+ python -m lidar_slam --no-model /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 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 0.001858064 Adjusted end_distance from 9.223372036854776e+18 to 263.171858064 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001858064 meters Centerline goodness [0,1] 0.8760343343851364 Centerline is valid? [0, False] SLAMing on 0.031858064 meters Centerline goodness [0,1] 0.8706124344768098 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99998798e-01 7.56505406e-04 -1.35312452e-03 5.06149113e-03] [-7.54578340e-04 9.99998701e-01 1.42410429e-03 6.18189760e-03] [ 1.35420010e-03 -1.42308154e-03 9.99998070e-01 -1.04984084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061858064 meters Centerline goodness [0,1] 0.8654590769504651 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99996868e-01 -1.03291399e-03 -2.27950436e-03 8.82568542e-03] [ 1.03145403e-03 9.99999262e-01 -6.41552361e-04 1.44463255e-02] [ 2.28016535e-03 6.39199148e-04 9.99997196e-01 -2.00913667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091858064 meters Centerline goodness [0,1] 0.8543914918336797 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.00 [[ 9.99990028e-01 -1.48535279e-03 -4.21160662e-03 1.73808875e-02] [ 1.48423843e-03 9.99998863e-01 -2.67707206e-04 2.79643128e-02] [ 4.21199947e-03 2.61453508e-04 9.99991095e-01 -3.92988018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121858064 meters Centerline goodness [0,1] 0.8487821304299024 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.00 [[ 9.99984286e-01 -7.24750148e-04 -5.55893943e-03 2.26707265e-02] [ 7.32592693e-04 9.99998739e-01 1.40889229e-03 3.38941719e-02] [ 5.55791133e-03 -1.41294259e-03 9.99983556e-01 -4.99925948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151858064 meters Centerline goodness [0,1] 0.8432992010802296 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 9.99977150e-01 3.53973069e-05 -6.76008515e-03 2.79158799e-02] [-1.52478701e-05 9.99995558e-01 2.98067666e-03 3.94939511e-02] [ 6.76016062e-03 -2.98050547e-03 9.99972708e-01 -6.36800593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18185806399999999 meters Centerline goodness [0,1] 0.8386704499391974 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.01 [[ 9.99967778e-01 4.43869856e-04 -8.01537426e-03 3.33357110e-02] [-4.08709215e-04 9.99990290e-01 4.38775534e-03 4.51913647e-02] [ 8.01724402e-03 -4.38433800e-03 9.99958250e-01 -7.53454158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21185806399999998 meters Centerline goodness [0,1] 0.827958455489648 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.01 [[ 9.99959202e-01 -1.41310160e-04 -9.03187631e-03 3.96891898e-02] [ 1.84210806e-04 9.99988705e-01 4.74925968e-03 5.72645966e-02] [ 9.03110318e-03 -4.75072969e-03 9.99947934e-01 -8.72567212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24185806399999998 meters Centerline goodness [0,1] 0.8220885259991405 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.01 [[ 9.99987388e-01 2.33770953e-04 -5.01697536e-03 5.76674355e-02] [-2.37458444e-04 9.99999702e-01 -7.34419718e-04 6.57580534e-02] [ 5.01680218e-03 7.35601779e-04 9.99987145e-01 -1.10389779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.271858064 meters Centerline goodness [0,1] 0.8157419121633833 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.01 [[ 9.99980540e-01 -4.37848318e-04 -6.22310659e-03 6.37418463e-02] [ 4.38926224e-04 9.99999889e-01 1.71845548e-04 7.11730072e-02] [ 6.22303065e-03 -1.74573689e-04 9.99980622e-01 -1.25324600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.301858064 meters Centerline goodness [0,1] 0.8025412787932323 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.01 [[ 9.99964786e-01 -3.13029067e-03 -7.78640045e-03 7.30542647e-02] [ 3.13136784e-03 9.99995089e-01 1.26151279e-04 8.12643882e-02] [ 7.78596733e-03 -1.50528921e-04 9.99969678e-01 -1.45290920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33185806399999995 