50730532e-01 3.08288991e-01 -3.27009687e-02 8.50875129e+01] [ 3.45098146e-02 -4.15345867e-04 9.99404273e-01 3.59898528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.05, Y:85.11, Z:3.60 [[ 3.08307561e-01 -9.51223662e-01 -1.09541231e-02 1.23054967e+02] [ 9.50668570e-01 3.08501846e-01 -3.24943322e-02 8.51132980e+01] [ 3.42887449e-02 -3.95492193e-04 9.99411890e-01 3.59978986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088040942 meters Centerline goodness [0,1] 0.9999778946903046 Centerline is valid? [True, True] Translation: X:123.06, Y:85.14, Z:3.60 [[ 3.09404938e-01 -9.50870815e-01 -1.06431476e-02 1.23063931e+02] [ 9.50345643e-01 3.09587756e-01 -3.16003067e-02 8.51395551e+01] [ 3.33427976e-02 -3.37378041e-04 9.99443917e-01 3.60110250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.07, Y:85.17, Z:3.60 [[ 3.12433167e-01 -9.49883854e-01 -1.03043586e-02 1.23070656e+02] [ 9.49390171e-01 3.12602971e-01 -3.06216483e-02 8.51665641e+01] [ 3.23081824e-02 -2.15638164e-04 9.99477931e-01 3.60180462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.08, Y:85.19, Z:3.60 [[ 3.13617629e-01 -9.49493184e-01 -1.03284522e-02 1.23078140e+02] [ 9.48996080e-01 3.13787613e-01 -3.07208954e-02 8.51931611e+01] [ 3.24102211e-02 -1.67046294e-04 9.99474637e-01 3.60279278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.09, Y:85.22, Z:3.60 [[ 3.15280285e-01 -9.48939956e-01 -1.05499985e-02 1.23085897e+02] [ 9.48419969e-01 3.15456732e-01 -3.14103868e-02 8.52194056e+01] [ 3.31346391e-02 -1.02753499e-04 9.99450892e-01 3.60285286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.09, Y:85.25, Z:3.60 [[ 3.15157806e-01 -9.48979551e-01 -1.06474858e-02 1.23094953e+02] [ 9.48448872e-01 3.15337600e-01 -3.17322504e-02 8.52453234e+01] [ 3.34708093e-02 -9.79295180e-05 9.99439691e-01 3.60241593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.10, Y:85.27, Z:3.60 [[ 3.14317618e-01 -9.49256154e-01 -1.08254269e-02 1.23104422e+02] [ 9.48706670e-01 3.14503959e-01 -3.22941733e-02 8.52712527e+01] [ 3.40600824e-02 -1.19527080e-04 9.99419780e-01 3.60433828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.11, Y:85.30, Z:3.60 [[ 3.13065133e-01 -9.49669162e-01 -1.08952148e-02 1.23113456e+02] [ 9.49111742e-01 3.13254624e-01 -3.25337078e-02 8.52964859e+01] [ 3.43092354e-02 -1.55606709e-04 9.99411253e-01 3.60309901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.12, Y:85.32, Z:3.60 [[ 3.11470494e-01 -9.50194002e-01 -1.08393019e-02 1.23122035e+02] [ 9.49641540e-01 3.11658978e-01 -3.23979583e-02 8.53233369e+01] [ 3.41625114e-02 -2.02443291e-04 9.99416271e-01 3.60403448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:85.35, Z:3.60 [[ 3.07956487e-01 -9.51338433e-01 -1.08622416e-02 1.23131538e+02] [ 9.50783409e-01 3.08147826e-01 -3.24934932e-02 8.53490208e+01] [ 3.42594850e-02 -3.21057049e-04 9.99412920e-01 3.60328683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35804094199997 meters Centerline goodness [0,1] 0.9999779307909604 Centerline is valid? [True, True] Translation: X:123.14, Y:85.37, Z:3.60 [[ 3.05947007e-01 -9.51988523e-01 -1.06901955e-02 1.23140652e+02] [ 9.51450530e-01 3.06133479e-01 -3.20028526e-02 8.53749215e+01] [ 3.37389751e-02 -3.80015189e-04 9.99430606e-01 3.60435856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.15, Y:85.40, Z:3.61 [[ 3.01969465e-01 -9.53258372e-01 -1.06262756e-02 1.23152008e+02] [ 9.52726557e-01 3.02155947e-01 -3.18416521e-02 8.53994832e+01] [ 3.35641138e-02 -5.08728361e-04 9.99436437e-01 3.60617012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.16, Y:85.43, Z:3.61 [[ 2.99764094e-01 -9.53955865e-01 -1.04735319e-02 1.23159297e+02] [ 9.53438724e-01 2.99946466e-01 -3.14120712e-02 8.54269914e+01] [ 3.31072284e-02 -5.69659814e-04 9.99451643e-01 3.60966728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.17, Y:85.45, Z:3.61 [[ 2.98103112e-01 -9.54478332e-01 -1.02784865e-02 1.23168960e+02] [ 9.53979699e-01 2.98279640e-01 -3.08543538e-02 8.54534278e+01] [ 3.25156754e-02 -6.07688580e-04 9.99471041e-01 3.61149929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.18, Y:85.48, Z:3.61 [[ 2.95685203e-01 -9.55235222e-01 -9.79447098e-03 1.23178587e+02] [ 9.54782072e-01 2.95846663e-01 -2.94269638e-02 8.54800339e+01] [ 3.10073339e-02 -6.50467512e-04 9.99518945e-01 3.61363218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.19, Y:85.51, Z:3.61 [[ 2.94950139e-01 -9.55464104e-01 -9.63128730e-03 1.23186198e+02] [ 9.55025254e-01 2.95106619e-01 -2.89628529e-02 8.55058402e+01] [ 3.05152230e-02 -6.55525102e-04 9.99534087e-01 3.61400872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.19, Y:85.53, Z:3.61 [[ 2.95314173e-01 -9.55353868e-01 -9.40885989e-03 1.23193620e+02] [ 9.54934186e-01 2.95463368e-01 -2.83213558e-02 8.55314838e+01] [ 2.98368902e-02 -6.21144197e-04 9.99554588e-01 3.61427801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.20, Y:85.56, Z:3.61 [[ 2.95943368e-01 -9.55160188e-01 -9.30261029e-03 1.23201602e+02] [ 9.54749064e-01 2.96088958e-01 -2.80277451e-02 8.55585473e+01] [ 2.95253865e-02 -5.87033182e-04 9.99563858e-01 3.61484526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.21, Y:85.59, Z:3.62 [[ 2.97626025e-01 -9.54637608e-01 -9.26209470e-03 1.23208412e+02] [ 9.54229054e-01 2.97769645e-01 -2.79312037e-02 8.55861111e+01] [ 2.94221481e-02 -5.25106739e-04 9.99566937e-01 3.61698647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.22, Y:85.61, Z:3.62 [[ 2.98245998e-01 -9.54443863e-01 -9.28633831e-03 1.23217717e+02] [ 9.54032292e-01 2.98390118e-01 -2.80307480e-02 8.56117968e+01] [ 2.95247269e-02 -4.99408210e-04 9.99563925e-01 3.61767296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.22, Y:85.64, Z:3.62 [[ 2.99613780e-01 -9.54017501e-01 -9.06594982e-03 1.23224007e+02] [ 9.53624330e-01 2.99750590e-01 -2.73901555e-02 8.56398057e+01] [ 2.88482115e-02 -4.39042285e-04 9.99583707e-01 3.61787124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.23, Y:85.67, Z:3.62 [[ 3.00443478e-01 -9.53756656e-01 -9.05304008e-03 1.23232175e+02] [ 9.53363955e-01 3.00579564e-01 -2.73695852e-02 8.56659539e+01] [ 2.88250829e-02 -4.07828736e-04 9.99584388e-01 3.61833836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.24, Y:85.69, Z:3.62 [[ 3.01345318e-01 -9.53473857e-01 -8.86581349e-03 1.23240644e+02] [ 9.53096380e-01 3.01475489e-01 -2.68294647e-02 8.56928801e+01] [ 2.82540187e-02 -3.65041156e-04 9.99600709e-01 3.61884482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.25, Y:85.72, Z:3.62 [[ 3.01538226e-01 -9.53412601e-01 -8.89441328e-03 1.23249723e+02] [ 9.53031933e-01 3.01669170e-01 -2.69415482e-02 8.57195978e+01] [ 2.83695818e-02 -3.52753238e-04 9.99597440e-01 3.61945282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.26, Y:85.75, Z:3.62 [[ 3.01135570e-01 -9.53540446e-01 -8.83096816e-03 1.23258640e+02] [ 9.53164531e-01 3.01264820e-01 -2.67746998e-02 8.57465233e+01] [ 2.81912192e-02 -3.54551145e-04 9.99602486e-01 3.62019139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.27, Y:85.77, Z:3.62 [[ 3.00086246e-01 -9.53871844e-01 -8.76070623e-03 1.23268915e+02] [ 9.53501303e-01 3.00213865e-01 -2.65875928e-02 8.57712910e+01] [ 2.79912417e-02 -3.74773886e-04 9.99608098e-01 3.62104409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:85.80, Z:3.62 [[ 2.99020267e-01 -9.54207053e-01 -8.70512155e-03 1.23278617e+02] [ 9.53840592e-01 2.99146691e-01 -2.64458233e-02 8.57968186e+01] [ 2.78388994e-02 -3.95461143e-04 9.99612345e-01 3.62153243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.29, Y:85.82, Z:3.62 [[ 2.98219041e-01 -9.54457456e-01 -8.73886194e-03 1.23288860e+02] [ 9.54087509e-01 2.98346768e-01 -2.65750235e-02 8.58234660e+01] [ 2.79719406e-02 -4.12460982e-04 9.99608624e-01 3.62191106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.30, Y:85.85, Z:3.62 [[ 2.98133775e-01 -9.54485507e-01 -8.58311270e-03 1.23297830e+02] [ 9.54127976e-01 2.98257032e-01 -2.61256348e-02 8.58495853e+01] [ 2.74965135e-02 -4.00453809e-04 9.99621819e-01 3.62310013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.31, Y:85.88, Z:3.62 [[ 2.98597557e-01 -9.54343498e-01 -8.24536420e-03 1.23307431e+02] [ 9.54012894e-01 2.98711154e-01 -2.51206184e-02 8.58763146e+01] [ 2.64366811e-02 -3.65228474e-04 9.99650423e-01 3.62475297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.32, Y:85.90, Z:3.63 [[ 2.98615524e-01 -9.54336411e-01 -8.41325881e-03 1.23316623e+02] [ 9.53991520e-01 2.98733797e-01 -2.56573398e-02 8.59021660e+01] [ 2.69990583e-02 -3.64497604e-04 9.99635393e-01 3.62517710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:85.93, Z:3.63 [[ 2.98601336e-01 -9.54341297e-01 -8.36251773e-03 1.23326572e+02] [ 9.53999873e-01 2.98718201e-01 -2.55280142e-02 8.59285990e+01] [ 2.68604745e-02 -3.55141684e-04 9.99639129e-01 3.62549790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.34, Y:85.95, Z:3.63 [[ 2.97977033e-01 -9.54536161e-01 -8.39083215e-03 1.23335984e+02] [ 9.54191846e-01 2.98094924e-01 -2.56385781e-02 8.59546145e+01] [ 2.69742144e-02 -3.66756193e-04 9.99636062e-01 3.62664523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.35, Y:85.98, Z:3.63 [[ 2.97345659e-01 -9.54734136e-01 -8.26369085e-03 1.23345493e+02] [ 9.54399628e-01 2.97460235e-01 -2.52736636e-02 8.59806327e+01] [ 2.65877488e-02 -3.71849309e-04 9.99646414e-01 3.62764192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.35, Y:86.01, Z:3.63 [[ 2.96437334e-01 -9.55020702e-01 -7.76960744e-03 1.23354381e+02] [ 9.54724570e-01 2.96538909e-01 -2.37838362e-02 8.60070189e+01] [ 2.50180468e-02 -3.67418143e-04 9.99686932e-01 3.62906018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.36, Y:86.03, Z:3.63 [[ 2.96078620e-01 -9.55132364e-01 -7.72123330e-03 1.23362511e+02] [ 9.54839386e-01 2.96179053e-01 -2.36583016e-02 8.60334371e+01] [ 2.48836772e-02 -3.67820348e-04 9.99690286e-01 3.62997391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.37, Y:86.06, Z:3.63 [[ 2.96214733e-01 -9.55089826e-01 -7.76242468e-03 1.23371659e+02] [ 9.54793107e-01 2.96316207e-01 -2.38081450e-02 8.60594469e+01] [ 2.50390493e-02 -3.59186266e-04 9.99686409e-01 3.63073295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.38, Y:86.09, Z:3.63 [[ 2.96206594e-01 -9.55091421e-01 -7.87602058e-03 1.23380337e+02] [ 9.54785307e-01 2.96311070e-01 -2.41819566e-02 8.60850138e+01] [ 2.54297313e-02 -3.57053743e-04 9.99676548e-01 3.63111782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.39, Y:86.11, Z:3.63 [[ 2.96555022e-01 -9.54984442e-01 -7.73529431e-03 1.23388918e+02] [ 9.54688540e-01 2.96655699e-01 -2.37736615e-02 8.61117043e+01] [ 2.49981960e-02 -3.34598128e-04 9.99687440e-01 3.63193663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:86.14, Z:3.63 [[ 2.97342632e-01 -9.54740711e-01 -7.58515268e-03 1.23396989e+02] [ 9.54455568e-01 2.97439212e-01 -2.33341791e-02 8.61388130e+01] [ 2.45342126e-02 -3.01444960e-04 9.99698945e-01 3.63347037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:86.17, Z:3.64 [[ 2.97784580e-01 -9.54604743e-01 -7.35720154e-03 1.23404441e+02] [ 9.54335939e-01 2.97875324e-01 -2.26540725e-02 8.61660346e+01] [ 2.38172139e-02 -2.75208381e-04 9.99716292e-01 3.63514880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.41, Y:86.19, Z:3.64 [[ 2.98016503e-01 -9.54532938e-01 -7.28246007e-03 1.23412722e+02] [ 9.54269036e-01 2.98105355e-01 -2.24455707e-02 8.61919452e+01] [ 2.35959769e-02 -2.60275650e-04 9.99721542e-01 3.63645422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.42, Y:86.22, Z:3.64 [[ 2.98080100e-01 -9.54515208e-01 -6.99793331e-03 1.23421003e+02] [ 9.54271190e-01 2.98162133e-01 -2.15833110e-02 8.62190775e+01] [ 2.26881173e-02 -2.44370635e-04 9.99742562e-01 3.63792985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.43, Y:86.25, Z:3.64 [[ 2.97675241e-01 -9.54642181e-01 -6.91069212e-03 1.23428465e+02] [ 9.54403789e-01 2.97755347e-01 -2.13344764e-02 8.62461525e+01] [ 2.24244866e-02 -2.44845355e-04 9.99748510e-01 3.63966896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37804094199998 meters Centerline goodness [0,1] 0.9999558391662434 Centerline is valid? [True, True] Translation: X:123.44, Y:86.27, Z:3.64 [[ 2.96818108e-01 -9.54909919e-01 -6.78658161e-03 1.23436822e+02] [ 9.54679637e-01 2.96895575e-01 -2.09716241e-02 8.62716008e+01] [ 2.20409179e-02 -2.54253471e-04 9.99757037e-01 3.64055951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.45, Y:86.30, Z:3.64 [[ 2.93645103e-01 -9.55891317e-01 -6.65908030e-03 1.23446019e+02] [ 9.55669397e-01 2.93720429e-01 -2.05988548e-02 8.62985533e+01] [ 2.16461744e-02 -3.15126415e-04 9.99765644e-01 3.64163514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:86.33, Z:3.64 [[ 2.91673859e-01 -9.56494499e-01 -6.68082190e-03 1.23455240e+02] [ 9.56270869e-01 2.91750145e-01 -2.06852201e-02 8.63254378e+01] [ 2.17344300e-02 -3.55337391e-04 9.99763716e-01 3.64227735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:86.35, Z:3.64 [[ 2.89473320e-01 -9.57161690e-01 -6.83353134e-03 1.23464319e+02] [ 9.56927457e-01 2.89553679e-01 -2.11780364e-02 8.63519172e+01] [ 2.22494792e-02 -4.08717266e-04 9.99752366e-01 3.64297565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.498040942 meters Centerline goodness [0,1] 0.9999124994531216 Centerline is valid? [True, True] Translation: X:123.47, Y:86.38, Z:3.64 [[ 2.85998521e-01 -9.58205122e-01 -6.91298696e-03 1.23473363e+02] [ 9.57965281e-01 2.86081638e-01 -2.14433256e-02 8.63785651e+01] [ 2.25247830e-02 -4.89642104e-04 9.99746165e-01 3.64447535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528040942 meters Centerline goodness [0,1] 0.9998246460041208 Centerline is valid? [True, True] Translation: X:123.48, Y:86.41, Z:3.65 [[ 2.83991535e-01 -9.58802725e-01 -6.79287329e-03 1.23481642e+02] [ 9.58570905e-01 2.84072284e-01 -2.10893012e-02 8.64054236e+01] [ 2.21501465e-02 -5.22267673e-04 9.99754519e-01 3.64551822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.558040942 meters Centerline goodness [0,1] 0.9998467667790377 Centerline is valid? [True, True] Translation: X:123.49, Y:86.43, Z:3.65 [[ 2.81040102e-01 -9.59672229e-01 -6.75818269e-03 1.23489917e+02] [ 9.59442596e-01 2.81120745e-01 -2.10007338e-02 8.64312470e+01] [ 2.20536863e-02 -5.82039987e-04 9.99756618e-01 3.64711993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:86.46, Z:3.65 [[ 2.80030018e-01 -9.59967538e-01 -6.74647427e-03 1.23497439e+02] [ 9.59738474e-01 2.80110631e-01 -2.09784660e-02 8.64580654e+01] [ 2.20284055e-02 -6.00250718e-04 9.99757165e-01 3.64814197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.51, Y:86.48, Z:3.65 [[ 2.79768607e-01 -9.60043791e-01 -6.74138790e-03 1.23505788e+02] [ 9.59814710e-01 2.79849171e-01 -2.09801003e-02 8.64843595e+01] [ 2.20283868e-02 -6.00909832e-04 9.99757165e-01 3.64878029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.51, Y:86.51, Z:3.65 [[ 2.78876917e-01 -9.60301400e-01 -6.99192029e-03 1.23509700e+02] [ 9.60054570e-01 2.78963823e-01 -2.17809369e-02 8.65122209e+01] [ 2.28667570e-02 -6.38424478e-04 9.99738318e-01 3.64895095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:86.54, Z:3.65 [[ 2.78934168e-01 -9.60284590e-01 -7.01687622e-03 1.23516168e+02] [ 9.60035505e-01 2.79021694e-01 -2.18797643e-02 8.65401679e+01] [ 2.29686612e-02 -6.33436438e-04 9.99735985e-01 3.64875062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:86.57, Z:3.65 [[ 2.78869234e-01 -9.60302557e-01 -7.13793147e-03 1.23520918e+02] [ 9.60044330e-01 2.78959836e-01 -2.22776866e-02 8.65678132e+01] [ 2.33845156e-02 -6.40169223e-04 9.99726340e-01 3.64927289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:86.60, Z:3.65 [[ 2.80674925e-01 -9.59776864e-01 -7.06814660e-03 1.23524144e+02] [ 9.59522993e-01 2.80763300e-01 -2.20815617e-02 8.65964990e+01] [ 2.31778482e-02 -5.84308490e-04 9.99731187e-01 3.64927612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:86.62, Z:3.65 [[ 2.81647040e-01 -9.59492710e-01 -6.97743020e-03 1.23529890e+02] [ 9.59244762e-01 2.81732923e-01 -2.18185123e-02 8.66246852e+01] [ 2.29004753e-02 -5.47943944e-04 9.99737600e-01 3.64996526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:86.65, Z:3.65 [[ 2.83698211e-01 -9.58889713e-01 -6.77071422e-03 1.23533713e+02] [ 9.58655628e-01 2.83778590e-01 -2.11919346e-02 8.66524844e+01] [ 2.22421118e-02 -4.78669371e-04 9.99752499e-01 3.65044580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.54, Y:86.68, Z:3.65 [[ 2.84401841e-01 -9.58681615e-01 -6.71969588e-03 1.23539281e+02] [ 9.58450704e-01 2.84480850e-01 -2.10450355e-02 8.66797031e+01] [ 2.20871134e-02 -4.55250416e-04 9.99755946e-01 3.65126801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.54, Y:86.71, Z:3.65 [[ 2.85981288e-01 -9.58214324e-01 -6.32555369e-03 1.23541976e+02] [ 9.58009219e-01 2.86050971e-01 -1.98287063e-02 8.67086451e+01] [ 2.08095811e-02 -3.89299802e-04 9.99783381e-01 3.65192112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:86.73, Z:3.65 [[ 2.86748302e-01 -9.57985289e-01 -6.29267835e-03 1.23548362e+02] [ 9.57781873e-01 2.86817107e-01 -1.97441490e-02 8.67349284e+01] [ 2.07194521e-02 -3.65412052e-04 9.99785262e-01 3.65237731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:86.76, Z:3.65 [[ 2.87546183e-01 -9.57745684e-01 -6.35584951e-03 1.23551703e+02] [ 9.57537674e-01 2.87616210e-01 -1.99629253e-02 8.67629578e+01] [ 2.09474509e-02 -3.45702380e-04 9.99780518e-01 3.65199851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.56, Y:86.79, Z:3.65 [[ 2.87152563e-01 -9.57864826e-01 -6.19525981e-03 1.23558228e+02] [ 9.57666846e-01 2.87219185e-01 -1.94769781e-02 8.67903547e+01] [ 2.04357097e-02 -3.40130746e-04 9.99791111e-01 3.65253681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.56, Y:86.82, Z:3.65 [[ 2.86741209e-01 -9.57990637e-01 -5.78088014e-03 1.23563339e+02] [ 9.57817975e-01 2.86799296e-01 -1.81904038e-02 8.68173222e+01] [ 1.90841889e-02 -3.21092536e-04 9.99817829e-01 3.65381707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.57, Y:86.84, Z:3.65 [[ 2.86172130e-01 -9.58161217e-01 -5.70912332e-03 1.23569644e+02] [ 9.57992500e-01 2.86228890e-01 -1.79831211e-02 8.68443761e+01] [ 1.88648452e-02 -3.23029272e-04 9.99821991e-01 3.65383594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:86.87, Z:3.65 [[ 2.85097275e-01 -9.58481586e-01 -5.70902518e-03 1.23577042e+02] [ 9.58312604e-01 2.85154228e-01 -1.80005539e-02 8.68718790e+01] [ 1.88811521e-02 -3.39121922e-04 9.99821678e-01 3.65424572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:86.90, Z:3.65 [[ 2.81994258e-01 -9.59399182e-01 -5.69638209e-03 1.23584994e+02] [ 9.59230791e-01 2.82051511e-01 -1.79787267e-02 8.68995254e+01] [ 1.88554489e-02 -3.94247400e-04 9.99822142e-01 3.65417559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:86.93, Z:3.65 [[ 2.79958574e-01 -9.59995612e-01 -5.62327199e-03 1.23593500e+02] [ 9.59831332e-01 2.80014722e-01 -1.77642660e-02 8.69266992e+01] [ 1.86282163e-02 -4.24134071e-04 9.99826390e-01 3.65439322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:86.95, Z:3.65 [[ 2.75682910e-01 -9.61231046e-01 -5.81454248e-03 1.23602781e+02] [ 9.61055323e-01 2.75743733e-01 -1.83863918e-02 8.69526132e+01] [ 1.92768943e-02 -5.19283017e-04 9.99814049e-01 3.65320341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:86.98, Z:3.65 [[ 2.73544385e-01 -9.61841500e-01 -5.86494589e-03 1.23611666e+02] [ 9.61662487e-01 2.73606675e-01 -1.85647101e-02 8.69796277e+01] [ 1.94609969e-02 -5.61826250e-04 9.99810459e-01 3.65342437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:87.01, Z:3.65 [[ 2.71701384e-01 -9.62361696e-01 -6.19063310e-03 1.23619200e+02] [ 9.62161988e-01 2.71771177e-01 -1.96147121e-02 8.70070487e+01] [ 2.05588833e-02 -6.27047431e-04 9.99788447e-01 3.65263770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.63, Y:87.03, Z:3.65 [[ 2.68984786e-01 -9.63121121e-01 -6.70012408e-03 1.23626643e+02] [ 9.62886935e-01 2.69067215e-01 -2.12505252e-02 8.70343820e+01] [ 2.22696134e-02 -7.35393962e-04 9.99751731e-01 3.65118517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:87.06, Z:3.65 [[ 2.68156146e-01 -9.63352112e-01 -6.70741680e-03 1.23635218e+02] [ 9.63117038e-01 2.68238971e-01 -2.12937938e-02 8.70605205e+01] [ 2.23126118e-02 -7.49965725e-04 9.99750761e-01 3.65130223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:87.09, Z:3.65 [[ 2.67916452e-01 -9.63419849e-01 -6.55513596e-03 1.23642195e+02] [ 9.63195082e-01 2.67995624e-01 -2.08225758e-02 8.70877763e+01] [ 2.18176306e-02 -7.35164082e-04 9.99761697e-01 3.65230556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.65, Y:87.12, Z:3.65 [[ 2.68379593e-01 -9.63292076e-01 -6.38517742e-03 1.23649199e+02] [ 9.63078371e-01 2.68454625e-01 -2.03018874e-02 8.71154232e+01] [ 2.12707777e-02 -7.00813982e-04 9.99773506e-01 3.65319901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.65, Y:87.14, Z:3.65 [[ 2.68906653e-01 -9.63146459e-01 -6.17345574e-03 1.23654993e+02] [ 9.62946277e-01 2.68976694e-01 -1.96470102e-02 8.71425350e+01] [ 2.05834640e-02 -6.61494478e-04 9.99787919e-01 3.65403594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:87.17, Z:3.65 [[ 2.70649464e-01 -9.62657662e-01 -6.25250793e-03 1.23659538e+02] [ 9.62451777e-01 2.70720951e-01 -1.99184137e-02 8.71704413e+01] [ 2.08672984e-02 -6.26829385e-04 9.99782058e-01 3.65402300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:87.20, Z:3.65 [[ 2.71448356e-01 -9.62432091e-01 -6.34505864e-03 1.23666083e+02] [ 9.62219592e-01 2.71521811e-01 -2.02327170e-02 8.71975357e+01] [ 2.11954379e-02 -6.13201975e-04 9.99775163e-01 3.65429365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:87.22, Z:3.66 [[ 2.71334598e-01 -9.62464616e-01 -6.27678519e-03 1.23673436e+02] [ 9.62256283e-01 2.71406516e-01 -2.00337101e-02 8.72243221e+01] [ 2.09852975e-02 -6.04037311e-04 9.99779602e-01 3.65529856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:87.25, Z:3.66 [[ 2.71436086e-01 -9.62435652e-01 -6.32981280e-03 1.23682462e+02] [ 9.62223352e-01 2.71509215e-01 -2.02229279e-02 8.72502937e+01] [ 2.11818693e-02 -6.01461286e-04 9.99775458e-01 3.65636183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.69, Y:87.28, Z:3.66 [[ 2.72332672e-01 -9.62183371e-01 -6.17058889e-03 1.23686051e+02] [ 9.61981145e-01 2.72401992e-01 -1.97340353e-02 8.72791632e+01] [ 2.06686413e-02 -5.61767592e-04 9.99786223e-01 3.65690938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.69, Y:87.31, Z:3.66 [[ 2.73409439e-01 -9.61877340e-01 -6.26593496e-03 1.23692142e+02] [ 9.61668320e-01 2.73480694e-01 -2.00587200e-02 8.73074140e+01] [ 2.10076405e-02 -5.41507767e-04 9.99779169e-01 3.65756856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.70, Y:87.33, Z:3.66 [[ 2.76208834e-01 -9.61077914e-01 -6.15822927e-03 1.23698849e+02] [ 9.60875436e-01 2.76277082e-01 -1.97324663e-02 8.73339103e+01] [ 2.06658152e-02 -4.67009713e-04 9.99786330e-01 3.65859480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:87.36, Z:3.66 [[ 2.78190680e-01 -9.60507499e-01 -5.94046401e-03 1.23709369e+02] [ 9.60318721e-01 2.78253802e-01 -1.90466515e-02 8.73592006e+01] [ 1.99474083e-02 -4.06137860e-04 9.99800948e-01 3.66056666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:87.39, Z:3.66 [[ 2.80061937e-01 -9.59964134e-01 -5.84571343e-03 1.23715374e+02] [ 9.59780989e-01 2.80122710e-01 -1.87541967e-02 8.73863625e+01] [ 1.96408733e-02 -3.58267958e-04 9.99807035e-01 3.66151239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:87.42, Z:3.66 [[ 2.84447784e-01 -9.58673533e-01 -5.87494215e-03 1.23717935e+02] [ 9.58487933e-01 2.84508324e-01 -1.88652187e-02 8.74152115e+01] [ 1.97570558e-02 -2.64891502e-04 9.99804775e-01 3.66081795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:87.44, Z:3.66 [[ 2.87788152e-01 -9.57676060e-01 -5.87747691e-03 1.23724170e+02] [ 9.57489699e-01 2.87848100e-01 -1.88930748e-02 8.74422771e+01] [ 1.97852660e-02 -1.90420511e-04 9.99804234e-01 3.66080816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.73, Y:87.47, Z:3.66 [[ 2.88400738e-01 -9.57491890e-01 -5.85618290e-03 1.23731927e+02] [ 9.57306601e-01 2.88460137e-01 -1.88366954e-02 8.74697281e+01] [ 1.97252584e-02 -1.73645679e-04 9.99805423e-01 3.66141168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:87.50, Z:3.66 [[ 2.88382467e-01 -9.57497335e-01 -5.86571834e-03 1.23740119e+02] [ 9.57311066e-01 2.88442066e-01 -1.88864092e-02 8.74962437e+01] [ 1.97756064e-02 -1.68807777e-04 9.99804429e-01 3.66188240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.75, Y:87.52, Z:3.66 [[ 2.87683191e-01 -9.57708815e-01 -5.67511220e-03 1.23750836e+02] [ 9.57534160e-01 2.87739110e-01 -1.82903726e-02 8.75218508e+01] [ 1.91498028e-02 -1.72281024e-04 9.99816611e-01 3.66308393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78804094199998 meters Centerline goodness [0,1] 0.9999574078412165 Centerline is valid? [True, True] Translation: X:123.76, Y:87.55, Z:3.66 [[ 2.86275228e-01 -9.58131548e-01 -5.51644985e-03 1.23760770e+02] [ 9.57966277e-01 2.86328310e-01 -1.77963814e-02 8.75488394e+01] [ 1.86307902e-02 -1.89909789e-04 9.99826414e-01 3.66396390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.77, Y:87.57, Z:3.67 [[ 2.83368561e-01 -9.58997239e-01 -5.15300088e-03 1.23772342e+02] [ 9.58852903e-01 2.83415321e-01 -1.66392995e-02 8.75739439e+01] [ 1.74174817e-02 -2.25915486e-04 9.99848279e-01 3.66501527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:87.60, Z:3.67 [[ 2.81349411e-01 -9.59592356e-01 -5.00200195e-03 1.23782589e+02] [ 9.59456203e-01 2.81393760e-01 -1.61662094e-02 8.75995428e+01] [ 1.69205031e-02 -2.50848310e-04 9.99856807e-01 3.66553281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.79, Y:87.63, Z:3.67 [[ 2.79437893e-01 -9.60150957e-01 -4.96023692e-03 1.23792818e+02] [ 9.60016919e-01 2.79481775e-01 -1.60453218e-02 8.76258374e+01] [ 1.67922269e-02 -2.78240454e-04 9.99858962e-01 3.66590046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:87.65, Z:3.67 [[ 2.75737967e-01 -9.61220451e-01 -4.88046178e-03 1.23805196e+02] [ 9.61090609e-01 2.75780953e-01 -1.58020974e-02 8.76520808e+01] [ 1.65352376e-02 -3.33327774e-04 9.99863228e-01 3.66576498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.82, Y:87.68, Z:3.67 [[ 2.74078900e-01 -9.61694626e-01 -4.91969630e-03 1.23815254e+02] [ 9.61562507e-01 2.74122814e-01 -1.59445441e-02 8.76776571e+01] [ 1.66823834e-02 -3.60532395e-04 9.99860774e-01 3.66618277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.82, Y:87.70, Z:3.67 [[ 2.72097857e-01 -9.62256601e-01 -4.99890336e-03 1.23824849e+02] [ 9.62120037e-01 2.72143483e-01 -1.62160026e-02 8.77038960e+01] [ 1.69643745e-02 -3.97205535e-04 9.99856016e-01 3.66619997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:87.73, Z:3.67 [[ 2.71623189e-01 -9.62391840e-01 -4.77383258e-03 1.23833085e+02] [ 9.62267109e-01 2.71664865e-01 -1.54987904e-02 8.77308743e+01] [ 1.62127920e-02 -3.83871214e-04 9.99868490e-01 3.66642005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:87.76, Z:3.67 [[ 2.71743158e-01 -9.62357424e-01 -4.88316912e-03 1.23842087e+02] [ 9.62226605e-01 2.71786756e-01 -1.58720082e-02 8.77559894e+01] [ 1.66017256e-02 -3.85605608e-04 9.99862108e-01 3.66696878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:87.78, Z:3.67 [[ 2.72093715e-01 -9.62258496e-01 -4.85779305e-03 1.23849392e+02] [ 9.62128850e-01 2.72136817e-01 -1.57996177e-02 8.77828348e+01] [ 1.65253007e-02 -3.74846186e-04 9.99863378e-01 3.66715946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.86, Y:87.81, Z:3.67 [[ 2.73565467e-01 -9.61839934e-01 -5.08693568e-03 1.23857175e+02] [ 9.61697382e-01 2.73612520e-01 -1.65630575e-02 8.78095688e+01] [ 1.73228594e-02 -3.61012181e-04 9.99849883e-01 3.66659742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:87.84, Z:3.67 [[ 2.74102525e-01 -9.61685733e-01 -5.32506937e-03 1.23865391e+02] [ 9.61529172e-01 2.74154006e-01 -1.73560670e-02 8.78364229e+01] [ 1.81509711e-02 -3.62867756e-04 9.99835192e-01 3.66693250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:87.86, Z:3.67 [[ 2.74631730e-01 -9.61535030e-01 -5.27246413e-03 1.23872847e+02] [ 9.61381215e-01 2.74682120e-01 -1.72015110e-02 8.78632294e+01] [ 1.79881070e-02 -3.44767263e-04 9.99838141e-01 3.66716220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:87.89, Z:3.67 [[ 2.75427387e-01 -9.61308880e-01 -4.99923096e-03 1.23881796e+02] [ 9.61170297e-01 2.75472580e-01 -1.63253621e-02 8.78890368e+01] [ 1.70708666e-02 -3.08660491e-04 9.99854235e-01 3.66883370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.89, Y:87.92, Z:3.67 [[ 2.75735365e-01 -9.61220945e-01 -4.92989559e-03 1.23889809e+02] [ 9.61085878e-01 2.75779276e-01 -1.61160208e-02 8.79160826e+01] [ 1.68506198e-02 -2.94296143e-04 9.99857975e-01 3.66959799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23804094199997 meters Centerline goodness [0,1] 0.9999786434307193 Centerline is valid? [True, True] Translation: X:123.90, Y:87.94, Z:3.67 [[ 2.77132597e-01 -9.60818617e-01 -5.01088587e-03 1.23897248e+02] [ 9.60678719e-01 2.77177764e-01 -1.63977254e-02 8.79429812e+01] [ 1.71441460e-02 -2.69507189e-04 9.99852992e-01 3.66976912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.90, Y:87.97, Z:3.67 [[ 2.78018894e-01 -9.60562047e-01 -5.10367823e-03 1.23904503e+02] [ 9.60416577e-01 2.78065619e-01 -1.67185343e-02 8.79705711e+01] [ 1.74783469e-02 -2.53588769e-04 9.99847210e-01 3.66988290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:88.00, Z:3.67 [[ 2.78701043e-01 -9.60364041e-01 -5.16109549e-03 1.23912775e+02] [ 9.60214940e-01 2.78748724e-01 -1.69238672e-02 8.79974691e+01] [ 1.76917223e-02 -2.39061543e-04 9.99843461e-01 3.67066721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.92, Y:88.02, Z:3.67 [[ 2.79929905e-01 -9.60006349e-01 -5.20168400e-03 1.23921107e+02] [ 9.59854515e-01 2.79978149e-01 -1.70747474e-02 8.80246928e+01] [ 1.78482238e-02 -2.13127438e-04 9.99840685e-01 3.67102583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:88.05, Z:3.67 [[ 2.79827971e-01 -9.60036409e-01 -5.13807740e-03 1.23930052e+02] [ 9.59887975e-01 2.79875062e-01 -1.68827076e-02 8.80506729e+01] [ 1.76460337e-02 -2.07724904e-04 9.99844275e-01 3.67191295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.94, Y:88.08, Z:3.67 [[ 2.78702569e-01 -9.60363953e-01 -5.09458519e-03 1.23939803e+02] [ 9.60217756e-01 2.78749041e-01 -1.67580478e-02 8.80772268e+01] [ 1.75139357e-02 -2.21400192e-04 9.99846595e-01 3.67334935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.95, Y:88.10, Z:3.67 [[ 2.77984917e-01 -9.60571669e-01 -5.14339981e-03 1.23948915e+02] [ 9.60422386e-01 2.78032399e-01 -1.69359262e-02 8.81030238e+01] [ 1.76982027e-02 -2.31904277e-04 9.99843348e-01 3.67378073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:88.13, Z:3.67 [[ 2.76467921e-01 -9.61009264e-01 -5.16555954e-03 1.23959208e+02] [ 9.60858431e-01 2.76516056e-01 -1.70277948e-02 8.81292059e+01] [ 1.77922287e-02 -2.55732403e-04 9.99841673e-01 3.67400982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.97, Y:88.16, Z:3.68 [[ 2.75230018e-01 -9.61364715e-01 -5.13059629e-03 1.23968210e+02] [ 9.61215677e-01 2.75277699e-01 -1.69295518e-02 8.81553812e+01] [ 1.76878125e-02 -2.72088746e-04 9.99843521e-01 3.67505710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.98, Y:88.18, Z:3.68 [[ 2.74000636e-01 -9.61716984e-01 -4.90859313e-03 1.23978139e+02] [ 9.61580323e-01 2.74044460e-01 -1.62147232e-02 8.81812335e+01] [ 1.69391474e-02 -2.77162104e-04 9.99856484e-01 3.67672704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.99, Y:88.21, Z:3.68 [[ 2.73735065e-01 -9.61792619e-01 -4.90635855e-03 1.23986034e+02] [ 9.61655958e-01 2.73778889e-01 -1.62153993e-02 8.82076483e+01] [ 1.69391088e-02 -2.79505549e-04 9.99856484e-01 3.67736573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.00, Y:88.23, Z:3.68 [[ 2.72698163e-01 -9.62087398e-01 -4.85293123e-03 1.23995143e+02] [ 9.61953479e-01 2.72741187e-01 -1.60545820e-02 8.82342154e+01] [ 1.67695052e-02 -2.90239058e-04 9.99859340e-01 3.67798029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.00, Y:88.26, Z:3.68 [[ 2.71676262e-01 -9.62377637e-01 -4.61428886e-03 1.24004285e+02] [ 9.62256377e-01 2.71715291e-01 -1.52796043e-02 8.82609006e+01] [ 1.59585223e-02 -2.89023104e-04 9.99872613e-01 3.67842453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.01, Y:88.29, Z:3.68 [[ 2.70313349e-01 -9.62761029e-01 -4.67907574e-03 1.24012817e+02] [ 9.62636158e-01 2.70353663e-01 -1.55088355e-02 8.82872969e+01] [ 1.61963077e-02 -3.12002233e-04 9.99868783e-01 3.67854340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.02, Y:88.31, Z:3.68 [[ 2.69838843e-01 -9.62893636e-01 -4.77960961e-03 1.24022468e+02] [ 9.62763090e-01 2.69880977e-01 -1.58584487e-02 8.83122600e+01] [ 1.65599250e-02 -3.22406289e-04 9.99862823e-01 3.67937246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.03, Y:88.34, Z:3.68 [[ 2.70112212e-01 -9.62817563e-01 -4.66192914e-03 1.24030708e+02] [ 9.62693082e-01 2.70152267e-01 -1.54849005e-02 8.83385612e+01] [ 1.61685649e-02 -3.05346218e-04 9.99869234e-01 3.68016567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:88.37, Z:3.68 [[ 2.70580899e-01 -9.62685138e-01 -4.82715435e-03 1.24038633e+02] [ 9.62551383e-01 2.70623783e-01 -1.60499941e-02 8.83653068e+01] [ 1.67574335e-02 -3.03562273e-04 9.99859538e-01 3.68073090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.05, Y:88.39, Z:3.68 [[ 2.72394045e-01 -9.62173934e-01 -4.77552928e-03 1.24045929e+02] [ 9.62042694e-01 2.72435774e-01 -1.58935241e-02 8.83914750e+01] [ 1.65933596e-02 -2.64961745e-04 9.99862286e-01 3.68129315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.05, Y:88.42, Z:3.68 [[ 2.73157516e-01 -9.61956977e-01 -4.87299065e-03 1.24052991e+02] [ 9.61820028e-01 2.73200862e-01 -1.62334039e-02 8.84178878e+01] [ 1.69471414e-02 -2.52663713e-04 9.99856355e-01 3.68187808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.06, Y:88.44, Z:3.68 [[ 2.74671416e-01 -9.61525658e-01 -4.90131708e-03 1.24059429e+02] [ 9.61386741e-01 2.74715053e-01 -1.63454820e-02 8.84443132e+01] [ 1.70630659e-02 -2.22424578e-04 9.99854391e-01 3.68206671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.07, Y:88.47, Z:3.68 [[ 2.74937768e-01 -9.61448870e-01 -5.02925451e-03 1.24066963e+02] [ 9.61302274e-01 2.74983676e-01 -1.67903667e-02 8.84693375e+01] [ 1.75260420e-02 -2.18327861e-04 9.99846383e-01 3.68246680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.07, Y:88.50, Z:3.68 [[ 2.74753305e-01 -9.61500682e-01 -5.20197171e-03 1.24074844e+02] [ 9.61343478e-01 2.74802455e-01 -1.73875987e-02 8.84950091e+01] [ 1.81477026e-02 -2.23581361e-04 9.99835292e-01 3.68234585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.08, Y:88.52, Z:3.68 [[ 2.73317089e-01 -9.61908805e-01 -5.40543351e-03 1.24084253e+02] [ 9.61738769e-01 2.73370417e-01 -1.80874492e-02 8.85199617e+01] [ 1.88761622e-02 -2.55006003e-04 9.99821797e-01 3.68222991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.09, Y:88.55, Z:3.68 [[ 2.71393729e-01 -9.62452526e-01 -5.52983655e-03 1.24094115e+02] [ 9.62274264e-01 2.71449901e-01 -1.85254294e-02 8.85464270e+01] [ 1.93309199e-02 -2.93534045e-04 9.99813097e-01 3.68248495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.10, Y:88.57, Z:3.68 [[ 2.70358017e-01 -9.62743350e-01 -5.63786397e-03 1.24102888e+02] [ 9.62557776e-01 2.70416610e-01 -1.89046160e-02 8.85715286e+01] [ 1.97248654e-02 -3.15755312e-04 9.99805396e-01 3.68292925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.11, Y:88.60, Z:3.68 [[ 2.69021279e-01 -9.63117384e-01 -5.69707837e-03 1.24112208e+02] [ 9.62927544e-01 2.69081380e-01 -1.91247670e-02 8.85985038e+01] [ 1.99523732e-02 -3.40904415e-04 9.99800873e-01 3.68353861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.12, Y:88.62, Z:3.68 [[ 2.67483068e-01 -9.63544233e-01 -5.94296346e-03 1.24121092e+02] [ 9.63337366e-01 2.67548805e-01 -1.99688830e-02 8.86231698e+01] [ 2.08309348e-02 -3.83740681e-04 9.99782939e-01 3.68370511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.13, Y:88.65, Z:3.68 [[ 2.67282757e-01 -9.63599279e-01 -6.02969198e-03 1.24128763e+02] [ 9.63385863e-01 2.67350480e-01 -2.02830030e-02 8.86478511e+01] [ 2.11567281e-02 -3.87623036e-04 9.99776096e-01 3.68423070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07804094199997 meters Centerline goodness [0,1] 0.9999783629400437 Centerline is valid? [True, True] Translation: X:124.13, Y:88.68, Z:3.68 [[ 2.67626829e-01 -9.63504213e-01 -5.95924376e-03 1.24130796e+02] [ 9.63295417e-01 2.67692910e-01 -2.00610431e-02 8.86760617e+01] [ 2.09241469e-02 -3.71638837e-04 9.99780997e-01 3.68458491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.14, Y:88.70, Z:3.69 [[ 2.68350831e-01 -9.63302967e-01 -5.93502721e-03 1.24142658e+02] [ 9.63095372e-01 2.68416228e-01 -2.00008038e-02 8.87005985e+01] [ 2.08598913e-02 -3.48764900e-04 9.99782348e-01 3.68592520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.15, Y:88.73, Z:3.69 [[ 2.69140143e-01 -9.63082670e-01 -5.94595575e-03 1.24148850e+02] [ 9.62873954e-01 2.69205615e-01 -2.00520978e-02 8.87265323e+01] [ 2.09125126e-02 -3.28381460e-04 9.99781256e-01 3.68636710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16804094199998 meters Centerline goodness [0,1] 0.9999132113953438 Centerline is valid? [True, True] Translation: X:124.15, Y:88.76, Z:3.69 [[ 2.71207131e-01 -9.62501491e-01 -6.12953567e-03 1.24151220e+02] [ 9.62279020e-01 2.71276238e-01 -2.06951623e-02 8.87552804e+01] [ 2.15819220e-02 -2.85647982e-04 9.99767042e-01 3.68602558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.16, Y:88.78, Z:3.69 [[ 2.72039677e-01 -9.62266070e-01 -6.19884106e-03 1.24158985e+02] [ 9.62038018e-01 2.72110165e-01 -2.09501879e-02 8.87827157e+01] [ 2.18464227e-02 -2.64238409e-04 9.99761304e-01 3.68645578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.17, Y:88.81, Z:3.69 [[ 2.73822879e-01 -9.61760782e-01 -6.10152146e-03 1.24165932e+02] [ 9.61539259e-01 2.73890765e-01 -2.06422412e-02 8.88096789e+01] [ 2.15240484e-02 -2.14534529e-04 9.99768308e-01 3.68737309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.17, Y:88.84, Z:3.69 [[ 2.74240047e-01 -9.61642682e-01 -5.97909371e-03 1.24173624e+02] [ 9.61429501e-01 2.74305149e-01 -2.02484777e-02 8.88370430e+01] [ 2.11118966e-02 -1.95533614e-04 9.99777100e-01 3.68814256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.18, Y:88.86, Z:3.69 [[ 2.75061149e-01 -9.61409998e-01 -5.67281894e-03 1.24181676e+02] [ 9.61217675e-01 2.75119591e-01 -1.92299819e-02 8.88640073e+01] [ 2.00486005e-02 -1.63392930e-04 9.99798993e-01 3.68912697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31804094199998 meters Centerline goodness [0,1] 0.9999783413831193 Centerline is valid? [True, True] Translation: X:124.19, Y:88.89, Z:3.69 [[ 2.75236325e-01 -9.61361098e-01 -5.45946016e-03 1.24189969e+02] [ 9.61182581e-01 2.75290425e-01 -1.85263931e-02 8.88899113e+01] [ 1.93134907e-02 -1.48401673e-04 9.99813466e-01 3.69024870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.20, Y:88.92, Z:3.69 [[ 2.75207403e-01 -9.61370552e-01 -5.24861359e-03 1.24198298e+02] [ 9.61205345e-01 2.75257412e-01 -1.78224973e-02 8.89154120e+01] [ 1.85787439e-02 -1.40112245e-04 9.99827390e-01 3.69160464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:88.94, Z:3.69 [[ 2.74820967e-01 -9.61482496e-01 -4.98459762e-03 1.24206169e+02] [ 9.61333204e-01 2.74866134e-01 -1.69433948e-02 8.89421723e+01] [ 1.76608746e-02 -1.35459061e-04 9.99844025e-01 3.69113883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40804094199999 meters Centerline goodness [0,1] 0.9999783741701088 Centerline is valid? [True, True] Translation: X:124.21, Y:88.97, Z:3.69 [[ 2.74055386e-01 -9.61701195e-01 -4.94546184e-03 1.24214941e+02] [ 9.61553974e-01 2.74099966e-01 -1.68274722e-02 8.89681501e+01] [ 1.75385510e-02 -1.43669109e-04 9.99846177e-01 3.69165591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.438040942 meters Centerline goodness [0,1] 0.9999783905264068 Centerline is valid? [True, True] Translation: X:124.23, Y:88.99, Z:3.69 [[ 2.71643504e-01 -9.62385686e-01 -4.85770567e-03 1.24225633e+02] [ 9.62243433e-01 2.71686876e-01 -1.65474151e-02 8.89945478e+01] [ 1.72447703e-02 -1.79297549e-04 9.99851282e-01 3.69151892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.23, Y:89.02, Z:3.69 [[ 2.70002309e-01 -9.62848190e-01 -4.70267586e-03 1.24234916e+02] [ 9.62714697e-01 2.70043187e-01 -1.60340072e-02 8.90208398e+01] [ 1.67082404e-02 -1.98116190e-04 9.99860388e-01 3.69229157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:89.05, Z:3.69 [[ 2.67598357e-01 -9.63520145e-01 -4.47765205e-03 1.24247292e+02] [ 9.63398970e-01 2.67635723e-01 -1.52821794e-02 8.90453832e+01] [ 1.59230674e-02 -2.24279266e-04 9.99873195e-01 3.69359528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:89.07, Z:3.69 [[ 2.66164566e-01 -9.63917480e-01 -4.41769249e-03 1.24253987e+02] [ 9.63799380e-01 2.66201116e-01 -1.50904455e-02 8.90725385e+01] [ 1.57219389e-02 -2.41227394e-04 9.99876374e-01 3.69256785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.26, Y:89.10, Z:3.69 [[ 2.64790277e-01 -9.64296188e-01 -4.35559598e-03 1.24262514e+02] [ 9.64181185e-01 2.64825975e-01 -1.48944714e-02 8.90991050e+01] [ 1.55161569e-02 -2.55672489e-04 9.99879585e-01 3.69240289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:89.12, Z:3.69 [[ 2.63184641e-01 -9.64736311e-01 -4.20648185e-03 1.24273123e+02] [ 9.64628887e-01 2.63218119e-01 -1.43990335e-02 8.91241407e+01] [ 1.49984927e-02 -2.68089440e-04 9.99887480e-01 3.69219722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.618040942 meters Centerline goodness [0,1] 0.9999565529076967 Centerline is valid? [True, True] Translation: X:124.28, Y:89.15, Z:3.69 [[ 2.62898228e-01 -9.64814904e-01 -4.08922816e-03 1.24282283e+02] [ 9.64713280e-01 2.62929898e-01 -1.40055546e-02 8.91506266e+01] [ 1.45879482e-02 -2.62897217e-04 9.99893556e-01 3.69262027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648040942 meters Centerline goodness [0,1] 0.9999783380989515 Centerline is valid? [True, True] Translation: X:124.29, Y:89.18, Z:3.69 [[ 2.63503549e-01 -9.64649983e-01 -4.03599498e-03 1.24291141e+02] [ 9.64550764e-01 2.63534341e-01 -1.38374524e-02 8.91775551e+01] [ 1.44119215e-02 -2.46704229e-04 9.99896112e-01 3.69275064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.30, Y:89.20, Z:3.69 [[ 2.63876966e-01 -9.64548602e-01 -3.86539113e-03 1.24299655e+02] [ 9.64457409e-01 2.63905178e-01 -1.32651226e-02 8.92033210e+01] [ 1.38149522e-02 -2.27644816e-04 9.99904543e-01 3.69347044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:89.23, Z:3.69 [[ 2.64559099e-01 -9.64361534e-01 -3.91352194e-03 1.24306844e+02] [ 9.64267811e-01 2.64587955e-01 -1.34462623e-02 8.92306665e+01] [ 1.40025289e-02 -2.16352178e-04 9.99901936e-01 3.69232555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:89.26, Z:3.69 [[ 2.64605632e-01 -9.64348776e-01 -3.91119188e-03 1.24315310e+02] [ 9.64254973e-01 2.64634452e-01 -1.34519479e-02 8.92563542e+01] [ 1.40074056e-02 -2.11925042e-04 9.99901869e-01 3.69275218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:89.28, Z:3.69 [[ 2.64041230e-01 -9.64503652e-01 -3.86456253e-03 1.24324908e+02] [ 9.64411877e-01 2.64069424e-01 -1.33067975e-02 8.92831125e+01] [ 1.38549675e-02 -2.13486833e-04 9.99903993e-01 3.69280106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.33, Y:89.31, Z:3.69 [[ 2.63324482e-01 -9.64699408e-01 -3.90762920e-03 1.24333618e+02] [ 9.64605405e-01 2.63353380e-01 -1.34688793e-02 8.93085246e+01] [ 1.40225072e-02 -2.22634589e-04 9.99901655e-01 3.69285229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:89.34, Z:3.69 [[ 2.63178240e-01 -9.64739017e-01 -3.98038634e-03 1.24342488e+02] [ 9.64641253e-01 2.63208243e-01 -1.37358424e-02 8.93354335e+01] [ 1.42991736e-02 -2.24670034e-04 9.99897736e-01 3.69318769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:89.36, Z:3.69 [[ 2.62799523e-01 -9.64842134e-01 -4.00841891e-03 1.24351973e+02] [ 9.64742801e-01 2.62829992e-01 -1.38464300e-02 8.93610191e+01] [ 1.44131518e-02 -2.28258080e-04 9.99896099e-01 3.69287425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:89.39, Z:3.69 [[ 2.62386571e-01 -9.64953977e-01 -4.13631340e-03 1.24360981e+02] [ 9.64847969e-01 2.62419064e-01 -1.43049636e-02 8.93879394e+01] [ 1.48890790e-02 -2.37483231e-04 9.99889123e-01 3.69235899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.37, Y:89.41, Z:3.69 [[ 2.61814418e-01 -9.65109392e-01 -4.13180828e-03 1.24369759e+02] [ 9.65003433e-01 2.61846907e-01 -1.43028274e-02 8.94137908e+01] [ 1.48856943e-02 -2.42522743e-04 9.99889173e-01 3.69260552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:89.44, Z:3.69 [[ 2.61590579e-01 -9.65169447e-01 -4.27885184e-03 1.24376702e+02] [ 9.65055542e-01 2.61625452e-01 -1.48298034e-02 8.94411770e+01] [ 1.54327297e-02 -2.49992839e-04 9.99880877e-01 3.69194127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.39, Y:89.47, Z:3.69 [[ 2.61713392e-01 -9.65136089e-01 -4.29297684e-03 1.24385945e+02] [ 9.65021183e-01 2.61748485e-01 -1.48945354e-02 8.94665802e+01] [ 1.54989338e-02 -2.44714200e-04 9.99879854e-01 3.69267713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.39, Y:89.49, Z:3.69 [[ 2.62574411e-01 -9.64902934e-01 -4.12384036e-03 1.24393607e+02] [ 9.64796640e-01 2.62606703e-01 -1.43235506e-02 8.94939100e+01] [ 1.49037841e-02 -2.17669451e-04 9.99888909e-01 3.69214788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.40, Y:89.52, Z:3.69 [[ 2.64310534e-01 -9.64429785e-01 -3.88994482e-03 1.24402725e+02] [ 9.64334972e-01 2.64339099e-01 -1.35241717e-02 8.95198716e+01] [ 1.40713785e-02 -1.76628781e-04 9.99900978e-01 3.69466395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:89.55, Z:3.69 [[ 2.64770957e-01 -9.64304130e-01 -3.72639543e-03 1.24408348e+02] [ 9.64216921e-01 2.64797130e-01 -1.29695573e-02 8.95479940e+01] [ 1.34933365e-02 -1.59091428e-04 9.99908948e-01 3.69404263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:89.58, Z:3.69 [[ 2.65527448e-01 -9.64096487e-01 -3.62465096e-03 1.24414340e+02] [ 9.64013796e-01 2.65552149e-01 -1.26276236e-02 8.95754959e+01] [ 1.31367814e-02 -1.41232862e-04 9.99913699e-01 3.69380644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:89.60, Z:3.69 [[ 2.67074987e-01 -9.63668630e-01 -3.70436558e-03 1.24420258e+02] [ 9.63582027e-01 2.67100649e-01 -1.29198109e-02 8.96024440e+01] [ 1.34398550e-02 -1.18901764e-04 9.99909674e-01 3.69377403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:89.63, Z:3.69 [[ 2.67573817e-01 -9.63530279e-01 -3.69520919e-03 1.24427266e+02] [ 9.63443888e-01 2.67599310e-01 -1.29028428e-02 8.96301282e+01] [ 1.34211152e-02 -1.07663795e-04 9.99909927e-01 3.69403787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:89.66, Z:3.69 [[ 2.69872088e-01 -9.62889186e-01 -3.67042250e-03 1.24433014e+02] [ 9.62803709e-01 2.69897037e-01 -1.28299645e-02 8.96574469e+01] [ 1.33444702e-02 -7.14470831e-05 9.99910956e-01 3.69385247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:89.68, Z:3.69 [[ 2.70784626e-01 -9.62632898e-01 -3.68649782e-03 1.24439838e+02] [ 9.62546457e-01 2.70809713e-01 -1.29002667e-02 8.96842592e+01] [ 1.34165605e-02 -5.52315308e-05 9.99909992e-01 3.69434160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:89.71, Z:3.69 [[ 2.71636004e-01 -9.62392419e-01 -3.83575433e-03 1.24446194e+02] [ 9.62298559e-01 2.71663082e-01 -1.34407172e-02 8.97106335e+01] [ 1.39772771e-02 -4.01581685e-05 9.99902312e-01 3.69446355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:89.74, Z:3.69 [[ 2.73162186e-01 -9.61960358e-01 -3.83274554e-03 1.24450646e+02] [ 9.61866489e-01 2.73189073e-01 -1.34383231e-02 8.97385553e+01] [ 1.39741983e-02 -1.57477672e-05 9.99902356e-01 3.69301249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:89.77, Z:3.69 [[ 2.73713351e-01 -9.61803778e-01 -3.80720989e-03 1.24456633e+02] [ 9.61710946e-01 2.73739828e-01 -1.33627801e-02 8.97655534e+01] [ 1.38945574e-02 -3.86409521e-06 9.99903466e-01 3.69285044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:89.79, Z:3.69 [[ 2.73732416e-01 -9.61798540e-01 -3.75942724e-03 1.24463095e+02] [ 9.61707791e-01 2.73758231e-01 -1.32119646e-02 8.97921662e+01] [ 1.37364224e-02 1.07252778e-06 9.99905651e-01 3.69351246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:89.82, Z:3.69 [[ 2.72921122e-01 -9.62029560e-01 -3.63134557e-03 1.24471040e+02] [ 9.61944816e-01 2.72945279e-01 -1.27689479e-02 8.98195737e+01] [ 1.32752639e-02 -8.23846046e-06 9.99911880e-01 3.69460723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:89.85, Z:3.69 [[ 2.71123688e-01 -9.62538121e-01 -3.50870798e-03 1.24479253e+02] [ 9.62458892e-01 2.71146389e-01 -1.23498018e-02 8.98460734e+01] [ 1.28385285e-02 -2.86633907e-05 9.99917582e-01 3.69466594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.49, Y:89.87, Z:3.70 [[ 2.70849173e-01 -9.62615416e-01 -3.50518211e-03 1.24486695e+02] [ 9.62536180e-01 2.70871852e-01 -1.23508020e-02 8.98726251e+01] [ 1.28385276e-02 -2.86600883e-05 9.99917582e-01 3.69530381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.50, Y:89.90, Z:3.70 [[ 2.68989824e-01 -9.63137082e-01 -3.38167769e-03 1.24495164e+02] [ 9.63063230e-01 2.69011076e-01 -1.19271298e-02 8.98986451e+01] [ 1.23971698e-02 -4.84928885e-05 9.99923151e-01 3.69696929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:89.93, Z:3.70 [[ 2.64935500e-01 -9.64260179e-01 -3.38943415e-03 1.24505520e+02] [ 9.64185892e-01 2.64957163e-01 -1.19694178e-02 8.99251204e+01] [ 1.24396878e-02 -9.69208981e-05 9.99922619e-01 3.69682085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:89.95, Z:3.70 [[ 2.62716580e-01 -9.64866906e-01 -3.44267237e-03 1.24514110e+02] [ 9.64790123e-01 2.62739107e-01 -1.21729297e-02 8.99504886e+01] [ 1.26497817e-02 -1.23425844e-04 9.99919981e-01 3.69699393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.52, Y:89.98, Z:3.70 [[ 2.60495542e-01 -9.65467973e-01 -3.69670819e-03 1.24522629e+02] [ 9.65379376e-01 2.60521720e-01 -1.30802789e-02 8.99771567e+01] [ 1.35916632e-02 -1.61371497e-04 9.99907616e-01 3.69676429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57804094199997 meters Centerline goodness [0,1] 0.9998247458815283 Centerline is valid? [True, True] Translation: X:124.53, Y:90.00, Z:3.70 [[ 2.57853847e-01 -9.66175965e-01 -3.92401422e-03 1.24531046e+02] [ 9.66075975e-01 2.57883620e-01 -1.39013709e-02 9.00046746e+01] [ 1.44431094e-02 -2.06373911e-04 9.99895672e-01 3.69531457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60804094199997 meters Centerline goodness [0,1] 0.9997817404020342 Centerline is valid? [True, True] Translation: X:124.54, Y:90.03, Z:3.70 [[ 2.56902212e-01 -9.66429328e-01 -3.95055377e-03 1.24538582e+02] [ 9.66327803e-01 2.56932492e-01 -1.40096853e-02 9.00314196e+01] [ 1.45543964e-02 -2.18410792e-04 9.99894055e-01 3.69565489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63804094199998 meters Centerline goodness [0,1] 0.9996731598901817 Centerline is valid? [True, True] Translation: X:124.54, Y:90.06, Z:3.69 [[ 2.56391021e-01 -9.66563291e-01 -4.36446517e-03 1.24544971e+02] [ 9.66439086e-01 2.56428049e-01 -1.54967570e-02 9.00590721e+01] [ 1.60977678e-02 -2.44760370e-04 9.99870393e-01 3.69464960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66804094199998 meters Centerline goodness [0,1] 0.9998688839841786 Centerline is valid? [True, True] Translation: X:124.55, Y:90.09, Z:3.69 [[ 2.56655676e-01 -9.66492022e-01 -4.58639225e-03 1.24552125e+02] [ 9.66354531e-01 2.56696532e-01 -1.63037015e-02 9.00865840e+01] [ 1.69347084e-02 -2.47643417e-04 9.99856567e-01 3.69479969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69804094199998 meters Centerline goodness [0,1] 0.9998685968331836 Centerline is valid? [True, True] Translation: X:124.56, Y:90.11, Z:3.69 [[ 2.57445637e-01 -9.66279540e-01 -5.05911309e-03 1.24557612e+02] [ 9.66111793e-01 2.57495217e-01 -1.80060302e-02 9.01141635e+01] [ 1.87015560e-02 -2.52094912e-04 9.99825079e-01 3.69433462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72804094199998 meters Centerline goodness [0,1] 0.999912631326038 Centerline is valid? [True, True] Translation: X:124.56, Y:90.14, Z:3.69 [[ 2.57898098e-01 -9.66158470e-01 -5.13639314e-03 1.24564176e+02] [ 9.65985149e-01 2.57949129e-01 -1.83013226e-02 9.01406857e+01] [ 1.90069060e-02 -2.41803201e-04 9.99819323e-01 3.69475713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75804094199998 meters Centerline goodness [0,1] 0.9997159525422248 Centerline is valid? [True, True] Translation: X:124.57, Y:90.17, Z:3.70 [[ 2.58617648e-01 -9.65965296e-01 -5.28769158e-03 1.24570054e+02] [ 9.65781131e-01 2.58671598e-01 -1.88629514e-02 9.01683163e+01] [ 1.95887321e-02 -2.28460621e-04 9.99808096e-01 3.69506471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78804094199998 meters Centerline goodness [0,1] 0.9997603903459092 Centerline is valid? [True, True] Translation: X:124.57, Y:90.20, Z:3.69 [[ 2.59307820e-01 -9.65778530e-01 -5.59341403e-03 1.24574568e+02] [ 9.65571934e-01 2.59368046e-01 -1.99764063e-02 9.01956198e+01] [ 2.07435372e-02 -2.20805225e-04 9.99784805e-01 3.69484519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81804094199998 meters Centerline goodness [0,1] 0.9996734231782456 Centerline is valid? [True, True] Translation: X:124.58, Y:90.22, Z:3.70 [[ 2.59546498e-01 -9.65713432e-01 -5.76041216e-03 1.24580753e+02] [ 9.65493788e-01 2.59610324e-01 -2.05967056e-02 9.02234608e+01] [ 2.13859777e-02 -2.15839347e-04 9.99771271e-01 3.69504073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84804094199998 meters Centerline goodness [0,1] 0.999737985545536 Centerline is valid? [True, True] Translation: X:124.59, Y:90.25, Z:3.70 [[ 2.59403725e-01 -9.65749384e-01 -6.15091395e-03 1.24587473e+02] [ 9.65498368e-01 2.59476540e-01 -2.20187838e-02 9.02512531e+01] [ 2.28606448e-02 -2.26942842e-04 9.99738636e-01 3.69500903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87804094199998 meters Centerline goodness [0,1] 0.9996517347960472 Centerline is valid? [True, True] Translation: X:124.59, Y:90.28, Z:3.70 [[ 2.58862289e-01 -9.65893927e-01 -6.26390255e-03 1.24594994e+02] [ 9.65633057e-01 2.58937956e-01 -2.24484676e-02 9.02783770e+01] [ 2.33048006e-02 -2.37569664e-04 9.99728378e-01 3.69505081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90804094199999 meters Centerline goodness [0,1] 0.9997179737498644 Centerline is valid? [True, True] Translation: X:124.60, Y:90.30, Z:3.70 [[ 2.58473223e-01 -9.65997877e-01 -6.30042427e-03 1.24602610e+02] [ 9.65733398e-01 2.58549887e-01 -2.26044114e-02 9.03047176e+01] [ 2.34647874e-02 -2.41895055e-04 9.99724635e-01 3.69535880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.938040942 meters Centerline goodness [0,1] 0.9996948295405005 Centerline is valid? [True, True] Translation: X:124.61, Y:90.33, Z:3.70 [[ 2.58050636e-01 -9.66108052e-01 -6.71567551e-03 1.24610540e+02] [ 9.65806849e-01 2.58137876e-01 -2.41239818e-02 9.03302616e+01] [ 2.50399433e-02 -2.60836543e-04 9.99686417e-01 3.69535090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.968040942 meters Centerline goodness [0,1] 0.9996735724233984 Centerline is valid? [True, True] Translation: X:124.62, Y:90.36, Z:3.70 [[ 2.58134617e-01 -9.66085884e-01 -6.67721592e-03 1.24617736e+02] [ 9.65787433e-01 2.58220841e-01 -2.40131512e-02 9.03569316e+01] [ 2.49229627e-02 -2.50145649e-04 9.99689343e-01 3.69598015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.998040942 meters Centerline goodness [0,1] 0.9999130396973781 Centerline is valid? [True, True] Translation: X:124.63, Y:90.38, Z:3.70 [[ 2.58608266e-01 -9.65959115e-01 -6.68983211e-03 1.24625896e+02] [ 9.65658828e-01 2.58694676e-01 -2.40851155e-02 9.03824257e+01] [ 2.49958608e-02 -2.31485483e-04 9.99687528e-01 3.69683583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028040942 meters Centerline goodness [0,1] 0.9998693265963934 Centerline is valid? [True, True] Translation: X:124.63, Y:90.41, Z:3.70 [[ 2.58734100e-01 -9.65925352e-01 -6.69921810e-03 1.24634137e+02] [ 9.65623515e-01 2.58820720e-01 -2.41466922e-02 9.04097469e+01] [ 2.50577986e-02 -2.21349851e-04 9.99685980e-01 3.69791583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.058040942 meters Centerline goodness [0,1] 0.9996953011077981 Centerline is valid? [True, True] Translation: X:124.64, Y:90.44, Z:3.70 [[ 2.60207252e-01 -9.65528972e-01 -6.78166087e-03 1.24642084e+02] [ 9.65218847e-01 2.60295550e-01 -2.44704876e-02 9.04370300e+01] [ 2.53922009e-02 -1.78388544e-04 9.99677550e-01 3.69948004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088040942 meters Centerline goodness [0,1] 0.9998044328552803 Centerline is valid? [True, True] Translation: X:124.65, Y:90.46, Z:3.70 [[ 2.61166683e-01 -9.65270765e-01 -6.65689202e-03 1.24648744e+02] [ 9.64971234e-01 2.61251469e-01 -2.40455461e-02 9.04641212e+01] [ 2.49495855e-02 -1.43813780e-04 9.99688700e-01 3.70035837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.118040942 meters Centerline goodness [0,1] 0.999804679022527 Centerline is valid? [True, True] Translation: X:124.66, Y:90.49, Z:3.70 [[ 2.62453594e-01 -9.64920223e-01 -6.86105785e-03 1.24655123e+02] [ 9.64601228e-01 2.62543238e-01 -2.48096572e-02 9.04903749e+01] [ 2.57406643e-02 -1.06801145e-04 9.99668649e-01 3.70073317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148040942 meters Centerline goodness [0,1] 0.9998048738184026 Centerline is valid? [True, True] Translation: X:124.66, Y:90.52, Z:3.70 [[ 2.65327741e-01 -9.64132183e-01 -7.09393742e-03 1.24659952e+02] [ 9.63790294e-01 2.65422557e-01 -2.56736233e-02 9.05174826e+01] [ 2.66356574e-02 -2.51435602e-05 9.99645208e-01 3.70092822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.178040942 meters Centerline goodness [0,1] 0.9996739484838605 Centerline is valid? [True, True] Translation: X:124.67, Y:90.54, Z:3.70 [[ 2.66292532e-01 -9.63865052e-01 -7.24213760e-03 1.24665764e+02] [ 9.63507816e-01 2.66390993e-01 -2.62397915e-02 9.05447903e+01] [ 2.72208582e-02 9.60433723e-06 9.99629444e-01 3.70130606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208040942 meters Centerline goodness [0,1] 0.9998692981309633 Centerline is valid? [True, True] Translation: X:124.67, Y:90.57, Z:3.70 [[ 2.66883174e-01 -9.63701181e-01 -7.30794581e-03 1.24669910e+02] [ 9.63336569e-01 2.66983208e-01 -2.65069937e-02 9.05705340e+01] [ 2.74959199e-02 3.42591684e-05 9.99621915e-01 3.70109169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23804094199997 meters Centerline goodness [0,1] 0.9998695623817909 Centerline is valid? [True, True] Translation: X:124.68, Y:90.60, Z:3.70 [[ 2.65948978e-01 -9.63959850e-01 -7.24899315e-03 1.24676639e+02] [ 9.63600320e-01 2.66047752e-01 -2.63252156e-02 9.05966091e+01] [ 2.73050293e-02 1.60320675e-05 9.99627148e-01 3.70155696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26804094199997 meters Centerline goodness [0,1] 0.999913079380256 Centerline is valid? [True, True] Translation: X:124.68, Y:90.62, Z:3.70 [[ 2.64338520e-01 -9.64402737e-01 -7.24619328e-03 1.24684034e+02] [ 9.64042841e-01 2.64437819e-01 -2.63446513e-02 9.06219084e+01] [ 2.73230213e-02 -2.17346425e-05 9.99626656e-01 3.70205044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29804094199997 meters Centerline goodness [0,1] 0.9999131680632136 Centerline is valid? [True, True] Translation: X:124.69, Y:90.65, Z:3.70 [[ 2.59818381e-01 -9.65628703e-01 -7.45772630e-03 1.24694185e+02] [ 9.65247252e-01 2.59925349e-01 -2.71395735e-02 9.06475066e+01] [ 2.81452033e-02 -1.47189767e-04 9.99603834e-01 3.70243737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:90.67, Z:3.70 [[ 2.57250084e-01 -9.66314627e-01 -7.64428322e-03 1.24703418e+02] [ 9.65913273e-01 2.57363542e-01 -2.78488068e-02 9.06745022e+01] [ 2.88780692e-02 -2.19606725e-04 9.99582917e-01 3.70284600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:90.70, Z:3.70 [[ 2.52427654e-01 -9.67582022e-01 -8.08145852e-03 1.24711948e+02] [ 9.67133119e-01 2.52556704e-01 -2.94727204e-02 9.07020461e+01] [ 3.05583009e-02 -3.76116522e-04 9.99532915e-01 3.70392408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:90.73, Z:3.70 [[ 2.50040048e-01 -9.68199190e-01 -8.38472774e-03 1.24720157e+02] [ 9.67715270e-01 2.50180171e-01 -3.06110944e-02 9.07290688e+01] [ 3.17353294e-02 -4.60029534e-04 9.99496202e-01 3.70423914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:90.75, Z:3.70 [[ 2.46112089e-01 -9.69199456e-01 -9.01407342e-03 1.24729182e+02] [ 9.68639675e-01 2.46276318e-01 -3.29417104e-02 9.07547595e+01] [ 3.41470406e-02 -6.24035984e-04 9.99416625e-01 3.70337663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.74, Y:90.78, Z:3.70 [[ 2.44621775e-01 -9.69573802e-01 -9.31824343e-03 1.24736062e+02] [ 9.68974805e-01 2.44798211e-01 -3.40831779e-02 9.07826811e+01] [ 3.53272457e-02 -6.91655635e-04 9.99375559e-01 3.70393191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47804094199998 meters Centerline goodness [0,1] 0.9999781854671582 Centerline is valid? [True, True] Translation: X:124.74, Y:90.81, Z:3.70 [[ 2.43078168e-01 -9.69959726e-01 -9.54638440e-03 1.24742237e+02] [ 9.69330002e-01 2.43264375e-01 -3.49541258e-02 9.08105434e+01] [ 3.62263895e-02 -7.57011957e-04 9.99343322e-01 3.70473897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50804094199998 meters Centerline goodness [0,1] 0.9997605885169547 Centerline is valid? [True, True] Translation: X:124.75, Y:90.84, Z:3.71 [[ 2.41705615e-01 -9.70301189e-01 -9.69524449e-03 1.24747974e+02] [ 9.69650563e-01 2.41898622e-01 -3.55364939e-02 9.08384409e+01] [ 3.68263686e-02 -8.11629177e-04 9.99321350e-01 3.70667166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53804094199998 meters Centerline goodness [0,1] 0.9997823058167886 Centerline is valid? [True, True] Translation: X:124.75, Y:90.87, Z:3.71 [[ 2.41114042e-01 -9.70449280e-01 -9.60280825e-03 1.24754249e+02] [ 9.69809759e-01 2.41303808e-01 -3.52349816e-02 9.08656852e+01] [ 3.65109567e-02 -8.17248307e-04 9.99332919e-01 3.70804353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56804094199998 meters Centerline goodness [0,1] 0.999869178440607 Centerline is valid? [True, True] Translation: X:124.76, Y:90.89, Z:3.71 [[ 2.40978706e-01 -9.70480584e-01 -9.83361012e-03 1.24760410e+02] [ 9.69808418e-01 2.41177828e-01 -3.61232343e-02 9.08920936e+01] [ 3.74285463e-02 -8.31787591e-04 9.99298960e-01 3.70886305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.77, Y:90.92, Z:3.71 [[ 2.41143374e-01 -9.70440147e-01 -9.78740726e-03 1.24765771e+02] [ 9.69772701e-01 2.41340551e-01 -3.59950980e-02 9.09189351e+01] [ 3.72931864e-02 -8.11581003e-04 9.99304038e-01 3.70961805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62804094199998 meters Centerline goodness [0,1] 0.9999565018812936 Centerline is valid? [True, True] Translation: X:124.77, Y:90.95, Z:3.71 [[ 2.41176869e-01 -9.70429728e-01 -9.99307730e-03 1.24771817e+02] [ 9.69732326e-01 2.41382427e-01 -3.67932000e-02 9.09464207e+01] [ 3.81173683e-02 -8.16941322e-04 9.99272935e-01 3.71043606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65804094199999 meters Centerline goodness [0,1] 0.9999782807002302 Centerline is valid? [True, True] Translation: X:124.78, Y:90.97, Z:3.71 [[ 2.41102133e-01 -9.70446674e-01 -1.01495661e-02 1.24778271e+02] [ 9.69725652e-01 2.41314268e-01 -3.74110237e-02 9.09729439e+01] [ 3.87546386e-02 -8.22416945e-04 9.99248418e-01 3.71138803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.78, Y:91.00, Z:3.71 [[ 2.40880321e-01 -9.70502044e-01 -1.01219456e-02 1.24784774e+02] [ 9.69783384e-01 2.41091501e-01 -3.73507164e-02 9.10005253e+01] [ 3.86892617e-02 -8.19042080e-04 9.99250955e-01 3.71320173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.79, Y:91.03, Z:3.71 [[ 2.41182393e-01 -9.70427593e-01 -1.00668284e-02 1.24791698e+02] [ 9.69715122e-01 2.41391091e-01 -3.71876723e-02 9.10271604e+01] [ 3.85179859e-02 -7.92943917e-04 9.99257592e-01 3.71409595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.79, Y:91.06, Z:3.72 [[ 2.43045671e-01 -9.69961406e-01 -1.01819973e-02 1.24794329e+02] [ 9.69230520e-01 2.43257800e-01 -3.76542566e-02 9.10558978e+01] [ 3.90000259e-02 -7.16998516e-04 9.99238952e-01 3.71784622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.778040942 meters Centerline goodness [0,1] 0.9999783601307048 Centerline is valid? [True, True] Translation: X:124.80, Y:91.08, Z:3.72 [[ 2.43812675e-01 -9.69767618e-01 -1.03027905e-02 1.24800734e+02] [ 9.69017663e-01 2.44029298e-01 -3.81375233e-02 9.10821490e+01] [ 3.94987178e-02 -6.85174418e-04 9.99219386e-01 3.71800352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:91.11, Z:3.72 [[ 2.44951886e-01 -9.69480256e-01 -1.03250362e-02 1.24805928e+02] [ 9.68725375e-01 2.45168583e-01 -3.82558888e-02 9.11087835e+01] [ 3.96197034e-02 -6.31272431e-04 9.99214632e-01 3.71807795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:91.14, Z:3.72 [[ 2.45211174e-01 -9.69414389e-01 -1.03548662e-02 1.24809607e+02] [ 9.68653371e-01 2.45428948e-01 -3.84093645e-02 9.11367139e+01] [ 3.97759745e-02 -6.11870687e-04 9.99208435e-01 3.72110152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.82, Y:91.16, Z:3.72 [[ 2.45402531e-01 -9.69367143e-01 -1.02439839e-02 1.24815485e+02] [ 9.68620641e-01 2.45615546e-01 -3.80402132e-02 9.11641256e+01] [ 3.93910145e-02 -5.87369664e-04 9.99223700e-01 3.72229487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.898040942 meters Centerline goodness [0,1] 0.999956759561542 Centerline is valid? [True, True] Translation: X:124.82, Y:91.19, Z:3.72 [[ 2.45037637e-01 -9.69462619e-01 -9.93916710e-03 1.24821280e+02] [ 9.68758406e-01 2.45238456e-01 -3.69493038e-02 9.11901642e+01] [ 3.82584348e-02 -5.74681578e-04 9.99267713e-01 3.72427370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928040942 meters Centerline goodness [0,1] 0.9999783432593394 Centerline is valid? [True, True] Translation: X:124.83, Y:91.22, Z:3.73 [[ 2.44284553e-01 -9.69654201e-01 -9.78711139e-03 1.24827838e+02] [ 9.68969977e-01 2.44479831e-01 -3.64252161e-02 9.12178848e+01] [ 3.77126152e-02 -5.85299466e-04 9.99288455e-01 3.72592333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.958040942 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:124.84, Y:91.24, Z:3.73 [[ 2.43668042e-01 -9.69813088e-01 -9.40533033e-03 1.24835097e+02] [ 9.69180086e-01 2.43848809e-01 -3.50388252e-02 9.12439283e+01] [ 3.62745898e-02 -5.77616920e-04 9.99341694e-01 3.72741228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98804094199997 meters Centerline goodness [0,1] 0.9999783853885227 Centerline is valid? [True, True] Translation: X:124.84, Y:91.27, Z:3.73 [[ 2.43304083e-01 -9.69904650e-01 -9.38576268e-03 1.24841088e+02] [ 9.69273169e-01 2.43484354e-01 -3.49984808e-02 9.12715325e+01] [ 3.62304756e-02 -5.82094644e-04 9.99343291e-01 3.72966657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.85, Y:91.30, Z:3.73 [[ 2.43425263e-01 -9.69876059e-01 -9.19626907e-03 1.24848013e+02] [ 9.69268427e-01 2.43598276e-01 -3.43306827e-02 9.12976470e+01] [ 3.55367025e-02 -5.56697784e-04 9.99368217e-01 3.73003449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.85, Y:91.33, Z:3.73 [[ 2.45603536e-01 -9.69328547e-01 -9.00393867e-03 1.24850529e+02] [ 9.68744385e-01 2.45768098e-01 -3.36505469e-02 9.13258755e+01] [ 3.48313166e-02 -4.57821714e-04 9.99393101e-01 3.73221648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07804094199997 meters Centerline goodness [0,1] 0.9999784724016189 Centerline is valid? [True, True] Translation: X:124.85, Y:91.35, Z:3.73 [[ 2.47047209e-01 -9.68963289e-01 -8.82158420e-03 1.24854882e+02] [ 9.68401102e-01 2.47204354e-01 -3.30047541e-02 9.13534981e+01] [ 3.41611291e-02 -3.89099470e-04 9.99416263e-01 3.73358732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:91.38, Z:3.73 [[ 2.49620117e-01 -9.68304588e-01 -8.71906845e-03 1.24856579e+02] [ 9.67753738e-01 2.49772183e-01 -3.26582068e-02 9.13820576e+01] [ 3.38008723e-02 -2.85765680e-04 9.99428546e-01 3.73439529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:91.41, Z:3.73 [[ 2.50472656e-01 -9.68084232e-01 -8.73884603e-03 1.24862333e+02] [ 9.67529563e-01 2.50624934e-01 -3.27671545e-02 9.14089488e+01] [ 3.39115384e-02 -2.47815649e-04 9.99424808e-01 3.73382342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16804094199998 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:124.87, Y:91.44, Z:3.74 [[ 2.50601122e-01 -9.68051192e-01 -8.71593874e-03 1.24867897e+02] [ 9.67498362e-01 2.50752537e-01 -3.27121470e-02 9.14364365e+01] [ 3.38525767e-02 -2.34955713e-04 9.99426810e-01 3.73513768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19804094199998 meters Centerline goodness [0,1] 0.9999785214141501 Centerline is valid? [True, True] Translation: X:124.88, Y:91.46, Z:3.74 [[ 2.49184000e-01 -9.68419421e-01 -8.43561345e-03 1.24875697e+02] [ 9.67900603e-01 2.49326602e-01 -3.16965133e-02 9.14622030e+01] [ 3.27987419e-02 -2.66571367e-04 9.99461941e-01 3.73578990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:91.49, Z:3.74 [[ 2.47863324e-01 -9.68760039e-01 -8.23161184e-03 1.24882577e+02] [ 9.68265041e-01 2.47999798e-01 -3.09662711e-02 9.14889116e+01] [ 3.20403241e-02 -2.94979083e-04 9.99486533e-01 3.73713310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:91.52, Z:3.74 [[ 2.45739283e-01 -9.69300954e-01 -8.23800284e-03 1.24888798e+02] [ 9.68804380e-01 2.45877067e-01 -3.10248396e-02 9.15161405e+01] [ 3.20979427e-02 -3.56991395e-04 9.99484665e-01 3.73750820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:91.54, Z:3.74 [[ 2.45086799e-01 -9.69466062e-01 -8.24711825e-03 1.24895413e+02] [ 9.68967371e-01 2.45225237e-01 -3.10936737e-02 9.15434892e+01] [ 3.21666630e-02 -3.70539514e-04 9.99482450e-01 3.73806578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:91.57, Z:3.74 [[ 2.44200857e-01 -9.69688841e-01 -8.33622392e-03 1.24901952e+02] [ 9.69178255e-01 2.44342782e-01 -3.14661010e-02 9.15711599e+01] [ 3.25492231e-02 -3.95238113e-04 9.99470056e-01 3.73912867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.91, Y:91.60, Z:3.74 [[ 2.43920928e-01 -9.69759372e-01 -8.32714253e-03 1.24908930e+02] [ 9.69248745e-01 2.44062705e-01 -3.14685045e-02 9.15978277e+01] [ 3.25492221e-02 -3.95245640e-04 9.99470056e-01 3.73976658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:91.62, Z:3.74 [[ 2.42989863e-01 -9.69992459e-01 -8.39970104e-03 1.24915050e+02] [ 9.69471783e-01 2.43134637e-01 -3.17806666e-02 9.16244450e+01] [ 3.28692652e-02 -4.20893304e-04 9.99459571e-01 3.73985943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:91.65, Z:3.74 [[ 2.42293943e-01 -9.70164946e-01 -8.58041065e-03 1.24921369e+02] [ 9.69620386e-01 2.42445419e-01 -3.25042551e-02 9.16522481e+01] [ 3.36147701e-02 -4.44156962e-04 9.99434765e-01 3.73994644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.93, Y:91.68, Z:3.74 [[ 2.41132151e-01 -9.70449582e-01 -9.10470562e-03 1.24927181e+02] [ 9.69835166e-01 2.41303452e-01 -3.45310738e-02 9.16803292e+01] [ 3.57076630e-02 -5.03511589e-04 9.99362151e-01 3.73932836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.468040942 meters Centerline goodness [0,1] 0.9999785140303382 Centerline is valid? [True, True] Translation: X:124.93, Y:91.71, Z:3.74 [[ 2.40273909e-01 -9.70660961e-01 -9.26002898e-03 1.24934282e+02] [ 9.70024166e-01 2.40451686e-01 -3.51582700e-02 9.17070643e+01] [ 3.63533497e-02 -5.34836932e-04 9.99338855e-01 3.73878467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.94, Y:91.73, Z:3.74 [[ 2.39217034e-01 -9.70920710e-01 -9.39069088e-03 1.24941226e+02] [ 9.70264615e-01 2.39400596e-01 -3.56921624e-02 9.17341963e+01] [ 3.69023967e-02 -5.73281868e-04 9.99318710e-01 3.73902523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:91.76, Z:3.74 [[ 2.36552432e-01 -9.71572412e-01 -9.48655321e-03 1.24947500e+02] [ 9.70901907e-01 2.36741623e-01 -3.60955734e-02 9.17624258e+01] [ 3.73153254e-02 -6.72016941e-04 9.99303315e-01 3.73922870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:91.79, Z:3.74 [[ 2.35208028e-01 -9.71897883e-01 -9.57541636e-03 1.24954968e+02] [ 9.71213570e-01 2.35401752e-01 -3.64721347e-02 9.17889537e+01] [ 3.77012603e-02 -7.21235423e-04 9.99288794e-01 3.73939970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.96, Y:91.82, Z:3.74 [[ 2.32737053e-01 -9.72493401e-01 -9.48945704e-03 1.24960913e+02] [ 9.71820413e-01 2.32929053e-01 -3.61820661e-02 9.18170032e+01] [ 3.73971908e-02 -8.01140608e-04 9.99300159e-01 3.74109818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:91.84, Z:3.74 [[ 2.32087426e-01 -9.72650887e-01 -9.25631677e-03 1.24967409e+02] [ 9.72009301e-01 2.32270568e-01 -3.53313041e-02 9.18438951e+01] [ 3.65149942e-02 -7.97274585e-04 9.99332787e-01 3.74225018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:91.87, Z:3.74 [[ 2.32518269e-01 -9.72551015e-01 -8.93180428e-03 1.24972147e+02] [ 9.71952234e-01 2.32688562e-01 -3.41304630e-02 9.18718054e+01] [ 3.52719451e-02 -7.45330936e-04 9.99377473e-01 3.74458184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:91.90, Z:3.75 [[ 2.33424475e-01 -9.72333838e-01 -8.93993341e-03 1.24977838e+02] [ 9.71732560e-01 2.33594544e-01 -3.41968093e-02 9.18984238e+01] [ 3.53390345e-02 -7.04852114e-04 9.99375133e-01 3.74542087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:91.93, Z:3.75 [[ 2.36537117e-01 -9.71581283e-01 -8.94446873e-03 1.24980253e+02] [ 9.70977869e-01 2.36705447e-01 -3.42419374e-02 9.19258495e+01] [ 3.53860300e-02 -5.85392021e-04 9.99373547e-01 3.74579614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:91.95, Z:3.75 [[ 2.37893643e-01 -9.71251489e-01 -8.78402279e-03 1.24984684e+02] [ 9.70668322e-01 2.38055192e-01 -3.36561269e-02 9.19538296e+01] [ 3.47796456e-02 -5.19793999e-04 9.99394870e-01 3.74626052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:91.98, Z:3.75 [[ 2.39593915e-01 -9.70834947e-01 -8.61749443e-03 1.24989458e+02] [ 9.70272198e-01 2.39748431e-01 -3.30537580e-02 9.19821700e+01] [ 3.41557741e-02 -4.41835987e-04 9.99416424e-01 3.74728067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:92.01, Z:3.75 [[ 2.41523585e-01 -9.70359677e-01 -8.27371829e-03 1.24992259e+02] [ 9.69839542e-01 2.41665002e-01 -3.17693135e-02 9.20102923e+01] [ 3.28271289e-02 -3.51140684e-04 9.99460983e-01 3.74961506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.00, Y:92.04, Z:3.75 [[ 2.41717366e-01 -9.70313478e-01 -8.02923624e-03 1.24998381e+02] [ 9.69822491e-01 2.41850465e-01 -3.08656512e-02 9.20370732e+01] [ 3.18912319e-02 -3.26169981e-04 9.99491292e-01 3.75040464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.00, Y:92.06, Z:3.75 [[ 2.41448377e-01 -9.70381343e-01 -7.92021888e-03 1.25004312e+02] [ 9.69902487e-01 2.41578031e-01 -3.04831135e-02 9.20640336e+01] [ 3.14935955e-02 -3.21741716e-04 9.99503902e-01 3.75146584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:92.09, Z:3.75 [[ 2.40105112e-01 -9.70716527e-01 -7.67854726e-03 1.25009255e+02] [ 9.70265596e-01 2.40227611e-01 -2.95866108e-02 9.20914428e+01] [ 3.05648112e-02 -3.46333734e-04 9.99532727e-01 3.75234531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:92.12, Z:3.75 [[ 2.39428812e-01 -9.70884470e-01 -7.56239739e-03 1.25015013e+02] [ 9.70446140e-01 2.39547951e-01 -2.91730994e-02 9.21184999e+01] [ 3.01352660e-02 -3.54018812e-04 9.99545767e-01 3.75265878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:92.15, Z:3.75 [[ 2.37894938e-01 -9.71261710e-01 -7.52918715e-03 1.25020134e+02] [ 9.70826382e-01 2.38013732e-01 -2.90791828e-02 9.21462662e+01] [ 3.00355467e-02 -3.91743148e-04 9.99548754e-01 3.75278069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.03, Y:92.17, Z:3.75 [[ 2.37562476e-01 -9.71342823e-01 -7.56249364e-03 1.25026195e+02] [ 9.70902631e-01 2.37682487e-01 -2.92423611e-02 9.21733448e+01] [ 3.02018298e-02 -3.95557285e-04 9.99543742e-01 3.75305197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.03, Y:92.20, Z:3.75 [[ 2.36874581e-01 -9.71510263e-01 -7.63160194e-03 1.25033008e+02] [ 9.71061012e-01 2.36997127e-01 -2.95444136e-02 9.22004041e+01] [ 3.05113687e-02 -4.12430534e-04 9.99534335e-01 3.75376367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:92.23, Z:3.75 [[ 2.35994393e-01 -9.71723155e-01 -7.79459387e-03 1.25039534e+02] [ 9.71253499e-01 2.36122669e-01 -3.02113556e-02 9.22281072e+01] [ 3.11975541e-02 -4.40816049e-04 9.99513141e-01 3.75413812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:92.25, Z:3.75 [[ 2.35503705e-01 -9.71841486e-01 -7.88229350e-03 1.25045724e+02] [ 9.71360205e-01 2.35635141e-01 -3.05848430e-02 9.22540943e+01] [ 3.15809646e-02 -4.53702399e-04 9.99501094e-01 3.75444752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09804094199998 meters Centerline goodness [0,1] 0.9999575100913533 Centerline is valid? [True, True] Translation: X:125.05, Y:92.28, Z:3.75 [[ 2.35482882e-01 -9.71847024e-01 -7.82137367e-03 1.25049824e+02] [ 9.71372274e-01 2.35612318e-01 -3.03766673e-02 9.22819400e+01] [ 3.13642857e-02 -4.44280370e-04 9.99507921e-01 3.75454920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12804094199998 meters Centerline goodness [0,1] 0.9999574621945254 Centerline is valid? [True, True] Translation: X:125.06, Y:92.31, Z:3.76 [[ 2.35703684e-01 -9.71794427e-01 -7.70490449e-03 1.25055831e+02] [ 9.71332613e-01 2.35829205e-01 -2.99590074e-02 9.23083928e+01] [ 3.09310379e-02 -4.22576595e-04 9.99521432e-01 3.75500640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.06, Y:92.34, Z:3.76 [[ 2.36208175e-01 -9.71671752e-01 -7.72687475e-03 1.25061715e+02] [ 9.71206120e-01 2.36334186e-01 -3.00802974e-02 9.23354583e+01] [ 3.10542999e-02 -3.99175891e-04 9.99517619e-01 3.75663439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:92.36, Z:3.76 [[ 2.36709702e-01 -9.71550718e-01 -7.59735214e-03 1.25066428e+02] [ 9.71099495e-01 2.36831304e-01 -2.96091844e-02 9.23628507e+01] [ 3.05661152e-02 -3.69003624e-04 9.99532679e-01 3.75790122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.218040942 meters Centerline goodness [0,1] 0.9999147303346835 Centerline is valid? [True, True] Translation: X:125.07, Y:92.39, Z:3.76 [[ 2.36465986e-01 -9.71610313e-01 -7.56547259e-03 1.25072869e+02] [ 9.71161868e-01 2.36586695e-01 -2.95188472e-02 9.23888100e+01] [ 3.04707065e-02 -3.67095187e-04 9.99535593e-01 3.75694614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.08, Y:92.42, Z:3.76 [[ 2.36859571e-01 -9.71515656e-01 -7.40773517e-03 1.25079650e+02] [ 9.71084663e-01 2.36975137e-01 -2.89372100e-02 9.24163467e+01] [ 2.98684016e-02 -3.39482881e-04 9.99553782e-01 3.75953657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:92.44, Z:3.76 [[ 2.36821704e-01 -9.71525381e-01 -7.34273587e-03 1.25086975e+02] [ 9.71100948e-01 2.36935278e-01 -2.87162596e-02 9.24421980e+01] [ 2.96383282e-02 -3.29904243e-04 9.99560634e-01 3.75998681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308040942 meters Centerline goodness [0,1] 0.9999362989701667 Centerline is valid? [True, True] Translation: X:125.09, Y:92.47, Z:3.76 [[ 2.35893772e-01 -9.71749125e-01 -7.60036030e-03 1.25094196e+02] [ 9.71293385e-01 2.36015902e-01 -2.97599540e-02 9.24693881e+01] [ 3.07130152e-02 -3.61991866e-04 9.99528179e-01 3.75961755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:92.49, Z:3.76 [[ 2.36157627e-01 -9.71685059e-01 -7.59746725e-03 1.25101718e+02] [ 9.71228568e-01 2.36279553e-01 -2.97832272e-02 9.24947741e+01] [ 3.07350430e-02 -3.45340970e-04 9.99527507e-01 3.76040813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.11, Y:92.52, Z:3.76 [[ 2.36009320e-01 -9.71720815e-01 -7.63273653e-03 1.25107640e+02] [ 9.71258915e-01 2.36132464e-01 -2.99596360e-02 9.25217717e+01] [ 3.09147387e-02 -3.42610098e-04 9.99521967e-01 3.76208416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:92.55, Z:3.76 [[ 2.35744115e-01 -9.71785656e-01 -7.57303336e-03 1.25116490e+02] [ 9.71329942e-01 2.35865476e-01 -2.97593900e-02 9.25473115e+01] [ 3.07059655e-02 -3.40312980e-04 9.99528403e-01 3.76240564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:92.57, Z:3.76 [[ 2.35645120e-01 -9.71809284e-01 -7.62191559e-03 1.25122340e+02] [ 9.71346576e-01 2.35768112e-01 -2.99871213e-02 9.25747865e+01] [ 3.09387675e-02 -3.37202796e-04 9.99521225e-01 3.76403422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.13, Y:92.60, Z:3.76 [[ 2.36204202e-01 -9.71673174e-01 -7.66933340e-03 1.25129149e+02] [ 9.71203536e-01 2.36328470e-01 -3.02083921e-02 9.26014282e+01] [ 3.11651660e-02 -3.13134576e-04 9.99514199e-01 3.76377912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:92.63, Z:3.76 [[ 2.36062641e-01 -9.71707593e-01 -7.66699023e-03 1.25135623e+02] [ 9.71237193e-01 2.36186912e-01 -3.02333802e-02 9.26268722e+01] [ 3.11888478e-02 -3.09494489e-04 9.99513462e-01 3.76452818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:92.65, Z:3.77 [[ 2.35940537e-01 -9.71738323e-01 -7.52954864e-03 1.25142487e+02] [ 9.71283724e-01 2.36060459e-01 -2.97218437e-02 9.26528971e+01] [ 3.06592833e-02 -3.00740287e-04 9.99529848e-01 3.76560546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.15, Y:92.68, Z:3.77 [[ 2.35156220e-01 -9.71928735e-01 -7.48906423e-03 1.25150207e+02] [ 9.71477976e-01 2.35275232e-01 -2.95991277e-02 9.26775328e+01] [ 3.05302340e-02 -3.15041972e-04 9.99533794e-01 3.76631708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.16, Y:92.70, Z:3.77 [[ 2.34323680e-01 -9.72129918e-01 -7.47225240e-03 1.25158319e+02] [ 9.71680111e-01 2.34442555e-01 -2.95711147e-02 9.27029447e+01] [ 3.04987793e-02 -3.31426619e-04 9.99534749e-01 3.76685789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.17, Y:92.73, Z:3.77 [[ 2.34061705e-01 -9.72193216e-01 -7.44772007e-03 1.25165497e+02] [ 9.71745235e-01 2.34179934e-01 -2.95119667e-02 9.27277231e+01] [ 3.04354404e-02 -3.29665270e-04 9.99536680e-01 3.76744651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.17, Y:92.75, Z:3.77 [[ 2.33746601e-01 -9.72268499e-01 -7.51617689e-03 1.25173034e+02] [ 9.71811113e-01 2.33867174e-01 -2.98212273e-02 9.27536602e+01] [ 3.07520270e-02 -3.33693699e-04 9.99526989e-01 3.76798842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66804094199998 meters Centerline goodness [0,1] 0.9999576880765 Centerline is valid? [True, True] Translation: X:125.18, Y:92.78, Z:3.77 [[ 2.33573283e-01 -9.72309254e-01 -7.63124102e-03 1.25179714e+02] [ 9.71836632e-01 2.33697672e-01 -3.03143246e-02 9.27813656e+01] [ 3.12583016e-02 -3.35703250e-04 9.99511284e-01 3.76845018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.19, Y:92.81, Z:3.77 [[ 2.35375034e-01 -9.71875126e-01 -7.57190679e-03 1.25188302e+02] [ 9.71408500e-01 2.35496643e-01 -3.01140804e-02 9.28059013e+01] [ 3.10502843e-02 -2.67311932e-04 9.99517788e-01 3.76936565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.19, Y:92.83, Z:3.77 [[ 2.38421641e-01 -9.71132129e-01 -7.58343865e-03 1.25193714e+02] [ 9.70662463e-01 2.38542159e-01 -3.01996932e-02 9.28315374e+01] [ 3.11368622e-02 -1.60698818e-04 9.99515117e-01 3.77003636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.20, Y:92.86, Z:3.77 [[ 2.40428575e-01 -9.70636747e-01 -7.64231251e-03 1.25198736e+02] [ 9.70158310e-01 2.40549989e-01 -3.04722175e-02 9.28590920e+01] [ 3.14158122e-02 -8.78611619e-05 9.99506398e-01 3.77271855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:92.89, Z:3.77 [[ 2.42464816e-01 -9.70129437e-01 -7.72587546e-03 1.25205105e+02] [ 9.69638998e-01 2.42587873e-01 -3.08437579e-02 9.28852867e+01] [ 3.17966411e-02 -1.27840644e-05 9.99494359e-01 3.77311253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:92.91, Z:3.77 [[ 2.44459940e-01 -9.69629342e-01 -7.63396263e-03 1.25211188e+02] [ 9.69149043e-01 2.44579100e-01 -3.05155026e-02 9.29117789e+01] [ 3.14558344e-02 6.13703641e-05 9.99505141e-01 3.77327503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:92.94, Z:3.77 [[ 2.48691108e-01 -9.68553016e-01 -7.60177034e-03 1.25217829e+02] [ 9.68075075e-01 2.48807177e-01 -3.04242974e-02 9.29395070e+01] [ 3.13589201e-02 2.07167857e-04 9.99508167e-01 3.77431338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:92.97, Z:3.77 [[ 2.50952118e-01 -9.67970342e-01 -7.51341315e-03 1.25224631e+02] [ 9.67502113e-01 2.51064405e-01 -3.01052618e-02 9.29671768e+01] [ 3.10273512e-02 2.85736118e-04 9.99518495e-01 3.77482517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90804094199999 meters Centerline goodness [0,1] 0.9999786998381188 Centerline is valid? [True, True] Translation: X:125.23, Y:92.99, Z:3.78 [[ 2.51329533e-01 -9.67872817e-01 -7.46161249e-03 1.25231682e+02] [ 9.67409866e-01 2.51440086e-01 -2.99338310e-02 9.29937260e+01] [ 3.08482899e-02 3.04818250e-04 9.99524032e-01 3.77506086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:93.02, Z:3.78 [[ 2.51435053e-01 -9.67844698e-01 -7.55338828e-03 1.25240760e+02] [ 9.67369072e-01 2.51548278e-01 -3.03404532e-02 9.30202922e+01] [ 3.12648886e-02 3.21739264e-04 9.99511082e-01 3.77644682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:93.04, Z:3.78 [[ 2.51235132e-01 -9.67897183e-01 -7.48011094e-03 1.25252647e+02] [ 9.67429610e-01 2.51346256e-01 -3.00833735e-02 9.30449966e+01] [ 3.09977103e-02 3.21519506e-04 9.99519404e-01 3.77758452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:93.07, Z:3.78 [[ 2.50221309e-01 -9.68159803e-01 -7.47614368e-03 1.25262154e+02] [ 9.67691653e-01 2.50332792e-01 -3.01057921e-02 9.30714124e+01] [ 3.10187416e-02 2.98508860e-04 9.99518758e-01 3.77872120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:93.10, Z:3.78 [[ 2.48162811e-01 -9.68688739e-01 -7.57272330e-03 1.25273411e+02] [ 9.68207479e-01 2.48278205e-01 -3.05321357e-02 9.30971471e+01] [ 3.14562782e-02 2.44973295e-04 9.99505099e-01 3.77824317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:93.12, Z:3.78 [[ 2.46556721e-01 -9.69098572e-01 -7.59874240e-03 1.25282093e+02] [ 9.68612985e-01 2.46673704e-01 -3.06752301e-02 9.31233928e+01] [ 3.16017316e-02 2.02943585e-04 9.99500520e-01 3.77795520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:93.15, Z:3.78 [[ 2.45145112e-01 -9.69455917e-01 -7.68754131e-03 1.25292258e+02] [ 9.68957811e-01 2.45265562e-01 -3.10735398e-02 9.31494383e+01] [ 3.20099162e-02 1.68623196e-04 9.99487537e-01 3.77860802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:93.18, Z:3.78 [[ 2.41359505e-01 -9.70404677e-01 -7.76866679e-03 1.25307401e+02] [ 9.69895225e-01 2.41484492e-01 -3.14402888e-02 9.31750850e+01] [ 3.23858159e-02 5.36197227e-05 9.99475440e-01 3.77913899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:93.20, Z:3.78 [[ 2.39311107e-01 -9.70911805e-01 -7.77568163e-03 1.25318415e+02] [ 9.70400447e-01 2.39437397e-01 -3.15072448e-02 9.32009954e+01] [ 3.24525449e-02 -5.49131900e-06 9.99473277e-01 3.77996203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:93.23, Z:3.78 [[ 2.36366871e-01 -9.71634685e-01 -7.53265549e-03 1.25332329e+02] [ 9.71154012e-01 2.36486850e-01 -3.05590489e-02 9.32268878e+01] [ 3.14736058e-02 -9.22218162e-05 9.99504579e-01 3.78092883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.34, Y:93.25, Z:3.78 [[ 2.35363983e-01 -9.71878002e-01 -7.54616787e-03 1.25341727e+02] [ 9.71394534e-01 2.35484895e-01 -3.06516583e-02 9.32539584e+01] [ 3.15666810e-02 -1.16009846e-04 9.99501641e-01 3.78157962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:93.28, Z:3.78 [[ 2.35086921e-01 -9.71945125e-01 -7.53741961e-03 1.25348230e+02] [ 9.71461623e-01 2.35207695e-01 -3.06538097e-02 9.32807472e+01] [ 3.15666801e-02 -1.16004127e-04 9.99501641e-01 3.78221747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:93.31, Z:3.78 [[ 2.33763528e-01 -9.72263716e-01 -7.60789760e-03 1.25359706e+02] [ 9.71770071e-01 2.33887247e-01 -3.09787931e-02 9.33069777e+01] [ 3.18989468e-02 -1.51415212e-04 9.99491088e-01 3.78130562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.37, Y:93.33, Z:3.78 [[ 2.32565480e-01 -9.72550852e-01 -7.62485257e-03 1.25369464e+02] [ 9.72053935e-01 2.32690368e-01 -3.10860159e-02 9.33332320e+01] [ 3.20069610e-02 -1.82233743e-04 9.99487629e-01 3.78133080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.38, Y:93.36, Z:3.78 [[ 2.31126628e-01 -9.72893117e-01 -7.71138418e-03 1.25379745e+02] [ 9.72383766e-01 2.31255127e-01 -3.14782155e-02 9.33587370e+01] [ 3.24082364e-02 -2.22970975e-04 9.99474690e-01 3.78158160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.39, Y:93.38, Z:3.78 [[ 2.28926940e-01 -9.73413168e-01 -7.69813380e-03 1.25393015e+02] [ 9.72904556e-01 2.29056157e-01 -3.14642842e-02 9.33842681e+01] [ 3.23910535e-02 -2.86527137e-04 9.99475231e-01 3.78243846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:93.41, Z:3.78 [[ 2.28319072e-01 -9.73556541e-01 -7.61995894e-03 1.25402629e+02] [ 9.73057053e-01 2.28446001e-01 -3.11832812e-02 9.34107192e+01] [ 3.20994365e-02 -2.94916960e-04 9.99484637e-01 3.78264638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41804094199998 meters Centerline goodness [0,1] 0.9999340369393139 Centerline is valid? [True, True] Translation: X:125.41, Y:93.44, Z:3.78 [[ 2.27611680e-01 -9.73720853e-01 -7.78618204e-03 1.25414210e+02] [ 9.73198083e-01 2.27744597e-01 -3.19043933e-02 9.34357025e+01] [ 3.28392339e-02 -3.15684890e-04 9.99460597e-01 3.78112880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.42, Y:93.46, Z:3.78 [[ 2.28186461e-01 -9.73586084e-01 -7.81515337e-03 1.25422812e+02] [ 9.73057970e-01 2.28320071e-01 -3.20644988e-02 9.34629187e+01] [ 3.30019061e-02 -2.87912760e-04 9.99455247e-01 3.78260313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:93.49, Z:3.78 [[ 2.29450650e-01 -9.73290716e-01 -7.58821254e-03 1.25428583e+02] [ 9.72791457e-01 2.29575976e-01 -3.11713267e-02 9.34894713e+01] [ 3.20808342e-02 -2.29467183e-04 9.99485251e-01 3.78281168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:93.52, Z:3.78 [[ 2.33047458e-01 -9.72436651e-01 -7.47282919e-03 1.25431902e+02] [ 9.71950898e-01 2.33167216e-01 -3.07327519e-02 9.35165459e+01] [ 3.16280731e-02 -1.01033353e-04 9.99499702e-01 3.78255556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:93.54, Z:3.78 [[ 2.35271690e-01 -9.71900848e-01 -7.48152137e-03 1.25436363e+02] [ 9.71412737e-01 2.35390613e-01 -3.07986066e-02 9.35445985e+01] [ 3.16942718e-02 -2.16049275e-05 9.99497610e-01 3.78254528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:93.57, Z:3.78 [[ 2.39201729e-01 -9.70941170e-01 -7.46846470e-03 1.25438100e+02] [ 9.70453095e-01 2.39318265e-01 -3.07824413e-02 9.35725128e+01] [ 3.16752796e-02 1.15418490e-04 9.99498206e-01 3.78286773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:93.60, Z:3.78 [[ 2.40106812e-01 -9.70718139e-01 -7.41710769e-03 1.25443601e+02] [ 9.70235451e-01 2.40221296e-01 -3.06087893e-02 9.35997654e+01] [ 3.14942543e-02 1.53037999e-04 9.99503921e-01 3.78346405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:93.63, Z:3.78 [[ 2.39809338e-01 -9.70793394e-01 -7.18806335e-03 1.25449784e+02] [ 9.70339002e-01 2.39916996e-01 -2.96994340e-02 9.36253731e+01] [ 3.05565529e-02 1.47343380e-04 9.99533029e-01 3.78484073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:93.65, Z:3.79 [[ 2.38700663e-01 -9.71066819e-01 -7.15727413e-03 1.25456772e+02] [ 9.70615197e-01 2.38807911e-01 -2.96128435e-02 9.36519086e+01] [ 3.04652634e-02 1.21646321e-04 9.99535819e-01 3.78531333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:93.68, Z:3.78 [[ 2.35205763e-01 -9.71919766e-01 -7.08650872e-03 1.25464081e+02] [ 9.71476319e-01 2.35312492e-01 -2.93562902e-02 9.36768621e+01] [ 3.01995027e-02 2.03932235e-05 9.99543891e-01 3.78498236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.47, Y:93.70, Z:3.78 [[ 2.33237532e-01 -9.72393655e-01 -7.12975690e-03 1.25471501e+02] [ 9.71944022e-01 2.33346478e-01 -2.95675521e-02 9.37027794e+01] [ 3.04150038e-02 -3.34616969e-05 9.99537356e-01 3.78479981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:93.73, Z:3.79 [[ 2.31088570e-01 -9.72906817e-01 -7.09910147e-03 1.25479565e+02] [ 9.72460130e-01 2.31197570e-01 -2.94784610e-02 9.37292312e+01] [ 3.03210907e-02 -9.14577246e-05 9.99540206e-01 3.78538827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.49, Y:93.75, Z:3.79 [[ 2.27555212e-01 -9.73738543e-01 -7.20243122e-03 1.25489162e+02] [ 9.73277978e-01 2.27669083e-01 -2.99460661e-02 9.37544461e+01] [ 3.07994097e-02 -1.95584265e-04 9.99525567e-01 3.78514650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:93.78, Z:3.79 [[ 2.26114146e-01 -9.74073909e-01 -7.23964249e-03 1.25497046e+02] [ 9.73607591e-01 2.26229894e-01 -3.01379103e-02 9.37803567e+01] [ 3.09943756e-02 -2.33963028e-04 9.99519532e-01 3.78526427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.51, Y:93.81, Z:3.78 [[ 2.23264476e-01 -9.74729582e-01 -7.43070828e-03 1.25506585e+02] [ 9.74237517e-01 2.23387860e-01 -3.09697422e-02 9.38058588e+01] [ 3.18470539e-02 -3.24831525e-04 9.99492701e-01 3.78493681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.51, Y:93.83, Z:3.79 [[ 2.22560745e-01 -9.74890675e-01 -7.40853858e-03 1.25512942e+02] [ 9.74400707e-01 2.22683758e-01 -3.09064242e-02 9.38319131e+01] [ 3.17801460e-02 -3.40328420e-04 9.99494826e-01 3.78514881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.52, Y:93.86, Z:3.78 [[ 2.22201237e-01 -9.74973176e-01 -7.34276871e-03 1.25516986e+02] [ 9.74490691e-01 2.22322266e-01 -3.06708832e-02 9.38576428e+01] [ 3.15357494e-02 -3.40351580e-04 9.99502567e-01 3.78461308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.52, Y:93.88, Z:3.79 [[ 2.21864552e-01 -9.75050224e-01 -7.29255886e-03 1.25522670e+02] [ 9.74573124e-01 2.21984110e-01 -3.05005062e-02 9.38843240e+01] [ 3.13583576e-02 -3.40150726e-04 9.99508148e-01 3.78522329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.53, Y:93.91, Z:3.79 [[ 2.21173276e-01 -9.75208221e-01 -7.16298573e-03 1.25528970e+02] [ 9.74746851e-01 2.21288963e-01 -2.99961982e-02 9.39102628e+01] [ 3.08376288e-02 -3.47740364e-04 9.99524347e-01 3.78644215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:93.94, Z:3.79 [[ 2.19342498e-01 -9.75624414e-01 -6.77281947e-03 1.25536770e+02] [ 9.75211055e-01 2.19446716e-01 -2.83996068e-02 9.39358497e+01] [ 2.91936227e-02 -3.75687732e-04 9.99573705e-01 3.78889740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:93.96, Z:3.79 [[ 2.18160175e-01 -9.75889548e-01 -6.76227398e-03 1.25543968e+02] [ 9.75476453e-01 2.18264585e-01 -2.83947219e-02 9.39604565e+01] [ 2.91860773e-02 -4.01841523e-04 9.99573915e-01 3.78967081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:93.99, Z:3.79 [[ 2.16570707e-01 -9.76244241e-01 -6.65668118e-03 1.25551197e+02] [ 9.75842998e-01 2.16672551e-01 -2.79901521e-02 9.39855787e+01] [ 2.87675448e-02 -4.34028685e-04 9.99586034e-01 3.79035129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:94.01, Z:3.79 [[ 2.15964098e-01 -9.76378195e-01 -6.71778960e-03 1.25556442e+02] [ 9.75968544e-01 2.16068090e-01 -2.82839318e-02 9.40113420e+01] [ 2.90673143e-02 -4.48037510e-04 9.99577356e-01 3.79045342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:94.04, Z:3.79 [[ 2.15935393e-01 -9.76384998e-01 -6.65141508e-03 1.25556590e+02] [ 9.75982342e-01 2.16037369e-01 -2.80414505e-02 9.40398972e+01] [ 2.88162058e-02 -4.36522019e-04 9.99584632e-01 3.79245033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:94.07, Z:3.79 [[ 2.16827210e-01 -9.76186498e-01 -6.77369555e-03 1.25561554e+02] [ 9.75767775e-01 2.16932602e-01 -2.85918710e-02 9.40663230e+01] [ 2.93804338e-02 -4.10058235e-04 9.99568218e-01 3.79236926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.57, Y:94.09, Z:3.79 [[ 2.17614170e-01 -9.76011605e-01 -6.73938565e-03 1.25567733e+02] [ 9.75596194e-01 2.17718174e-01 -2.84756524e-02 9.40930190e+01] [ 2.92598540e-02 -3.78213511e-04 9.99571767e-01 3.79292531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.57, Y:94.12, Z:3.79 [[ 2.20723042e-01 -9.75313439e-01 -6.71075719e-03 1.25572494e+02] [ 9.74900159e-01 2.20824862e-01 -2.83911946e-02 9.41206311e+01] [ 2.91722157e-02 -2.75727411e-04 9.99574362e-01 3.79432226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:94.15, Z:3.79 [[ 2.22238657e-01 -9.74969008e-01 -6.73890755e-03 1.25578800e+02] [ 9.74551032e-01 2.22340693e-01 -2.85464960e-02 9.41473677e+01] [ 2.93302822e-02 -2.23274379e-04 9.99569750e-01 3.79491002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:94.17, Z:3.80 [[ 2.25579644e-01 -9.74200173e-01 -6.91721330e-03 1.25584751e+02] [ 9.73758214e-01 2.25685644e-01 -2.93416058e-02 9.41745546e+01] [ 3.01457132e-02 -1.16824274e-04 9.99545508e-01 3.79546752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.59, Y:94.20, Z:3.80 [[ 2.27178591e-01 -9.73828634e-01 -6.90508125e-03 1.25590834e+02] [ 9.73386919e-01 2.27283499e-01 -2.93277434e-02 9.42020463e+01] [ 3.01296073e-02 -5.86803281e-05 9.99545999e-01 3.79599504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:94.23, Z:3.80 [[ 2.28667819e-01 -9.73480047e-01 -6.90124885e-03 1.25596897e+02] [ 9.73037518e-01 2.28771936e-01 -2.93494495e-02 9.42298697e+01] [ 3.01499155e-02 -3.89945871e-06 9.99545388e-01 3.79655062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:94.26, Z:3.80 [[ 2.30912398e-01 -9.72950793e-01 -6.79845002e-03 1.25602950e+02] [ 9.72520002e-01 2.31012443e-01 -2.89498908e-02 9.42563525e+01] [ 2.97373458e-02 7.32600832e-05 9.99557745e-01 3.79729708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:94.28, Z:3.80 [[ 2.31500105e-01 -9.72811744e-01 -6.70912764e-03 1.25609765e+02] [ 9.72391009e-01 2.31597282e-01 -2.86081049e-02 9.42820469e+01] [ 2.93841161e-02 9.88838852e-05 9.99568189e-01 3.79820962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:94.31, Z:3.80 [[ 2.31830348e-01 -9.72734075e-01 -6.56575368e-03 1.25619113e+02] [ 9.72330061e-01 2.31923277e-01 -2.80329597e-02 9.43083483e+01] [ 2.87913662e-02 1.14811124e-04 9.99585436e-01 3.80130318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:94.34, Z:3.80 [[ 2.31375412e-01 -9.72842600e-01 -6.53406751e-03 1.25625917e+02] [ 9.72441498e-01 2.31467630e-01 -2.79333186e-02 9.43352243e+01] [ 2.86871474e-02 1.09084711e-04 9.99588433e-01 3.80221453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:94.36, Z:3.80 [[ 2.30512637e-01 -9.73047801e-01 -6.47318913e-03 1.25632550e+02] [ 9.72653218e-01 2.30603490e-01 -2.77082749e-02 9.43625930e+01] [ 2.84542159e-02 9.09392600e-05 9.99595093e-01 3.80289699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:94.39, Z:3.80 [[ 2.27968890e-01 -9.73648888e-01 -6.16665911e-03 1.25639274e+02] [ 9.73290133e-01 2.28052279e-01 -2.64286752e-02 9.43900694e+01] [ 2.71385709e-02 2.29672806e-05 9.99631681e-01 3.80434489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:94.42, Z:3.81 [[ 2.26431447e-01 -9.74008263e-01 -6.05833232e-03 1.25645833e+02] [ 9.73661259e-01 2.26512480e-01 -2.59970910e-02 9.44173771e+01] [ 2.66936693e-02 -1.22045430e-05 9.99643660e-01 3.80522157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:94.44, Z:3.81 [[ 2.23436625e-01 -9.74698981e-01 -6.16212542e-03 1.25653408e+02] [ 9.74339314e-01 2.23521563e-01 -2.64766473e-02 9.44446812e+01] [ 2.71841290e-02 -8.81483508e-05 9.99630439e-01 3.80619724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:94.47, Z:3.81 [[ 2.21502750e-01 -9.75140009e-01 -6.20437373e-03 1.25659997e+02] [ 9.74774627e-01 2.21589585e-01 -2.66923474e-02 9.44717724e+01] [ 2.74036005e-02 -1.35437732e-04 9.99624442e-01 3.80744701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:94.50, Z:3.81 [[ 2.18778055e-01 -9.75754329e-01 -6.29699414e-03 1.25666513e+02] [ 9.75377226e-01 2.18868560e-01 -2.71260141e-02 9.44979226e+01] [ 2.78465397e-02 -2.07368063e-04 9.99612188e-01 3.80838103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:94.53, Z:3.81 [[ 2.17604959e-01 -9.76016186e-01 -6.36286630e-03 1.25671888e+02] [ 9.75630340e-01 2.17697837e-01 -2.74425230e-02 9.45257472e+01] [ 2.81695289e-02 -2.36176320e-04 9.99603132e-01 3.80924516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:94.55, Z:3.81 [[ 2.16041499e-01 -9.76360952e-01 -6.73517979e-03 1.25676343e+02] [ 9.75927620e-01 2.16146267e-01 -2.90873176e-02 9.45541203e+01] [ 2.98555051e-02 -2.88980269e-04 9.99554183e-01 3.80892873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:94.58, Z:3.81 [[ 2.15291408e-01 -9.76525890e-01 -6.84068054e-03 1.25681395e+02] [ 9.76077818e-01 2.15399838e-01 -2.95804622e-02 9.45819919e+01] [ 3.03595686e-02 -3.08617183e-04 9.99538994e-01 3.80877856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:94.61, Z:3.81 [[ 2.14372151e-01 -9.76726161e-01 -7.11247237e-03 1.25686752e+02] [ 9.76240542e-01 2.14489837e-01 -3.07979676e-02 9.46081645e+01] [ 3.16067337e-02 -3.41257314e-04 9.99500324e-01 3.80893736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:94.63, Z:3.81 [[ 2.13017066e-01 -9.77021473e-01 -7.26439232e-03 1.25692517e+02] [ 9.76513715e-01 2.13140550e-01 -3.14971387e-02 9.46340917e+01] [ 3.23217174e-02 -3.84350674e-04 9.99477443e-01 3.80906950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:94.66, Z:3.81 [[ 2.11930066e-01 -9.77257639e-01 -7.29074971e-03 1.25698555e+02] [ 9.76745173e-01 2.12055031e-01 -3.16469628e-02 9.46619636e+01] [ 3.24732763e-02 -4.14261678e-04 9.99472518e-01 3.80999134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:94.69, Z:3.81 [[ 2.09949754e-01 -9.77685102e-01 -7.27618437e-03 1.25703613e+02] [ 9.77173626e-01 2.10075274e-01 -3.16241198e-02 9.46898172e+01] [ 3.24469772e-02 -4.70619273e-04 9.99473347e-01 3.81147950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:94.72, Z:3.81 [[ 2.09059702e-01 -9.77875549e-01 -7.31104207e-03 1.25708855e+02] [ 9.77357960e-01 2.09186916e-01 -3.18159113e-02 9.47174319e+01] [ 3.26413761e-02 -4.94080245e-04 9.99467006e-01 3.81261189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:94.74, Z:3.81 [[ 2.08118302e-01 -9.78076091e-01 -7.34388988e-03 1.25714624e+02] [ 9.77552555e-01 2.08247188e-01 -3.20017390e-02 9.47443121e+01] [ 3.28294802e-02 -5.18890731e-04 9.99460833e-01 3.81368443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.72, Y:94.77, Z:3.82 [[ 2.06372481e-01 -9.78447474e-01 -7.13726178e-03 1.25720539e+02] [ 9.77951875e-01 2.06495123e-01 -3.11431445e-02 9.47721462e+01] [ 3.19457408e-02 -5.52810542e-04 9.99489452e-01 3.81637466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.73, Y:94.80, Z:3.82 [[ 2.03595318e-01 -9.79030222e-01 -6.98355835e-03 1.25727357e+02] [ 9.78554862e-01 2.03714106e-01 -3.05114036e-02 9.47990910e+01] [ 3.12942356e-02 -6.21816054e-04 9.99510022e-01 3.81895041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.73, Y:94.83, Z:3.82 [[ 2.02058016e-01 -9.79349336e-01 -6.88746822e-03 1.25733534e+02] [ 9.78886048e-01 2.02174307e-01 -3.01273120e-02 9.48260323e+01] [ 3.08976321e-02 -6.54581659e-04 9.99522340e-01 3.81963784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.74, Y:94.85, Z:3.82 [[ 2.00802800e-01 -9.79607073e-01 -6.94394260e-03 1.25738146e+02] [ 9.79135179e-01 2.00921635e-01 -3.04104912e-02 9.48539549e+01] [ 3.11855206e-02 -6.92546690e-04 9.99513373e-01 3.82085606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.74, Y:94.88, Z:3.82 [[ 1.99460123e-01 -9.79880983e-01 -6.99416004e-03 1.25743610e+02] [ 9.79401203e-01 1.99581366e-01 -3.06685759e-02 9.48808214e+01] [ 3.14474583e-02 -7.32930851e-04 9.99505138e-01 3.82021281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.75, Y:94.91, Z:3.82 [[ 1.98979903e-01 -9.79977995e-01 -7.08005582e-03 1.25747237e+02] [ 9.79485195e-01 1.99104412e-01 -3.10835322e-02 9.49090445e+01] [ 3.18708479e-02 -7.49811614e-04 9.99491714e-01 3.82105536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.75, Y:94.94, Z:3.82 [[ 1.99154161e-01 -9.79942832e-01 -7.04743980e-03 1.25751734e+02] [ 9.79453222e-01 1.99277470e-01 -3.09818632e-02 9.49361499e+01] [ 3.17648508e-02 -7.32470632e-04 9.99495101e-01 3.82143376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.76, Y:94.96, Z:3.82 [[ 1.99946628e-01 -9.79781633e-01 -7.02122735e-03 1.25756508e+02] [ 9.79294229e-01 2.00068658e-01 -3.09086763e-02 9.49637586e+01] [ 3.16884809e-02 -6.95761805e-04 9.99497552e-01 3.82220367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.76, Y:94.99, Z:3.82 [[ 1.99670628e-01 -9.79837979e-01 -7.01253003e-03 1.25762528e+02] [ 9.79350540e-01 1.99792521e-01 -3.09106497e-02 9.49906705e+01] [ 3.16884796e-02 -6.95776212e-04 9.99497552e-01 3.82284168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.77, Y:95.02, Z:3.82 [[ 2.00313524e-01 -9.79706587e-01 -7.03532663e-03 1.25767276e+02] [ 9.79214600e-01 2.00435915e-01 -3.10517495e-02 9.50179984e+01] [ 3.18317357e-02 -6.69009175e-04 9.99493018e-01 3.82330306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.77, Y:95.05, Z:3.82 [[ 2.02309927e-01 -9.79294142e-01 -7.32646702e-03 1.25770370e+02] [ 9.78759031e-01 2.02441592e-01 -3.23753123e-02 9.50465367e+01] [ 3.31881353e-02 -6.20998684e-04 9.99448929e-01 3.82346805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.78, Y:95.07, Z:3.82 [[ 2.03150432e-01 -9.79120221e-01 -7.31405788e-03 1.25775255e+02] [ 9.78585781e-01 2.03281211e-01 -3.23514780e-02 9.50741334e+01] [ 3.31627968e-02 -5.85216312e-04 9.99449792e-01 3.82354093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.78, Y:95.10, Z:3.82 [[ 2.04346935e-01 -9.78870736e-01 -7.37651514e-03 1.25778557e+02] [ 9.78325527e-01 2.04479316e-01 -3.26706656e-02 9.51019609e+01] [ 3.34887032e-02 -5.40482685e-04 9.99438950e-01 3.82491235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.78, Y:95.13, Z:3.83 [[ 2.04466635e-01 -9.78846025e-01 -7.33850698e-03 1.25783785e+02] [ 9.78304976e-01 2.04597613e-01 -3.25452267e-02 9.51298548e+01] [ 3.33582068e-02 -5.24884901e-04 9.99443322e-01 3.82532889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.79, Y:95.16, Z:3.83 [[ 2.04624722e-01 -9.78813191e-01 -7.31171780e-03 1.25788874e+02] [ 9.78274615e-01 2.04754681e-01 -3.24699689e-02 9.51565116e+01] [ 3.32791423e-02 -5.08709569e-04 9.99445966e-01 3.82615633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.79, Y:95.18, Z:3.83 [[ 2.05082456e-01 -9.78718946e-01 -7.10013227e-03 1.25792963e+02] [ 9.78209667e-01 2.05204786e-01 -3.15728253e-02 9.51846999e+01] [ 3.23579034e-02 -4.70385484e-04 9.99476235e-01 3.82766702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.80, Y:95.21, Z:3.83 [[ 2.05752735e-01 -9.78579404e-01 -6.93983703e-03 1.25797663e+02] [ 9.78091513e-01 2.05869290e-01 -3.09002823e-02 9.52127094e+01] [ 3.16670792e-02 -4.29978095e-04 9.99498380e-01 3.82869234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.80, Y:95.24, Z:3.83 [[ 2.08106598e-01 -9.78084298e-01 -6.53834583e-03 1.25801025e+02] [ 9.77649893e-01 2.08209029e-01 -2.91493912e-02 9.52408204e+01] [ 2.98719044e-02 -3.26032461e-04 9.99553682e-01 3.83000601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.81, Y:95.27, Z:3.83 [[ 2.09336150e-01 -9.77823272e-01 -6.32657523e-03 1.25806963e+02] [ 9.77415452e-01 2.09431553e-01 -2.82393050e-02 9.52672724e+01] [ 2.89380341e-02 -2.72184975e-04 9.99581170e-01 3.83046004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.81, Y:95.30, Z:3.83 [[ 2.10649324e-01 -9.77542234e-01 -6.16796367e-03 1.25811751e+02] [ 9.77153689e-01 2.10739489e-01 -2.75596602e-02 9.52950833e+01] [ 2.82405653e-02 -2.21624669e-04 9.99601131e-01 3.83198893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.82, Y:95.32, Z:3.83 [[ 2.15353902e-01 -9.76518432e-01 -5.86932473e-03 1.25815278e+02] [ 9.76165332e-01 2.15433856e-01 -2.62583125e-02 9.53230818e+01] [ 2.69061774e-02 -7.46012553e-05 9.99637960e-01 3.83383651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.82, Y:95.35, Z:3.84 [[ 2.20491270e-01 -9.75373044e-01 -5.57007377e-03 1.25817885e+02] [ 9.75053877e-01 2.20561603e-01 -2.49502631e-02 9.53514693e+01] [ 2.55643584e-02 7.01931602e-05 9.99673176e-01 3.83517225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.82, Y:95.38, Z:3.84 [[ 2.23190900e-01 -9.74759359e-01 -5.47859678e-03 1.25820035e+02] [ 9.74449575e-01 2.23258083e-01 -2.45734473e-02 9.53783930e+01] [ 2.51763387e-02 1.45953504e-04 9.99683015e-01 3.83534094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.82, Y:95.41, Z:3.84 [[ 2.25874494e-01 -9.74141835e-01 -5.32907810e-03 1.25823941e+02] [ 9.73847745e-01 2.25937246e-01 -2.39359597e-02 9.54069159e+01] [ 2.45210569e-02 2.16812097e-04 9.99699290e-01 3.83605077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.83, Y:95.44, Z:3.84 [[ 2.27898542e-01 -9.73671085e-01 -5.18379882e-03 1.25827473e+02] [ 9.73391999e-01 2.27957334e-01 -2.33124296e-02 9.54353490e+01] [ 2.38803236e-02 2.67000440e-04 9.99714789e-01 3.83616954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.83, Y:95.46, Z:3.84 [[ 2.30783202e-01 -9.72992616e-01 -4.94805041e-03 1.25830318e+02] [ 9.72737557e-01 2.30836005e-01 -2.22796797e-02 9.54628243e+01] [ 2.28201520e-02 3.28621346e-04 9.99739532e-01 3.83689294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.84, Y:95.49, Z:3.84 [[ 2.31870741e-01 -9.72734690e-01 -4.81485362e-03 1.25835645e+02] [ 9.72492541e-01 2.31920462e-01 -2.17061422e-02 9.54911627e+01] [ 2.22309806e-02 3.50610061e-04 9.99752800e-01 3.83784586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.84, Y:95.52, Z:3.84 [[ 2.31743221e-01 -9.72765310e-01 -4.76764102e-03 1.25841587e+02] [ 9.72527293e-01 2.31791993e-01 -2.15206240e-02 9.55185966e+01] [ 2.20396175e-02 3.50597723e-04 9.99757037e-01 3.83891480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.85, Y:95.55, Z:3.84 [[ 2.30663044e-01 -9.73021812e-01 -4.80763088e-03 1.25847995e+02] [ 9.72779185e-01 2.30712897e-01 -2.17305662e-02 9.55463015e+01] [ 2.22534974e-02 3.35675312e-04 9.99752304e-01 3.83966421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.85, Y:95.57, Z:3.84 [[ 2.29729424e-01 -9.73242758e-01 -4.78802185e-03 1.25853594e+02] [ 9.73001500e-01 2.29779092e-01 -2.16713986e-02 9.55730918e+01] [ 2.21917190e-02 3.19805458e-04 9.99753682e-01 3.84027758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.86, Y:95.60, Z:3.84 [[ 2.27257522e-01 -9.73823469e-01 -4.67652786e-03 1.25861155e+02] [ 9.73593007e-01 2.27305484e-01 -2.11866239e-02 9.55999258e+01] [ 2.16950320e-02 2.61784821e-04 9.99764601e-01 3.84133086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.87, Y:95.63, Z:3.84 [[ 2.23755250e-01 -9.74634887e-01 -4.51943778e-03 1.25869385e+02] [ 9.74419259e-01 2.23800812e-01 -2.05013376e-02 9.56272757e+01] [ 2.09927727e-02 1.83454711e-04 9.99779611e-01 3.84253199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.88, Y:95.65, Z:3.84 [[ 2.21646520e-01 -9.75116821e-01 -4.47282259e-03 1.25875838e+02] [ 9.74905173e-01 2.21691600e-01 -2.03159413e-02 9.56539258e+01] [ 2.08020033e-02 1.42379812e-04 9.99783605e-01 3.84302225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.88, Y:95.68, Z:3.84 [[ 2.19252146e-01 -9.75658030e-01 -4.46149941e-03 1.25883198e+02] [ 9.75447165e-01 2.19297513e-01 -2.02837030e-02 9.56813560e+01] [ 2.07683534e-02 9.52884480e-05 9.99784310e-01 3.84347401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.938040942 meters Centerline goodness [0,1] 0.9999785623941518 Centerline is valid? [True, True] Translation: X:125.89, Y:95.71, Z:3.84 [[ 2.13888398e-01 -9.76848084e-01 -4.42419811e-03 1.25892519e+02] [ 9.76640444e-01 2.13934149e-01 -2.01400913e-02 9.57069638e+01] [ 2.06202966e-02 -1.31189473e-05 9.99787379e-01 3.84411165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.90, Y:95.73, Z:3.84 [[ 2.10880562e-01 -9.77501648e-01 -4.46270478e-03 1.25899592e+02] [ 9.77289936e-01 2.10927765e-01 -2.03435166e-02 9.57341667e+01] [ 2.08271294e-02 -7.13042474e-05 9.99783089e-01 3.84418751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.91, Y:95.76, Z:3.84 [[ 2.05047098e-01 -9.78741853e-01 -4.48028781e-03 1.25906724e+02] [ 9.78528176e-01 2.05095951e-01 -2.04513956e-02 9.57614454e+01] [ 2.09355257e-02 -1.90588532e-04 9.99780810e-01 3.84340234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.92, Y:95.79, Z:3.84 [[ 2.01850390e-01 -9.79406643e-01 -4.36425004e-03 1.25915169e+02] [ 9.79203531e-01 2.01897414e-01 -1.99469135e-02 9.57877704e+01] [ 2.04172704e-02 -2.47196780e-04 9.99791515e-01 3.84404158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.92, Y:95.82, Z:3.84 [[ 1.98529457e-01 -9.80085073e-01 -4.39360527e-03 1.25920421e+02] [ 9.79878871e-01 1.98577820e-01 -2.01059113e-02 9.58157762e+01] [ 2.05779761e-02 -3.13585313e-04 9.99788202e-01 3.84400760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.93, Y:95.84, Z:3.84 [[ 1.93304727e-01 -9.81128786e-01 -4.42572941e-03 1.25928673e+02] [ 9.80919277e-01 1.93354926e-01 -2.02791738e-02 9.58421050e+01] [ 2.07522178e-02 -4.21223127e-04 9.99784561e-01 3.84496916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.94, Y:95.87, Z:3.85 [[ 1.90730280e-01 -9.81632830e-01 -4.35283563e-03 1.25935779e+02] [ 9.81429745e-01 1.90779383e-01 -1.99720283e-02 9.58687503e+01] [ 2.04356300e-02 -4.62731802e-04 9.99791064e-01 3.84580561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.94, Y:95.90, Z:3.85 [[ 1.87497533e-01 -9.82254369e-01 -4.58582371e-03 1.25940044e+02] [ 9.82028535e-01 1.87552789e-01 -2.10691258e-02 9.58967327e+01] [ 2.15553249e-02 -5.53000632e-04 9.99767504e-01 3.84526042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.94, Y:95.92, Z:3.85 [[ 1.86182360e-01 -9.82504042e-01 -4.68366055e-03 1.25944829e+02] [ 9.82267921e-01 1.86240332e-01 -2.15469333e-02 9.59246147e+01] [ 2.20422355e-02 -5.88950624e-04 9.99756867e-01 3.84537952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.95, Y:95.95, Z:3.85 [[ 1.85279746e-01 -9.82673729e-01 -4.87418159e-03 1.25948852e+02] [ 9.82417359e-01 1.85342783e-01 -2.24540746e-02 9.59510315e+01] [ 2.29684236e-02 -6.28195369e-04 9.99735994e-01 3.84536875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.95, Y:95.98, Z:3.85 [[ 1.84956437e-01 -9.82734680e-01 -4.86472150e-03 1.25953024e+02] [ 9.82478809e-01 1.85019328e-01 -2.24329631e-02 9.59792223e+01] [ 2.29457183e-02 -6.30364853e-04 9.99736514e-01 3.84571719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.96, Y:96.01, Z:3.85 [[ 1.84745612e-01 -9.82774178e-01 -4.89637655e-03 1.25958859e+02] [ 9.82514253e-01 1.84809400e-01 -2.26103794e-02 9.60060566e+01] [ 2.31257934e-02 -6.33591365e-04 9.99732362e-01 3.84607708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.96, Y:96.03, Z:3.85 [[ 1.84450902e-01 -9.82830113e-01 -4.77858314e-03 1.25961437e+02] [ 9.82581853e-01 1.84511751e-01 -2.20978819e-02 9.60342111e+01] [ 2.26001685e-02 -6.19374839e-04 9.99744392e-01 3.84657550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.97, Y:96.06, Z:3.85 [[ 1.84580271e-01 -9.82805917e-01 -4.75958748e-03 1.25965490e+02] [ 9.82558935e-01 1.84640624e-01 -2.20404000e-02 9.60616998e+01] [ 2.25402487e-02 -6.08352185e-04 9.99745751e-01 3.84729287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.97, Y:96.09, Z:3.85 [[ 1.85989969e-01 -9.82541672e-01 -4.42660162e-03 1.25968471e+02] [ 9.82327400e-01 1.86041881e-01 -2.05255276e-02 9.60888450e+01] [ 2.09907195e-02 -5.30829818e-04 9.99779530e-01 3.84896292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.97, Y:96.12, Z:3.85 [[ 1.86580324e-01 -9.82430209e-01 -4.32046066e-03 1.25972204e+02] [ 9.82225706e-01 1.86629663e-01 -2.00507213e-02 9.61169768e+01] [ 2.05047605e-02 -5.02597447e-04 9.99789629e-01 3.85035515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.98, Y:96.15, Z:3.85 [[ 1.87015262e-01 -9.82348316e-01 -4.13240908e-03 1.25976002e+02] [ 9.82160715e-01 1.87060329e-01 -1.92032197e-02 9.61452720e+01] [ 1.96372603e-02 -4.67394685e-04 9.99807061e-01 3.85116752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.98, Y:96.17, Z:3.85 [[ 1.88149189e-01 -9.82132162e-01 -4.03711965e-03 1.25980578e+02] [ 9.81952573e-01 1.88192006e-01 -1.87860009e-02 9.61722976e+01] [ 1.92100893e-02 -4.29689194e-04 9.99815377e-01 3.85264044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.98, Y:96.20, Z:3.85 [[ 1.88653960e-01 -9.82035637e-01 -3.96113236e-03 1.25984740e+02] [ 9.81862237e-01 1.88695102e-01 -1.84582347e-02 9.62003190e+01] [ 1.88740905e-02 -4.07067219e-04 9.99821786e-01 3.85374572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.99, Y:96.23, Z:3.85 [[ 1.90526374e-01 -9.81674712e-01 -3.80268651e-03 1.25985005e+02] [ 9.81514423e-01 1.90563993e-01 -1.77426564e-02 9.62289589e+01] [ 1.81421723e-02 -3.51947672e-04 9.99835355e-01 3.85368494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.99, Y:96.26, Z:3.85 [[ 1.91213539e-01 -9.81540832e-01 -3.87011149e-03 1.25988844e+02] [ 9.81374321e-01 1.91252397e-01 -1.80821217e-02 9.62571315e+01] [ 1.84885089e-02 -3.40481560e-04 9.99829015e-01 3.85401503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.99, Y:96.29, Z:3.85 [[ 1.91958096e-01 -9.81395258e-01 -3.92886701e-03 1.25993232e+02] [ 9.81223124e-01 1.91998021e-01 -1.83831479e-02 9.62852704e+01] [ 1.87954688e-02 -3.26301100e-04 9.99823296e-01 3.85479161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.00, Y:96.31, Z:3.86 [[ 1.93043198e-01 -9.81182163e-01 -3.98577045e-03 1.25996615e+02] [ 9.81004450e-01 1.93084101e-01 -1.86761619e-02 9.63133486e+01] [ 1.90943058e-02 -3.04752531e-04 9.99817641e-01 3.85538451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.00, Y:96.34, Z:3.86 [[ 1.93212261e-01 -9.81148468e-01 -4.08725361e-03 1.26001175e+02] [ 9.80961038e-01 1.93255249e-01 -1.91794447e-02 9.63400923e+01] [ 1.96077660e-02 -3.03732675e-04 9.99807703e-01 3.85599759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.01, Y:96.37, Z:3.86 [[ 1.92697582e-01 -9.81249346e-01 -4.16698162e-03 1.26006511e+02] [ 9.81053952e-01 1.92742375e-01 -1.95836741e-02 9.63674557e+01] [ 2.00196213e-02 -3.14307150e-04 9.99799538e-01 3.85678151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.01, Y:96.40, Z:3.86 [[ 1.91799215e-01 -9.81425343e-01 -4.16608515e-03 1.26012111e+02] [ 9.81229525e-01 1.91844177e-01 -1.96069025e-02 9.63952060e+01] [ 2.00419502e-02 -3.27297230e-04 9.99799086e-01 3.85712742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.02, Y:96.42, Z:3.86 [[ 1.90773292e-01 -9.81624074e-01 -4.44161247e-03 1.26017112e+02] [ 9.81400875e-01 1.90824641e-01 -2.09351027e-02 9.64229923e+01] [ 2.13979699e-02 -3.65143916e-04 9.99770971e-01 3.85782100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.02, Y:96.45, Z:3.86 [[ 1.90261304e-01 -9.81723510e-01 -4.42572168e-03 1.26023075e+02] [ 9.81501310e-01 1.90312412e-01 -2.08893272e-02 9.64502497e+01] [ 2.13498134e-02 -3.69420989e-04 9.99771999e-01 3.85851566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.03, Y:96.48, Z:3.86 [[ 1.89860946e-01 -9.81799964e-01 -4.65311379e-03 1.26029237e+02] [ 9.81553641e-01 1.89917554e-01 -2.19948170e-02 9.64774349e+01] [ 2.24782186e-02 -3.91324021e-04 9.99747256e-01 3.86005489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.03, Y:96.51, Z:3.86 [[ 1.90491260e-01 -9.81677445e-01 -4.74059887e-03 1.26034672e+02] [ 9.81420996e-01 1.90549864e-01 -2.24405491e-02 9.65054712e+01] [ 2.29327014e-02 -3.77794778e-04 9.99736940e-01 3.86099611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.838040942 meters Centerline goodness [0,1] 0.999978868179705 Centerline is valid? [True, True] Translation: X:126.04, Y:96.53, Z:3.86 [[ 1.90960026e-01 -9.81586021e-01 -4.81167310e-03 1.26040392e+02] [ 9.81321072e-01 1.91020285e-01 -2.28080035e-02 9.65317952e+01] [ 2.33071446e-02 -3.66379278e-04 9.99728284e-01 3.86185828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.05, Y:96.56, Z:3.86 [[ 1.93355759e-01 -9.81116362e-01 -4.92278863e-03 1.26045193e+02] [ 9.80838036e-01 1.93418168e-01 -2.33700679e-02 9.65585410e+01] [ 2.38809128e-02 -3.09721104e-04 9.99714762e-01 3.86261687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.898040942 meters Centerline goodness [0,1] 0.9999787942405157 Centerline is valid? [True, True] Translation: X:126.05, Y:96.59, Z:3.86 [[ 1.94672232e-01 -9.80855540e-01 -5.01310516e-03 1.26050211e+02] [ 9.80566197e-01 1.94736571e-01 -2.38244038e-02 9.65866060e+01] [ 2.43445334e-02 -2.77731597e-04 9.99703589e-01 3.86343783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.06, Y:96.61, Z:3.87 [[ 1.96787847e-01 -9.80433064e-01 -5.05479541e-03 1.26055292e+02] [ 9.80137904e-01 1.96852633e-01 -2.40568043e-02 9.66137334e+01] [ 2.45811361e-02 -2.20309873e-04 9.99697814e-01 3.86506691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.06, Y:96.64, Z:3.87 [[ 1.97872544e-01 -9.80214403e-01 -5.11667252e-03 1.26061633e+02] [ 9.79911012e-01 1.97938598e-01 -2.43868871e-02 9.66404244e+01] [ 2.49171649e-02 -1.88388364e-04 9.99689502e-01 3.86647915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.07, Y:96.67, Z:3.87 [[ 1.98830034e-01 -9.80020105e-01 -5.21642659e-03 1.26067797e+02] [ 9.79703732e-01 1.98898386e-01 -2.49003892e-02 9.66681289e+01] [ 2.54404208e-02 -1.59607376e-04 9.99676327e-01 3.86767054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.07, Y:96.69, Z:3.87 [[ 2.01250043e-01 -9.79524760e-01 -5.44656253e-03 1.26073652e+02] [ 9.79178631e-01 2.01323710e-01 -2.60378913e-02 9.66946130e+01] [ 2.66012814e-02 -9.30308988e-05 9.99646119e-01 3.86866719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.08, Y:96.72, Z:3.87 [[ 2.00971523e-01 -9.79581986e-01 -5.43877542e-03 1.26079204e+02] [ 9.79235834e-01 2.01045081e-01 -2.60395179e-02 9.67216029e+01] [ 2.66012817e-02 -9.26422215e-05 9.99646119e-01 3.86930492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07804094199997 meters Centerline goodness [0,1] 0.9999788462758868 Centerline is valid? [True, True] Translation: X:126.08, Y:96.75, Z:3.87 [[ 2.01912803e-01 -9.79387314e-01 -5.63104510e-03 1.26084901e+02] [ 9.79015083e-01 2.01991299e-01 -2.69996933e-02 9.67489622e+01] [ 2.75805792e-02 -6.12943404e-05 9.99619582e-01 3.86913946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.09, Y:96.78, Z:3.87 [[ 2.04199266e-01 -9.78911250e-01 -5.95182290e-03 1.26091792e+02] [ 9.78493916e-01 2.04285987e-01 -2.85813204e-02 9.67750781e+01] [ 2.91944501e-02 1.24621556e-05 9.99573751e-01 3.86976471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.10, Y:96.80, Z:3.87 [[ 2.04816727e-01 -9.78781424e-01 -6.08548277e-03 1.26099017e+02] [ 9.78343730e-01 2.04907108e-01 -2.92681121e-02 9.68018729e+01] [ 2.98940431e-02 4.09050099e-05 9.99553072e-01 3.87132951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.11, Y:96.83, Z:3.87 [[ 2.05003752e-01 -9.78741318e-01 -6.23646778e-03 1.26107115e+02] [ 9.78280244e-01 2.05098583e-01 -3.00388850e-02 9.68292732e+01] [ 3.06793886e-02 5.70709285e-05 9.99529275e-01 3.87268324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.12, Y:96.86, Z:3.88 [[ 2.03511078e-01 -9.79051932e-01 -6.36839032e-03 1.26118204e+02] [ 9.78569866e-01 2.03610695e-01 -3.07197508e-02 9.68555866e+01] [ 3.13729037e-02 1.98947528e-05 9.99507749e-01 3.87530483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.13, Y:96.88, Z:3.88 [[ 2.02301879e-01 -9.79303117e-01 -6.27328111e-03 1.26126248e+02] [ 9.78834108e-01 2.02399121e-01 -3.03048654e-02 9.68822201e+01] [ 3.09473557e-02 -9.77031064e-06 9.99521016e-01 3.87663860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.14, Y:96.91, Z:3.88 [[ 2.00261434e-01 -9.79722527e-01 -6.25531116e-03 1.26137177e+02] [ 9.79255019e-01 2.00359094e-01 -3.02628627e-02 9.69078021e+01] [ 3.09025168e-02 -6.50605860e-05 9.99522401e-01 3.87759921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.15, Y:96.93, Z:3.88 [[ 1.99426356e-01 -9.79893167e-01 -6.20559276e-03 1.26145070e+02] [ 9.79431746e-01 1.99522866e-01 -3.00679392e-02 9.69343571e+01] [ 3.07015258e-02 -8.16150138e-05 9.99528594e-01 3.87989595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.15, Y:96.96, Z:3.88 [[ 1.98510162e-01 -9.80079844e-01 -6.10037964e-03 1.26153608e+02] [ 9.79632710e-01 1.98603850e-01 -2.96017496e-02 9.69599530e+01] [ 3.02236370e-02 -9.98833101e-05 9.99543157e-01 3.88146949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.17, Y:96.98, Z:3.88 [[ 1.96529847e-01 -9.80478650e-01 -6.13490079e-03 1.26165798e+02] [ 9.80025221e-01 1.96625518e-01 -2.98156490e-02 9.69849017e+01] [ 3.04398853e-02 -1.52692578e-04 9.99536588e-01 3.88306600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.18, Y:97.01, Z:3.88 [[ 1.93648543e-01 -9.81050851e-01 -6.28247673e-03 1.26177583e+02] [ 9.80574184e-01 1.93750279e-01 -3.05793960e-02 9.70113298e+01] [ 3.12171741e-02 -2.38779030e-04 9.99512597e-01 3.88443216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40804094199999 meters Centerline goodness [0,1] 0.9998710148977793 Centerline is valid? [True, True] Translation: X:126.19, Y:97.04, Z:3.88 [[ 1.91508906e-01 -9.81469664e-01 -6.45270339e-03 1.26185736e+02] [ 9.80965761e-01 1.91617337e-01 -3.14479265e-02 9.70376866e+01] [ 3.21016357e-02 -3.07323095e-04 9.99484562e-01 3.88220141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.438040942 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:126.20, Y:97.06, Z:3.88 [[ 1.90178008e-01 -9.81728716e-01 -6.40729834e-03 1.26196372e+02] [ 9.81231094e-01 1.90285603e-01 -3.12558648e-02 9.70629446e+01] [ 3.19039967e-02 -3.42862249e-04 9.99490879e-01 3.88401953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.21, Y:97.09, Z:3.89 [[ 1.88476250e-01 -9.82056665e-01 -6.43506547e-03 1.26206393e+02] [ 9.81553734e-01 1.88585663e-01 -3.14279296e-02 9.70892651e+01] [ 3.20775689e-02 -3.92944228e-04 9.99485305e-01 3.88910736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.21, Y:97.12, Z:3.89 [[ 1.88291632e-01 -9.82092104e-01 -6.43116767e-03 1.26214738e+02] [ 9.81588298e-01 1.88401026e-01 -3.14557856e-02 9.71156319e+01] [ 3.21041172e-02 -3.89897715e-04 9.99484454e-01 3.89042377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.22, Y:97.14, Z:3.89 [[ 1.88957103e-01 -9.81963776e-01 -6.50808846e-03 1.26223431e+02] [ 9.81446166e-01 1.89068797e-01 -3.18812403e-02 9.71422236e+01] [ 3.25366996e-02 -3.63151660e-04 9.99470475e-01 3.89245636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.23, Y:97.17, Z:3.89 [[ 1.89687059e-01 -9.81822423e-01 -6.59916945e-03 1.26230646e+02] [ 9.81288532e-01 1.89801522e-01 -3.23759056e-02 9.71696398e+01] [ 3.30399225e-02 -3.34398974e-04 9.99453977e-01 3.89296100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.24, Y:97.20, Z:3.89 [[ 1.90249024e-01 -9.81712765e-01 -6.73471706e-03 1.26237806e+02] [ 9.81154931e-01 1.90367933e-01 -3.30915684e-02 9.71957681e+01] [ 3.37684893e-02 -3.12162271e-04 9.99429633e-01 3.89309976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.618040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.25, Y:97.22, Z:3.89 [[ 1.92065264e-01 -9.81357382e-01 -6.97308501e-03 1.26245822e+02] [ 9.80757218e-01 1.92191644e-01 -3.43169183e-02 9.72229310e+01] [ 3.50173298e-02 -2.47815484e-04 9.99386675e-01 3.89355277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.25, Y:97.25, Z:3.89 [[ 1.92479743e-01 -9.81275763e-01 -7.03032695e-03 1.26252653e+02] [ 9.80663984e-01 1.92607959e-01 -3.46457097e-02 9.72487702e+01] [ 3.53510921e-02 -2.25791144e-04 9.99374929e-01 3.89402305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.678040942 meters Centerline goodness [0,1] 0.99986882378662 Centerline is valid? [True, True] Translation: X:126.26, Y:97.28, Z:3.89 [[ 1.92599869e-01 -9.81252267e-01 -7.01989649e-03 1.26262111e+02] [ 9.80640796e-01 1.92727640e-01 -3.46364807e-02 9.72755247e+01] [ 3.53400533e-02 -2.13015234e-04 9.99375323e-01 3.89328227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.27, Y:97.30, Z:3.90 [[ 1.92237350e-01 -9.81323098e-01 -7.05534002e-03 1.26270608e+02] [ 9.80703652e-01 1.92366653e-01 -3.48628422e-02 9.73020529e+01] [ 3.55689245e-02 -2.17257315e-04 9.99367202e-01 3.89659313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.28, Y:97.33, Z:3.90 [[ 1.91299745e-01 -9.81506110e-01 -7.08264543e-03 1.26281461e+02] [ 9.80880096e-01 1.91430660e-01 -3.50505437e-02 9.73277275e+01] [ 3.57581583e-02 -2.42065865e-04 9.99360443e-01 3.89676720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.29, Y:97.35, Z:3.90 [[ 1.90643696e-01 -9.81633768e-01 -7.08001000e-03 1.26289968e+02] [ 9.81006400e-01 1.90774946e-01 -3.50907744e-02 9.73547565e+01] [ 3.57969776e-02 -2.55700190e-04 9.99359050e-01 3.89782769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.30, Y:97.38, Z:3.90 [[ 1.90088129e-01 -9.81741437e-01 -7.08904241e-03 1.26300827e+02] [ 9.81110673e-01 1.90220084e-01 -3.51875925e-02 9.73800858e+01] [ 3.58935959e-02 -2.66391537e-04 9.99355582e-01 3.89966789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:97.41, Z:3.90 [[ 1.90206537e-01 -9.81718869e-01 -7.03815165e-03 1.26307816e+02] [ 9.81095230e-01 1.90336544e-01 -3.49878401e-02 9.74071168e+01] [ 3.56878402e-02 -2.50181105e-04 9.99362955e-01 3.90186153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:97.43, Z:3.90 [[ 1.90331326e-01 -9.81694644e-01 -7.04366055e-03 1.26314790e+02] [ 9.81068102e-01 1.90461469e-01 -3.50686150e-02 9.74328462e+01] [ 3.57682174e-02 -2.35654704e-04 9.99360085e-01 3.90255215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88804094199998 meters Centerline goodness [0,1] 0.9997788980277704 Centerline is valid? [True, True] Translation: X:126.32, Y:97.46, Z:3.90 [[ 1.91492399e-01 -9.81467580e-01 -7.21460908e-03 1.26321755e+02] [ 9.80808032e-01 1.91628168e-01 -3.59756832e-02 9.74603620e+01] [ 3.66914890e-02 -1.87076645e-04 9.99326623e-01 3.90018657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:97.49, Z:3.90 [[ 1.92690649e-01 -9.81235368e-01 -6.88958578e-03 1.26326550e+02] [ 9.80632055e-01 1.92813736e-01 -3.44040192e-02 9.74877670e+01] [ 3.50868473e-02 -1.26815850e-04 9.99384259e-01 3.90404001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:97.51, Z:3.91 [[ 1.93878054e-01 -9.81001774e-01 -6.84253010e-03 1.26332664e+02] [ 9.80404756e-01 1.93998749e-01 -3.42198799e-02 9.75147810e+01] [ 3.48972052e-02 -7.39653097e-05 9.99390904e-01 3.90594326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97804094199998 meters Centerline goodness [0,1] 0.9999337719104596 Centerline is valid? [True, True] Translation: X:126.34, Y:97.54, Z:3.91 [[ 1.94025942e-01 -9.80972661e-01 -6.82435415e-03 1.26338755e+02] [ 9.80376987e-01 1.94145911e-01 -3.41808184e-02 9.75411117e+01] [ 3.48553688e-02 -5.84742662e-05 9.99392365e-01 3.90511688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.34, Y:97.57, Z:3.91 [[ 1.94181184e-01 -9.80942238e-01 -6.78177668e-03 1.26343344e+02] [ 9.80352141e-01 1.94299570e-01 -3.40199521e-02 9.75689701e+01] [ 3.46893042e-02 -4.24947062e-05 9.99398144e-01 3.90842112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03804094199998 meters Centerline goodness [0,1] 0.9999558868939962 Centerline is valid? [True, True] Translation: X:126.35, Y:97.60, Z:3.91 [[ 1.92319988e-01 -9.81308923e-01 -6.76898883e-03 1.26349761e+02] [ 9.80719529e-01 1.92439049e-01 -3.40061401e-02 9.75963386e+01] [ 3.46731465e-02 -9.84190609e-05 9.99398701e-01 3.90881767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.36, Y:97.62, Z:3.91 [[ 1.89623744e-01 -9.81833582e-01 -6.75664005e-03 1.26356098e+02] [ 9.81244913e-01 1.89743992e-01 -3.39946922e-02 9.76238317e+01] [ 3.46591623e-02 -1.83717873e-04 9.99399174e-01 3.90968034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.36, Y:97.65, Z:3.91 [[ 1.87451648e-01 -9.82250101e-01 -6.82777031e-03 1.26362471e+02] [ 9.81647365e-01 1.87575784e-01 -3.44060495e-02 9.76505200e+01] [ 3.50760699e-02 -2.52992063e-04 9.99384613e-01 3.90900043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.37, Y:97.68, Z:3.91 [[ 1.85014974e-01 -9.82711730e-01 -6.86408172e-03 1.26368612e+02] [ 9.82100983e-01 1.85141962e-01 -3.46426413e-02 9.76782977e+01] [ 3.53145595e-02 -3.31814021e-04 9.99376191e-01 3.91041008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.38, Y:97.71, Z:3.91 [[ 1.82457260e-01 -9.83190005e-01 -6.83832257e-03 1.26375190e+02] [ 9.82582469e-01 1.82584894e-01 -3.45608040e-02 9.77054435e+01] [ 3.52284114e-02 -4.13346284e-04 9.99379201e-01 3.91079914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.38, Y:97.73, Z:3.91 [[ 1.77614061e-01 -9.84075640e-01 -6.95561121e-03 1.26382305e+02] [ 9.83445969e-01 1.77749233e-01 -3.52027905e-02 9.77318150e+01] [ 3.58785631e-02 -5.87957206e-04 9.99355984e-01 3.91069446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.39, Y:97.76, Z:3.91 [[ 1.74170078e-01 -9.84690607e-01 -7.01370401e-03 1.26387862e+02] [ 9.84048989e-01 1.74309792e-01 -3.55483294e-02 9.77598153e+01] [ 3.62266633e-02 -7.10373043e-04 9.99343347e-01 3.91130421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.248040942 meters Centerline goodness [0,1] 0.9999112629500633 Centerline is valid? [True, True] Translation: X:126.39, Y:97.79, Z:3.91 [[ 1.73584860e-01 -9.84794275e-01 -6.96646870e-03 1.26393114e+02] [ 9.84159548e-01 1.73723111e-01 -3.53590910e-02 9.77875353e+01] [ 3.60316670e-02 -7.18313840e-04 9.99350391e-01 3.91144558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.40, Y:97.81, Z:3.91 [[ 1.73120048e-01 -9.84877208e-01 -6.80685741e-03 1.26398647e+02] [ 9.84269524e-01 1.73252360e-01 -3.45994690e-02 9.78146014e+01] [ 3.52555325e-02 -7.09920575e-04 9.99378078e-01 3.91300337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.40, Y:97.84, Z:3.91 [[ 1.72721885e-01 -9.84947395e-01 -6.76603222e-03 1.26404408e+02] [ 9.84345254e-01 1.72852895e-01 -3.44426672e-02 9.78422628e+01] [ 3.50937436e-02 -7.11109281e-04 9.99383772e-01 3.91342793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.41, Y:97.87, Z:3.91 [[ 1.72533512e-01 -9.84980749e-01 -6.71654910e-03 1.26409634e+02] [ 9.84385817e-01 1.72662758e-01 -3.42364648e-02 9.78689343e+01] [ 3.48819566e-02 -7.04738158e-04 9.99391191e-01 3.91419879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.41, Y:97.90, Z:3.92 [[ 1.73817669e-01 -9.84757350e-01 -6.35452402e-03 1.26413185e+02] [ 9.84223459e-01 1.73932690e-01 -3.24284038e-02 9.78969622e+01] [ 3.30393685e-02 -6.17642042e-04 9.99453860e-01 3.91586892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.42, Y:97.92, Z:3.92 [[ 1.74221557e-01 -9.84686068e-01 -6.34010849e-03 1.26416864e+02] [ 9.84152982e-01 1.74335867e-01 -3.24023816e-02 9.79248512e+01] [ 3.30114820e-02 -5.94443297e-04 9.99454796e-01 3.91745564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.42, Y:97.95, Z:3.92 [[ 1.75027246e-01 -9.84543461e-01 -6.29575276e-03 1.26421677e+02] [ 9.84016144e-01 1.75139560e-01 -3.22236452e-02 9.79529188e+01] [ 3.28282145e-02 -5.55106471e-04 9.99460855e-01 3.91868874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.458040942 meters Centerline goodness [0,1] 0.9999338361783776 Centerline is valid? [True, True] Translation: X:126.43, Y:97.98, Z:3.92 [[ 1.76990785e-01 -9.84193426e-01 -6.12887403e-03 1.26425940e+02] [ 9.83692020e-01 1.77096249e-01 -3.14154150e-02 9.79808833e+01] [ 3.20042455e-02 -4.68685515e-04 9.99487623e-01 3.92182932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.43, Y:98.01, Z:3.92 [[ 1.77730829e-01 -9.84060516e-01 -6.05421302e-03 1.26430974e+02] [ 9.83569713e-01 1.77833392e-01 -3.10790062e-02 9.80070233e+01] [ 3.16602641e-02 -4.31043026e-04 9.99498595e-01 3.92307490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.44, Y:98.03, Z:3.92 [[ 1.79044107e-01 -9.83822431e-01 -6.05246741e-03 1.26436905e+02] [ 9.83330221e-01 1.79145974e-01 -3.11190711e-02 9.80331750e+01] [ 3.16999153e-02 -3.79887839e-04 9.99497359e-01 3.92341222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.44, Y:98.06, Z:3.93 [[ 1.79498683e-01 -9.83739610e-01 -6.05007449e-03 1.26439803e+02] [ 9.83246217e-01 1.79600260e-01 -3.11548242e-02 9.80612437e+01] [ 3.17348295e-02 -3.56462953e-04 9.99496260e-01 3.92543703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.45, Y:98.09, Z:3.92 [[ 1.79512462e-01 -9.83736221e-01 -6.19057389e-03 1.26446093e+02] [ 9.83218004e-01 1.79618822e-01 -3.19285983e-02 9.80878125e+01] [ 3.25212622e-02 -3.55102408e-04 9.99470981e-01 3.92395230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.45, Y:98.11, Z:3.92 [[ 1.79018947e-01 -9.83826143e-01 -6.19163435e-03 1.26451131e+02] [ 9.83306114e-01 1.79125622e-01 -3.19858885e-02 9.81137699e+01] [ 3.25776336e-02 -3.62191858e-04 9.99469142e-01 3.92472760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.46, Y:98.14, Z:3.93 [[ 1.78255153e-01 -9.83965242e-01 -6.12392699e-03 1.26455062e+02] [ 9.83454983e-01 1.78359922e-01 -3.16865007e-02 9.81417167e+01] [ 3.22706785e-02 -3.74324490e-04 9.99479096e-01 3.92751522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.46, Y:98.17, Z:3.93 [[ 1.75965971e-01 -9.84376869e-01 -6.17719206e-03 1.26462173e+02] [ 9.83856408e-01 1.76073799e-01 -3.20091684e-02 9.81687318e+01] [ 3.25967267e-02 -4.44945590e-04 9.99468486e-01 3.92827987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.47, Y:98.20, Z:3.93 [[ 1.74665636e-01 -9.84607694e-01 -6.29317731e-03 1.26467874e+02] [ 9.84066121e-01 1.74778286e-01 -3.26560817e-02 9.81969741e+01] [ 3.32533401e-02 -4.89007314e-04 9.99446835e-01 3.92938669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.48, Y:98.22, Z:3.93 [[ 1.72232367e-01 -9.85035676e-01 -6.38197874e-03 1.26476489e+02] [ 9.84477353e-01 1.72349622e-01 -3.31654957e-02 9.82235890e+01] [ 3.37691281e-02 -5.70741702e-04 9.99429497e-01 3.92901422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.48, Y:98.25, Z:3.93 [[ 1.70985340e-01 -9.85253196e-01 -6.33661772e-03 1.26481173e+02] [ 9.84701317e-01 1.71101661e-01 -3.29778440e-02 9.82507699e+01] [ 3.35757320e-02 -6.00947930e-04 9.99435995e-01 3.93065891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.49, Y:98.28, Z:3.93 [[ 1.69441252e-01 -9.85521074e-01 -6.15420356e-03 1.26486152e+02] [ 9.84999072e-01 1.69551819e-01 -3.20781558e-02 9.82786458e+01] [ 3.26571550e-02 -6.26521923e-04 9.99466417e-01 3.93232183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.49, Y:98.31, Z:3.93 [[ 1.68858434e-01 -9.85620438e-01 -6.25950119e-03 1.26491975e+02] [ 9.85078752e-01 1.68973170e-01 -3.26790607e-02 9.83053142e+01] [ 3.32668379e-02 -6.47966617e-04 9.99446296e-01 3.93299516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84804094199998 meters Centerline goodness [0,1] 0.999933768986224 Centerline is valid? [True, True] Translation: X:126.50, Y:98.33, Z:3.93 [[ 1.69206486e-01 -9.85560824e-01 -6.24713581e-03 1.26497436e+02] [ 9.85019529e-01 1.69320611e-01 -3.26658650e-02 9.83333690e+01] [ 3.32519657e-02 -6.26274537e-04 9.99446804e-01 3.93296579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87804094199998 meters Centerline goodness [0,1] 0.9999779973156725 Centerline is valid? [True, True] Translation: X:126.50, Y:98.36, Z:3.93 [[ 1.69832093e-01 -9.85451975e-01 -6.43939174e-03 1.26501891e+02] [ 9.84875060e-01 1.69953014e-01 -3.37207632e-02 9.83615971e+01] [ 3.43245867e-02 -6.15128547e-04 9.99410548e-01 3.93408220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.51, Y:98.39, Z:3.93 [[ 1.70656620e-01 -9.85309806e-01 -6.39570940e-03 1.26512290e+02] [ 9.84738886e-01 1.70775459e-01 -3.35420425e-02 9.83870815e+01] [ 3.41415336e-02 -5.73932166e-04 9.99416843e-01 3.93101210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.938040942 meters Centerline goodness [0,1] 0.9997136942254328 Centerline is valid? [True, True] Translation: X:126.51, Y:98.42, Z:3.93 [[ 1.73121849e-01 -9.84881087e-01 -6.17000228e-03 1.26510568e+02] [ 9.84347851e-01 1.73231144e-01 -3.24080211e-02 9.84162534e+01] [ 3.29868836e-02 -4.62891945e-04 9.99455677e-01 3.93463564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.968040942 meters Centerline goodness [0,1] 0.9997136942254328 Centerline is valid? [True, True] Translation: X:126.52, Y:98.44, Z:3.94 [[ 1.72833490e-01 -9.84931789e-01 -6.16079285e-03 1.26515652e+02] [ 9.84398522e-01 1.72942638e-01 -3.24097721e-02 9.84433706e+01] [ 3.29868786e-02 -4.63181363e-04 9.99455678e-01 3.93527368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.52, Y:98.47, Z:3.94 [[ 1.73131336e-01 -9.84878943e-01 -6.24559180e-03 1.26520342e+02] [ 9.84329225e-01 1.73243365e-01 -3.29045980e-02 9.84697004e+01] [ 3.34890530e-02 -4.50901543e-04 9.99438983e-01 3.93716594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.53, Y:98.50, Z:3.94 [[ 1.73505889e-01 -9.84812442e-01 -6.33731275e-03 1.26526158e+02] [ 9.84244897e-01 1.73621036e-01 -3.34322960e-02 9.84963861e+01] [ 3.40248318e-02 -4.36767509e-04 9.99420892e-01 3.93760721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.058040942 meters Centerline goodness [0,1] 0.9998897391227645 Centerline is valid? [True, True] Translation: X:126.53, Y:98.52, Z:3.94 [[ 1.73680556e-01 -9.84783100e-01 -6.10828742e-03 1.26531584e+02] [ 9.84254161e-01 1.73787460e-01 -3.22748535e-02 9.85237069e+01] [ 3.28452740e-02 -4.06592830e-04 9.99460366e-01 3.93730122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.54, Y:98.55, Z:3.94 [[ 1.73490640e-01 -9.84816939e-01 -6.04940996e-03 1.26536555e+02] [ 9.84296568e-01 1.73595614e-01 -3.20129468e-02 9.85514472e+01] [ 3.25770433e-02 -4.00466814e-04 9.99469147e-01 3.93991047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.54, Y:98.58, Z:3.94 [[ 1.73465350e-01 -9.84823290e-01 -5.73240908e-03 1.26541739e+02] [ 9.84354641e-01 1.73559642e-01 -3.03807879e-02 9.85787169e+01] [ 3.09146223e-02 -3.72709479e-04 9.99521959e-01 3.94178271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.55, Y:98.61, Z:3.94 [[ 1.73040405e-01 -9.84898633e-01 -5.63029866e-03 1.26547239e+02] [ 