meters Centerline goodness [0,1] 0.7944643423856372 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.01 [[ 9.99950178e-01 -5.28895617e-03 -8.46573797e-03 7.68049422e-02] [ 5.28133995e-03 9.99985629e-01 -9.21755713e-04 8.60862302e-02] [ 8.47049144e-03 8.76999349e-04 9.99963740e-01 -1.49391066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.361858064 meters Centerline goodness [0,1] 0.7877539937548084 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.02 [[ 0.99992601 -0.00768195 -0.00943178 0.08120831] [ 0.00766561 0.99996906 -0.00176695 0.09079731] [ 0.00944506 0.00169452 0.99995396 -0.01514688] [ 0. 0. 0. 1. ]] SLAMing on 0.391858064 meters Centerline goodness [0,1] 0.7804823129404878 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.02 [[ 9.99907006e-01 -8.80799435e-03 -1.04114463e-02 8.72965748e-02] [ 8.80630073e-03 9.99961202e-01 -2.08503162e-04 9.35981549e-02] [ 1.04128789e-02 1.16797446e-04 9.99945778e-01 -1.63673302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.421858064 meters Centerline goodness [0,1] 0.7672257889501763 Centerline is valid? [False, False] Translation: X:0.10, Y:0.10, Z:-0.02 [[ 0.99982724 -0.0140696 -0.01214612 0.09607833] [ 0.01404633 0.99989935 -0.00199927 0.1006784 ] [ 0.01217302 0.00182831 0.99992423 -0.01706687] [ 0. 0. 0. 1. ]] SLAMing on 0.45185806399999995 meters Centerline goodness [0,1] 0.7601014635898357 Centerline is valid? [False, False] Translation: X:0.10, Y:0.10, Z:-0.02 [[ 9.99789110e-01 -1.56953110e-02 -1.32436095e-02 1.02752624e-01] [ 1.56826318e-02 9.99876457e-01 -1.06070302e-03 1.03163190e-01] [ 1.32586214e-02 8.52784673e-04 9.99911737e-01 -1.88378702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.481858064 meters Centerline goodness [0,1] 0.7526898662945123 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:-0.02 [[ 0.99974585 -0.017622 -0.01406087 0.10672188] [ 0.01760128 0.99984381 -0.00159576 0.10634043] [ 0.01408679 0.00134787 0.99989987 -0.01916496] [ 0. 0. 0. 1. ]] SLAMing on 0.511858064 meters Centerline goodness [0,1] 0.7464003199715581 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.02 [[ 9.99746105e-01 -1.69735844e-02 -1.48196561e-02 1.30362383e-01] [ 1.69637522e-02 9.99855794e-01 -7.88917201e-04 1.07926097e-01] [ 1.48309098e-02 5.37319925e-04 9.99889872e-01 -1.81971210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.541858064 meters Centerline goodness [0,1] 0.736881592303279 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-0.02 [[ 9.99637063e-01 -2.07531508e-02 -1.71769912e-02 1.43312717e-01] [ 2.07686712e-02 9.99784045e-01 7.25651198e-04 1.15633907e-01] [ 1.71582222e-02 -1.08213111e-03 9.99852201e-01 -1.98242183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5718580639999999 meters Centerline goodness [0,1] 0.7310494667076328 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-0.02 [[ 0.9996033 -0.02122591 -0.01851234 0.15039921] [ 0.02128551 0.99976885 0.00302815 0.11804585] [ 0.01844379 -0.00342099 0.99982405 -0.0211872 ] [ 0. 0. 0. 1. ]] SLAMing on 0.601858064 meters Centerline goodness [0,1] 0.727854319963318 Centerline is valid? [False, False] Translation: X:0.16, Y:0.12, Z:-0.02 [[ 0.9994676 -0.02521699 -0.02070308 0.16345776] [ 0.0253023 0.99967236 0.00386944 0.12384468] [ 0.02059872 -0.00439122 0.99977818 -0.02352012] [ 0. 0. 0. 1. ]] SLAMing on 0.631858064 meters Centerline goodness [0,1] 0.7227521026619266 Centerline is valid? [False, False] Translation: X:0.17, Y:0.13, Z:-0.03 [[ 0.99941474 -0.02642753 -0.02172029 0.17091742] [ 0.02654526 0.99963435 0.00514962 0.12568128] [ 0.02157626 -0.00572318 0.99975082 -0.0258988 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6618580639999999 meters Centerline goodness [0,1] 0.7225587489796795 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.03 [[ 0.99947561 -0.02592525 -0.01940057 0.19110519] [ 0.02599131 0.99965717 0.00316063 0.12862895] [ 0.01931198 -0.00366322 0.9998068 -0.02626458] [ 0. 