9.84445154e-01 1.73131581e-01 -2.98863632e-02 9.86054064e+01] [ 3.04098208e-02 -3.71171826e-04 9.99537446e-01 3.94213472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.178040942 meters Centerline goodness [0,1] 0.9999779556025836 Centerline is valid? [True, True] Translation: X:126.55, Y:98.63, Z:3.94 [[ 1.72310955e-01 -9.85027167e-01 -5.51501674e-03 1.26551673e+02] [ 9.84590735e-01 1.72398777e-01 -2.93214193e-02 9.86335462e+01] [ 2.98331767e-02 -3.77632614e-04 9.99554820e-01 3.94274750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.56, Y:98.66, Z:3.94 [[ 1.71873150e-01 -9.85103853e-01 -5.47898418e-03 1.26556206e+02] [ 9.84671807e-01 1.71960036e-01 -2.91749489e-02 9.86615983e+01] [ 2.96825209e-02 -3.80610890e-04 9.99559304e-01 3.94379336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23804094199997 meters Centerline goodness [0,1] 0.999955853787745 Centerline is valid? [True, True] Translation: X:126.56, Y:98.69, Z:3.94 [[ 1.71555117e-01 -9.85160049e-01 -5.34036332e-03 1.26561480e+02] [ 9.84748351e-01 1.71637812e-01 -2.84806454e-02 9.86892607e+01] [ 2.89746023e-02 -3.72913518e-04 9.99580079e-01 3.94388459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:98.72, Z:3.95 [[ 1.70183099e-01 -9.85399124e-01 -5.12638683e-03 1.26566842e+02] [ 9.85018771e-01 1.70259845e-01 -2.73789229e-02 9.87162416e+01] [ 2.78519844e-02 -3.90157318e-04 9.99611982e-01 3.94523793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:98.74, Z:3.95 [[ 1.67811677e-01 -9.85806319e-01 -5.01429199e-03 1.26571329e+02] [ 9.85441740e-01 1.67885994e-01 -2.68117383e-02 9.87441655e+01] [ 2.72730104e-02 -4.41969850e-04 9.99627925e-01 3.94582797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.58, Y:98.77, Z:3.95 [[ 1.66450270e-01 -9.86037330e-01 -4.96896416e-03 1.26577182e+02] [ 9.85678335e-01 1.66523762e-01 -2.66093286e-02 9.87719537e+01] [ 2.70652419e-02 -4.68670391e-04 9.99633559e-01 3.94603461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35804094199997 meters Centerline goodness [0,1] 0.9999118068570169 Centerline is valid? [True, True] Translation: X:126.58, Y:98.80, Z:3.95 [[ 1.65269551e-01 -9.86236284e-01 -4.89567020e-03 1.26583504e+02] [ 9.85886785e-01 1.65341329e-01 -2.62581855e-02 9.87981830e+01] [ 2.67062320e-02 -4.86898005e-04 9.99643206e-01 3.94608228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.59, Y:98.83, Z:3.95 [[ 1.64237165e-01 -9.86408958e-01 -4.84987260e-03 1.26588908e+02] [ 9.86064904e-01 1.64307987e-01 -2.60555136e-02 9.88259894e+01] [ 2.64982648e-02 -5.03005488e-04 9.99648733e-01 3.94816843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.59, Y:98.85, Z:3.95 [[ 1.63443021e-01 -9.86541234e-01 -4.77207586e-03 1.26594400e+02] [ 9.86207125e-01 1.63511878e-01 -2.56782433e-02 9.88527168e+01] [ 2.61129369e-02 -5.09325557e-04 9.99658869e-01 3.94858914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44804094199998 meters Centerline goodness [0,1] 0.9998458489319533 Centerline is valid? [True, True] Translation: X:126.60, Y:98.88, Z:3.95 [[ 1.62639655e-01 -9.86674300e-01 -4.70827524e-03 1.26598297e+02] [ 9.86348037e-01 1.62706971e-01 -2.53770015e-02 9.88800963e+01] [ 2.58049044e-02 -5.16691273e-04 9.99666864e-01 3.94881751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47804094199998 meters Centerline goodness [0,1] 0.9998461775111521 Centerline is valid? [True, True] Translation: X:126.60, Y:98.91, Z:3.95 [[ 1.62351843e-01 -9.86721923e-01 -4.66101974e-03 1.26603856e+02] [ 9.86401174e-01 1.62417928e-01 -2.51622799e-02 9.89062904e+01] [ 2.55852064e-02 -5.12492824e-04 9.99672514e-01 3.94916661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50804094199998 meters Centerline goodness [0,1] 0.9997137005307551 Centerline is valid? [True, True] Translation: X:126.61, Y:98.93, Z:3.95 [[ 1.62187022e-01 -9.86749469e-01 -4.56668497e-03 1.26608884e+02] [ 9.86440565e-01 1.62250532e-01 -2.46936440e-02 9.89338636e+01] [ 2.51073872e-02 -4.99774702e-04 9.99684635e-01 3.94950641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53804094199998 meters Centerline goodness [0,1] 0.9997135680606355 Centerline is valid? [True, True] Translation: X:126.61, Y:98.96, Z:3.95 [[ 1.63010508e-01 -9.86614584e-01 -4.38590267e-03 1.26613419e+02] [ 9.86328740e-01 1.63068868e-01 -2.37520695e-02 9.89615893e+01] [ 2.41493424e-02 -4.54104937e-04 9.99708259e-01 3.95104321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56804094199998 meters Centerline goodness [0,1] 0.9998022238825649 Centerline is valid? [True, True] Translation: X:126.62, Y:98.99, Z:3.95 [[ 1.63643382e-01 -9.86510206e-01 -4.29616731e-03 1.26617185e+02] [ 9.86235048e-01 1.63699218e-01 -2.33022662e-02 9.89893424e+01] [ 2.36912026e-02 -4.23769135e-04 9.99719234e-01 3.95197799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59804094199998 meters Centerline goodness [0,1] 0.9997802535873602 Centerline is valid? [True, True] Translation: X:126.62, Y:99.02, Z:3.95 [[ 1.65754115e-01 -9.86158359e-01 -4.15508258e-03 1.26620379e+02] [ 9.85900066e-01 1.65805805e-01 -2.25719827e-02 9.90165465e+01] [ 2.29484862e-02 -3.55097189e-04 9.99736586e-01 3.95274438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62804094199998 meters Centerline goodness [0,1] 0.999824137173005 Centerline is valid? [True, True] Translation: X:126.62, Y:99.04, Z:3.95 [[ 1.67152435e-01 -9.85922444e-01 -4.12293129e-03 1.26623307e+02] [ 9.85667504e-01 1.67202977e-01 -2.24217600e-02 9.90447402e+01] [ 2.27954828e-02 -3.15987612e-04 9.99740099e-01 3.95331817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65804094199999 meters Centerline goodness [0,1] 0.9996266854055953 Centerline is valid? [True, True] Translation: X:126.63, Y:99.07, Z:3.95 [[ 1.68321211e-01 -9.85723895e-01 -4.04626659e-03 1.26627618e+02] [ 9.85477498e-01 1.68369609e-01 -2.20403328e-02 9.90714726e+01] [ 2.24069510e-02 -2.77649160e-04 9.99748894e-01 3.95370766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.688040942 meters Centerline goodness [0,1] 0.9998244266432569 Centerline is valid? [True, True] Translation: X:126.63, Y:99.10, Z:3.95 [[ 1.70357562e-01 -9.85374329e-01 -3.96646236e-03 1.26628845e+02] [ 9.85136918e-01 1.70403586e-01 -2.16303048e-02 9.90996351e+01] [ 2.19898465e-02 -2.22622516e-04 9.99758169e-01 3.95294922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.718040942 meters Centerline goodness [0,1] 0.9996043608229295 Centerline is valid? [True, True] Translation: X:126.63, Y:99.13, Z:3.95 [[ 1.71044446e-01 -9.85255418e-01 -3.94451066e-03 1.26633127e+02] [ 9.85019840e-01 1.71089805e-01 -2.15451434e-02 9.91277391e+01] [ 2.19023349e-02 -2.00244143e-04 9.99760095e-01 3.95304381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.748040942 meters Centerline goodness [0,1] 0.9996931910324122 Centerline is valid? [True, True] Translation: X:126.64, Y:99.15, Z:3.95 [[ 1.71412938e-01 -9.85192159e-01 -3.74347479e-03 1.26637935e+02] [ 9.84979326e-01 1.71453719e-01 -2.04780091e-02 9.91546777e+01] [ 2.08166067e-02 -1.77049571e-04 9.99783295e-01 3.95389388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.778040942 meters Centerline goodness [0,1] 0.9998022673345637 Centerline is valid? [True, True] Translation: X:126.64, Y:99.18, Z:3.95 [[ 1.71030912e-01 -9.85258521e-01 -3.75160240e-03 1.26642834e+02] [ 9.85044042e-01 1.71071959e-01 -2.05577392e-02 9.91819661e+01] [ 2.08964817e-02 -1.79484707e-04 9.99781629e-01 3.95452385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808040942 meters Centerline goodness [0,1] 0.9998244613156625 Centerline is valid? [True, True] Translation: X:126.65, Y:99.21, Z:3.95 [[ 1.70596457e-01 -9.85333759e-01 -3.77269634e-03 1.26647752e+02] [ 9.85116183e-01 1.70638069e-01 -2.07064342e-02 9.92083516e+01] [ 2.10465143e-02 -1.84099896e-04 9.99778481e-01 3.95487815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.838040942 meters Centerline goodness [0,1] 0.9996936006303073 Centerline is valid? [True, True] Translation: X:126.65, Y:99.24, Z:3.95 [[ 1.70541077e-01 -9.85342783e-01 -3.91677903e-03 1.26652552e+02] [ 9.85107442e-01 1.70585948e-01 -2.15351346e-02 9.92361166e+01] [ 2.18876369e-02 -1.85823126e-04 9.99760420e-01 3.95356227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868040942 meters Centerline goodness [0,1] 0.9996709010728625 Centerline is valid? [True, True] Translation: X:126.66, Y:99.26, Z:3.95 [[ 1.70372034e-01 -9.85371783e-01 -3.97734516e-03 1.26657030e+02] [ 9.85128333e-01 1.70418351e-01 -2.19032471e-02 9.92640791e+01] [ 2.22606543e-02 -1.86494655e-04 9.99752184e-01 3.95312569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.898040942 meters Centerline goodness [0,1] 0.9995399277029248 Centerline is valid? [True, True] Translation: X:126.66, Y:99.29, Z:3.95 [[ 1.71011987e-01 -9.85261069e-01 -3.94026826e-03 1.26661262e+02] [ 9.85021364e-01 1.71057295e-01 -2.17327837e-02 9.92916806e+01] [ 2.20864773e-02 -1.64681893e-04 9.99756050e-01 3.95205429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928040942 meters Centerline goodness [0,1] 0.9998471682459281 Centerline is valid? [True, True] Translation: X:126.67, Y:99.32, Z:3.95 [[ 1.70474771e-01 -9.85354275e-01 -3.91211714e-03 1.26666835e+02] [ 9.85117251e-01 1.70519569e-01 -2.16119988e-02 9.93181561e+01] [ 2.19625680e-02 -1.69593531e-04 9.99758779e-01 3.95260807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.958040942 meters Centerline goodness [0,1] 0.9998030031081732 Centerline is valid? [True, True] Translation: X:126.67, Y:99.34, Z:3.95 [[ 1.70046636e-01 -9.85428442e-01 -3.86357374e-03 1.26671982e+02] [ 9.85196503e-01 1.70090436e-01 -2.13797487e-02 9.93448718e+01] [ 2.17253694e-02 -1.70824996e-04 9.99763962e-01 3.95292729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98804094199997 meters Centerline goodness [0,1] 0.9998686054660126 Centerline is valid? [True, True] Translation: X:126.68, Y:99.37, Z:3.95 [[ 1.69422976e-01 -9.85535916e-01 -3.84879081e-03 1.26675984e+02] [ 9.85304985e-01 1.69466593e-01 -2.13344803e-02 9.93704475e+01] [ 2.16781381e-02 -1.77681630e-04 9.99764986e-01 3.95197522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01804094199997 meters Centerline goodness [0,1] 0.9998030375979341 Centerline is valid? [True, True] Translation: X:126.68, Y:99.40, Z:3.95 [[ 1.68825696e-01 -9.85638555e-01 -3.81087080e-03 1.26680327e+02] [ 9.85411360e-01 1.68868603e-01 -2.11623744e-02 9.93972678e+01] [ 2.15019886e-02 -1.82522777e-04 9.99768789e-01 3.95181006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04804094199997 meters Centerline goodness [0,1] 0.9998243611135506 Centerline is valid? [True, True] Translation: X:126.69, Y:99.42, Z:3.95 [[ 1.68769017e-01 -9.85648620e-01 -3.71705520e-03 1.26685185e+02] [ 9.85431759e-01 1.68809856e-01 -2.06756129e-02 9.94228345e+01] [ 2.10063649e-02 -1.73501372e-04 9.99779327e-01 3.95093309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07804094199997 meters Centerline goodness [0,1] 0.9997807402210138 Centerline is valid? [True, True] Translation: X:126.69, Y:99.45, Z:3.95 [[ 1.68812360e-01 -9.85641271e-01 -3.69765943e-03 1.26690004e+02] [ 9.85425891e-01 1.68852771e-01 -2.06047432e-02 9.94494773e+01] [ 2.09332453e-02 -1.65434010e-04 9.99780862e-01 3.95100937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10804094199997 meters Centerline goodness [0,1] 0.9998902907295667 Centerline is valid? [True, True] Translation: X:126.69, Y:99.48, Z:3.95 [[ 1.68752365e-01 -9.85651728e-01 -3.64836649e-03 1.26694818e+02] [ 9.85441361e-01 1.68791724e-01 -2.03636650e-02 9.94759918e+01] [ 2.06872957e-02 -1.58834600e-04 9.99785982e-01 3.95089216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13804094199998 meters Centerline goodness [0,1] 0.9999121149536406 Centerline is valid? [True, True] Translation: X:126.70, Y:99.50, Z:3.95 [[ 1.68712566e-01 -9.85658893e-01 -3.55186220e-03 1.26698911e+02] [ 9.85458838e-01 1.68749884e-01 -1.98583781e-02 9.95015296e+01] [ 2.01729633e-02 -1.49856068e-04 9.99796494e-01 3.94945863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16804094199998 meters Centerline goodness [0,1] 0.9999560294602616 Centerline is valid? [True, True] Translation: X:126.70, Y:99.53, Z:3.95 [[ 1.68508270e-01 -9.85694024e-01 -3.50064610e-03 1.26703367e+02] [ 9.85499231e-01 1.68544563e-01 -1.95958198e-02 9.95289153e+01] [ 1.99054973e-02 -1.47826349e-04 9.99801855e-01 3.94914575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19804094199998 meters Centerline goodness [0,1] 0.9997581726647173 Centerline is valid? [True, True] Translation: X:126.71, Y:99.55, Z:3.95 [[ 1.68761322e-01 -9.85651043e-01 -3.41154877e-03 1.26705621e+02] [ 9.85465424e-01 1.68795748e-01 -1.91283698e-02 9.95547806e+01] [ 1.94297526e-02 -1.33834374e-04 9.99811216e-01 3.94716953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22804094199998 meters Centerline goodness [0,1] 0.9998024366150807 Centerline is valid? [True, True] Translation: X:126.71, Y:99.58, Z:3.95 [[ 1.68921436e-01 -9.85623685e-01 -3.39109226e-03 1.26708750e+02] [ 9.85439779e-01 1.68955424e-01 -1.90395990e-02 9.95800618e+01] [ 1.93388232e-02 -1.25520802e-04 9.99812980e-01 3.94694006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25804094199998 meters Centerline goodness [0,1] 0.9999780860342297 Centerline is valid? [True, True] Translation: X:126.71, Y:99.61, Z:3.95 [[ 1.68985375e-01 -9.85612725e-01 -3.39103052e-03 1.26711868e+02] [ 9.85428116e-01 1.69019354e-01 -1.90757939e-02 9.96062169e+01] [ 1.93744950e-02 -1.18086629e-04 9.99812290e-01 3.94683931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28804094199998 meters Centerline goodness [0,1] 0.9998247650756796 Centerline is valid? [True, True] Translation: X:126.71, Y:99.63, Z:3.95 [[ 1.69750835e-01 -9.85482361e-01 -3.02833045e-03 1.26713838e+02] [ 9.85334665e-01 1.69777823e-01 -1.70613262e-02 9.96320344e+01] [ 1.73277793e-02 -8.77446100e-05 9.99849859e-01 3.94756209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31804094199998 meters Centerline goodness [0,1] 0.9999343946815955 Centerline is valid? [True, True] Translation: X:126.72, Y:99.66, Z:3.95 [[ 1.69368485e-01 -9.85548721e-01 -2.83472888e-03 1.26716988e+02] [ 9.85418856e-01 1.69392185e-01 -1.59989151e-02 9.96588193e+01] [ 1.62478913e-02 -8.36832792e-05 9.99867991e-01 3.94702117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34804094199998 meters Centerline goodness [0,1] 0.9996499978124863 Centerline is valid? [True, True] Translation: X:126.72, Y:99.68, Z:3.95 [[ 1.68498170e-01 -9.85698539e-01 -2.59942960e-03 1.26722330e+02] [ 9.85588978e-01 1.68518198e-01 -1.46963780e-02 9.96841904e+01] [ 1.49242495e-02 -8.56563729e-05 9.99888624e-01 3.94722155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37804094199998 meters Centerline goodness [0,1] 0.9999561624619161 Centerline is valid? [True, True] Translation: X:126.73, Y:99.71, Z:3.95 [[ 1.67274008e-01 -9.85907431e-01 -2.43783970e-03 1.26726735e+02] [ 9.85810904e-01 1.67291745e-01 -1.37961633e-02 9.97109096e+01] [ 1.40095704e-02 -9.55094186e-05 9.99901857e-01 3.94627943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40804094199999 meters Centerline goodness [0,1] 0.9998472816127062 Centerline is valid? [True, True] Translation: X:126.73, Y:99.74, Z:3.95 [[ 1.64625198e-01 -9.86353561e-01 -2.27978272e-03 1.26734068e+02] [ 9.86268917e-01 1.64640939e-01 -1.29222597e-02 9.97367742e+01] [ 1.31212625e-02 -1.21149256e-04 9.99913905e-01 3.94720593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.438040942 meters Centerline goodness [0,1] 0.9999563414101724 Centerline is valid? [True, True] Translation: X:126.74, Y:99.76, Z:3.94 [[ 1.63459523e-01 -9.86547503e-01 -2.23809242e-03 1.26735766e+02] [ 9.86465697e-01 1.63474792e-01 -1.27051341e-02 9.97647816e+01] [ 1.29000900e-02 -1.31026240e-04 9.99916782e-01 3.94333917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.468040942 meters Centerline goodness [0,1] 0.9998907629118238 Centerline is valid? [True, True] Translation: X:126.74, Y:99.79, Z:3.94 [[ 1.61638850e-01 -9.86847685e-01 -2.12826496e-03 1.26740887e+02] [ 9.86773502e-01 1.61652796e-01 -1.21008338e-02 9.97923463e+01] [ 1.22857198e-02 -1.44150596e-04 9.99924517e-01 3.94212813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.498040942 meters Centerline goodness [0,1] 0.9999563918627216 Centerline is valid? [True, True] Translation: X:126.75, Y:99.82, Z:3.94 [[ 1.60586280e-01 -9.87019412e-01 -2.17420828e-03 1.26746004e+02] [ 9.86941777e-01 1.60600920e-01 -1.23803349e-02 9.98185330e+01] [ 1.25688108e-02 -1.57705058e-04 9.99920997e-01 3.94229798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.528040942 meters Centerline goodness [0,1] 0.9999344749257383 Centerline is valid? [True, True] Translation: X:126.75, Y:99.85, Z:3.94 [[ 1.59273369e-01 -9.87232203e-01 -2.13797909e-03 1.26750616e+02] [ 9.87156891e-01 1.59287629e-01 -1.21952493e-02 9.98457966e+01] [ 1.23800965e-02 -1.68142350e-04 9.99923350e-01 3.94176336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.558040942 meters Centerline goodness [0,1] 0.9999564876860152 Centerline is valid? [True, True] Translation: X:126.76, Y:99.87, Z:3.94 [[ 1.57050903e-01 -9.87588050e-01 -2.20385004e-03 1.26756466e+02] [ 9.87507752e-01 1.57066240e-01 -1.25950496e-02 9.98723559e+01] [ 1.27848709e-02 -1.98255096e-04 9.99918251e-01 3.94105499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588040942 meters Centerline goodness [0,1] 0.9998905740485413 Centerline is valid? [True, True] Translation: X:126.76, Y:99.90, Z:3.94 [[ 1.55731975e-01 -9.87796906e-01 -2.19665088e-03 1.26761395e+02] [ 9.87716918e-01 1.55747323e-01 -1.25722749e-02 9.98997682e+01] [ 1.27609767e-02 -2.11764030e-04 9.99918553e-01 3.94144425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.618040942 meters Centerline goodness [0,1] 0.9999564232177096 Centerline is valid? [True, True] Translation: X:126.77, Y:99.93, Z:3.94 [[ 1.54444764e-01 -9.87998826e-01 -2.26610531e-03 1.26765957e+02] [ 9.87913474e-01 1.54461212e-01 -1.29885399e-02 9.99278427e+01] [ 1.31826876e-02 -2.32703992e-04 9.99913078e-01 3.94122147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648040942 meters Centerline goodness [0,1] 0.9998697718837497 Centerline is valid? [True, True] Translation: X:126.77, Y:99.96, Z:3.94 [[ 1.53806041e-01 -9.88098501e-01 -2.24806720e-03 1.26770332e+02] [ 9.88014235e-01 1.53822288e-01 -1.29064312e-02 9.99558775e+01] [ 1.30986282e-02 -2.36035303e-04 9.99914181e-01 3.94173152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.678040942 meters Centerline goodness [0,1] 0.9999128483343138 Centerline is valid? [True, True] Translation: X:126.77, Y:99.98, Z:3.94 [[ 1.53337057e-01 -9.88171488e-01 -2.20377172e-03 1.26774692e+02] [ 9.88090194e-01 1.53352715e-01 -1.26772809e-02 9.99821062e+01] [ 1.28652819e-02 -2.33628284e-04 9.99917212e-01 3.94243261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708040942 meters Centerline goodness [0,1] 0.9998917303653018 Centerline is valid? [True, True] Translation: X:126.78, Y:100.01, Z:3.94 [[ 1.53629125e-01 -9.88126072e-01 -2.22673799e-03 1.26777232e+02] [ 9.88042859e-01 1.53645090e-01 -1.28256054e-02 1.00009353e+02] [ 1.30154424e-02 -2.29726042e-04 9.99915269e-01 3.94191070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73804094199997 meters Centerline goodness [0,1] 0.9998913019848258 Centerline is valid? [True, True] Translation: X:126.78, Y:100.04, Z:3.94 [[ 1.53905471e-01 -9.88083253e-01 -2.14252016e-03 1.26779371e+02] [ 9.88006098e-01 1.53920231e-01 -1.23496211e-02 1.00037134e+02] [ 1.25322310e-02 -2.16148729e-04 9.99921445e-01 3.94113859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76804094199997 meters Centerline goodness [0,1] 0.999956577433292 Centerline is valid? [True, True] Translation: X:126.78, Y:100.07, Z:3.94 [[ 1.54633552e-01 -9.87969589e-01 -2.13451272e-03 1.26782013e+02] [ 9.87892747e-01 1.54648150e-01 -1.23235916e-02 1.00065479e+02] [ 1.25054322e-02 -2.03028883e-04 9.99921783e-01 3.94112374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79804094199997 meters Centerline goodness [0,1] 0.9999566799514815 Centerline is valid? [True, True] Translation: X:126.79, Y:100.09, Z:3.94 [[ 1.55853402e-01 -9.87777655e-01 -2.24069693e-03 1.26785055e+02] [ 9.87692646e-01 1.55869389e-01 -1.29603487e-02 1.00092269e+02] [ 1.31511989e-02 -1.93205447e-04 9.99913501e-01 3.94084538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82804094199997 meters Centerline goodness [0,1] 0.9999783291797595 Centerline is valid? [True, True] Translation: X:126.79, Y:100.12, Z:3.94 [[ 1.56131484e-01 -9.87733877e-01 -2.17879806e-03 1.26788928e+02] [ 9.87653227e-01 1.56146581e-01 -1.26233369e-02 1.00119990e+02] [ 1.28087094e-02 -1.80996604e-04 9.99917949e-01 3.94143149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85804094199997 meters Centerline goodness [0,1] 0.9999783291797595 Centerline is valid? [True, True] Translation: X:126.79, Y:100.15, Z:3.94 [[ 1.55854990e-01 -9.87777551e-01 -2.17526712e-03 1.26793518e+02] [ 9.87696896e-01 1.55870064e-01 -1.26239449e-02 1.00147184e+02] [ 1.28087085e-02 -1.80999768e-04 9.99917949e-01 3.94206941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88804094199998 meters Centerline goodness [0,1] 0.9999783366911462 Centerline is valid? [True, True] Translation: X:126.80, Y:100.18, Z:3.94 [[ 1.56783166e-01 -9.87630977e-01 -2.02309274e-03 1.26796290e+02] [ 9.87561001e-01 1.56796142e-01 -1.17575239e-02 1.00175079e+02] [ 1.19293080e-02 -1.54545667e-04 9.99928831e-01 3.94303908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.80, Y:100.20, Z:3.94 [[ 1.57000247e-01 -9.87596606e-01 -1.96614761e-03 1.26799680e+02] [ 9.87530301e-01 1.57012491e-01 -1.14447849e-02 1.00202686e+02] [ 1.16115404e-02 -1.44796284e-04 9.99932573e-01 3.94349053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.80, Y:100.23, Z:3.94 [[ 1.57396652e-01 -9.87533474e-01 -1.98303894e-03 1.26803608e+02] [ 9.87465790e-01 1.57409083e-01 -1.15625915e-02 1.00229688e+02] [ 1.17305945e-02 -1.38269916e-04 9.99931185e-01 3.94460262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97804094199998 meters Centerline goodness [0,1] 0.9999783282404698 Centerline is valid? [True, True] Translation: X:126.81, Y:100.26, Z:3.94 [[ 1.57079830e-01 -9.87584096e-01 -1.89229661e-03 1.26806212e+02] [ 9.87522253e-01 1.57091172e-01 -1.10528057e-02 1.00257263e+02] [ 1.12128382e-02 -1.32512167e-04 9.99937125e-01 3.94444078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00804094199998 meters Centerline goodness [0,1] 0.9999351421467949 Centerline is valid? [True, True] Translation: X:126.81, Y:100.28, Z:3.95 [[ 1.57576805e-01 -9.87504780e-01 -1.96479405e-03 1.26809315e+02] [ 9.87437859e-01 1.57589001e-01 -1.14969902e-02 1.00284271e+02] [ 1.16629627e-02 -1.28453053e-04 9.99931977e-01 3.94501367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03804094199998 meters Centerline goodness [0,1] 0.9999566273421235 Centerline is valid? [True, True] Translation: X:126.81, Y:100.31, Z:3.94 [[ 1.57381973e-01 -9.87535817e-01 -1.98129203e-03 1.26812977e+02] [ 9.87467507e-01 1.57394391e-01 -1.16158241e-02 1.00311794e+02] [ 1.17828866e-02 -1.28340197e-04 9.99930571e-01 3.94463556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06804094199998 meters Centerline goodness [0,1] 0.9999134142909712 Centerline is valid? [True, True] Translation: X:126.82, Y:100.34, Z:3.95 [[ 1.57690154e-01 -9.87486622e-01 -1.99673369e-03 1.26817616e+02] [ 9.87417008e-01 1.57702748e-01 -1.17258570e-02 1.00338298e+02] [ 1.18940173e-02 -1.22556606e-04 9.99929256e-01 3.94655257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09804094199998 meters Centerline goodness [0,1] 0.9998487467588592 Centerline is valid? [True, True] Translation: X:126.82, Y:100.37, Z:3.95 [[ 1.57418452e-01 -9.87530156e-01 -1.90308256e-03 1.26821436e+02] [ 9.87466698e-01 1.57429911e-01 -1.11956982e-02 1.00366089e+02] [ 1.13556917e-02 -1.16821180e-04 9.99935515e-01 3.94761578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12804094199998 meters Centerline goodness [0,1] 0.9999351953859115 Centerline is valid? [True, True] Translation: X:126.83, Y:100.39, Z:3.95 [[ 1.56994674e-01 -9.87597540e-01 -1.94219008e-03 1.26825278e+02] [ 9.87531217e-01 1.57006641e-01 -1.14459583e-02 1.00393837e+02] [ 1.16089370e-02 -1.21018847e-04 9.99932607e-01 3.94826033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15804094199999 meters Centerline goodness [0,1] 0.9998921204798481 Centerline is valid? [True, True] Translation: X:126.83, Y:100.42, Z:3.95 [[ 1.55239642e-01 -9.87875063e-01 -1.87459878e-03 1.26828209e+02] [ 9.87813098e-01 1.55250902e-01 -1.10652679e-02 1.00422527e+02] [ 1.12221354e-02 -1.33985002e-04 9.99937021e-01 3.94762252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.188040942 meters Centerline goodness [0,1] 0.9999352890422778 Centerline is valid? [True, True] Translation: X:126.83, Y:100.45, Z:3.95 [[ 1.53701039e-01 -9.88115728e-01 -1.81623244e-03 1.26833022e+02] [ 9.88057381e-01 1.53711703e-01 -1.07389378e-02 1.00449503e+02] [ 1.08904895e-02 -1.43955972e-04 9.99940687e-01 3.94923322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.218040942 meters Centerline goodness [0,1] 0.9999135546334716 Centerline is valid? [True, True] Translation: X:126.84, Y:100.48, Z:3.95 [[ 1.49904888e-01 -9.88698885e-01 -1.74354632e-03 1.26836206e+02] [ 9.88645012e-01 1.49914924e-01 -1.03226150e-02 1.00477450e+02] [ 1.04673416e-02 -1.76337924e-04 9.99945200e-01 3.94943094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.248040942 meters Centerline goodness [0,1] 0.9998057749579179 Centerline is valid? [True, True] Translation: X:126.84, Y:100.50, Z:3.95 [[ 1.48162588e-01 -9.88961368e-01 -1.80563291e-03 1.26840947e+02] [ 9.88903386e-01 1.48173457e-01 -1.07107103e-02 1.00504111e+02] [ 1.08600255e-02 -1.98669954e-04 9.99941008e-01 3.95014840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.278040942 meters Centerline goodness [0,1] 0.999827392767757 Centerline is valid? [True, True] Translation: X:126.85, Y:100.53, Z:3.95 [[ 1.46681820e-01 -9.89182203e-01 -1.73584142e-03 1.26846307e+02] [ 9.89128479e-01 1.46691948e-01 -1.03113319e-02 1.00531242e+02] [ 1.04544200e-02 -2.04485253e-04 9.99945330e-01 3.95173643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308040942 meters Centerline goodness [0,1] 0.9998276938982101 Centerline is valid? [True, True] Translation: X:126.85, Y:100.56, Z:3.95 [[ 1.43929818e-01 -9.89586257e-01 -1.80199756e-03 1.26848758e+02] [ 9.89528137e-01 1.43940900e-01 -1.07277240e-02 1.00559237e+02] [ 1.08753894e-02 -2.39087923e-04 9.99940833e-01 3.95216697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.338040942 meters Centerline goodness [0,1] 0.9998709677419355 Centerline is valid? [True, True] Translation: X:126.85, Y:100.59, Z:3.95 [[ 1.42495107e-01 -9.89793746e-01 -1.86665924e-03 1.26852389e+02] [ 9.89731327e-01 1.42507090e-01 -1.11189101e-02 1.00587302e+02] [ 1.12714399e-02 -2.63100836e-04 9.99936441e-01 3.95300601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368040942 meters Centerline goodness [0,1] 0.9998057749579179 Centerline is valid? [True, True] Translation: X:126.85, Y:100.62, Z:3.95 [[ 1.40371530e-01 -9.90097085e-01 -1.89606639e-03 1.26854562e+02] [ 9.90032407e-01 1.40384040e-01 -1.13205365e-02 1.00615285e+02] [ 1.14746076e-02 -2.88086144e-04 9.99934123e-01 3.95353894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.398040942 meters Centerline goodness [0,1] 0.9994412927625924 Centerline is valid? [True, True] Translation: X:126.86, Y:100.64, Z:3.95 [[ 1.39848119e-01 -9.90170831e-01 -2.05646045e-03 1.26858146e+02] [ 9.90094586e-01 1.39862879e-01 -1.22916644e-02 1.00641943e+02] [ 1.24584700e-02 -3.17124209e-04 9.99922340e-01 3.95467750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428040942 meters Centerline goodness [0,1] 0.9990286232353323 Centerline is valid? [True, True] Translation: X:126.86, Y:100.67, Z:3.96 [[ 1.39444935e-01 -9.90226935e-01 -2.39301538e-03 1.26859935e+02] [ 9.90123417e-01 1.39464971e-01 -1.43227306e-02 1.00670355e+02] [ 1.45164955e-02 -3.72148315e-04 9.99894561e-01 3.95555143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.458040942 meters Centerline goodness [0,1] 0.9988630269226644 Centerline is valid? [True, True] Translation: X:126.86, Y:100.70, Z:3.96 [[ 1.39933892e-01 -9.90157638e-01 -2.52144406e-03 1.26863473e+02] [ 9.90042209e-01 1.39956091e-01 -1.51233699e-02 1.00697108e+02] [ 1.53274117e-02 -3.80064025e-04 9.99882456e-01 3.95694240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48804094199997 meters Centerline goodness [0,1] 0.9976422677097846 Centerline is valid? [True, True] Translation: X:126.87, Y:100.73, Z:3.96 [[ 1.40445763e-01 -9.90085016e-01 -2.57852991e-03 1.26865612e+02] [ 9.89964026e-01 1.40468922e-01 -1.54825427e-02 1.00725042e+02] [ 1.56912369e-02 -3.78194316e-04 9.99876813e-01 3.95857884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51804094199997 meters Centerline goodness [0,1] 0.9975068239946697 Centerline is valid? [True, True] Translation: X:126.87, Y:100.75, Z:3.96 [[ 1.41362021e-01 -9.89954436e-01 -2.64439059e-03 1.26867965e+02] [ 9.89826693e-01 1.41386272e-01 -1.59072352e-02 1.00753170e+02] [ 1.61213186e-02 -3.68809468e-04 9.99869975e-01 3.96028530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54804094199997 meters Centerline goodness [0,1] 0.9970245740217485 Centerline is valid? [True, True] Translation: X:126.87, Y:100.78, Z:3.96 [[ 1.44682623e-01 -9.89473896e-01 -2.88931748e-03 1.26868032e+02] [ 9.89320712e-01 1.44711073e-01 -1.74136020e-02 1.00781562e+02] [ 1.76484208e-02 -3.39016023e-04 9.99844197e-01 3.96208731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57804094199997 meters Centerline goodness [0,1] 0.9971234758715439 Centerline is valid? [True, True] Translation: X:126.87, Y:100.81, Z:3.96 [[ 1.47282774e-01 -9.89089016e-01 -3.27143019e-03 1.26869030e+02] [ 9.88891738e-01 1.47318742e-01 -1.97565103e-02 1.00809733e+02] [ 2.00228903e-02 -3.25296656e-04 9.99799469e-01 3.96313016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60804094199997 meters Centerline goodness [0,1] 0.9958374458224263 Centerline is valid? [True, True] Translation: X:126.87, Y:100.84, Z:3.96 [[ 1.47733843e-01 -9.89021608e-01 -3.31208388e-03 1.26872234e+02] [ 9.88818691e-01 1.47770630e-01 -2.00359179e-02 1.00837082e+02] [ 2.03053845e-02 -3.15067293e-04 9.99793775e-01 3.96259950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63804094199998 meters Centerline goodness [0,1] 0.9968506298740252 Centerline is valid? [True, True] Translation: X:126.88, Y:100.86, Z:3.97 [[ 1.48817539e-01 -9.88858301e-01 -3.54972240e-03 1.26875988e+02] [ 9.88624237e-01 1.48859551e-01 -2.15163113e-02 1.00864370e+02] [ 2.18049931e-02 -3.07337112e-04 9.99762196e-01 3.96522770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66804094199998 meters Centerline goodness [0,1] 0.9972492639632089 Centerline is valid? [True, True] Translation: X:126.88, Y:100.89, Z:3.97 [[ 1.50616051e-01 -9.88585567e-01 -3.65824740e-03 1.26875362e+02] [ 9.88335995e-01 1.50660230e-01 -2.22138607e-02 1.00892757e+02] [ 2.25114545e-02 -2.69813610e-04 9.99746549e-01 3.96737984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69804094199998 meters Centerline goodness [0,1] 0.9950808755611883 Centerline is valid? [True, True] Translation: X:126.88, Y:100.92, Z:3.97 [[ 1.50463251e-01 -9.88609798e-01 -3.38788867e-03 1.26878729e+02] [ 9.88395039e-01 1.50501183e-01 -2.06068198e-02 1.00919791e+02] [ 2.08819852e-02 -2.48003251e-04 9.99781917e-01 3.96565291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72804094199998 meters Centerline goodness [0,1] 0.9973661670235546 Centerline is valid? [True, True] Translation: X:126.88, Y:100.95, Z:3.97 [[ 1.51772678e-01 -9.88408251e-01 -3.76617407e-03 1.26882157e+02] [ 9.88141631e-01 1.51819213e-01 -2.29574433e-02 1.00947407e+02] [ 2.32631040e-02 -2.37200744e-04 9.99729349e-01 3.97074495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75804094199998 meters Centerline goodness [0,1] 0.9948526270824434 Centerline is valid? [True, True] Translation: X:126.89, Y:100.97, Z:3.97 [[ 1.50791593e-01 -9.88559562e-01 -3.44786547e-03 1.26886239e+02] [ 9.88335410e-01 1.50830826e-01 -2.10518445e-02 1.00974426e+02] [ 2.13310466e-02 -2.33206357e-04 9.99772440e-01 3.96806235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78804094199998 meters Centerline goodness [0,1] 0.9951194451579759 Centerline is valid? [True, True] Translation: X:126.89, Y:101.00, Z:3.97 [[ 1.50038172e-01 -9.88674027e-01 -3.49504895e-03 1.26890636e+02] [ 9.88442820e-01 1.50078671e-01 -2.13818595e-02 1.01000771e+02] [ 2.16642214e-02 -2.46560940e-04 9.99765273e-01 3.96886801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81804094199998 meters Centerline goodness [0,1] 0.9944765520035828 Centerline is valid? [True, True] Translation: X:126.89, Y:101.03, Z:3.97 [[ 1.48532599e-01 -9.88900389e-01 -3.75336935e-03 1.26894901e+02] [ 9.88632711e-01 1.48579726e-01 -2.30092966e-02 1.01027315e+02] [ 2.33115769e-02 -2.93073082e-04 9.99728205e-01 3.97137204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84804094199998 meters Centerline goodness [0,1] 0.9926024116993073 Centerline is valid? [True, True] Translation: X:126.90, Y:101.06, Z:3.97 [[ 1.48237744e-01 -9.88944103e-01 -3.89008373e-03 1.26897591e+02] [ 9.88655455e-01 1.48288466e-01 -2.38939611e-02 1.01055263e+02] [ 2.42066465e-02 -3.03965601e-04 9.99706930e-01 3.97017699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87804094199998 meters Centerline goodness [0,1] 0.9955123410620793 Centerline is valid? [True, True] Translation: X:126.90, Y:101.08, Z:3.98 [[ 1.49912775e-01 -9.88688210e-01 -4.66728723e-03 1.26901189e+02] [ 9.88270816e-01 1.49985099e-01 -2.87274035e-02 1.01082972e+02] [ 2.91024686e-02 -3.05938997e-04 9.99576387e-01 3.97693635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90804094199999 meters Centerline goodness [0,1] 0.9935100977755006 Centerline is valid? [True, True] Translation: X:126.91, Y:101.11, Z:3.97 [[ 1.50119639e-01 -9.88657958e-01 -4.41997902e-03 1.26905482e+02] [ 9.88282286e-01 1.50184439e-01 -2.72535710e-02 1.01110081e+02] [ 2.76082719e-02 -2.76890731e-04 9.99618781e-01 3.97369559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.938040942 meters Centerline goodness [0,1] 0.992658793488669 Centerline is valid? [True, True] Translation: X:126.91, Y:101.14, Z:3.97 [[ 1.50894091e-01 -9.88540312e-01 -4.36164582e-03 1.26908008e+02] [ 9.88173056e-01 1.50956918e-01 -2.69447476e-02 1.01137956e+02] [ 2.72943899e-02 -2.44257673e-04 9.99627409e-01 3.97340890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.968040942 meters Centerline goodness [0,1] 0.9934174204781926 Centerline is valid? [True, True] Translation: X:126.91, Y:101.17, Z:3.97 [[ 1.51783676e-01 -9.88402108e-01 -4.79474184e-03 1.26910565e+02] [ 9.87956452e-01 1.51859210e-01 -2.96787523e-02 1.01166077e+02] [ 3.00626670e-02 -2.32246034e-04 9.99547989e-01 3.97475935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.998040942 meters Centerline goodness [0,1] 0.9916137661620772 Centerline is valid? [True, True] Translation: X:126.91, Y:101.19, Z:3.97 [[ 1.49775896e-01 -9.88706796e-01 -5.10409923e-03 1.26913306e+02] [ 9.88200166e-01 1.49862533e-01 -3.16489064e-02 1.01193328e+02] [ 3.20564021e-02 -3.03628383e-04 9.99486015e-01 3.97224383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.028040942 meters Centerline goodness [0,1] 0.9894191135851783 Centerline is valid? [True, True] Translation: X:126.92, Y:101.22, Z:3.97 [[ 1.48043542e-01 -9.88967201e-01 -5.19464175e-03 1.26917254e+02] [ 9.88441182e-01 1.48134214e-01 -3.22534338e-02 1.01221750e+02] [ 3.26670923e-02 -3.59685235e-04 9.99466223e-01 3.97189351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.058040942 meters Centerline goodness [0,1] 0.9900380211984112 Centerline is valid? [True, True] Translation: X:126.92, Y:101.25, Z:3.97 [[ 1.46031359e-01 -9.89265731e-01 -5.30611380e-03 1.26921864e+02] [ 9.88715161e-01 1.46127104e-01 -3.30030160e-02 1.01248873e+02] [ 3.34241198e-02 -4.26759895e-04 9.99441167e-01 3.97274221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088040942 meters Centerline goodness [0,1] 0.9905285735522097 Centerline is valid? [True, True] Translation: X:126.93, Y:101.28, Z:3.97 [[ 1.44246335e-01 -9.89526751e-01 -5.45925937e-03 1.26926833e+02] [ 9.88942161e-01 1.44348765e-01 -3.40122971e-02 1.01275566e+02] [ 3.44441152e-02 -4.92742535e-04 9.99406504e-01 3.97488252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.118040942 meters Centerline goodness [0,1] 0.9896567836207629 Centerline is valid? [True, True] Translation: X:126.93, Y:101.30, Z:3.98 [[ 1.41006854e-01 -9.89992915e-01 -5.57633670e-03 1.26931751e+02] [ 9.89381278e-01 1.41115755e-01 -3.47998503e-02 1.01303757e+02] [ 3.52385142e-02 -6.10105715e-04 9.99378744e-01 3.97776348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148040942 meters Centerline goodness [0,1] 0.98981912474229 Centerline is valid? [True, True] Translation: X:126.94, Y:101.33, Z:3.98 [[ 1.39104011e-01 -9.90262438e-01 -5.51165797e-03 1.26935675e+02] [ 9.89663477e-01 1.39211580e-01 -3.44432504e-02 1.01330415e+02] [ 3.48751438e-02 -6.63492320e-04 9.99391457e-01 3.97822778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.178040942 meters Centerline goodness [0,1] 0.9873759377722994 Centerline is valid? [True, True] Translation: X:126.94, Y:101.36, Z:3.98 [[ 1.35511098e-01 -9.90761518e-01 -5.32508862e-03 1.26938480e+02] [ 9.90201558e-01 1.35613565e-01 -3.33141790e-02 1.01357254e+02] [ 3.37285608e-02 -7.58470064e-04 9.99430742e-01 3.97682614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208040942 meters Centerline goodness [0,1] 0.9875353024865692 Centerline is valid? [True, True] Translation: X:126.94, Y:101.38, Z:3.98 [[ 1.33907504e-01 -9.90979864e-01 -5.26205796e-03 1.26942628e+02] [ 9.90431202e-01 1.34008494e-01 -3.29811833e-02 1.01384536e+02] [ 3.33888490e-02 -7.95278448e-04 9.99442121e-01 3.97848687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23804094199997 meters Centerline goodness [0,1] 0.9878199132726809 Centerline is valid? [True, True] Translation: X:126.95, Y:101.41, Z:3.98 [[ 1.32794896e-01 -9.91130418e-01 -5.10000022e-03 1.26946160e+02] [ 9.90613352e-01 1.32890385e-01 -3.20208137e-02 1.01410079e+02] [ 3.24145435e-02 -7.99927697e-04 9.99474191e-01 3.97938007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26804094199997 meters Centerline goodness [0,1] 0.9899186716367333 Centerline is valid? [True, True] Translation: X:126.95, Y:101.44, Z:3.98 [[ 1.31973144e-01 -9.91241679e-01 -4.79820809e-03 1.26947914e+02] [ 9.90782620e-01 1.32058085e-01 -3.01738657e-02 1.01436235e+02] [ 3.05432355e-02 -7.71841271e-04 9.99533149e-01 3.98032822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29804094199997 meters Centerline goodness [0,1] 0.9905488063885821 Centerline is valid? [True, True] Translation: X:126.95, Y:101.46, Z:3.98 [[ 1.31954911e-01 -9.91245098e-01 -4.58882615e-03 1.26950208e+02] [ 9.90823656e-01 1.32032649e-01 -2.89112848e-02 1.01462172e+02] [ 2.92640442e-02 -7.31731500e-04 9.99571448e-01 3.98094063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32804094199997 meters Centerline goodness [0,1] 0.9908011869436202 Centerline is valid? [True, True] Translation: X:126.95, Y:101.49, Z:3.98 [[ 1.32543981e-01 -9.91168012e-01 -4.25025109e-03 1.26950374e+02] [ 9.90805356e-01 1.32610484e-01 -2.68180244e-02 1.01488808e+02] [ 2.71447958e-02 -6.56603817e-04 9.99631297e-01 3.98097500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35804094199997 meters Centerline goodness [0,1] 0.991418123401467 Centerline is valid? [True, True] Translation: X:126.95, Y:101.52, Z:3.98 [[ 1.33317058e-01 -9.91065142e-01 -4.05542584e-03 1.26952346e+02] [ 9.90733638e-01 1.33377377e-01 -2.56385398e-02 1.01515004e+02] [ 2.59503652e-02 -5.99792100e-04 9.99663053e-01 3.98245846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38804094199998 meters Centerline goodness [0,1] 0.9914052884003226 Centerline is valid? [True, True] Translation: X:126.95, Y:101.54, Z:3.98 [[ 1.34133766e-01 -9.90956025e-01 -3.78009586e-03 1.26954193e+02] [ 9.90666879e-01 1.34185961e-01 -2.39429116e-02 1.01541853e+02] [ 2.42336083e-02 -5.33262850e-04 9.99706181e-01 3.98248033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41804094199998 meters Centerline goodness [0,1] 0.9943480101608806 Centerline is valid? [True, True] Translation: X:126.95, Y:101.57, Z:3.99 [[ 1.35426215e-01 -9.90781422e-01 -3.45160107e-03 1.26954977e+02] [ 9.90539453e-01 1.35469436e-01 -2.19003029e-02 1.01569076e+02] [ 2.21659997e-02 -4.53071900e-04 9.99754201e-01 3.98757032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44804094199998 meters Centerline goodness [0,1] 0.9938556718505022 Centerline is valid? [True, True] Translation: X:126.96, Y:101.60, Z:3.99 [[ 1.36162291e-01 -9.90681434e-01 -3.18224949e-03 1.26957351e+02] [ 9.90475106e-01 1.36198889e-01 -2.02219639e-02 1.01596715e+02] [ 2.04669430e-02 -3.98469978e-04 9.99790451e-01 3.98741829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47804094199998 meters Centerline goodness [0,1] 0.9931981437925116 Centerline is valid? [True, True] Translation: X:126.96, Y:101.62, Z:3.99 [[ 1.36830016e-01 -9.90589895e-01 -3.03416160e-03 1.26959916e+02] [ 9.90401634e-01 1.36863173e-01 -1.93151765e-02 1.01624288e+02] [ 1.95486837e-02 -3.62142696e-04 9.99808841e-01 3.98657839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50804094199998 meters Centerline goodness [0,1] 0.9941544000847189 Centerline is valid? [True, True] Translation: X:126.96, Y:101.65, Z:3.99 [[ 1.36953811e-01 -9.90573716e-01 -2.71418887e-03 1.26958617e+02] [ 9.90422570e-01 1.36980335e-01 -1.73066924e-02 1.01653016e+02] [ 1.75153451e-02 -3.17976434e-04 9.99846544e-01 3.98736801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53804094199998 meters Centerline goodness [0,1] 0.9959780698969116 Centerline is valid? [True, True] Translation: X:126.96, Y:101.68, Z:3.99 [[ 1.36361094e-01 -9.90655807e-01 -2.59325338e-03 1.26964562e+02] [ 9.90517414e-01 1.36385397e-01 -1.65612706e-02 1.01678807e+02] [ 1.67602008e-02 -3.10349663e-04 9.99859490e-01 3.99115337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56804094199998 meters Centerline goodness [0,1] 0.9967444613563335 Centerline is valid? [True, True] Translation: X:126.97, Y:101.71, Z:3.99 [[ 1.34470036e-01 -9.90915193e-01 -2.21143982e-03 1.26965133e+02] [ 9.90814225e-01 1.34487909e-01 -1.41482502e-02 1.01707166e+02] [ 1.43171280e-02 -2.88610322e-04 9.99897463e-01 3.99178335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59804094199998 meters Centerline goodness [0,1] 0.9969946453893204 Centerline is valid? [True, True] Translation: X:126.97, Y:101.73, Z:3.99 [[ 1.32793891e-01 -9.91141637e-01 -2.00966176e-03 1.26968713e+02] [ 9.91058013e-01 1.32808799e-01 -1.28778028e-02 1.01734913e+02] [ 1.30306273e-02 -2.81597851e-04 9.99915058e-01 3.99180109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62804094199998 meters Centerline goodness [0,1] 0.9973605861610254 Centerline is valid? [True, True] Translation: X:126.97, Y:101.76, Z:3.99 [[ 1.31265075e-01 -9.91345449e-01 -1.91835888e-03 1.26973376e+02] [ 9.91269040e-01 1.31278782e-01 -1.23114643e-02 1.01762852e+02] [ 1.24567539e-02 -2.85544478e-04 9.99922371e-01 3.99193308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65804094199999 meters Centerline goodness [0,1] 0.9978629765985358 Centerline is valid? [True, True] Translation: X:126.98, Y:101.79, Z:3.99 [[ 1.29490372e-01 -9.91579438e-01 -1.56876087e-03 1.26981167e+02] [ 9.91528255e-01 1.29499632e-01 -1.00779272e-02 1.01789160e+02] [ 1.01962193e-02 -2.50476188e-04 9.99947986e-01 3.99187671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.688040942 meters Centerline goodness [0,1] 0.9988169680581376 Centerline is valid? [True, True] Translation: X:126.98, Y:101.82, Z:3.99 [[ 1.29456959e-01 -9.91584377e-01 -1.14873477e-03 1.26982316e+02] [ 9.91556903e-01 1.29461926e-01 -7.38366894e-03 1.01817238e+02] [ 7.47024818e-03 -1.83168556e-04 9.99972081e-01 3.99346904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.718040942 meters Centerline goodness [0,1] 0.9991984813330521 Centerline is valid? [True, True] Translation: X:126.99, Y:101.84, Z:4.00 [[ 1.29884224e-01 -9.91528674e-01 -9.88227401e-04 1.26987307e+02] [ 9.91508335e-01 1.29887892e-01 -6.35281480e-03 1.01843410e+02] [ 6.42735681e-03 -1.54705282e-04 9.99979332e-01 3.99506420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.748040942 meters Centerline goodness [0,1] 0.9991765202702703 Centerline is valid? [True, True] Translation: X:126.99, Y:101.87, Z:3.99 [[ 1.30917873e-01 -9.91392849e-01 -8.54084363e-04 1.26990023e+02] [ 9.91377634e-01 1.30920596e-01 -5.49402086e-03 1.01870921e+02] [ 5.55855023e-03 -1.27454611e-04 9.99984543e-01 3.99499437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.778040942 meters Centerline goodness [0,1] 0.9991765202702703 Centerline is valid? [True, True] Translation: X:126.99, Y:101.90, Z:4.00 [[ 1.30615959e-01 -9.91432673e-01 -8.52414738e-04 1.26993968e+02] [ 9.91417457e-01 1.30618679e-01 -5.49427908e-03 1.01897364e+02] [ 5.55854907e-03 -1.27458319e-04 9.99984543e-01 3.99561307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808040942 meters Centerline goodness [0,1] 0.9996400745257452 Centerline is valid? [True, True] Translation: X:127.00, Y:101.92, Z:4.00 [[ 1.31822938e-01 -9.91272958e-01 -7.97331063e-04 1.26997536e+02] [ 9.91259613e-01 1.31825301e-01 -5.14493871e-03 1.01923434e+02] [ 5.20514702e-03 -1.12141145e-04 9.99986447e-01 3.99617184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.838040942 meters Centerline goodness [0,1] 0.9997046164233269 Centerline is valid? [True, True] Translation: X:127.00, Y:101.95, Z:4.00 [[ 1.34755405e-01 -9.90878573e-01 -7.96098574e-04 1.26998785e+02] [ 9.90865170e-01 1.34757724e-01 -5.15467229e-03 1.01951193e+02] [ 5.21493476e-03 -9.42063958e-05 9.99986398e-01 3.99518046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868040942 meters Centerline goodness [0,1] 0.999957791659632 Centerline is valid? [True, True] Translation: X:127.00, Y:101.98, Z:3.99 [[ 1.38176175e-01 -9.90407450e-01 -6.53663752e-04 1.26999358e+02] [ 9.90398415e-01 1.38177707e-01 -4.23104201e-03 1.01979277e+02] [ 4.28077728e-03 -6.27583428e-05 9.99990835e-01 3.99325200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.00, Y:102.01, Z:4.00 [[ 1.39521668e-01 -9.90218840e-01 -5.94139167e-04 1.27004347e+02] [ 9.90211324e-01 1.39522924e-01 -3.85840206e-03 1.02005968e+02] [ 3.90355845e-03 -4.99926420e-05 9.99992380e-01 3.99584206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928040942 meters Centerline goodness [0,1] 0.9999788726442999 Centerline is valid? [True, True] Translation: X:127.01, Y:102.03, Z:3.99 [[ 1.40317676e-01 -9.90106369e-01 -5.72261443e-04 1.27005955e+02] [ 9.90099422e-01 1.40318835e-01 -3.70927792e-03 1.02034385e+02] [ 3.75287875e-03 -4.61184663e-05 9.99992957e-01 3.99194780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.958040942 meters Centerline goodness [0,1] 0.9999365616409389 Centerline is valid? [True, True] Translation: X:127.01, Y:102.06, Z:3.99 [[ 1.39940660e-01 -9.90159845e-01 -3.05688188e-04 1.27011306e+02] [ 9.90157850e-01 1.39940992e-01 -1.98750688e-03 1.02060792e+02] [ 2.01072781e-03 -2.45465349e-05 9.99997978e-01 3.99338629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98804094199997 meters Centerline goodness [0,1] 0.9999788529859583 Centerline is valid? [True, True] Translation: X:127.02, Y:102.09, Z:3.99 [[ 1.39068409e-01 -9.90282747e-01 -2.43614275e-04 1.27016701e+02] [ 9.90281524e-01 1.39068620e-01 -1.55634010e-03 1.02087847e+02] [ 1.57509585e-03 -2.48089745e-05 9.99998759e-01 3.99371145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.03, Y:102.11, Z:3.99 [[ 1.36932413e-01 -9.90580347e-01 -3.01824726e-04 1.27025157e+02] [ 9.90578411e-01 1.36932742e-01 -1.95854417e-03 1.02113374e+02] [ 1.98142505e-03 -3.07928774e-05 9.99998037e-01 3.99458079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04804094199997 meters Centerline goodness [0,1] 0.9999787229515522 Centerline is valid? [True, True] Translation: X:127.03, Y:102.14, Z:3.99 [[ 1.35324685e-01 -9.90801233e-01 -3.83411492e-04 1.27031031e+02] [ 9.90798112e-01 1.35325222e-01 -2.48712726e-03 1.02141277e+02] [ 2.51613400e-03 -4.33136675e-05 9.99996834e-01 3.99373806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.04, Y:102.17, Z:3.99 [[ 1.33996449e-01 -9.90981650e-01 -5.67227083e-04 1.27036799e+02] [ 9.90974720e-01 1.33997633e-01 -3.70668326e-03 1.02168765e+02] [ 3.74926218e-03 -6.54253063e-05 9.99992969e-01 3.99297373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10804094199997 meters Centerline goodness [0,1] 0.9999362027900647 Centerline is valid? [True, True] Translation: X:127.05, Y:102.19, Z:3.99 [[ 1.31238683e-01 -9.91350631e-01 -5.77920404e-04 1.27045337e+02] [ 9.91343418e-01 1.31239933e-01 -3.78242031e-03 1.02194624e+02] [ 3.82555099e-03 -7.65177292e-05 9.99992680e-01 3.99276499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13804094199998 meters Centerline goodness [0,1] 0.9999573060091792 Centerline is valid? [True, True] Translation: X:127.05, Y:102.22, Z:3.99 [[ 1.28505101e-01 -9.91708766e-01 -4.02512377e-04 1.27054315e+02] [ 9.91705284e-01 1.28505717e-01 -2.62865900e-03 1.02221524e+02] [ 2.65858932e-03 -6.13775607e-05 9.99996464e-01 3.99347319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16804094199998 meters Centerline goodness [0,1] 0.9999786907603136 Centerline is valid? [True, True] Translation: X:127.06, Y:102.25, Z:3.99 [[ 1.27200556e-01 -9.91876936e-01 -4.02078014e-04 1.27060787e+02] [ 9.91873455e-01 1.27201175e-01 -2.62862751e-03 1.02248224e+02] [ 2.65841980e-03 -6.44476275e-05 9.99996464e-01 3.99472140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.07, Y:102.27, Z:3.99 [[ 1.26045166e-01 -9.92024379e-01 -4.97372054e-04 1.27066335e+02] [ 9.92019005e-01 1.26046121e-01 -3.26639046e-03 1.02274948e+02] [ 3.30303078e-03 -8.16898014e-05 9.99994542e-01 3.99474001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22804094199998 meters Centerline goodness [0,1] 0.9999144165347255 Centerline is valid? [True, True] Translation: X:127.07, Y:102.30, Z:3.99 [[ 1.25143013e-01 -9.92138655e-01 -3.38948171e-04 1.27073879e+02] [ 9.92136173e-01 1.25143458e-01 -2.22007359e-03 1.02302263e+02] [ 2.24503797e-03 -5.84560449e-05 9.99997478e-01 3.99454698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25804094199998 meters Centerline goodness [0,1] 0.9998930710008554 Centerline is valid? [True, True] Translation: X:127.08, Y:102.33, Z:4.00 [[ 1.25030236e-01 -9.92152887e-01 -2.97064276e-04 1.27079446e+02] [ 9.92150994e-01 1.25030578e-01 -1.93927546e-03 1.02329191e+02] [ 1.96119986e-03 -5.22645494e-05 9.99998075e-01 3.99531453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.08, Y:102.36, Z:3.99 [[ 1.26276552e-01 -9.91995041e-01 -2.67696417e-04 1.27083635e+02] [ 9.91993499e-01 1.26276828e-01 -1.74928758e-03 1.02357327e+02] [ 1.76908846e-03 -4.46591007e-05 9.99998434e-01 3.99384036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31804094199998 meters Centerline goodness [0,1] 0.9999358124010441 Centerline is valid? [True, True] Translation: X:127.09, Y:102.38, Z:4.00 [[ 1.26990114e-01 -9.91903912e-01 -3.75384394e-04 1.27091071e+02] [ 9.91900795e-01 1.26990656e-01 -2.48721398e-03 1.02383543e+02] [ 2.51474759e-03 -5.64924924e-05 9.99996836e-01 3.99739664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34804094199998 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:127.10, Y:102.41, Z:4.00 [[ 1.27540736e-01 -9.91833275e-01 -3.38761049e-04 1.27095832e+02] [ 9.91830767e-01 1.27541176e-01 -2.23111313e-03 1.02410583e+02] [ 2.25609823e-03 -5.14358195e-05 9.99997454e-01 3.99808726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37804094199998 meters Centerline goodness [0,1] 0.9999144824047548 Centerline is valid? [True, True] Translation: X:127.10, Y:102.44, Z:4.00 [[ 1.28745747e-01 -9.91677526e-01 -4.66937708e-04 1.27101800e+02] [ 9.91672641e-01 1.28746579e-01 -3.11326344e-03 1.02437084e+02] [ 3.14747001e-03 -6.22299230e-05 9.99995045e-01 3.99885972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40804094199999 meters Centerline goodness [0,1] 0.9998495852851433 Centerline is valid? [True, True] Translation: X:127.11, Y:102.46, Z:4.00 [[ 1.28411696e-01 -9.91720856e-01 -4.24357637e-04 1.27107175e+02] [ 9.91716858e-01 1.28412384e-01 -2.81673516e-03 1.02463563e+02] [ 2.84790778e-03 -5.91408827e-05 9.99995943e-01 3.99992649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.438040942 meters Centerline goodness [0,1] 0.9998929542486459 Centerline is valid? [True, True] Translation: X:127.12, Y:102.49, Z:4.00 [[ 1.27137279e-01 -9.91885025e-01 -4.57061609e-04 1.27115679e+02] [ 9.91880364e-01 1.27138083e-01 -3.04158101e-03 1.02488838e+02] [ 3.07500859e-03 -6.66521035e-05 9.99995270e-01 4.00226469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:102.52, Z:4.00 [[ 1.26091246e-01 -9.92018544e-01 -4.53605876e-04 1.27116187e+02] [ 9.92013932e-01 1.26092043e-01 -3.02582722e-03 1.02517115e+02] [ 3.05887280e-03 -6.84530256e-05 9.99995319e-01 3.99765267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:102.54, Z:4.00 [[ 1.25057891e-01 -9.92149398e-01 -3.10559101e-04 1.27122920e+02] [ 9.92147250e-01 1.25058266e-01 -2.06521479e-03 1.02543505e+02] [ 2.08783959e-03 -4.98489523e-05 9.99997819e-01 3.99998898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.13, Y:102.57, Z:4.00 [[ 1.24662678e-01 -9.92199113e-01 -3.70734650e-04 1.27128528e+02] [ 9.92196029e-01 1.24663215e-01 -2.47460062e-03 1.02571448e+02] [ 2.50151352e-03 -5.93511054e-05 9.99996869e-01 4.00078793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.558040942 meters Centerline goodness [0,1] 0.9999786356741514 Centerline is valid? [True, True] Translation: X:127.13, Y:102.60, Z:4.00 [[ 1.24930195e-01 -9.92165495e-01 -2.75707837e-04 1.27133948e+02] [ 9.92163783e-01 1.24930492e-01 -1.84370334e-03 1.02597700e+02] [ 1.86370315e-03 -4.32131117e-05 9.99998262e-01 4.00285036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.14, Y:102.63, Z:4.00 [[ 1.26305362e-01 -9.91991375e-01 -2.59544147e-04 1.27137307e+02] [ 9.91989848e-01 1.26305623e-01 -1.74126248e-03 1.02626088e+02] [ 1.76009925e-03 -3.75343711e-05 9.99998450e-01 4.00281230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.618040942 meters Centerline goodness [0,1] 0.9999146976030027 Centerline is valid? [True, True] Translation: X:127.14, Y:102.65, Z:4.01 [[ 1.26960301e-01 -9.91907733e-01 -3.63639010e-04 1.27143012e+02] [ 9.91904731e-01 1.26960811e-01 -2.44051066e-03 1.02653284e+02] [ 2.46692930e-03 -5.08472873e-05 9.99996956e-01 4.00510253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648040942 meters Centerline goodness [0,1] 0.9998932103116123 Centerline is valid? [True, True] Translation: X:127.15, Y:102.68, Z:4.01 [[ 1.27753716e-01 -9.91805872e-01 -3.15913220e-04 1.27148867e+02] [ 9.91803626e-01 1.27754099e-01 -2.11139023e-03 1.02678528e+02] [ 2.13444844e-03 -4.35859289e-05 9.99997721e-01 4.00839912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.678040942 meters Centerline goodness [0,1] 0.999957296893349 Centerline is valid? [True, True] Translation: X:127.15, Y:102.71, Z:4.01 [[ 1.29120509e-01 -9.91628843e-01 -3.63529250e-04 1.27150246e+02] [ 9.91625817e-01 1.29121013e-01 -2.45003700e-03 1.02706586e+02] [ 2.47646662e-03 -4.41349656e-05 9.99996933e-01 4.00555643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.15, Y:102.73, Z:4.01 [[ 1.29888548e-01 -9.91528510e-01 -4.24283700e-04 1.27153983e+02] [ 9.91524312e-01 1.29889232e-01 -2.88548992e-03 1.02734859e+02] [ 2.91615540e-03 -4.58955097e-05 9.99995747e-01 4.00546313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.16, Y:102.76, Z:4.01 [[ 1.31433637e-01 -9.91324750e-01 -6.63116954e-04 1.27158729e+02] [ 9.91314395e-01 1.31435295e-01 -4.53132162e-03 1.02762130e+02] [ 4.57916824e-03 -6.17893013e-05 9.99989514e-01 4.00611465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.16, Y:102.79, Z:4.01 [[ 1.31978145e-01 -9.91252245e-01 -8.69978114e-04 1.27162529e+02] [ 9.91234386e-01 1.31980990e-01 -5.95066756e-03 1.02790212e+02] [ 6.01343315e-03 -7.69941571e-05 9.99981916e-01 4.00565029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.17, Y:102.82, Z:4.01 [[ 1.32172425e-01 -9.91226311e-01 -9.22604893e-04 1.27166284e+02] [ 9.91206141e-01 1.32175622e-01 -6.32382911e-03 1.02817818e+02] [ 6.39029167e-03 -7.86558044e-05 9.99979579e-01 4.00539527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.17, Y:102.85, Z:4.01 [[ 1.32274499e-01 -9.91212492e-01 -1.11957608e-03 1.27171610e+02] [ 9.91182596e-01 1.32279205e-01 -7.69888451e-03 1.02845504e+02] [ 7.77932713e-03 -9.13382391e-05 9.99969736e-01 4.00557146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.18, Y:102.87, Z:4.01 [[ 1.31838003e-01 -9.91270592e-01 -1.16370130e-03 1.27176596e+02] [ 9.91238152e-01 1.31843104e-01 -8.02007923e-03 1.02873014e+02] [ 8.10349468e-03 -9.61538964e-05 9.99967162e-01 4.00610682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.18, Y:102.90, Z:4.01 [[ 1.30753837e-01 -9.91413969e-01 -1.33294769e-03 1.27182478e+02] [ 9.91371195e-01 1.30760579e-01 -9.21008110e-03 1.02899484e+02] [ 9.30530007e-03 -1.17192496e-04 9.99956698e-01 4.00586872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.19, Y:102.93, Z:4.01 [[ 1.30279562e-01 -9.91476144e-01 -1.51391471e-03 1.27186686e+02] [ 9.91420654e-01 1.30288289e-01 -1.04904244e-02 1.02927302e+02] [ 1.05982508e-02 -1.34238414e-04 9.99943828e-01 4.00506384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.19, Y:102.95, Z:4.01 [[ 1.30118904e-01 -9.91497043e-01 -1.63823631e-03 1.27191518e+02] [ 9.91431778e-01 1.30129137e-01 -1.13770740e-02 1.02953656e+02] [ 1.14935175e-02 -1.43827142e-04 9.99933937e-01 4.00576521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.20, Y:102.98, Z:4.00 [[ 1.30073261e-01 -9.91502742e-01 -1.80562515e-03 1.27195613e+02] [ 9.91423062e-01 1.30085700e-01 -1.25707091e-02 1.02981069e+02] [ 1.26987785e-02 -1.55025301e-04 9.99919355e-01 4.00482729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.20, Y:103.01, Z:4.01 [[ 1.30282318e-01 -9.91475072e-01 -1.92350169e-03 1.27199989e+02] [ 9.91384240e-01 1.30296421e-01 -1.34212867e-02 1.03008418e+02] [ 1.35574966e-02 -1.58372915e-04 9.99908080e-01 4.00504491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03804094199998 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:127.21, Y:103.04, Z:4.01 [[ 1.30686261e-01 -9.91421951e-01 -1.90164337e-03 1.27205303e+02] [ 9.91332832e-01 1.30700012e-01 -1.32937099e-02 1.03035361e+02] [ 1.34282206e-02 -1.47856266e-04 9.99909826e-01 4.00567491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.21, Y:103.06, Z:4.01 [[ 1.30835638e-01 -9.91401919e-01 -2.06650422e-03 1.27209579e+02] [ 9.91296119e-01 1.30851867e-01 -1.44842451e-02 1.03060864e+02] [ 1.46301143e-02 -1.53462164e-04 9.99892962e-01 4.00654136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.21, Y:103.09, Z:4.01 [[ 1.30984526e-01 -9.91382083e-01 -2.14911340e-03 1.27213218e+02] [ 9.91267263e-01 1.31002065e-01 -1.50888049e-02 1.03088384e+02] [ 1.52403092e-02 -1.53945801e-04 9.99883848e-01 4.00631867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.22, Y:103.12, Z:4.01 [[ 1.31044292e-01 -9.91373958e-01 -2.25122999e-03 1.27217095e+02] [ 9.91247437e-01 1.31063535e-01 -1.58388007e-02 1.03115845e+02] [ 1.59972287e-02 -1.55941533e-04 9.99872024e-01 4.00631550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.22, Y:103.14, Z:4.01 [[ 1.31200718e-01 -9.91352978e-01 -2.37582685e-03 1.27222135e+02] [ 9.91211442e-01 1.31222134e-01 -1.67520008e-02 1.03143849e+02] [ 1.69189069e-02 -1.57072218e-04 9.99856853e-01 4.00682347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.23, Y:103.17, Z:4.01 [[ 1.30458935e-01 -9.91450854e-01 -2.38133557e-03 1.27226926e+02] [ 9.91308103e-01 1.30480562e-01 -1.68246119e-02 1.03170494e+02] [ 1.69914939e-02 -1.65716294e-04 9.99855620e-01 4.00758819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.23, Y:103.20, Z:4.01 [[ 1.29652711e-01 -9.91556751e-01 -2.32042250e-03 1.27230967e+02] [ 9.91420649e-01 1.29673361e-01 -1.64291004e-02 1.03198148e+02] [ 1.65912824e-02 -1.70437391e-04 9.99862341e-01 4.00790594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.24, Y:103.22, Z:4.01 [[ 1.28512300e-01 -9.91705088e-01 -2.36805052e-03 1.27236543e+02] [ 9.91562773e-01 1.28533977e-01 -1.68012774e-02 1.03224806e+02] [ 1.69662872e-02 -1.88899933e-04 9.99856044e-01 4.00832172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.24, Y:103.25, Z:4.01 [[ 1.27575197e-01 -9.91825934e-01 -2.42609749e-03 1.27240921e+02] [ 9.91675890e-01 1.27598099e-01 -1.72526856e-02 1.03252102e+02] [ 1.74212264e-02 -2.04887623e-04 9.99848218e-01 4.00870970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.25, Y:103.28, Z:4.01 [[ 1.25353087e-01 -9.92108684e-01 -2.63873249e-03 1.27245906e+02] [ 9.91930433e-01 1.25380588e-01 -1.88075575e-02 1.03280086e+02] [ 1.89899870e-02 -2.59853673e-04 9.99819640e-01 4.00840222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.338040942 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:127.25, Y:103.31, Z:4.01 [[ 1.23860198e-01 -9.92296268e-01 -2.60168346e-03 1.27249875e+02] [ 9.92122327e-01 1.23887203e-01 -1.85808626e-02 1.03308037e+02] [ 1.87600359e-02 -2.79758931e-04 9.99823976e-01 4.00914895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.25, Y:103.34, Z:4.01 [[ 1.22885339e-01 -9.92417426e-01 -2.61667345e-03 1.27254483e+02] [ 9.92240765e-01 1.22912840e-01 -1.87269519e-02 1.03336049e+02] [ 1.89065761e-02 -2.95102238e-04 9.99821211e-01 4.00973222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.26, Y:103.36, Z:4.01 [[ 1.21323336e-01 -9.92609640e-01 -2.59808809e-03 1.27259224e+02] [ 9.92434789e-01 1.21350735e-01 -1.86329840e-02 1.03362673e+02] [ 1.88105595e-02 -3.17817217e-04 9.99823015e-01 4.01078693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.26, Y:103.39, Z:4.01 [[ 1.20596466e-01 -9.92698334e-01 -2.55159912e-03 1.27262738e+02] [ 9.92529136e-01 1.20623027e-01 -1.83303117e-02 1.03389379e+02] [ 1.85042514e-02 -3.21965657e-04 9.99828730e-01 4.01128125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.26, Y:103.42, Z:4.01 [[ 1.20858788e-01 -9.92666405e-01 -2.56149045e-03 1.27264394e+02] [ 9.92495086e-01 1.20885524e-01 -1.84443493e-02 1.03417738e+02] [ 1.86187330e-02 -3.13104977e-04 9.99826607e-01 4.01160888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:103.44, Z:4.01 [[ 1.20818936e-01 -9.92671321e-01 -2.53646727e-03 1.27267288e+02] [ 9.92502687e-01 1.20845169e-01 -1.82992008e-02 1.03443508e+02] [ 1.84716117e-02 -3.06560615e-04 9.99829338e-01 4.01255743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:103.47, Z:4.01 [[ 1.21158575e-01 -9.92630100e-01 -2.46671851e-03 1.27270449e+02] [ 9.92469859e-01 1.21183343e-01 -1.78374752e-02 1.03469422e+02] [ 1.80049400e-02 -2.86980701e-04 9.99837857e-01 4.01351221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:103.50, Z:4.01 [[ 1.23192252e-01 -9.92380164e-01 -2.29751975e-03 1.27269397e+02] [ 9.92240493e-01 1.23213462e-01 -1.66507543e-02 1.03497338e+02] [ 1.68069636e-02 -2.28448220e-04 9.99858727e-01 4.01459742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:103.52, Z:4.02 [[ 1.24103970e-01 -9.92266691e-01 -2.24001671e-03 1.27271277e+02] [ 9.92133336e-01 1.24124017e-01 -1.62687544e-02 1.03523594e+02] [ 1.64209830e-02 -2.03378252e-04 9.99865146e-01 4.01543765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:103.55, Z:4.02 [[ 1.24640553e-01 -9.92199306e-01 -2.29562340e-03 1.27272354e+02] [ 9.92058531e-01 1.24661540e-01 -1.67144294e-02 1.03550959e+02] [ 1.68702212e-02 -1.94097051e-04 9.99857669e-01 4.01606617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:103.58, Z:4.02 [[ 1.24584419e-01 -9.92206469e-01 -2.24642078e-03 1.27275414e+02] [ 9.92071087e-01 1.24604531e-01 -1.63911631e-02 1.03577210e+02] [ 1.65433323e-02 -1.86525572e-04 9.99863132e-01 4.01642351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:103.60, Z:4.02 [[ 1.24287889e-01 -9.92243669e-01 -2.24112820e-03 1.27278894e+02] [ 9.92108280e-01 1.24307954e-01 -1.63918864e-02 1.03603721e+02] [ 1.65433355e-02 -1.86128895e-04 9.99863132e-01 4.01704189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:103.63, Z:4.02 [[ 1.23540631e-01 -9.92336932e-01 -2.26388090e-03 1.27282454e+02] [ 9.92198165e-01 1.23561217e-01 -1.65959672e-02 1.03630524e+02] [ 1.67485190e-02 -1.95942211e-04 9.99859715e-01 4.01760861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.29, Y:103.66, Z:4.02 [[ 1.21094167e-01 -9.92638582e-01 -2.20177476e-03 1.27288153e+02] [ 9.92506722e-01 1.21113971e-01 -1.61806603e-02 1.03657213e+02] [ 1.63282133e-02 -2.25892677e-04 9.99866660e-01 4.01797242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.29, Y:103.68, Z:4.02 [[ 1.19260013e-01 -9.92860693e-01 -2.16659390e-03 1.27293365e+02] [ 9.92732685e-01 1.19279431e-01 -1.59447133e-02 1.03684138e+02] [ 1.60893092e-02 -2.49281869e-04 9.99870528e-01 4.01868076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.30, Y:103.71, Z:4.02 [[ 1.16363000e-01 -9.93204417e-01 -2.15366237e-03 1.27299979e+02] [ 9.93077635e-01 1.16382563e-01 -1.58716607e-02 1.03710015e+02] [ 1.60144522e-02 -2.91879882e-04 9.99871718e-01 4.01873096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81804094199998 meters Centerline goodness [0,1] 0.9999137986768097 Centerline is valid? [True, True] Translation: X:127.30, Y:103.74, Z:4.02 [[ 1.15138646e-01 -9.93347097e-01 -2.15348373e-03 1.27304368e+02] [ 9.93220053e-01 1.15158368e-01 -1.58895306e-02 1.03737047e+02] [ 1.60318108e-02 -3.09384182e-04 9.99871434e-01 4.01935777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:103.76, Z:4.02 [[ 1.14223244e-01 -9.93452839e-01 -2.12310446e-03 1.27308417e+02] [ 9.93328789e-01 1.14242538e-01 -1.57021951e-02 1.03763383e+02] [ 1.58419391e-02 -3.15385124e-04 9.99874459e-01 4.01985853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:103.79, Z:4.02 [[ 1.13793717e-01 -9.93502400e-01 -1.99298639e-03 1.27307222e+02] [ 9.93392820e-01 1.13810772e-01 -1.47584965e-02 1.03791647e+02] [ 1.48894250e-02 -3.00394197e-04 9.99889101e-01 4.01862101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:103.82, Z:4.02 [[ 1.13934343e-01 -9.93486468e-01 -1.89830852e-03 1.27314391e+02] [ 9.93386673e-01 1.13949809e-01 -1.40839767e-02 1.03817484e+02] [ 1.42085521e-02 -2.81105757e-04 9.99899014e-01 4.02141523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:103.85, Z:4.02 [[ 1.15159058e-01 -9.93345455e-01 -1.78818048e-03 1.27311462e+02] [ 9.93256515e-01 1.15172680e-01 -1.32946927e-02 1.03846417e+02] [ 1.34121721e-02 -2.45117617e-04 9.99910023e-01 4.01944999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:103.87, Z:4.02 [[ 1.15884131e-01 -9.93261169e-01 -1.76575462e-03 1.27313459e+02] [ 9.93174073e-01 1.15897356e-01 -1.31553425e-02 1.03874611e+02] [ 1.32713371e-02 -2.29206280e-04 9.99911906e-01 4.01970540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.32, Y:103.90, Z:4.02 [[ 1.16269203e-01 -9.93216169e-01 -1.76462585e-03 1.27316131e+02] [ 9.93128812e-01 1.16282384e-01 -1.31746052e-02 1.03901557e+02] [ 1.32904258e-02 -2.20699931e-04 9.99911654e-01 4.02048813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.32, Y:103.93, Z:4.02 [[ 1.16216709e-01 -9.93222532e-01 -1.63659227e-03 1.27318770e+02] [ 9.93147070e-01 1.16228055e-01 -1.22448540e-02 1.03929474e+02] [ 1.23520829e-02 -2.02320184e-04 9.99923690e-01 4.02088528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.32, Y:103.96, Z:4.02 [[ 1.15347600e-01 -9.93323898e-01 -1.60154676e-03 1.27321492e+02] [ 9.93251354e-01 1.15358534e-01 -1.20064981e-02 1.03957518e+02] [ 1.21110936e-02 -2.05817752e-04 9.99926637e-01 4.02095989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.33, Y:103.98, Z:4.02 [[ 1.13926897e-01 -9.93488019e-01 -1.48920757e-03 1.27326681e+02] [ 9.93424911e-01 1.13936448e-01 -1.11996101e-02 1.03983945e+02] [ 1.12963535e-02 -2.03479071e-04 9.99936173e-01 4.02240986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.33, Y:104.01, Z:4.02 [[ 1.12808532e-01 -9.93615664e-01 -1.46558096e-03 1.27329983e+02] [ 9.93554601e-01 1.12817851e-01 -1.10176344e-02 1.04011708e+02] [ 1.11126378e-02 -2.13251540e-04 9.99938230e-01 4.02225657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148040942 meters Centerline goodness [0,1] 0.9999786416061512 Centerline is valid? [True, True] Translation: X:127.33, Y:104.04, Z:4.02 [[ 1.12229198e-01 -9.93681152e-01 -1.54097233e-03 1.27333897e+02] [ 9.93613334e-01 1.12239545e-01 -1.16115317e-02 1.04039953e+02] [ 1.17111183e-02 -2.27977764e-04 9.99931397e-01 4.02233507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:104.07, Z:4.02 [[ 1.11982859e-01 -9.93708979e-01 -1.51770702e-03 1.27337632e+02] [ 9.93642932e-01 1.11992918e-01 -1.14590915e-02 1.04066761e+02] [ 1.15569746e-02 -2.24837022e-04 9.99933191e-01 4.02245798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:104.09, Z:4.02 [[ 1.12232491e-01 -9.93680887e-01 -1.47088067e-03 1.27339142e+02] [ 9.93618568e-01 1.12241929e-01 -1.11306589e-02 1.04094708e+02] [ 1.12254174e-02 -2.12272774e-04 9.99936970e-01 4.02168718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:104.12, Z:4.02 [[ 1.12881543e-01 -9.93607405e-01 -1.44307734e-03 1.27341552e+02] [ 9.93547167e-01 1.12890593e-01 -1.09426396e-02 1.04121274e+02] [ 1.10355976e-02 -1.98543355e-04 9.99939086e-01 4.02231065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26804094199997 meters Centerline goodness [0,1] 0.9999786091681105 Centerline is valid? [True, True] Translation: X:127.34, Y:104.15, Z:4.02 [[ 1.12987951e-01 -9.93595427e-01 -1.36057891e-03 1.27344480e+02] [ 9.93541543e-01 1.12995996e-01 -1.03492572e-02 1.04147667e+02] [ 1.04367146e-02 -1.82450304e-04 9.99945519e-01 4.02256052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.35, Y:104.18, Z:4.02 [[ 1.13815279e-01 -9.93501022e-01 -1.34204820e-03 1.27345302e+02] [ 9.93448546e-01 1.13823063e-01 -1.02126045e-02 1.04176068e+02] [ 1.02989891e-02 -1.70905399e-04 9.99946949e-01 4.02355625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.35, Y:104.20, Z:4.02 [[ 1.14005920e-01 -9.93479230e-01 -1.29202777e-03 1.27347715e+02] [ 9.93430413e-01 1.14013127e-01 -9.84990969e-03 1.04203245e+02] [ 9.93298883e-03 -1.60591675e-04 9.99950654e-01 4.02448814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.35, Y:104.23, Z:4.02 [[ 1.14442600e-01 -9.93429019e-01 -1.29439066e-03 1.27350368e+02] [ 9.93379773e-01 1.14449816e-01 -9.89274235e-03 1.04230934e+02] [ 9.97588010e-03 -1.53670349e-04 9.99950228e-01 4.02496789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.35, Y:104.26, Z:4.02 [[ 1.15267840e-01 -9.93333501e-01 -1.37167521e-03 1.27351938e+02] [ 9.93277923e-01 1.15275902e-01 -1.05087860e-02 1.04258885e+02] [ 1.05968503e-02 -1.51129636e-04 9.99943840e-01 4.02448958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.35, Y:104.29, Z:4.03 [[ 1.15547149e-01 -9.93301048e-01 -1.37294410e-03 1.27354866e+02] [ 9.93245044e-01 1.15555215e-01 -1.05487166e-02 1.04285834e+02] [ 1.06367021e-02 -1.44795787e-04 9.99943418e-01 4.02535842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.36, Y:104.31, Z:4.03 [[ 1.14660340e-01 -9.93403769e-01 -1.39944348e-03 1.27358377e+02] [ 9.93345507e-01 1.14668773e-01 -1.07599656e-02 1.04312366e+02] [ 1.08494629e-02 -1.56389577e-04 9.99941131e-01 4.02557073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.36, Y:104.34, Z:4.03 [[ 1.13341364e-01 -9.93555137e-01 -1.38747092e-03 1.27362246e+02] [ 9.93497604e-01 1.13349734e-01 -1.06934137e-02 1.04338931e+02] [ 1.07817656e-02 -1.66442933e-04 9.99941861e-01 4.02587764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.37, Y:104.37, Z:4.03 [[ 1.11739780e-01 -9.93736567e-01 -1.36261187e-03 1.27366147e+02] [ 9.93680796e-01 1.11747947e-01 -1.05295490e-02 1.04367059e+02] [ 1.06158669e-02 -1.77431770e-04 9.99943634e-01 4.02609748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.37, Y:104.39, Z:4.03 [[ 1.08923598e-01 -9.94049233e-01 -1.33112951e-03 1.27370761e+02] [ 9.93995735e-01 1.08931548e-01 -1.03149125e-02 1.04393486e+02] [ 1.03985329e-02 -1.99599671e-04 9.99945914e-01 4.02660403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:104.42, Z:4.03 [[ 1.07199748e-01 -9.94236577e-01 -1.35726386e-03 1.27375301e+02] [ 9.94180880e-01 1.07208112e-01 -1.05261336e-02 1.04420536e+02] [ 1.06109767e-02 -2.20966909e-04 9.99943678e-01 4.02750167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:104.45, Z:4.03 [[ 1.03909044e-01 -9.94585773e-01 -1.43178044e-03 1.27379680e+02] [ 9.94523487e-01 1.03918564e-01 -1.11339559e-02 1.04448066e+02] [ 1.12224627e-02 -2.67020560e-04 9.99936991e-01 4.02723514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:104.47, Z:4.03 [[ 1.02957747e-01 -9.94684573e-01 -1.51733398e-03 1.27383102e+02] [ 9.94614261e-01 1.02968516e-01 -1.18303582e-02 1.04473641e+02] [ 1.19237124e-02 -2.91134986e-04 9.99928868e-01 4.02760879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.50, Z:4.03 [[ 1.02213579e-01 -9.94761433e-01 -1.44108519e-03 1.27385992e+02] [ 9.94697855e-01 1.02223344e-01 -1.12501552e-02 1.04500206e+02] [ 1.13385330e-02 -2.83525728e-04 9.99935677e-01 4.02886036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.688040942 meters Centerline goodness [0,1] 0.9999785462970909 Centerline is valid? [True, True] Translation: X:127.39, Y:104.53, Z:4.03 [[ 1.02499408e-01 -9.94732236e-01 -1.28466864e-03 1.27385950e+02] [ 9.94681570e-01 1.02507157e-01 -1.00427254e-02 1.04527968e+02] [ 1.01215105e-02 -2.48462812e-04 9.99948745e-01 4.02891162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.55, Z:4.03 [[ 1.02741641e-01 -9.94707320e-01 -1.22573932e-03 1.27389879e+02] [ 9.94661007e-01 1.02748688e-01 -9.60144038e-03 1.04553585e+02] [ 9.67656614e-03 -2.32727366e-04 9.99953154e-01 4.03154162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:104.58, Z:4.03 [[ 1.04112689e-01 -9.94564839e-01 -1.15258283e-03 1.27384709e+02] [ 9.94523658e-01 1.04118869e-01 -9.05283205e-03 1.04582546e+02] [ 9.12363407e-03 -2.03756206e-04 9.99958358e-01 4.02994254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.61, Z:4.03 [[ 1.04898727e-01 -9.94482327e-01 -1.07626466e-03 1.27389914e+02] [ 9.94446292e-01 1.04904090e-01 -8.46786722e-03 1.04609209e+02] [ 8.53404886e-03 -1.82018907e-04 9.99963568e-01 4.03365767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.64, Z:4.03 [[ 1.04751463e-01 -9.94497920e-01 -1.00923498e-03 1.27387947e+02] [ 9.94466096e-01 1.04756187e-01 -7.95766711e-03 1.04637435e+02] [ 8.01960700e-03 -1.70072698e-04 9.99967828e-01 4.03238570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.67, Z:4.03 [[ 1.04090161e-01 -9.94567297e-01 -1.06324127e-03 1.27390496e+02] [ 9.94531797e-01 1.04095431e-01 -8.40516372e-03 1.04665709e+02] [ 8.47017952e-03 -1.82532412e-04 9.99964111e-01 4.03282074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.69, Z:4.03 [[ 1.02816289e-01 -9.94699698e-01 -1.14963555e-03 1.27393076e+02] [ 9.94658011e-01 1.02822508e-01 -9.10899989e-03 1.04693218e+02] [ 9.17892785e-03 -2.06940646e-04 9.99957851e-01 4.03301330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:104.72, Z:4.03 [[ 1.00013475e-01 -9.94985400e-01 -1.16516670e-03 1.27395253e+02] [ 9.94942338e-01 1.00019991e-01 -9.25993093e-03 1.04721038e+02] [ 9.33003605e-03 -2.33155811e-04 9.99956447e-01 4.03332763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928040942 meters Centerline goodness [0,1] 0.9999571917808219 Centerline is valid? [True, True] Translation: X:127.40, Y:104.75, Z:4.03 [[ 9.84177979e-02 -9.95144429e-01 -1.22610852e-03 1.27399182e+02] [ 9.95096533e-01 9.84250947e-02 -9.76686346e-03 1.04747748e+02] [ 9.84011960e-03 -2.58863143e-04 9.99951551e-01 4.03476320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:104.78, Z:4.03 [[ 9.67763459e-02 -9.95305258e-01 -1.33507597e-03 1.27399414e+02] [ 9.95248146e-01 9.67851004e-02 -1.06664364e-02 1.04775601e+02] [ 1.07455757e-02 -2.96473144e-04 9.99942221e-01 4.03389710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:104.80, Z:4.03 [[ 9.49634898e-02 -9.95479651e-01 -1.48318092e-03 1.27399085e+02] [ 9.95408825e-01 9.49744332e-02 -1.18797764e-02 1.04802917e+02] [ 1.19669400e-02 -3.48226350e-04 9.99928333e-01 4.03341635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01804094199997 meters Centerline goodness [0,1] 0.9999787730842709 Centerline is valid? [True, True] Translation: X:127.40, Y:104.83, Z:4.03 [[ 9.38555375e-02 -9.95584705e-01 -1.49426400e-03 1.27399586e+02] [ 9.95512473e-01 9.38667357e-02 -1.19980425e-02 1.04831422e+02] [ 1.20853293e-02 -3.61475720e-04 9.99926904e-01 4.03375579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.86, Z:4.03 [[ 9.39020025e-02 -9.95580424e-01 -1.42590962e-03 1.27394371e+02] [ 9.95514403e-01 9.39122039e-02 -1.14704293e-02 1.04860454e+02] [ 1.15536452e-02 -3.42417282e-04 9.99933196e-01 4.03301055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:104.89, Z:4.04 [[ 9.45132622e-02 -9.95522600e-01 -1.41301146e-03 1.27398729e+02] [ 9.95457474e-01 9.45232484e-02 -1.13918258e-02 1.04887274e+02] [ 1.14743825e-02 -3.29914197e-04 9.99934113e-01 4.03613000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:104.92, Z:4.04 [[ 9.59131843e-02 -9.95388798e-01 -1.34217542e-03 1.27395520e+02] [ 9.95329762e-01 9.59221189e-02 -1.08449177e-02 1.04915704e+02] [ 1.09236539e-02 -2.95736549e-04 9.99940291e-01 4.03634410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.94, Z:4.04 [[ 9.93929181e-02 -9.95047436e-01 -1.28371592e-03 1.27388267e+02] [ 9.94993194e-01 9.94009073e-02 -1.03924943e-02 1.04944975e+02] [ 1.04686274e-02 -2.44348263e-04 9.99945173e-01 4.03704058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:104.97, Z:4.04 [[ 1.01029117e-01 -9.94882571e-01 -1.33675446e-03 1.27387632e+02] [ 9.94823334e-01 1.01037692e-01 -1.08590645e-02 1.04972368e+02] [ 1.09385566e-02 -2.32752827e-04 9.99940145e-01 4.03780431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.00, Z:4.04 [[ 1.03157675e-01 -9.94663999e-01 -1.42256434e-03 1.27380713e+02] [ 9.94596749e-01 1.03167245e-01 -1.15683223e-02 1.05002287e+02] [ 1.16533558e-02 -2.21516634e-04 9.99932073e-01 4.03584014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.03, Z:4.04 [[ 1.03160470e-01 -9.94663698e-01 -1.43000176e-03 1.27380792e+02] [ 9.94595505e-01 1.03170145e-01 -1.16491473e-02 1.05029263e+02] [ 1.17345174e-02 -2.20541815e-04 9.99931124e-01 4.03549378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.06, Z:4.03 [[ 1.02858924e-01 -9.94694819e-01 -1.50314552e-03 1.27380071e+02] [ 9.94619051e-01 1.02869645e-01 -1.22792299e-02 1.05057571e+02] [ 1.23687144e-02 -2.32028784e-04 9.99923478e-01 4.03450687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.09, Z:4.03 [[ 1.01710698e-01 -9.94812547e-01 -1.71181573e-03 1.27379008e+02] [ 9.94713639e-01 1.01724728e-01 -1.40305548e-02 1.05085389e+02] [ 1.41319060e-02 -2.75708928e-04 9.99900102e-01 4.03335073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.11, Z:4.03 [[ 1.00301258e-01 -9.94955397e-01 -1.84791097e-03 1.27380448e+02] [ 9.94839792e-01 1.00317779e-01 -1.51700700e-02 1.05112357e+02] [ 1.52789214e-02 -3.16798250e-04 9.99883220e-01 4.03306198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.14, Z:4.03 [[ 9.90461726e-02 -9.95081045e-01 -1.88913451e-03 1.27380840e+02] [ 9.94959616e-01 9.90636050e-02 -1.55488032e-02 1.05140468e+02] [ 1.56594638e-02 -3.39563101e-04 9.99877325e-01 4.03199939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.17, Z:4.03 [[ 9.79121308e-02 -9.95193044e-01 -2.00498164e-03 1.27379071e+02] [ 9.95055597e-01 9.79319381e-02 -1.65437177e-02 1.05169222e+02] [ 1.66605445e-02 -3.75237550e-04 9.99861133e-01 4.03133884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.20, Z:4.03 [[ 9.80719781e-02 -9.95177392e-01 -1.96077293e-03 1.27380393e+02] [ 9.95045353e-01 9.80909135e-02 -1.62147428e-02 1.05196402e+02] [ 1.63288795e-02 -3.60846094e-04 9.99866610e-01 4.03146182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.23, Z:4.03 [[ 9.93781527e-02 -9.95047751e-01 -1.98905253e-03 1.27378051e+02] [ 9.94911145e-01 9.93974744e-02 -1.64910685e-02 1.05225129e+02] [ 1.66071074e-02 -3.40078600e-04 9.99862035e-01 4.03111548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.468040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.25, Z:4.03 [[ 1.00080999e-01 -9.94977344e-01 -1.96921850e-03 1.27378762e+02] [ 9.94842850e-01 1.00099854e-01 -1.63622535e-02 1.05252068e+02] [ 1.64771900e-02 -3.21512272e-04 9.99864190e-01 4.03110171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.498040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.28, Z:4.03 [[ 1.01037294e-01 -9.94880683e-01 -1.97263102e-03 1.27378302e+02] [ 9.94745033e-01 1.01056097e-01 -1.64312347e-02 1.05280115e+02] [ 1.65464644e-02 -3.02097412e-04 9.99863052e-01 4.03119607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.528040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.31, Z:4.03 [[ 1.02781380e-01 -9.94702055e-01 -1.95205309e-03 1.27375260e+02] [ 9.94568567e-01 1.02799571e-01 -1.62976642e-02 1.05309131e+02] [ 1.64119903e-02 -2.66354218e-04 9.99865279e-01 4.03051058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.558040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.34, Z:4.03 [[ 1.02760258e-01 -9.94704268e-01 -1.93605966e-03 1.27376709e+02] [ 9.94572380e-01 1.02778163e-01 -1.61997093e-02 1.05335916e+02] [ 1.63129047e-02 -2.60865155e-04 9.99866902e-01 4.03099288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.36, Z:4.03 [[ 1.02482266e-01 -9.94732957e-01 -1.93111070e-03 1.27379878e+02] [ 9.94601063e-01 1.02500127e-01 -1.62002989e-02 1.05363268e+02] [ 1.63129104e-02 -2.60441414e-04 9.99866902e-01 4.03163071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.618040942 meters Centerline goodness [0,1] 0.9999789915966386 Centerline is valid? [True, True] Translation: X:127.38, Y:105.39, Z:4.03 [[ 1.02804721e-01 -9.94699649e-01 -1.94853340e-03 1.27380892e+02] [ 9.94564717e-01 1.02822873e-01 -1.63853430e-02 1.05390679e+02] [ 1.64988487e-02 -2.53451945e-04 9.99863853e-01 4.03099004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:105.42, Z:4.03 [[ 1.02581929e-01 -9.94722772e-01 -1.88531910e-03 1.27383127e+02] [ 9.94595842e-01 1.02598961e-01 -1.58922767e-02 1.05418412e+02] [ 1.60018413e-02 -2.44870134e-04 9.99871932e-01 4.03083621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.678040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:105.45, Z:4.03 [[ 1.03011449e-01 -9.94678458e-01 -1.84574892e-03 1.27385205e+02] [ 9.94556224e-01 1.03027728e-01 -1.55950123e-02 1.05446038e+02] [ 1.57021861e-02 -2.29236267e-04 9.99876687e-01 4.03105101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:105.47, Z:4.03 [[ 1.04861934e-01 -9.94485125e-01 -1.81982173e-03 1.27385957e+02] [ 9.94365700e-01 1.04877546e-01 -1.54128127e-02 1.05474530e+02] [ 1.55186714e-02 -1.93350960e-04 9.99879559e-01 4.02992197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:105.50, Z:4.03 [[ 1.05799570e-01 -9.94385766e-01 -1.84380993e-03 1.27388892e+02] [ 9.94262473e-01 1.05815489e-01 -1.56594169e-02 1.05501117e+02] [ 1.57666049e-02 -1.76471445e-04 9.99875684e-01 4.03024898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:105.53, Z:4.03 [[ 1.08055974e-01 -9.94143307e-01 -1.72946171e-03 1.27390907e+02] [ 9.94034417e-01 1.08069736e-01 -1.47143003e-02 1.05529624e+02] [ 1.48150257e-02 -1.29176414e-04 9.99890243e-01 4.03007551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:105.56, Z:4.03 [[ 1.09093673e-01 -9.94029985e-01 -1.72040086e-03 1.27393825e+02] [ 9.93922012e-01 1.09107181e-01 -1.46512012e-02 1.05557188e+02] [ 1.47514414e-02 -1.11590928e-04 9.99891185e-01 4.03066233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:105.58, Z:4.03 [[ 1.09531851e-01 -9.93981732e-01 -1.75799672e-03 1.27397413e+02] [ 9.93868441e-01 1.09545910e-01 -1.50071654e-02 1.05583527e+02] [ 1.51094296e-02 -1.03454850e-04 9.99885841e-01 4.03092295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:105.61, Z:4.03 [[ 1.10972950e-01 -9.93821937e-01 -1.72121355e-03 1.27401558e+02] [ 9.93712791e-01 1.10986272e-01 -1.47287773e-02 1.05610932e+02] [ 1.48288131e-02 -7.58960413e-05 9.99890044e-01 4.03105278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88804094199998 meters Centerline goodness [0,1] 0.9999579805449923 Centerline is valid? [True, True] Translation: X:127.40, Y:105.64, Z:4.03 [[ 1.11202908e-01 -9.93796348e-01 -1.65284638e-03 1.27404746e+02] [ 9.93695260e-01 1.11215171e-01 -1.41744838e-02 1.05636914e+02] [ 1.42703718e-02 -6.61817990e-05 9.99898171e-01 4.03161003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.41, Y:105.66, Z:4.03 [[ 1.11688958e-01 -9.93741912e-01 -1.60936094e-03 1.27409296e+02] [ 9.93645552e-01 1.11700539e-01 -1.38385879e-02 1.05662812e+02] [ 1.39317513e-02 -5.35168840e-05 9.99902947e-01 4.03216775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.41, Y:105.69, Z:4.03 [[ 1.11515986e-01 -9.93761302e-01 -1.63096742e-03 1.27413854e+02] [ 9.93661758e-01 1.11527900e-01 -1.40655210e-02 1.05689538e+02] [ 1.41596689e-02 -5.20995182e-05 9.99899746e-01 4.03264908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.42, Y:105.72, Z:4.03 [[ 1.10855912e-01 -9.93835183e-01 -1.61119157e-03 1.27419470e+02] [ 9.93737548e-01 1.10867605e-01 -1.39305453e-02 1.05716444e+02] [ 1.40232950e-02 -5.68182577e-05 9.99901667e-01 4.03290469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.43, Y:105.74, Z:4.03 [[ 1.07928779e-01 -9.94157261e-01 -1.64892899e-03 1.27429060e+02] [ 9.94054493e-01 1.07941331e-01 -1.42945114e-02 1.05741895e+02] [ 1.43889799e-02 -9.63361179e-05 9.99896469e-01 4.03300089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.44, Y:105.77, Z:4.03 [[ 1.05690790e-01 -9.94397642e-01 -1.66934401e-03 1.27435814e+02] [ 9.94291727e-01 1.05703897e-01 -1.45136775e-02 1.05768102e+02] [ 1.46088228e-02 -1.25852905e-04 9.99893278e-01 4.03364468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.44, Y:105.79, Z:4.03 [[ 1.03866603e-01 -9.94589877e-01 -1.64481562e-03 1.27442011e+02] [ 9.94486572e-01 1.03879522e-01 -1.43354016e-02 1.05794083e+02] [ 1.44287079e-02 -1.46777586e-04 9.99895890e-01 4.03478478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.45, Y:105.82, Z:4.03 [[ 1.01619880e-01 -9.94821815e-01 -1.71954463e-03 1.27448279e+02] [ 9.94708280e-01 1.01634262e-01 -1.50304347e-02 1.05819477e+02] [ 1.51273689e-02 -1.83054316e-04 9.99885558e-01 4.03456898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.45, Y:105.85, Z:4.04 [[ 1.01222987e-01 -9.94862301e-01 -1.70537350e-03 1.27452244e+02] [ 9.94750021e-01 1.01237185e-01 -1.49474903e-02 1.05846774e+02] [ 1.50433418e-02 -1.83390719e-04 9.99886826e-01 4.03512362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.46, Y:105.87, Z:4.04 [[ 1.01942294e-01 -9.94789059e-01 -1.58016730e-03 1.27457598e+02] [ 9.94692183e-01 1.01954420e-01 -1.38837165e-02 1.05872147e+02] [ 1.39724743e-02 -1.56442154e-04 9.99902368e-01 4.03758765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.188040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.46, Y:105.90, Z:4.04 [[ 1.02565427e-01 -9.94725100e-01 -1.51923353e-03 1.27459841e+02] [ 9.94635199e-01 1.02576583e-01 -1.33740806e-02 1.05899905e+02] [ 1.34593714e-02 -1.39364855e-04 9.99909409e-01 4.03705677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.218040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.46, Y:105.93, Z:4.04 [[ 1.03160451e-01 -9.94663550e-01 -1.53076845e-03 1.27464181e+02] [ 9.94571821e-01 1.03171727e-01 -1.35088185e-02 1.05926895e+02] [ 1.35946614e-02 -1.28883355e-04 9.99907580e-01 4.03826611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.248040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:105.96, Z:4.04 [[ 1.05028934e-01 -9.94467964e-01 -1.54657789e-03 1.27467980e+02] [ 9.94373789e-01 1.05040272e-01 -1.36861184e-02 1.05955103e+02] [ 1.37728592e-02 -1.00438099e-04 9.99905145e-01 4.03859873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.278040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:105.98, Z:4.04 [[ 1.06555476e-01 -9.94305406e-01 -1.64014244e-03 1.27471154e+02] [ 9.94198891e-01 1.06568068e-01 -1.45537405e-02 1.05982412e+02] [ 1.46456496e-02 -7.98470482e-05 9.99892744e-01 4.03883478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:106.01, Z:4.04 [[ 1.08418734e-01 -9.94103915e-01 -1.66885506e-03 1.27474024e+02] [ 9.93992926e-01 1.08431567e-01 -1.48545560e-02 1.06009259e+02] [ 1.49479288e-02 -4.83179701e-05 9.99888272e-01 4.03988479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.338040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.48, Y:106.04, Z:4.04 [[ 1.12002733e-01 -9.93706430e-01 -1.70861644e-03 1.27478550e+02] [ 9.93589710e-01 1.12015764e-01 -1.52301171e-02 1.06036221e+02] [ 1.53256573e-02 8.15102092e-06 9.99882555e-01 4.03989012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.48, Y:106.06, Z:4.04 [[ 1.12882759e-01 -9.93606684e-01 -1.80034244e-03 1.27483342e+02] [ 9.93476281e-01 1.12897111e-01 -1.60972242e-02 1.06064047e+02] [ 1.61975630e-02 2.85015582e-05 9.99868810e-01 4.04012271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.398040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.49, Y:106.09, Z:4.04 [[ 1.12325501e-01 -9.93669898e-01 -1.76524676e-03 1.27490888e+02] [ 9.93543922e-01 1.12339368e-01 -1.58221533e-02 1.06090552e+02] [ 1.59203041e-02 2.33811011e-05 9.99873264e-01 4.04086675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:106.12, Z:4.04 [[ 1.10959840e-01 -9.93823336e-01 -1.75815871e-03 1.27496908e+02] [ 9.93697690e-01 1.10973768e-01 -1.58026390e-02 1.06118134e+02] [ 1.59001409e-02 6.38004705e-06 9.99873585e-01 4.04218097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.458040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:106.15, Z:4.04 [[ 1.09370307e-01 -9.93999621e-01 -1.69986215e-03 1.27502531e+02] [ 9.93881616e-01 1.09383515e-01 -1.53159829e-02 1.06145793e+02] [ 1.54100181e-02 -1.43479937e-05 9.99881259e-01 4.04320002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.51, Y:106.17, Z:4.04 [[ 1.06965414e-01 -9.94261347e-01 -1.66527817e-03 1.27510195e+02] [ 9.94147454e-01 1.06978366e-01 -1.50488520e-02 1.06172444e+02] [ 1.51406406e-02 -4.58253685e-05 9.99885373e-01 4.04441494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.52, Y:106.20, Z:4.05 [[ 1.06048462e-01 -9.94359497e-01 -1.70705847e-03 1.27516049e+02] [ 9.94239421e-01 1.06062184e-01 -1.54527500e-02 1.06200275e+02] [ 1.55466431e-02 -5.84844473e-05 9.99879142e-01 4.04559426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.52, Y:106.23, Z:4.05 [[ 1.04660849e-01 -9.94506362e-01 -1.78946738e-03 1.27524457e+02] [ 9.94373718e-01 1.04676115e-01 -1.62425218e-02 1.06227616e+02] [ 1.63406058e-02 -7.94432214e-05 9.99866480e-01 4.04627750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.53, Y:106.25, Z:4.05 [[ 1.03968995e-01 -9.94578777e-01 -1.87192296e-03 1.27529644e+02] [ 9.94432823e-01 1.03985806e-01 -1.70385497e-02 1.06254662e+02] [ 1.71408334e-02 -9.00207488e-05 9.99853081e-01 4.04709726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.53, Y:106.28, Z:4.05 [[ 1.03088594e-01 -9.94670281e-01 -1.94275149e-03 1.27534738e+02] [ 9.94512131e-01 1.03106846e-01 -1.77369366e-02 1.06282653e+02] [ 1.78427147e-02 -1.03614075e-04 9.99840801e-01 4.04712626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.54, Y:106.31, Z:4.05 [[ 1.02596943e-01 -9.94720851e-01 -2.07284476e-03 1.27540174e+02] [ 9.94539732e-01 1.02617817e-01 -1.89817048e-02 1.06309413e+02] [ 1.90942083e-02 -1.14061596e-04 9.99817682e-01 4.04722935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.55, Y:106.34, Z:4.05 [[ 1.02132639e-01 -9.94767951e-01 -2.37646121e-03 1.27547636e+02] [ 9.94528852e-01 1.02160193e-01 -2.18095741e-02 1.06336893e+02] [ 2.19382450e-02 -1.35989884e-04 9.99759318e-01 4.04595783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.55, Y:106.36, Z:4.05 [[ 1.02073971e-01 -9.94773532e-01 -2.55449082e-03 1.27554308e+02] [ 9.94495707e-01 1.02105833e-01 -2.35092895e-02 1.06363783e+02] [ 2.36472474e-02 -1.40743614e-04 9.99720355e-01 4.04538672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.56, Y:106.39, Z:4.05 [[ 1.02011349e-01 -9.94779868e-01 -2.58810299e-03 1.27559361e+02] [ 9.94493560e-01 1.02044080e-01 -2.38655638e-02 1.06391474e+02] [ 2.40050830e-02 -1.39293395e-04 9.99711827e-01 4.04575541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.57, Y:106.42, Z:4.05 [[ 1.01340955e-01 -9.94848251e-01 -2.63979070e-03 1.27565042e+02] [ 9.94548799e-01 1.01375217e-01 -2.44080193e-02 1.06417648e+02] [ 2.45498846e-02 -1.51868697e-04 9.99698595e-01 4.04680032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.57, Y:106.44, Z:4.05 [[ 1.00585995e-01 -9.94924835e-01 -2.65157100e-03 1.27571069e+02] [ 9.94621031e-01 1.00620804e-01 -2.45857400e-02 1.06443915e+02] [ 2.47277665e-02 -1.64327174e-04 9.99694209e-01 4.04733541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:106.47, Z:4.05 [[ 9.92027597e-02 -9.95063458e-01 -2.74351503e-03 1.27580371e+02] [ 9.94736415e-01 9.92404910e-02 -2.55105846e-02 1.06470634e+02] [ 2.56569183e-02 -1.98353910e-04 9.99670787e-01 4.04900054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.59, Y:106.50, Z:4.05 [[ 9.85108469e-02 -9.95131867e-01 -2.86027904e-03 1.27588983e+02] [ 9.94774452e-01 9.85521212e-02 -2.66696455e-02 1.06497676e+02] [ 2.68217007e-02 -2.18083148e-04 9.99640210e-01 4.04983168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.59, Y:106.53, Z:4.05 [[ 9.79625655e-02 -9.95185818e-01 -2.91959615e-03 1.27594455e+02] [ 9.94811423e-01 9.80057916e-02 -2.72964782e-02 1.06525302e+02] [ 2.74512053e-02 -2.30414568e-04 9.99623118e-01 4.04991844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.60, Y:106.55, Z:4.05 [[ 9.68699942e-02 -9.95292566e-01 -2.98529480e-03 1.27600432e+02] [ 9.94899032e-01 9.69156370e-02 -2.79870664e-02 1.06552313e+02] [ 2.81446408e-02 -2.58959955e-04 9.99603828e-01 4.05058991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.938040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.61, Y:106.58, Z:4.05 [[ 9.56390281e-02 -9.95411700e-01 -2.95359635e-03 1.27605702e+02] [ 9.95024393e-01 9.56842054e-02 -2.77667032e-02 1.06580259e+02] [ 2.79219137e-02 -2.83319910e-04 9.99610067e-01 4.05212885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.968040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.62, Y:106.61, Z:4.05 [[ 9.18338453e-02 -9.95770126e-01 -2.89842285e-03 1.27616588e+02] [ 9.95395335e-01 9.18788035e-02 -2.73205685e-02 1.06607066e+02] [ 2.74713095e-02 -3.76123718e-04 9.99622522e-01 4.05427350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.998040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.62, Y:106.63, Z:4.06 [[ 9.00206880e-02 -9.95935880e-01 -2.82819437e-03 1.27623033e+02] [ 9.95577416e-01 9.00641700e-02 -2.67217809e-02 1.06634067e+02] [ 2.68678993e-02 -4.10173342e-04 9.99638909e-01 4.05577894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.028040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.63, Y:106.66, Z:4.06 [[ 8.65826646e-02 -9.96240775e-01 -2.78586712e-03 1.27629796e+02] [ 9.95891717e-01 8.66260811e-02 -2.63744069e-02 1.06660895e+02] [ 2.65165883e-02 -4.90855568e-04 9.99648253e-01 4.05759281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.058040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.63, Y:106.69, Z:4.06 [[ 8.51447854e-02 -9.96364814e-01 -2.74279615e-03 1.27630187e+02] [ 9.96024691e-01 8.51873947e-02 -2.60369464e-02 1.06689034e+02] [ 2.61759489e-02 -5.14982471e-04 9.99657219e-01 4.05892255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.63, Y:106.72, Z:4.06 [[ 8.42118575e-02 -9.96444315e-01 -2.66291965e-03 1.27632679e+02] [ 9.96122094e-01 8.42523555e-02 -2.53439135e-02 1.06715588e+02] [ 2.54781558e-02 -5.18335065e-04 9.99675245e-01 4.06026332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.118040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.63, Y:106.74, Z:4.06 [[ 8.31406374e-02 -9.96534585e-01 -2.54086714e-03 1.27633024e+02] [ 9.96239634e-01 8.31778586e-02 -2.42494462e-02 1.06743971e+02] [ 2.43767557e-02 -5.15198132e-04 9.99702710e-01 4.06272276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.63, Y:106.77, Z:4.06 [[ 8.22735358e-02 -9.96606759e-01 -2.45639848e-03 1.27634560e+02] [ 9.96329668e-01 8.23085953e-02 -2.35050783e-02 1.06772450e+02] [ 2.36275026e-02 -5.13536785e-04 9.99720700e-01 4.06418383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.178040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:106.80, Z:4.07 [[ 8.07563963e-02 -9.96730914e-01 -2.42703827e-03 1.27637138e+02] [ 9.96458985e-01 8.07910686e-02 -2.32872105e-02 1.06801046e+02] [ 2.34071656e-02 -5.37852890e-04 9.99725870e-01 4.06592630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:106.83, Z:4.07 [[ 8.01293583e-02 -9.96781448e-01 -2.45580656e-03 1.27640135e+02] [ 9.96501579e-01 8.01650672e-02 -2.36255247e-02 1.06828467e+02] [ 2.37463546e-02 -5.54116981e-04 9.99717862e-01 4.06678750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:106.86, Z:4.07 [[ 7.93388216e-02 -9.96844598e-01 -2.48967517e-03 1.27643025e+02] [ 9.96555368e-01 7.93757891e-02 -2.40183621e-02 1.06855220e+02] [ 2.41401944e-02 -5.75510617e-04 9.99708417e-01 4.06747961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:106.88, Z:4.07 [[ 7.84685060e-02 -9.96913140e-01 -2.62405714e-03 1.27641981e+02] [ 9.96589907e-01 7.85099002e-02 -2.53919921e-02 1.06883497e+02] [ 2.55196251e-02 -6.22637176e-04 9.99674127e-01 4.06722309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:106.91, Z:4.07 [[ 7.74996261e-02 -9.96988849e-01 -2.65395395e-03 1.27644524e+02] [ 9.96656371e-01 7.75423375e-02 -2.57539024e-02 1.06910585e+02] [ 2.58821473e-02 -6.49162310e-04 9.99664790e-01 4.06747683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:106.94, Z:4.07 [[ 7.66379694e-02 -9.97055562e-01 -2.61292046e-03 1.27645728e+02] [ 9.96731704e-01 7.66796907e-02 -2.54191767e-02 1.06938614e+02] [ 2.55446895e-02 -6.56306578e-04 9.99673466e-01 4.06829147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:106.97, Z:4.07 [[ 7.50146508e-02 -9.97179241e-01 -2.52240793e-03 1.27645434e+02] [ 9.96875870e-01 7.50540676e-02 -2.46046080e-02 1.06967542e+02] [ 2.47245213e-02 -6.68821523e-04 9.99694079e-01 4.06997663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.00, Z:4.07 [[ 7.40114394e-02 -9.97254119e-01 -2.55511601e-03 1.27647591e+02] [ 9.96941182e-01 7.40522451e-02 -2.49908971e-02 1.06995446e+02] [ 2.51114871e-02 -6.97688108e-04 9.99684413e-01 4.07121824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.02, Z:4.07 [[ 7.32199230e-02 -9.97312688e-01 -2.49902471e-03 1.27649379e+02] [ 9.97011776e-01 7.32592399e-02 -2.45072019e-02 1.07023717e+02] [ 2.46244200e-02 -6.97141631e-04 9.99696530e-01 4.07341710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.05, Z:4.08 [[ 7.27528269e-02 -9.97347049e-01 -2.42710769e-03 1.27651843e+02] [ 9.97061653e-01 7.27900917e-02 -2.38676186e-02 1.07050733e+02] [ 2.39809683e-02 -6.83539285e-04 9.99712182e-01 4.07540840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.08, Z:4.08 [[ 7.24746503e-02 -9.97367319e-01 -2.41996525e-03 1.27654539e+02] [ 9.97081911e-01 7.25118239e-02 -2.38683428e-02 1.07078168e+02] [ 2.39809811e-02 -6.83053783e-04 9.99712182e-01 4.07604633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.11, Z:4.08 [[ 7.31992530e-02 -9.97314688e-01 -2.29816865e-03 1.27653649e+02] [ 9.97055894e-01 7.32326301e-02 -2.27272218e-02 1.07106955e+02] [ 2.28344930e-02 -6.27786940e-04 9.99739062e-01 4.07821819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.14, Z:4.08 [[ 7.40716540e-02 -9.97250434e-01 -2.22773543e-03 1.27653418e+02] [ 9.97005993e-01 7.41028368e-02 -2.20866573e-02 1.07135180e+02] [ 2.21910101e-02 -5.85070328e-04 9.99753578e-01 4.07951967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.16, Z:4.08 [[ 7.47283864e-02 -9.97201608e-01 -2.14993452e-03 1.27653313e+02] [ 9.96972668e-01 7.47573115e-02 -2.13738990e-02 1.07163583e+02] [ 2.14748098e-02 -5.46188970e-04 9.99769240e-01 4.08102280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.19, Z:4.08 [[ 7.53831351e-02 -9.97152428e-01 -2.10202598e-03 1.27655765e+02] [ 9.96932325e-01 7.54106723e-02 -2.09563836e-02 1.07190465e+02] [ 2.10552240e-02 -5.15819755e-04 9.99778181e-01 4.08217914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.22, Z:4.09 [[ 7.53786567e-02 -9.97153086e-01 -1.94454112e-03 1.27655192e+02] [ 9.96963732e-01 7.54022478e-02 -1.94375548e-02 1.07217273e+02] [ 1.95288405e-02 -4.73460199e-04 9.99809182e-01 4.08519798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.24, Z:4.09 [[ 7.53425242e-02 -9.97156084e-01 -1.80223875e-03 1.27656607e+02] [ 9.96992457e-01 7.53628184e-02 -1.80689292e-02 1.07243759e+02] [ 1.81533644e-02 -4.35459705e-04 9.99835119e-01 4.08689770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.27, Z:4.09 [[ 7.48548531e-02 -9.97193033e-01 -1.67514300e-03 1.27653409e+02] [ 9.97050809e-01 7.48724763e-02 -1.68462570e-02 1.07272488e+02] [ 1.69243922e-02 -4.09178590e-04 9.99856688e-01 4.08808763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.30, Z:4.09 [[ 7.46733668e-02 -9.97206761e-01 -1.60115661e-03 1.27655522e+02] [ 9.97076016e-01 7.46895110e-02 -1.61522368e-02 1.07299312e+02] [ 1.62267094e-02 -3.90332947e-04 9.99868262e-01 4.08910865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.33, Z:4.09 [[ 7.45803624e-02 -9.97213919e-01 -1.47279628e-03 1.27658890e+02] [ 9.97102990e-01 7.45940398e-02 -1.48780808e-02 1.07325923e+02] [ 1.49464910e-02 -3.58916921e-04 9.99888231e-01 4.09149878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.35, Z:4.09 [[ 7.59590830e-02 -9.97109822e-01 -1.49044054e-03 1.27655833e+02] [ 9.96995448e-01 7.59729497e-02 -1.51058618e-02 1.07353877e+02] [ 1.51754364e-02 -3.38535024e-04 9.99884789e-01 4.09202152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.38, Z:4.09 [[ 7.65862217e-02 -9.97061747e-01 -1.55695456e-03 1.27652103e+02] [ 9.96936233e-01 7.66012902e-02 -1.58236959e-02 1.07382425e+02] [ 1.58964666e-02 -3.40307326e-04 9.99873585e-01 4.09058384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.41, Z:4.09 [[ 7.71646397e-02 -9.97017125e-01 -1.57198134e-03 1.27652015e+02] [ 9.96888408e-01 7.71799419e-02 -1.60236991e-02 1.07410700e+02] [ 1.60972279e-02 -3.30627003e-04 9.99870377e-01 4.09067961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.44, Z:4.09 [[ 7.77128237e-02 -9.96974400e-01 -1.66229689e-03 1.27649585e+02] [ 9.96829456e-01 7.77298753e-02 -1.70030186e-02 1.07438435e+02] [ 1.70807844e-02 -3.35673916e-04 9.99854056e-01 4.09016645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.47, Z:4.09 [[ 7.69257002e-02 -9.97035361e-01 -1.71026969e-03 1.27649016e+02] [ 9.96881334e-01 7.69438837e-02 -1.75283911e-02 1.07467023e+02] [ 1.76080205e-02 -3.56552171e-04 9.99844903e-01 4.08918410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.49, Z:4.09 [[ 7.38812711e-02 -9.97265430e-01 -1.79430717e-03 1.27651216e+02] [ 9.97094865e-01 7.39018282e-02 -1.84485826e-02 1.07494712e+02] [ 1.85307362e-02 -4.26089733e-04 9.99828200e-01 4.08883053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.958040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.52, Z:4.09 [[ 7.23334206e-02 -9.97378891e-01 -1.79545435e-03 1.27653316e+02] [ 9.97207196e-01 7.23542921e-02 -1.85112232e-02 1.07521496e+02] [ 1.85926121e-02 -4.51459905e-04 9.99827041e-01 4.08953327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.55, Z:4.09 [[ 6.95547667e-02 -9.97576699e-01 -1.69216854e-03 1.27654842e+02] [ 9.97423391e-01 6.95737537e-02 -1.74948917e-02 1.07548610e+02] [ 1.75702268e-02 -4.70955371e-04 9.99845521e-01 4.09078731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.58, Z:4.09 [[ 6.83084501e-02 -9.97662958e-01 -1.60540256e-03 1.27656900e+02] [ 9.97524203e-01 6.83257344e-02 -1.66450723e-02 1.07576737e+02] [ 1.67158624e-02 -4.64428813e-04 9.99860172e-01 4.09190577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.61, Z:4.09 [[ 6.67054592e-02 -9.97771482e-01 -1.56566453e-03 1.27655747e+02] [ 9.97638819e-01 6.67221315e-02 -1.62771118e-02 1.07605520e+02] [ 1.63453024e-02 -4.76195490e-04 9.99866293e-01 4.09196447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.63, Z:4.09 [[ 6.49956799e-02 -9.97884603e-01 -1.37132186e-03 1.27656184e+02] [ 9.97782446e-01 6.50086571e-02 -1.42851313e-02 1.07632923e+02] [ 1.43440604e-02 -4.39809064e-04 9.99897022e-01 4.09384736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.66, Z:4.09 [[ 6.50954793e-02 -9.97878190e-01 -1.30262460e-03 1.27656648e+02] [ 9.97785458e-01 6.51071965e-02 -1.36100578e-02 1.07660854e+02] [ 1.36659901e-02 -4.13786653e-04 9.99906530e-01 4.09473639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.69, Z:4.10 [[ 6.63921076e-02 -9.97792729e-01 -1.32584808e-03 1.27655139e+02] [ 9.97696058e-01 6.64041384e-02 -1.38948303e-02 1.07687916e+02] [ 1.39522024e-02 -4.00286336e-04 9.99902583e-01 4.09562772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.72, Z:4.10 [[ 6.76379762e-02 -9.97709063e-01 -1.31492285e-03 1.27653849e+02] [ 9.97613284e-01 6.76497094e-02 -1.38294367e-02 1.07716932e+02] [ 1.38867085e-02 -3.76389389e-04 9.99903504e-01 4.09554782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19804094199998 meters Centerline goodness [0,1] 0.9999582942341779 