0. 0. 1. ]] SLAMing on 0.6918580639999999 meters Centerline goodness [0,1] 0.7241156587077744 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-0.03 [[ 0.99941104 -0.02785736 -0.02003846 0.19574636] [ 0.02791975 0.99960613 0.00284027 0.13174099] [ 0.01995145 -0.00339807 0.99979518 -0.02709183] [ 0. 0. 0. 1. ]] SLAMing on 0.721858064 meters Centerline goodness [0,1] 0.7264211471833697 Centerline is valid? [False, False] Translation: X:0.22, Y:0.14, Z:-0.03 [[ 0.99937983 -0.03016434 -0.01816788 0.22481357] [ 0.03020457 0.99954185 0.00194367 0.13802154] [ 0.01810093 -0.00249122 0.99983306 -0.0296569 ] [ 0. 0. 0. 1. ]] SLAMing on 0.751858064 meters Centerline goodness [0,1] 0.729327945555083 Centerline is valid? [False, False] Translation: X:0.25, Y:0.14, Z:-0.03 [[ 0.99939332 -0.02948071 -0.01854393 0.24671972] [ 0.02950475 0.99956412 0.0010241 0.13979567] [ 0.01850566 -0.00157062 0.99982752 -0.02954275] [ 0. 0. 0. 1. ]] SLAMing on 0.781858064 meters Centerline goodness [0,1] 0.729327945555083 Centerline is valid? [False, False] Translation: X:0.25, Y:0.14, Z:-0.03 [[ 0.99939332 -0.02948071 -0.01854393 0.24671972] [ 0.02950475 0.99956412 0.0010241 0.13979567] [ 0.01850566 -0.00157062 0.99982752 -0.02954275] [ 0. 0. 0. 1. ]] SLAMing on 0.8118580639999999 meters Centerline goodness [0,1] 0.7359561349235135 Centerline is valid? [False, False] Translation: X:0.25, Y:0.14, Z:-0.03 [[ 0.99934004 -0.03066186 -0.01947634 0.25389394] [ 0.03071552 0.99952513 0.00246209 0.14161932] [ 0.0193916 -0.00305869 0.99980729 -0.03173766] [ 0. 0. 0. 1. ]] SLAMing on 0.841858064 meters Centerline goodness [0,1] 0.7403987631943705 Centerline is valid? [False, False] Translation: X:0.28, Y:0.14, Z:-0.03 [[ 0.99934139 -0.03028849 -0.01998473 0.27660871] [ 0.03032984 0.99953838 0.00176947 0.14334251] [ 0.01992191 -0.00237444 0.99979872 -0.03163388] [ 0. 0. 0. 1. ]] SLAMing on 0.871858064 meters Centerline goodness [0,1] 0.7479098317282252 Centerline is valid? [False, False] Translation: X:0.31, Y:0.15, Z:-0.03 [[ 0.99922106 -0.0341629 -0.01975272 0.31193503] [ 0.03423385 0.99940852 0.00326485 0.14813506] [ 0.0196295 -0.00393852 0.99979957 -0.03417179] [ 0. 0. 0. 1. ]] SLAMing on 0.9018580639999999 meters Centerline goodness [0,1] 0.7553845501568728 Centerline is valid? [False, False] Translation: X:0.33, Y:0.15, Z:-0.03 [[ 0.9991962 -0.03456276 -0.02030666 0.33478412] [ 0.0346064 0.9993994 0.00180157 0.14978694] [ 0.02023219 -0.00250286 0.99979218 -0.03413536] [ 0. 0. 0. 1. ]] SLAMing on 0.9318580639999999 meters Centerline goodness [0,1] 0.7609110979026916 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.03 [[ 9.99165947e-01 -3.55028805e-02 -2.01731296e-02 3.57248297e-01] [ 3.55044538e-02 9.99369479e-01 -2.80273941e-04 1.51513179e-01] [ 2.01703606e-02 -4.36195770e-04 9.99796462e-01 -3.45084211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.961858064 meters Centerline goodness [0,1] 0.7746006288644565 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:-0.04 [[ 0.99898452 -0.04205497 -0.01616488 0.39426963] [ 0.04209724 0.99911091 0.00228383 0.1523417 ] [ 0.01605446 -0.002962 0.99986673 -0.0372479 ] [ 0. 0. 0. 1. ]] SLAMing on 0.991858064 meters Centerline goodness [0,1] 0.7804960636586811 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:-0.04 [[ 9.98927962e-01 -4.34354867e-02 -1.60089304e-02 4.16869629e-01] [ 4.34534829e-02 9.99055149e-01 7.77847064e-04 1.53092511e-01] [ 1.59600181e-02 -1.47265697e-03 9.99871546e-01 -3.75129389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0218580640000001 meters Centerline goodness [0,1] 0.7877265916812628 Centerline is valid? [False, False] Translation: X:0.44, Y:0.15, Z:-0.04 [[ 0.99889021 -0.04415418 -0.0163941 0.44044335] [ 0.04417969 0.99902288 0.00119712 0.15230706] [ 0.01632522 -0.00192008 0.99986489 -0.03756198] [ 0. 0. 0. 1. ]] SLAMing on 1.0518580640000001 meters Centerline goodness [0,1] 0.7986538948434467 Centerline is valid? [False, False] Translation: X:0.48, Y:0.15, Z:-0.04 [[ 0.99852853 -0.05179592 -0.01606077 0.48140624] [ 0.05189109 0.99863724 0.00556637 0.15257762] [ 0.01575057 -0.00639159 0.99985552 -0.03944632] [ 0. 0. 0. 1. ]] SLAMing on 1.0818580640000002 meters Centerline goodness [0,1] 0.8060064763275413 Centerline is valid? [False, False] Translation: X:0.50, Y:0.15, Z:-0.04 [[ 0.99844371 -0.05274045 -0.01812764 0.50429239] [ 0.05281422 0.99859781 0.0036146 0.15336212] [ 0.01791159 -0.00456637 0.99982915 -0.03973911] [ 0. 0. 0. 1. ]] SLAMing on 1.111858064 meters Centerline goodness [0,1] 0.8121852118339188 Centerline is valid? [False, False] Translation: X:0.53, Y:0.15, Z:-0.04 [[ 0.99837517 -0.0535285 -0.01953781 0.52712067] [ 0.05358383 0.99856066 0.00231921 0.153663 ] [ 0.01938555 -0.00336235 0.99980643 -0.03994435] [ 0. 0. 0. 1. ]] SLAMing on 1.141858064 meters Centerline goodness [0,1] 0.8256546167709107 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.04 [[ 0.9979491 -0.06156754 -0.01752226 0.56627558] [ 0.06167607 0.99807982 0.0057217 0.15406523] [ 0.01713634 -0.00679066 0.9998301 -0.04144589] [ 0. 0. 0. 1. ]] SLAMing on 1.171858064 meters Centerline goodness [0,1] 0.8312054631828979 Centerline is valid? [False, False] Translation: X:0.59, Y:0.15, Z:-0.04 [[ 0.99791645 -0.06248326 -0.01608122 0.58699972] [ 0.0625474 0.9980358 0.00351663 0.15495926] [ 0.0158299 -0.00451514 0.9998645 -0.04189993] [ 0. 0. 0. 1. ]] SLAMing on 1.201858064 meters Centerline goodness [0,1] 0.8360167971470173 Centerline is valid? [False, False] Translation: X:0.61, Y:0.16, Z:-0.04 [[ 0.99792583 -0.06238263 -0.01588834 0.60885401] [ 0.06243467 0.99804513 0.00279986 0.15506522] [ 0.01568261 -0.00378603 0.99986985 -0.04260314] [ 0. 0. 0. 1. ]] SLAMing on 1.231858064 meters Centerline goodness [0,1] 0.8410978005958041 Centerline is valid? [False, False] Translation: X:0.63, Y:0.16, Z:-0.04 [[ 9.97896717e-01 -6.22976825e-02 -1.79204302e-02 6.31005025e-01] [ 6.23166177e-02 9.98056306e-01 4.99616561e-04 1.56593381e-01] [ 1.78544734e-02 -1.61530633e-03 9.99839291e-01 -4.26826876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2618580640000001 meters Centerline goodness [0,1] 0.8512905066903418 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.05 [[ 9.97832780e-01 -6.32188595e-02 -1.82515442e-02 6.58036726e-01] [ 6.32260459e-02 9.97999215e-01 -1.83598170e-04 1.60172233e-01] [ 1.82266337e-02 -9.70772700e-04 9.99833410e-01 -4.51236989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2918580640000001 meters Centerline goodness [0,1] 0.8561011181332037 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.05 [[ 0.99808492 -0.05886246 -0.01901832 0.67464325] [ 0.05878205 0.99825949 -0.00476054 0.16308785] [ 0.01926543 0.00363349 0.9998078 -0.04827387] [ 0. 0. 0. 1. ]] SLAMing on 1.321858064 meters Centerline goodness [0,1] 0.8604877842052847 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:-0.05 [[ 0.99831304 -0.05427892 -0.02061225 0.69031226] [ 0.05409476 0.99849166 -0.00938949 0.16585016] [ 0.02109082 0.00825863 0.99974345 -0.05054791] [ 0. 0. 0. 1. ]] SLAMing on 1.351858064 meters Centerline goodness [0,1] 0.8695107980822266 Centerline is valid? [False, False] Translation: X:0.72, Y:0.17, Z:-0.05 [[ 0.99843795 -0.05165984 -0.02128193 0.71622345] [ 0.05149994 0.998641 -0.00799456 0.16965199] [ 0.02166601 0.00688606 0.99974155 -0.0528706 ] [ 0. 0. 0. 1. ]] SLAMing on 1.381858064 meters Centerline goodness [0,1] 0.8717234392807396 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:-0.06 [[ 0.99866915 -0.04643641 -0.02244094 0.73164073] [ 0.04616323 0.99885517 -0.01254189 0.17264236] [ 0.02299765 0.01148925 0.9996695 -0.05552221] [ 0. 0. 0. 1. ]] SLAMing on 1.411858064 meters Centerline goodness [0,1] 0.8754430379746836 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.06 [[ 0.99872822 -0.04456995 -0.02356819 0.73652065] [ 0.04433159 0.99896125 -0.01054144 0.17425577] [ 0.02401354 0.00948322 0.99966665 -0.05786972] [ 0. 0. 0. 