Centerline is valid? [True, True] Translation: X:127.65, Y:107.74, Z:4.10 [[ 6.86816329e-02 -9.97637701e-01 -1.36036794e-03 1.27654890e+02] [ 9.97534955e-01 6.86940895e-02 -1.43225779e-02 1.07743937e+02] [ 1.43821929e-02 -3.73316541e-04 9.99896501e-01 4.09628671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.77, Z:4.10 [[ 7.05801769e-02 -9.97505449e-01 -1.14834530e-03 1.27654071e+02] [ 9.97431862e-01 7.05889224e-02 -1.21195857e-02 1.07770216e+02] [ 1.21704132e-02 -2.89993695e-04 9.99925896e-01 4.09819240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.80, Z:4.10 [[ 7.12020946e-02 -9.97461325e-01 -1.07995171e-03 1.27655171e+02] [ 9.97395942e-01 7.12097957e-02 -1.14236153e-02 1.07796566e+02] [ 1.14715176e-02 -2.63754113e-04 9.99934165e-01 4.09924563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.82, Z:4.10 [[ 7.23011553e-02 -9.97382411e-01 -9.32712217e-04 1.27654312e+02] [ 9.97333561e-01 7.23068475e-02 -9.87359991e-03 1.07823789e+02] [ 9.91519636e-03 -2.16352516e-04 9.99950820e-01 4.10065008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:107.85, Z:4.10 [[ 7.29765784e-02 -9.97333292e-01 -8.51017066e-04 1.27654840e+02] [ 9.97292375e-01 7.29812948e-02 -9.03602057e-03 1.07851509e+02] [ 9.07403246e-03 -1.89294968e-04 9.99958812e-01 4.10159263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.88, Z:4.10 [[ 7.37409737e-02 -9.97277138e-01 -7.60291481e-04 1.27656128e+02] [ 9.97244343e-01 7.37447158e-02 -8.08938349e-03 1.07879780e+02] [ 8.12342470e-03 -1.61677363e-04 9.99966991e-01 4.10269265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.91, Z:4.10 [[ 7.43750138e-02 -9.97230059e-01 -7.52382558e-04 1.27657322e+02] [ 9.97197756e-01 7.43786616e-02 -8.02805053e-03 1.07907854e+02] [ 8.06177451e-03 -1.53187830e-04 9.99967492e-01 4.10274021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.93, Z:4.10 [[ 7.56415281e-02 -9.97134854e-01 -6.65214454e-04 1.27658256e+02] [ 9.97109461e-01 7.56443499e-02 -7.11730673e-03 1.07934516e+02] [ 7.14723432e-03 -1.24927668e-04 9.99974450e-01 4.10352510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.438040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:107.96, Z:4.11 [[ 7.59090404e-02 -9.97114576e-01 -5.83068592e-04 1.27660046e+02] [ 9.97095104e-01 7.59112024e-02 -6.23237457e-03 1.07960784e+02] [ 6.25865296e-03 -1.08281265e-04 9.99980409e-01 4.10503575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.468040942 meters Centerline goodness [0,1] 0.9999791896447673 Centerline is valid? [True, True] Translation: X:127.66, Y:107.99, Z:4.11 [[ 7.58225408e-02 -9.97121260e-01 -3.68441733e-04 1.27661906e+02] [ 9.97113511e-01 7.58234044e-02 -3.93171246e-03 1.07988902e+02] [ 3.94833059e-03 -6.92658013e-05 9.99992203e-01 4.10593806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.498040942 meters Centerline goodness [0,1] 0.9999791405924072 Centerline is valid? [True, True] Translation: X:127.67, Y:108.02, Z:4.11 [[ 7.54845428e-02 -9.97146937e-01 -2.66149745e-04 1.27665120e+02] [ 9.97142933e-01 7.54849940e-02 -2.82616190e-03 1.08015348e+02] [ 2.83818900e-03 -5.20577982e-05 9.99995971e-01 4.10795455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.528040942 meters Centerline goodness [0,1] 0.9999791004848687 Centerline is valid? [True, True] Translation: X:127.67, Y:108.04, Z:4.11 [[ 7.49711021e-02 -9.97185693e-01 -1.67699220e-04 1.27667708e+02] [ 9.97184134e-01 7.49712814e-02 -1.76326865e-03 1.08042851e+02] [ 1.77087890e-03 -3.50328077e-05 9.99998431e-01 4.10868881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.558040942 meters Centerline goodness [0,1] 0.9999791044152371 Centerline is valid? [True, True] Translation: X:127.67, Y:108.07, Z:4.11 [[ 7.50156019e-02 -9.97182360e-01 -3.47984188e-05 1.27670506e+02] [ 9.97182311e-01 7.50156092e-02 -3.12340559e-04 1.08070309e+02] [ 3.14070920e-04 -1.12699526e-05 9.99999951e-01 4.11018769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588040942 meters Centerline goodness [0,1] 0.999957988488846 Centerline is valid? [True, True] Translation: X:127.67, Y:108.10, Z:4.11 [[ 7.55804982e-02 -9.97139697e-01 1.14945449e-04 1.27673147e+02] [ 9.97138835e-01 7.55805840e-02 1.31111014e-03 1.08096706e+02] [-1.31604761e-03 1.55222134e-05 9.99999134e-01 4.11245216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.618040942 meters Centerline goodness [0,1] 0.9996668540612572 Centerline is valid? [True, True] Translation: X:127.67, Y:108.13, Z:4.11 [[ 7.66324570e-02 -9.97059347e-01 3.54858150e-04 1.27674304e+02] [ 9.97051423e-01 7.66332629e-02 3.97540622e-03 1.08125313e+02] [-3.99090987e-03 4.91666765e-05 9.99992035e-01 4.11249256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648040942 meters Centerline goodness [0,1] 0.9996235648409562 Centerline is valid? [True, True] Translation: X:127.68, Y:108.15, Z:4.12 [[ 7.67035732e-02 -9.97053854e-01 4.17951966e-04 1.27678118e+02] [ 9.97042806e-01 7.67046910e-02 4.69404802e-03 1.08152213e+02] [-4.71227754e-03 5.66657453e-05 9.99988896e-01 4.11592831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.678040942 meters Centerline goodness [0,1] 0.9997071987284059 Centerline is valid? [True, True] Translation: X:127.68, Y:108.18, Z:4.12 [[ 7.67638290e-02 -9.97049192e-01 4.72195868e-04 1.27681377e+02] [ 9.97035041e-01 7.67652555e-02 5.31248499e-03 1.08179310e+02] [-5.33305711e-03 6.29891364e-05 9.99985777e-01 4.11713940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708040942 meters Centerline goodness [0,1] 0.9997290368301478 Centerline is valid? [True, True] Translation: X:127.68, Y:108.21, Z:4.12 [[ 7.72416200e-02 -9.97012183e-01 6.62067580e-04 1.27684482e+02] [ 9.96984474e-01 7.72444096e-02 7.43363124e-03 1.08207117e+02] [-7.46256193e-03 8.58853787e-05 9.99972151e-01 4.11752353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73804094199997 meters Centerline goodness [0,1] 0.9995602278438599 Centerline is valid? [True, True] Translation: X:127.69, Y:108.24, Z:4.12 [[ 7.73814146e-02 -9.97001287e-01 7.41941644e-04 1.27686928e+02] [ 9.96966375e-01 7.73849143e-02 8.34396278e-03 1.08235390e+02] [-8.37635672e-03 9.40232272e-05 9.99964913e-01 4.11813650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76804094199997 meters Centerline goodness [0,1] 0.9996227522320493 Centerline is valid? [True, True] Translation: X:127.69, Y:108.26, Z:4.12 [[ 7.76983717e-02 -9.96976531e-01 8.71124867e-04 1.27689499e+02] [ 9.96928226e-01 7.77031828e-02 9.81470417e-03 1.08263569e+02] [-9.85271890e-03 1.05862435e-04 9.99951455e-01 4.11829749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79804094199997 meters Centerline goodness [0,1] 0.9996236278097229 Centerline is valid? [True, True] Translation: X:127.69, Y:108.29, Z:4.12 [[ 7.84544697e-02 -9.96917148e-01 1.04742038e-03 1.27692810e+02] [ 9.96847064e-01 7.84613745e-02 1.18212909e-02 1.08291835e+02] [-1.18670296e-02 1.16684824e-04 9.99929578e-01 4.12017869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82804094199997 meters Centerline goodness [0,1] 0.9995622172653171 Centerline is valid? [True, True] Translation: X:127.70, Y:108.32, Z:4.12 [[ 7.83414757e-02 -9.96925944e-01 1.12955023e-03 1.27696489e+02] [ 9.96844072e-01 7.83495186e-02 1.27768972e-02 1.08319060e+02] [-1.28261200e-02 1.25024469e-04 9.99917734e-01 4.12230490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85804094199997 meters Centerline goodness [0,1] 0.9995590180802587 Centerline is valid? [True, True] Translation: X:127.70, Y:108.35, Z:4.12 [[ 7.75230626e-02 -9.96989580e-01 1.39688781e-03 1.27702016e+02] [ 9.96863666e-01 7.75354731e-02 1.58455810e-02 1.08346582e+02] [-1.59061875e-02 1.64108742e-04 9.99873475e-01 4.12371794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88804094199998 meters Centerline goodness [0,1] 0.9996229418911559 Centerline is valid? [True, True] Translation: X:127.71, Y:108.37, Z:4.13 [[ 7.65286250e-02 -9.97066211e-01 1.52959107e-03 1.27706460e+02] [ 9.96914462e-01 7.65436648e-02 1.73960733e-02 1.08373503e+02] [-1.74621174e-02 1.93573885e-04 9.99847507e-01 4.12600023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91804094199998 meters Centerline goodness [0,1] 0.999476691855232 Centerline is valid? [True, True] Translation: X:127.71, Y:108.40, Z:4.13 [[ 7.55595685e-02 -9.97139930e-01 1.64656430e-03 1.27710308e+02] [ 9.96963190e-01 7.55771781e-02 1.87746694e-02 1.08401873e+02] [-1.88454152e-02 2.22958082e-04 9.99822385e-01 4.12619036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94804094199998 meters Centerline goodness [0,1] 0.9996859690993594 Centerline is valid? [True, True] Translation: X:127.72, Y:108.43, Z:4.13 [[ 7.40910555e-02 -9.97249803e-01 1.82933014e-03 1.27716082e+02] [ 9.97030453e-01 7.41131284e-02 2.09169795e-02 1.08429827e+02] [-2.09950311e-02 2.74136765e-04 9.99779542e-01 4.12629514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97804094199998 meters Centerline goodness [0,1] 0.9993543953183247 Centerline is valid? [True, True] Translation: X:127.72, Y:108.46, Z:4.13 [[ 7.30154512e-02 -9.97329019e-01 1.89003222e-03 1.27722538e+02] [ 9.97093551e-01 7.30392845e-02 2.16728805e-02 1.08456991e+02] [-2.17530393e-02 3.02083789e-04 9.99763329e-01 4.13255522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00804094199998 meters Centerline goodness [0,1] 0.9997076328704187 Centerline is valid? [True, True] Translation: X:127.73, Y:108.49, Z:4.13 [[ 7.17999594e-02 -9.97417084e-01 1.98164397e-03 1.27726350e+02] [ 9.97156759e-01 7.18264969e-02 2.27892974e-02 1.08485642e+02] [-2.28727691e-02 3.39739048e-04 9.99738326e-01 4.12912332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03804094199998 meters Centerline goodness [0,1] 0.9996435983982893 Centerline is valid? [True, True] Translation: X:127.73, Y:108.51, Z:4.13 [[ 6.94057726e-02 -9.97585800e-01 2.32588098e-03 1.27734139e+02] [ 9.97224895e-01 6.94432304e-02 2.68355383e-02 1.08512667e+02] [-2.69322686e-02 4.56885148e-04 9.99637156e-01 4.13057167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06804094199998 meters Centerline goodness [0,1] 0.9989360592468969 Centerline is valid? [True, True] Translation: X:127.74, Y:108.54, Z:4.14 [[ 6.76808463e-02 -9.97703960e-01 2.47227724e-03 1.27739811e+02] [ 9.97293681e-01 6.77239200e-02 2.86144184e-02 1.08539695e+02] [-2.87161509e-02 5.28938408e-04 9.99587466e-01 4.13528909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09804094199998 meters Centerline goodness [0,1] 0.9990372540812055 Centerline is valid? [True, True] Translation: X:127.74, Y:108.57, Z:4.13 [[ 6.63291321e-02 -9.97794390e-01 2.60783628e-03 1.27743332e+02] [ 9.97337084e-01 6.63776935e-02 3.02116299e-02 1.08567579e+02] [-3.03180970e-02 5.96980634e-04 9.99540123e-01 4.13451667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12804094199998 meters Centerline goodness [0,1] 0.997802427794056 Centerline is valid? [True, True] Translation: X:127.75, Y:108.59, Z:4.14 [[ 6.41955419e-02 -9.97933233e-01 2.86266606e-03 1.27749512e+02] [ 9.97378349e-01 6.42553192e-02 3.32818633e-02 1.08593891e+02] [-3.33970189e-02 7.18613906e-04 9.99441906e-01 4.13714440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15804094199999 meters Centerline goodness [0,1] 0.9976548922716137 Centerline is valid? [True, True] Translation: X:127.75, Y:108.62, Z:4.14 [[ 6.40193670e-02 -9.97944153e-01 2.99813666e-03 1.27753266e+02] [ 9.97333945e-01 6.40850760e-02 3.49013534e-02 1.08621822e+02] [-3.50217374e-02 7.55780907e-04 9.99386265e-01 4.13855645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.188040942 meters Centerline goodness [0,1] 0.9970735785953178 Centerline is valid? [True, True] Translation: X:127.76, Y:108.65, Z:4.14 [[ 6.40397479e-02 -9.97942589e-01 3.08230236e-03 1.27755880e+02] [ 9.97292574e-01 6.41092921e-02 3.60211125e-02 1.08649762e+02] [-3.61446065e-02 7.67174291e-04 9.99346276e-01 4.13921769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.218040942 meters Centerline goodness [0,1] 0.9948625845794002 Centerline is valid? [True, True] Translation: X:127.76, Y:108.68, Z:4.14 [[ 6.39663096e-02 -9.97946440e-01 3.34868563e-03 1.27758887e+02] [ 9.97176270e-01 6.40485090e-02 3.92081012e-02 1.08676552e+02] [-3.93420634e-02 8.31232308e-04 9.99225456e-01 4.14324304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.248040942 meters Centerline goodness [0,1] 0.9949555206698064 Centerline is valid? [True, True] Translation: X:127.76, Y:108.70, Z:4.14 [[ 6.30270259e-02 -9.98005753e-01 3.47996240e-03 1.27760804e+02] [ 9.97167579e-01 6.31167199e-02 4.09035256e-02 1.08704428e+02] [-4.10415977e-02 8.92078112e-04 9.99157040e-01 4.14151797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.278040942 meters Centerline goodness [0,1] 0.9934907786030209 Centerline is valid? [True, True] Translation: X:127.76, Y:108.73, Z:4.14 [[ 6.03818471e-02 -9.98168441e-01 3.71427288e-03 1.27764412e+02] [ 9.97207368e-01 6.04867092e-02 4.38043776e-02 1.08732122e+02] [-4.39488114e-02 1.05891106e-03 9.99033223e-01 4.14366427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.308040942 meters Centerline goodness [0,1] 0.9930632225809811 Centerline is valid? [True, True] Translation: X:127.77, Y:108.76, Z:4.14 [[ 5.87711434e-02 -9.98264011e-01 3.86229962e-03 1.27766732e+02] [ 9.97217916e-01 5.88863843e-02 4.57036304e-02 1.08759822e+02] [-4.58517262e-02 1.16549977e-03 9.98947577e-01 4.14484789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.338040942 meters Centerline goodness [0,1] 0.9922673410102615 Centerline is valid? [True, True] Translation: X:127.77, Y:108.79, Z:4.15 [[ 5.69476460e-02 -9.98369253e-01 3.97494918e-03 1.27769051e+02] [ 9.97254636e-01 5.70719135e-02 4.71803835e-02 1.08787935e+02] [-4.73303022e-02 1.27722471e-03 9.98878477e-01 4.14660920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368040942 meters Centerline goodness [0,1] 0.9926532977380434 Centerline is valid? [True, True] Translation: X:127.77, Y:108.82, Z:4.15 [[ 5.63589906e-02 -9.98401853e-01 4.17182549e-03 1.27768705e+02] [ 9.97165336e-01 5.64968328e-02 4.96930579e-02 1.08816202e+02] [-4.98493360e-02 1.35934918e-03 9.98755824e-01 4.14712061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.398040942 meters Centerline goodness [0,1] 0.9926532977380434 Centerline is valid? [True, True] Translation: X:127.77, Y:108.84, Z:4.15 [[ 5.60732669e-02 -9.98418000e-01 4.15772272e-03 1.27770943e+02] [ 9.97181444e-01 5.62107616e-02 4.96942408e-02 1.08843742e+02] [-4.98493332e-02 1.35948552e-03 9.98755824e-01 4.14776034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428040942 meters Centerline goodness [0,1] 0.9924245577523413 Centerline is valid? [True, True] Translation: X:127.77, Y:108.87, Z:4.15 [[ 5.63011546e-02 -9.98404694e-01 4.27170247e-03 1.27772364e+02] [ 9.97095532e-01 5.64460933e-02 5.11306000e-02 1.08871005e+02] [-5.12901519e-02 1.38058363e-03 9.98682840e-01 4.15063716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.458040942 meters Centerline goodness [0,1] 0.9933284838407981 Centerline is valid? [True, True] Translation: X:127.77, Y:108.90, Z:4.15 [[ 5.79576801e-02 -9.98309266e-01 4.41778132e-03 1.27768732e+02] [ 9.96898214e-01 5.81106373e-02 5.30764012e-02 1.08900053e+02] [-5.32433832e-02 1.32789323e-03 9.98580682e-01 4.14871938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48804094199997 meters Centerline goodness [0,1] 0.9928169569640225 Centerline is valid? [True, True] Translation: X:127.77, Y:108.93, Z:4.15 [[ 5.94687502e-02 -9.98220252e-01 4.44940874e-03 1.27769587e+02] [ 9.96782223e-01 5.96218883e-02 5.35764014e-02 1.08927035e+02] [-5.37463311e-02 1.24896991e-03 9.98553840e-01 4.15297696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51804094199997 meters Centerline goodness [0,1] 0.9933381757808447 Centerline is valid? [True, True] Translation: X:127.77, Y:108.96, Z:4.15 [[ 6.09877131e-02 -9.98128491e-01 4.47378216e-03 1.27769380e+02] [ 9.96663187e-01 6.11405625e-02 5.40770185e-02 1.08955244e+02] [-5.42493424e-02 1.16082029e-03 9.98526745e-01 4.15232353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54804094199997 meters Centerline goodness [0,1] 0.9938038793103449 Centerline is valid? [True, True] Translation: X:127.77, Y:108.98, Z:4.15 [[ 6.36157923e-02 -9.97964068e-01 4.55519743e-03 1.27768172e+02] [ 9.96434898e-01 6.37704308e-02 5.52342762e-02 1.08984079e+02] [-5.54123099e-02 1.02518544e-03 9.98463031e-01 4.15400749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57804094199997 meters Centerline goodness [0,1] 0.9948648928460503 Centerline is valid? [True, True] Translation: X:127.77, Y:109.01, Z:4.15 [[ 6.45200508e-02 -9.97906089e-01 4.53879031e-03 1.27768473e+02] [ 9.96376753e-01 6.46723946e-02 5.52344834e-02 1.09012046e+02] [-5.54123618e-02 9.58613474e-04 9.98463095e-01 4.15237634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60804094199997 meters Centerline goodness [0,1] 0.9948988090280669 Centerline is valid? [True, True] Translation: X:127.77, Y:109.04, Z:4.15 [[ 6.63529548e-02 -9.97785915e-01 4.53352358e-03 1.27769474e+02] [ 9.96248721e-01 6.65023131e-02 5.53708254e-02 1.09038917e+02] [-5.55497195e-02 8.42499194e-04 9.98455567e-01 4.15386301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63804094199998 meters Centerline goodness [0,1] 0.9951093150968812 Centerline is valid? [True, True] Translation: X:127.77, Y:109.07, Z:4.16 [[ 6.71828609e-02 -9.97730399e-01 4.52930892e-03 1.27771678e+02] [ 9.96184387e-01 6.73308293e-02 5.55268042e-02 1.09065446e+02] [-5.57057426e-02 7.81577271e-04 9.98446924e-01 4.15626413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66804094199998 meters Centerline goodness [0,1] 0.9953639505764017 Centerline is valid? [True, True] Translation: X:127.77, Y:109.09, Z:4.16 [[ 6.79338280e-02 -9.97679683e-01 4.49945179e-03 1.27774206e+02] [ 9.96143579e-01 6.80788402e-02 5.53465637e-02 1.09093617e+02] [-5.55244596e-02 7.22196068e-04 9.98457066e-01 4.15775002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69804094199998 meters Centerline goodness [0,1] 0.996664594986534 Centerline is valid? [True, True] Translation: X:127.78, Y:109.12, Z:4.15 [[ 6.83343448e-02 -9.97652737e-01 4.40825958e-03 1.27775018e+02] [ 9.96168498e-01 6.84730715e-02 5.44037040e-02 1.09122275e+02] [-5.45778513e-02 6.73727855e-04 9.98509291e-01 4.15226685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72804094199998 meters Centerline goodness [0,1] 0.9955844855822052 Centerline is valid? [True, True] Translation: X:127.78, Y:109.15, Z:4.16 [[ 6.90585146e-02 -9.97603750e-01 4.20475362e-03 1.27776404e+02] [ 9.96242215e-01 6.91838825e-02 5.21060488e-02 1.09149262e+02] [-5.22720908e-02 5.90586731e-04 9.98632705e-01 4.15952926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75804094199998 meters Centerline goodness [0,1] 0.995731567659858 Centerline is valid? [True, True] Translation: X:127.78, Y:109.18, Z:4.16 [[ 6.88186109e-02 -9.97620669e-01 4.12303604e-03 1.27778571e+02] [ 9.96303217e-01 6.89395661e-02 5.12565731e-02 1.09176889e+02] [-5.14188570e-02 5.80387916e-04 9.98677007e-01 4.15943066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78804094199998 meters Centerline goodness [0,1] 0.9965114358847329 Centerline is valid? [True, True] Translation: X:127.78, Y:109.20, Z:4.15 [[ 6.72518782e-02 -9.97728099e-01 3.97817629e-03 1.27780987e+02] [ 9.96492667e-01 6.73665297e-02 4.96398638e-02 1.09204702e+02] [-4.97950829e-02 6.25849424e-04 9.98759259e-01 4.15344730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81804094199998 meters Centerline goodness [0,1] 0.9966304213006987 Centerline is valid? [True, True] Translation: X:127.78, Y:109.23, Z:4.15 [[ 6.64174259e-02 -9.97784793e-01 3.77266996e-03 1.27782840e+02] [ 9.96665301e-01 6.65215853e-02 4.72562828e-02 1.09232633e+02] [-4.74025644e-02 6.21448579e-04 9.98875673e-01 4.15267004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84804094199998 meters Centerline goodness [0,1] 0.9965383578964824 Centerline is valid? [True, True] Translation: X:127.78, Y:109.26, Z:4.15 [[ 6.54247752e-02 -9.97850918e-01 3.62543906e-03 1.27784192e+02] [ 9.96811423e-01 6.55220762e-02 4.55394769e-02 1.09259690e+02] [-4.56791552e-02 6.34469026e-04 9.98955961e-01 4.15150903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87804094199998 meters Centerline goodness [0,1] 0.9979593111634009 Centerline is valid? [True, True] Translation: X:127.78, Y:109.29, Z:4.14 [[ 6.23634517e-02 -9.98048504e-01 3.15975168e-03 1.27784167e+02] [ 9.97255714e-01 6.24398490e-02 3.97782237e-02 1.09287733e+02] [-3.98978910e-02 6.70373083e-04 9.99203537e-01 4.14285480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90804094199999 meters Centerline goodness [0,1] 0.9979590561676073 Centerline is valid? [True, True] Translation: X:127.79, Y:109.31, Z:4.14 [[ 6.06949598e-02 -9.98152091e-01 2.91961651e-03 1.27785514e+02] [ 9.97471114e-01 6.07613982e-02 3.68704425e-02 1.09314385e+02] [-3.69797093e-02 6.74383104e-04 9.99315789e-01 4.14264037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.938040942 meters Centerline goodness [0,1] 0.9988318731748018 Centerline is valid? [True, True] Translation: X:127.79, Y:109.34, Z:4.14 [[ 5.95138512e-02 -9.98223964e-01 2.64922109e-03 1.27785567e+02] [ 9.97658119e-01 5.95693199e-02 3.36121007e-02 1.09342042e+02] [-3.37102167e-02 6.42631377e-04 9.99431443e-01 4.13910927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.968040942 meters Centerline goodness [0,1] 0.9993951528803237 Centerline is valid? [True, True] Translation: X:127.78, Y:109.37, Z:4.14 [[ 5.98967398e-02 -9.98201907e-01 2.30942571e-03 1.27784147e+02] [ 9.97768211e-01 5.99387975e-02 2.94268200e-02 1.09369118e+02] [-2.95123320e-02 5.41700981e-04 9.99564269e-01 4.13834436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.998040942 meters Centerline goodness [0,1] 0.9990487613218082 Centerline is valid? [True, True] Translation: X:127.78, Y:109.40, Z:4.14 [[ 6.11521826e-02 -9.98126009e-01 2.20936424e-03 1.27783984e+02] [ 9.97726683e-01 6.11902159e-02 2.82351329e-02 1.09396353e+02] [-2.83174120e-02 4.77701653e-04 9.99598868e-01 4.14026497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.028040942 meters Centerline goodness [0,1] 0.9995225243927756 Centerline is valid? [True, True] Translation: X:127.78, Y:109.42, Z:4.14 [[ 6.26637831e-02 -9.98032641e-01 2.02444506e-03 1.27782284e+02] [ 9.97694451e-01 6.26952528e-02 2.59824346e-02 1.09424402e+02] [-2.60582409e-02 3.91619954e-04 9.99660350e-01 4.14005913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.058040942 meters Centerline goodness [0,1] 0.9998329330688107 Centerline is valid? [True, True] Translation: X:127.78, Y:109.45, Z:4.14 [[ 6.39886004e-02 -9.97949458e-01 1.52897762e-03 1.27776393e+02] [ 9.97754640e-01 6.40063217e-02 1.97197744e-02 1.09452091e+02] [-1.97772024e-02 2.63703746e-04 9.99804377e-01 4.13568832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088040942 meters Centerline goodness [0,1] 0.9998332916562473 Centerline is valid? [True, True] Translation: X:127.77, Y:109.48, Z:4.13 [[ 6.31311223e-02 -9.98004364e-01 1.32335341e-03 1.27774982e+02] [ 9.97857231e-01 6.31445401e-02 1.71380674e-02 1.09480497e+02] [-1.71874286e-02 2.38572335e-04 9.99852257e-01 4.13127648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.118040942 meters Centerline goodness [0,1] 0.99981210463684 Centerline is valid? [True, True] Translation: X:127.78, Y:109.51, Z:4.13 [[ 6.20783298e-02 -9.98070712e-01 1.06521661e-03 1.27775953e+02] [ 9.97974422e-01 6.20871386e-02 1.38651021e-02 1.09507459e+02] [-1.39044886e-02 2.02336545e-04 9.99903307e-01 4.13186505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148040942 meters Centerline goodness [0,1] 0.999979107907657 Centerline is valid? [True, True] Translation: X:127.77, Y:109.54, Z:4.13 [[ 6.05685643e-02 -9.98163628e-01 9.06399478e-04 1.27773336e+02] [ 9.98093322e-01 6.05750573e-02 1.18483205e-02 1.09535949e+02] [-1.18814677e-02 1.87035507e-04 9.99929395e-01 4.12768741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.178040942 meters Centerline goodness [0,1] 0.9999791218656701 Centerline is valid? [True, True] Translation: X:127.77, Y:109.56, Z:4.13 [[ 5.95191059e-02 -9.98226748e-01 9.13828916e-04 1.27774986e+02] [ 9.98154606e-01 5.95257922e-02 1.20026406e-02 1.09563461e+02] [-1.20357533e-02 1.97756104e-04 9.99927548e-01 4.12933962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.78, Y:109.59, Z:4.13 [[ 5.84943171e-02 -9.98287421e-01 8.00357233e-04 1.27777970e+02] [ 9.98231688e-01 5.84995098e-02 1.05501053e-02 1.09590637e+02] [-1.05788579e-02 1.81820746e-04 9.99944026e-01 4.13261897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23804094199997 meters Centerline goodness [0,1] 0.9999582959734762 Centerline is valid? [True, True] Translation: X:127.78, Y:109.62, Z:4.14 [[ 5.78170996e-02 -9.98326845e-01 8.32308858e-04 1.27779797e+02] [ 9.98266116e-01 5.78227642e-02 1.10131742e-02 1.09617076e+02] [-1.10428738e-02 1.94115942e-04 9.99939007e-01 4.13720791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.78, Y:109.64, Z:4.14 [[ 5.79368349e-02 -9.98319933e-01 7.96308738e-04 1.27777410e+02] [ 9.98263814e-01 5.79420225e-02 1.05867331e-02 1.09644939e+02] [-1.06150865e-02 1.81564387e-04 9.99943642e-01 4.13656408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.78, Y:109.67, Z:4.14 [[ 5.85032188e-02 -9.98286799e-01 9.16661597e-04 1.27776142e+02] [ 9.98212492e-01 5.85100498e-02 1.21817550e-02 1.09671618e+02] [-1.22145191e-02 2.02351178e-04 9.99925380e-01 4.13923683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32804094199997 meters Centerline goodness [0,1] 0.9999791432027698 Centerline is valid? [True, True] Translation: X:127.77, Y:109.70, Z:4.15 [[ 6.04011015e-02 -9.98173594e-01 1.08741237e-03 1.27772780e+02] [ 9.98068138e-01 6.04105282e-02 1.45106717e-02 1.09698688e+02] [-1.45498605e-02 2.08851082e-04 9.99894123e-01 4.14531557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35804094199997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:109.73, Z:4.15 [[ 6.14963223e-02 -9.98106652e-01 1.14591261e-03 1.27771365e+02] [ 9.97988587e-01 6.15066743e-02 1.53528407e-02 1.09725772e+02] [-1.53942537e-02 1.99464469e-04 9.99881482e-01 4.14594687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:109.75, Z:4.15 [[ 6.23057478e-02 -9.98056383e-01 1.20463889e-03 1.27770974e+02] [ 9.97925219e-01 6.23170904e-02 1.61813986e-02 1.09753738e+02] [-1.62250178e-02 1.93945383e-04 9.99868347e-01 4.14769347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:109.78, Z:4.15 [[ 6.31610043e-02 -9.98002785e-01 1.06228599e-03 1.27768246e+02] [ 9.97900594e-01 6.31697393e-02 1.42824859e-02 1.09782309e+02] [-1.43210650e-02 1.57959670e-04 9.99897436e-01 4.14861226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44804094199998 meters Centerline goodness [0,1] 0.9999372279879478 Centerline is valid? [True, True] Translation: X:127.77, Y:109.81, Z:4.15 [[ 6.26645575e-02 -9.98034129e-01 1.01532366e-03 1.27768414e+02] [ 9.97939454e-01 6.26725986e-02 1.37474132e-02 1.09809403e+02] [-1.37840205e-02 1.51755976e-04 9.99904984e-01 4.14947600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47804094199998 meters Centerline goodness [0,1] 0.9999790114387659 Centerline is valid? [True, True] Translation: X:127.77, Y:109.84, Z:4.14 [[ 6.16392525e-02 -9.98098018e-01 9.74527753e-04 1.27767038e+02] [ 9.98010105e-01 6.16467584e-02 1.32478896e-02 1.09837328e+02] [-1.32827688e-02 1.55998536e-04 9.99911768e-01 4.14279507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:109.87, Z:4.14 [[ 6.06696398e-02 -9.98157646e-01 7.13783283e-04 1.27767262e+02] [ 9.98109962e-01 6.06737189e-02 9.75721190e-03 1.09865818e+02] [-9.78254354e-03 1.20467675e-04 9.99952143e-01 4.14302547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:109.89, Z:4.15 [[ 6.05966992e-02 -9.98162156e-01 5.92317053e-04 1.27770594e+02] [ 9.98128947e-01 6.05995151e-02 8.14267511e-03 1.09893214e+02] [-8.16360426e-03 9.77895630e-05 9.99966672e-01 4.15013895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:109.92, Z:4.14 [[ 6.05494056e-02 -9.98165084e-01 4.84293105e-04 1.27768134e+02] [ 9.98142607e-01 6.05512924e-02 6.69907115e-03 1.09922058e+02] [-6.71610349e-03 7.77688055e-05 9.99977444e-01 4.14404306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:109.95, Z:4.14 [[ 5.93267313e-02 -9.98238586e-01 2.55256122e-04 1.27767395e+02] [ 9.98232290e-01 5.93272638e-02 3.54558075e-03 1.09950979e+02] [-3.55447917e-03 4.44571859e-05 9.99993682e-01 4.14338738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62804094199998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:109.98, Z:4.14 [[ 5.82727768e-02 -9.98300698e-01 1.25140059e-05 1.27768433e+02] [ 9.98300664e-01 5.82727781e-02 2.59809706e-04 1.09979087e+02] [-2.60097437e-04 -2.64709269e-06 9.99999966e-01 4.14238010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65804094199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:110.01, Z:4.14 [[ 5.71618915e-02 -9.98364922e-01 -3.68500604e-05 1.27768982e+02] [ 9.98364837e-01 5.71619018e-02 -4.11550270e-04 1.10005962e+02] [ 4.12983773e-04 -1.32648127e-05 9.99999915e-01 4.14241235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.688040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:110.03, Z:4.14 [[ 5.61295302e-02 -9.98423434e-01 -3.51120020e-04 1.27765854e+02] [ 9.98412039e-01 5.61305673e-02 -4.77070681e-03 1.10034323e+02] [ 4.78289404e-03 -8.27849234e-05 9.99988558e-01 4.13970966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.718040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:110.06, Z:4.14 [[ 5.59146904e-02 -9.98435411e-01 -5.27406741e-04 1.27766536e+02] [ 9.98409005e-01 5.59170478e-02 -7.26245188e-03 1.10061698e+02] [ 7.28058015e-03 -1.20489891e-04 9.99973489e-01 4.14089485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.748040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:110.09, Z:4.14 [[ 5.74757592e-02 -9.98346696e-01 -6.42374952e-04 1.27761297e+02] [ 9.98307322e-01 5.74791981e-02 -8.86754208e-03 1.10090987e+02] [ 8.88980454e-03 -1.31618904e-04 9.99960476e-01 4.13973553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.778040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:110.12, Z:4.14 [[ 5.80174787e-02 -9.98315312e-01 -7.14561551e-04 1.27760279e+02] [ 9.98266199e-01 5.80217131e-02 -9.90341982e-03 1.10119561e+02] [ 9.92819573e-03 -1.38751194e-04 9.99950705e-01 4.13981164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.808040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:110.15, Z:4.14 [[ 5.81848393e-02 -9.98305609e-01 -6.60627783e-04 1.27760185e+02] [ 9.98263384e-01 5.81884549e-02 -9.18262808e-03 1.10146190e+02] [ 9.20551002e-03 -1.25190787e-04 9.99957621e-01 4.14091986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.838040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:110.17, Z:4.14 [[ 5.77634588e-02 -9.98330020e-01 -7.43852176e-04 1.27757247e+02] [ 9.98275859e-01 5.77680740e-02 -1.03999700e-02 1.10174242e+02] [ 1.04255732e-02 -1.41831430e-04 9.99945642e-01 4.14042854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:110.20, Z:4.14 [[ 5.72686717e-02 -9.98358418e-01 -8.76230095e-04 1.27755104e+02] [ 9.98282482e-01 5.72751238e-02 -1.23145095e-02 1.10202778e+02] [ 1.23444804e-02 -1.69489553e-04 9.99923790e-01 4.13846014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.898040942 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.75, Y:110.23, Z:4.14 [[ 5.73860745e-02 -9.98351625e-01 -9.33788216e-04 1.27754237e+02] [ 9.98264521e-01 5.73934036e-02 -1.31887538e-02 1.10229746e+02] [ 1.32206070e-02 -1.75316840e-04 9.99912589e-01 4.13828499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928040942 meters Centerline goodness [0,1] 0.9999580686416336 Centerline is valid? [True, True] Translation: X:127.75, Y:110.26, Z:4.14 [[ 5.59379699e-02 -9.98433665e-01 -1.07695813e-03 1.27750488e+02] [ 9.98316879e-01 5.59479002e-02 -1.52722252e-02 1.10257725e+02] [ 1.53085573e-02 -2.20848205e-04 9.99882793e-01 4.13548187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.958040942 meters Centerline goodness [0,1] 0.9997901848471497 Centerline is valid? [True, True] Translation: X:127.75, Y:110.29, Z:4.13 [[ 5.34574099e-02 -9.98569404e-01 -1.20469465e-03 1.27748683e+02] [ 9.98421898e-01 5.34702219e-02 -1.71653475e-02 1.10286108e+02] [ 1.72052062e-02 -2.85178501e-04 9.99851939e-01 4.13407255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98804094199997 meters Centerline goodness [0,1] 0.9991430661511129 Centerline is valid? [True, True] Translation: X:127.75, Y:110.31, Z:4.13 [[ 4.58521827e-02 -9.98947410e-01 -1.28413860e-03 1.27745058e+02] [ 9.98778357e-01 4.58680536e-02 -1.83824939e-02 1.10313174e+02] [ 1.84220456e-02 -4.39692374e-04 9.99830203e-01 4.13179126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01804094199997 meters Centerline goodness [0,1] 0.998322182840125 Centerline is valid? [True, True] Translation: X:127.75, Y:110.34, Z:4.13 [[ 4.20933032e-02 -9.99112970e-01 -1.19451166e-03 1.27745864e+02] [ 9.98966104e-01 4.21076040e-02 -1.71368909e-02 1.10341613e+02] [ 1.71719880e-02 -4.71928310e-04 9.99852439e-01 4.13217013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04804094199997 meters Centerline goodness [0,1] 0.9978698076561618 Centerline is valid? [True, True] Translation: X:127.75, Y:110.37, Z:4.13 [[ 3.86108253e-02 -9.99253760e-01 -1.06159767e-03 1.27750152e+02] [ 9.99136884e-01 3.86225533e-02 -1.52900435e-02 1.10368537e+02] [ 1.53196351e-02 -4.70320184e-04 9.99882537e-01 4.13478414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07804094199997 meters Centerline goodness [0,1] 0.9972961643261371 Centerline is valid? [True, True] Translation: X:127.74, Y:110.40, Z:4.14 [[ 3.39756099e-02 -9.99422269e-01 -8.87016235e-04 1.27744422e+02] [ 9.99340641e-01 3.39841786e-02 -1.27812228e-02 1.10396870e+02] [ 1.28039832e-02 -4.52181534e-04 9.99917923e-01 4.13756221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10804094199997 meters Centerline goodness [0,1] 0.9967114220481347 Centerline is valid? [True, True] Translation: X:127.74, Y:110.43, Z:4.14 [[ 3.29034270e-02 -9.99458192e-01 -8.29253497e-04 1.27740868e+02] [ 9.99386270e-01 3.29110140e-02 -1.19978909e-02 1.10425683e+02] [ 1.20186819e-02 -4.33972832e-04 9.99927679e-01 4.13889706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13804094199998 meters Centerline goodness [0,1] 0.9966791286367719 Centerline is valid? [True, True] Translation: X:127.74, Y:110.45, Z:4.14 [[ 3.27900311e-02 -9.99461971e-01 -7.63514380e-04 1.27738589e+02] [ 9.99400570e-01 3.27964853e-02 -1.10856495e-02 1.10453343e+02] [ 1.11047257e-02 -3.99557915e-04 9.99938261e-01 4.14114122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16804094199998 meters Centerline goodness [0,1] 0.9784367146085451 Centerline is valid? [True, True] Translation: X:127.58, Y:110.49, Z:4.16 [[ 9.03382504e-03 -9.99959106e-01 4.19054488e-04 1.27580682e+02] [ 9.99939882e-01 9.03625429e-03 6.21117744e-03 1.10491582e+02] [-6.21471012e-03 3.62918605e-04 9.99980623e-01 4.15898184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2980.45 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%| | 0/6639 [00:00