1. ]] SLAMing on 1.441858064 meters Centerline goodness [0,1] 0.8789846641988366 Centerline is valid? [False, False] Translation: X:0.74, Y:0.18, Z:-0.06 [[ 0.99879392 -0.04249056 -0.02460182 0.74099855] [ 0.04229742 0.99907043 -0.00831869 0.17563924] [ 0.02493242 0.00726806 0.99966272 -0.06009267] [ 0. 0. 0. 1. ]] SLAMing on 1.471858064 meters Centerline goodness [0,1] 0.8856195344514385 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.06 [[ 0.99896071 -0.03992485 -0.02198863 0.76256264] [ 0.03974554 0.9991734 -0.00853245 0.18093131] [ 0.02231111 0.00764963 0.99972181 -0.06146853] [ 0. 0. 0. 1. ]] SLAMing on 1.501858064 meters Centerline goodness [0,1] 0.8894077376550383 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.06 [[ 0.99912645 -0.03459486 -0.02344197 0.77678378] [ 0.03428737 0.99932225 -0.01339475 0.18429298] [ 0.02388947 0.01257929 0.99963546 -0.06298538] [ 0. 0. 0. 1. ]] SLAMing on 1.5318580640000001 meters Centerline goodness [0,1] 0.8910012407730648 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.06 [[ 0.99904708 -0.03469757 -0.02647657 0.78840278] [ 0.03453497 0.99938187 -0.00657402 0.18547014] [ 0.02668831 0.00565339 0.99962782 -0.06213779] [ 0. 0. 0. 1. ]] SLAMing on 1.5618580640000002 meters Centerline goodness [0,1] 0.8993033431035216 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.06 [[ 0.99907733 -0.03342702 -0.02696521 0.7932047 ] [ 0.03329827 0.99943188 -0.00520979 0.19078793] [ 0.02712404 0.00430708 0.9996228 -0.06451164] [ 0. 0. 0. 1. ]] SLAMing on 1.591858064 meters Centerline goodness [0,1] 0.9034573844875701 Centerline is valid? [False, False] Translation: X:0.80, Y:0.19, Z:-0.07 [[ 0.99910164 -0.0318133 -0.02799695 0.79747108] [ 0.03173201 0.99949082 -0.00334329 0.19228085] [ 0.02808905 0.00245189 0.99960242 -0.06648053] [ 0. 0. 0. 1. ]] SLAMing on 1.621858064 meters Centerline goodness [0,1] 0.9049814126394052 Centerline is valid? [False, False] Translation: X:0.81, Y:0.20, Z:-0.07 [[ 0.99929117 -0.02983199 -0.02296098 0.81118283] [ 0.02959066 0.99950397 -0.01077959 0.19824859] [ 0.02327116 0.01009251 0.99967825 -0.07062162] [ 0. 0. 0. 1. ]] SLAMing on 1.651858064 meters Centerline goodness [0,1] 0.9114614274802681 Centerline is valid? [False, False] Translation: X:0.83, Y:0.20, Z:-0.07 [[ 0.99928755 -0.03137422 -0.0209773 0.82707444] [ 0.03131194 0.99950424 -0.00329082 0.20076916] [ 0.02107015 0.00263164 0.99977454 -0.07455977] [ 0. 0. 0. 1. ]] SLAMing on 1.681858064 meters Centerline goodness [0,1] 0.9160721151792199 Centerline is valid? [False, False] Translation: X:0.83, Y:0.20, Z:-0.08 [[ 9.99317014e-01 -2.96450446e-02 -2.20607397e-02 8.31312767e-01] [ 2.96229096e-02 9.99560261e-01 -1.32955453e-03 2.02522770e-01] [ 2.20904534e-02 6.75143166e-04 9.99755748e-01 -7.64543036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.711858064 meters Centerline goodness [0,1] 0.9192204128734454 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.08 [[ 0.99948022 -0.02748779 -0.01684349 0.84480789] [ 0.02734819 0.99959015 -0.00846273 0.2085305 ] [ 0.01706921 0.0079977 0.99982232 -0.08048322] [ 0. 0. 0. 1. ]] SLAMing on 1.741858064 meters Centerline goodness [0,1] 0.9222338093515228 Centerline is valid? [False, False] Translation: X:0.87, Y:0.21, Z:-0.08 [[ 0.99948372 -0.02681294 -0.01770201 0.86717504] [ 0.02660696 0.99957667 -0.0117707 0.21342103] [ 0.01801013 0.01129363 0.99977402 -0.08144321] [ 0. 0. 0. 1. ]] SLAMing on 1.7718580640000001 meters Centerline goodness [0,1] 0.9286186666666667 Centerline is valid? [False, False] Translation: X:0.87, Y:0.22, Z:-0.08 [[ 0.99948131 -0.02615254 -0.0187924 0.8731421 ] [ 0.02595305 0.99960502 -0.010782 0.21797634] [ 0.01906695 0.01028868 0.99976527 -0.08379645] [ 0. 0. 0. 1. ]] SLAMing on 1.801858064 meters Centerline goodness [0,1] 0.9309104070856753 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.08 [[ 0.99943385 -0.02709328 -0.01994844 0.87655348] [ 0.02685839 0.99956782 -0.01195026 0.22029416] [ 0.02026359 0.01140771 0.99972959 -0.08482155] [ 0. 0. 0. 1. ]] SLAMing on 1.831858064 meters Centerline goodness [0,1] 0.9351441241685144 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.09 [[ 0.99938692 -0.02802184 -0.02098936 0.87961135] [ 0.02775311 0.99953044 -0.01298675 0.22236408] [ 0.02134342 0.01239626 0.99969535 -0.0856065 ] [ 0. 0. 0. 1. ]] SLAMing on 1.861858064 meters Centerline goodness [0,1] 0.9412494120665327 Centerline is valid? [False, False] Translation: X:0.89, Y:0.23, Z:-0.09 [[ 0.99936762 -0.02779667 -0.02217449 0.88510494] [ 0.02752985 0.99954593 -0.01224885 0.22542554] [ 0.0225049 0.01163065 0.99967908 -0.08762153] [ 0. 0. 0. 1. ]] SLAMing on 1.891858064 meters Centerline goodness [0,1] 0.9424564693847105 Centerline is valid? [False, False] Translation: X:0.90, Y:0.22, Z:-0.09 [[ 0.99933373 -0.0293632 -0.0216771 0.89611267] [ 0.02929312 0.99956458 -0.00354328 0.22427365] [ 0.02177171 0.00290593 0.99975875 -0.08742537] [ 0. 0. 0. 1. ]] SLAMing on 1.921858064 meters Centerline goodness [0,1] 0.9440446623787386 Centerline is valid? [False, False] Translation: X:0.91, Y:0.23, Z:-0.09 [[ 0.99951367 -0.02761289 -0.01448949 0.90830919] [ 0.02747643 0.99957699 -0.00953358 0.22920197] [ 0.01474661 0.00913082 0.99984957 -0.09136079] [ 0. 0. 0. 1. ]] SLAMing on 1.951858064 meters Centerline goodness [0,1] 0.9475855323311149 Centerline is valid? [False, False] Translation: X:0.91, Y:0.23, Z:-0.09 [[ 0.99957272 -0.02483214 -0.0154192 0.91070042] [ 0.02474045 0.99967524 -0.0061088 0.22946034] [ 0.01556589 0.00572471 0.99986246 -0.09157147] [ 0. 0. 0. 1. ]] SLAMing on 1.981858064 meters Centerline goodness [0,1] 0.9512417745701549 Centerline is valid? [False, True] Translation: X:0.93, Y:0.24, Z:-0.09 [[ 0.99961823 -0.02502827 -0.01170382 0.92995045] [ 0.02492254 0.99964802 -0.00909447 0.2351476 ] [ 0.01192732 0.00879931 0.99989015 -0.0918137 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0118580639999997 meters Centerline goodness [0,1] 0.9528038568891144 Centerline is valid? [True, True] Translation: X:0.96, Y:0.23, Z:-0.09 [[ 9.99616741e-01 -2.51152715e-02 -1.16444541e-02 9.56563062e-01] [ 2.51123456e-02 9.99684556e-01 -3.97443991e-04 2.34523030e-01] [ 1.16507629e-02 1.04872111e-04 9.99932122e-01 -9.18828675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.041858064 meters Centerline goodness [0,1] 0.9537353773385701 Centerline is valid? [True, True] Translation: X:0.98, Y:0.24, Z:-0.09 [[ 9.99626583e-01 -2.48288586e-02 -1.14114608e-02 9.84644765e-01] [ 2.48259979e-02 9.99691710e-01 -3.92298024e-04 2.35090618e-01] [ 1.14176831e-02 1.08850632e-04 9.99934810e-01 -8.92975860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0718580639999997 meters Centerline goodness [0,1] 0.9587899301882801 Centerline is valid? [True, True] Translation: X:1.01, Y:0.24, Z:-0.09 [[ 9.99630228e-01 -2.55968780e-02 -9.17640281e-03 1.01240349e+00] [ 2.55950491e-02 9.99672343e-01 -3.16701480e-04 2.41733651e-01] [ 9.18150267e-03 8.17138923e-05 9.99957846e-01 -8.95783385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101858064 meters Centerline goodness [0,1] 0.9607175343219174 Centerline is valid? [True, True] Translation: X:1.04, Y:0.24, Z:-0.09 [[ 9.99615874e-01 -2.60971132e-02 -9.32976461e-03 1.04052182e+00] [ 2.60952267e-02 9.99659409e-01 -3.23898202e-04 2.43684542e-01] [ 9.33503978e-03 8.03114612e-05 9.99956424e-01 -8.90133861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1318580639999998 meters Centerline goodness [0,1] 0.9618307718290829 Centerline is valid? [True, True] Translation: X:1.07, Y:0.25, Z:-0.09 [[ 9.99621455e-01 -2.57189213e-02 -9.77160152e-03 1.06935017e+00] [ 2.57168094e-02 9.99669210e-01 -3.41729690e-04 2.46529751e-01] [ 9.77715809e-03 9.03059155e-05 9.99952198e-01 -8.88167884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.161858064 meters Centerline goodness [0,1] 0.965138118049254 Centerline is valid? [True, True] Translation: X:1.10, Y:0.25, Z:-0.09 [[ 9.99613512e-01 -2.59779459e-02 -9.89811126e-03 1.09596737e+00] [ 2.59757760e-02 9.99662512e-01 -3.47747888e-04 2.50656773e-01] [ 9.90380454e-03 9.05023673e-05 9.99950952e-01 -8.84358856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.191858064 meters Centerline goodness [0,1] 0.9666779360182564 Centerline is valid? [True, True] Translation: X:1.12, Y:0.25, Z:-0.09 [[ 9.99598671e-01 -2.65235125e-02 -9.94992513e-03 1.12401507e+00] [ 2.65213252e-02 9.99648186e-01 -3.51732643e-04 2.53042078e-01] [ 9.95575380e-03 8.77062821e-05 9.99950436e-01 -8.85537625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2218580639999996 meters Centerline goodness [0,1] 0.9680368188823443 Centerline is valid? [True, True] Translation: X:1.15, Y:0.26, Z:-0.09 [[ 9.99608237e-01 -2.59062742e-02 -1.05942359e-02 1.15172973e+00] [ 2.59037431e-02 9.99664371e-01 -3.76083321e-04 2.55913143e-01] [ 1.06004231e-02 1.01505620e-04 9.99943809e-01 -8.84043581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.251858064 meters Centerline goodness [0,1] 0.9700273051879857 Centerline is valid? [True, True] Translation: X:1.18, Y:0.26, Z:-0.09 [[ 9.99614731e-01 -2.55536917e-02 -1.08350594e-02 1.17948416e+00] [ 2.55510137e-02 9.99673445e-01 -3.85535140e-04 2.60818874e-01] [ 1.08413730e-02 1.08539854e-04 9.99941225e-01 -8.76859690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2818580639999997 meters Centerline goodness [0,1] 0.9715157894736842 Centerline is valid? [True, True] Translation: X:1.21, Y:0.26, Z:-0.09 [[ 9.99620929e-01 -2.53715967e-02 -1.06901763e-02 1.20644868e+00] [ 2.53689676e-02 9.99678083e-01 -3.81489204e-04 2.64593736e-01] [ 1.06964140e-02 1.10145855e-04 9.99942786e-01 -8.78072193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.311858064 meters Centerline goodness [0,1] 0.9731094558767832 Centerline is valid? [True, True] Translation: X:1.23, Y:0.27, Z:-0.09 [[ 9.99615018e-01 -2.56089016e-02 -1.06770302e-02 1.23460421e+00] [ 2.56062681e-02 9.99672032e-01 -3.83303740e-04 2.67381763e-01] [ 1.06833445e-02 1.09757278e-04 9.99942925e-01 -8.76410948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3418580639999997 meters Centerline goodness [0,1] 0.9755331703616286 Centerline is valid? [True, True] Translation: X:1.26, Y:0.27, Z:-0.09 [[ 9.99617019e-01 -2.51156160e-02 -1.16198651e-02 1.26262880e+00] [ 2.51124445e-02 9.99684545e-01 -4.18781789e-04 2.71941689e-01] [ 1.16267176e-02 1.26818185e-04 9.99932399e-01 -8.80830937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.371858064 meters Centerline goodness [0,1] 0.9758777920194995 Centerline is valid? [True, True] Translation: X:1.29, Y:0.28, Z:-0.09 [[ 9.99621849e-01 -2.44849031e-02 -1.25159079e-02 1.29176493e+00] [ 2.44811449e-02 9.99700189e-01 -4.53420134e-04 2.75047559e-01] [ 1.25232574e-02 1.46844919e-04 9.99921570e-01 -8.85144554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401858064 meters Centerline goodness [0,1] 0.9760342188581134 Centerline is valid? [True, True] Translation: X:1.32, Y:0.28, Z:-0.09 [[ 9.99619237e-01 -2.37116800e-02 -1.41115705e-02 1.31993500e+00] [ 2.37068010e-02 9.99718823e-01 -5.12944982e-04 2.78470597e-01] [ 1.41197654e-02 1.78209480e-04 9.99900295e-01 -8.93383913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4318580639999996 meters Centerline goodness [0,1] 0.9784400494956063 Centerline is valid? [True, True] Translation: X:1.35, Y:0.28, Z:-0.09 [[ 9.99627161e-01 -2.29058952e-02 -1.48613223e-02 1.34772953e+00] [ 2.29003772e-02 9.99737605e-01 -5.41388983e-04 2.83180927e-01] [ 1.48698238e-02 2.00857247e-04 9.99889418e-01 -8.98216785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461858064 meters Centerline goodness [0,1] 0.9788145331466895 Centerline is valid? [True, True] Translation: X:1.38, Y:0.29, Z:-0.09 [[ 9.99658099e-01 -2.11084858e-02 -1.54310300e-02 1.37537902e+00] [ 2.11023037e-02 9.99777163e-01 -5.63362919e-04 2.86696886e-01] [ 1.54394831e-02 2.37540025e-04 9.99880776e-01 -9.01572527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4918580639999997 meters Centerline goodness [0,1] 0.980127186009539 Centerline is valid? [True, True] Translation: X:1.40, Y:0.29, Z:-0.09 [[ 9.99675029e-01 -2.04312564e-02 -1.52446923e-02 1.40398364e+00] [ 2.04251004e-02 9.99791229e-01 -5.59414748e-04 2.89920997e-01] [ 1.52529392e-02 2.47858583e-04 9.99883636e-01 -8.94518779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521858064 meters Centerline goodness [0,1] 0.9811324705783808 Centerline is valid? [True, True] Translation: X:1.43, Y:0.29, Z:-0.09 [[ 9.99712368e-01 -1.83697878e-02 -1.54185522e-02 1.43183473e+00] [ 1.83632194e-02 9.99831221e-01 -5.67481151e-04 2.93753054e-01] [ 1.54263744e-02 2.84183669e-04 9.99880966e-01 -8.95241794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5518580639999997 meters Centerline goodness [0,1] 0.9819361298262448 Centerline is valid? [True, True] Translation: X:1.46, Y:0.30, Z:-0.09 [[ 9.99772135e-01 -1.37533793e-02 -1.63255218e-02 1.46047885e+00] [ 1.37453858e-02 9.99905347e-01 -6.01739233e-04 3.01897226e-01] [ 1.63322524e-02 3.77201522e-04 9.99866549e-01 -8.96088864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581858064 meters Centerline goodness [0,1] 0.9834206665269336 Centerline is valid? [True, True] Translation: X:1.49, Y:0.31, Z:-0.09 [[ 9.99826725e-01 -1.20672203e-02 -1.41739755e-02 1.48938779e+00] [ 1.20609910e-02 9.99927126e-01 -5.24888548e-04 3.06792547e-01] [ 1.41792765e-02 3.53845407e-04 9.99899406e-01 -8.87846664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6118580639999998 meters Centerline goodness [0,1] 0.9834439851350787 Centerline is valid? [True, True] Translation: X:1.52, Y:0.31, Z:-0.09 [[ 9.99843619e-01 -8.37845611e-03 -1.55736768e-02 1.51849839e+00] [ 8.37046723e-03 9.99964800e-01 -5.78087156e-04 3.12791376e-01] [ 1.55779721e-02 4.47637802e-04 9.99878556e-01 -8.91995286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6418580639999996 meters Centerline goodness [0,1] 0.9850602812428174 Centerline is valid? [True, True] Translation: X:1.55, Y:0.32, Z:-0.09 [[ 9.99866953e-01 -2.19043021e-03 -1.61640957e-02 1.54714629e+00] [ 2.18101030e-03 9.99997441e-01 -6.00372262e-04 3.22368778e-01] [ 1.61653694e-02 5.65038325e-04 9.99869172e-01 -8.97213719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.671858064 meters Centerline goodness [0,1] 0.9850602812428174 Centerline is valid? [True, True] Translation: X:1.57, Y:0.32, Z:-0.09 [[ 9.99866393e-01 -2.43344922e-03 -1.61639781e-02 1.57462785e+00] [ 2.42401010e-03 9.99996880e-01 -6.03526908e-04 3.23518555e-01] [ 1.61653964e-02 5.64264627e-04 9.99869172e-01 -8.96275087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7018580639999996 meters Centerline goodness [0,1] 0.9853680936775971 Centerline is valid? [True, True] Translation: X:1.60, Y:0.33, Z:-0.09 [[ 9.99862019e-01 1.07615643e-03 -1.65766507e-02 1.60391513e+00] [-1.08658935e-03 9.99999217e-01 -6.20380428e-04 3.28538179e-01] [ 1.65759701e-02 6.38306839e-04 9.99862405e-01 -8.96996324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.731858064 meters Centerline goodness [0,1] 0.9852264924363803 Centerline is valid? [True, True] Translation: X:1.63, Y:0.33, Z:-0.09 [[ 9.99829406e-01 4.19718661e-03 -1.79873125e-02 1.63405169e+00] [-4.20998222e-03 9.99990911e-01 -6.73561221e-04 3.34409325e-01] [ 1.79843219e-02 7.49172581e-04 9.99837988e-01 -9.04887308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7618580639999997 meters Centerline goodness [0,1] 0.9860809682804674 Centerline is valid? [True, True] Translation: X:1.66, Y:0.34, Z:-0.09 [[ 9.99831403e-01 6.57476896e-03 -1.71446048e-02 1.66299661e+00] [-6.58675833e-03 9.99978100e-01 -6.42934268e-04 3.40171134e-01] [ 1.71400022e-02 7.55753240e-04 9.99852814e-01 -8.94878492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.791858064 meters Centerline goodness [0,1] 0.9869845897542691 Centerline is valid? [True, True] Translation: X:1.69, Y:0.35, Z:-0.09 [[ 9.99813555e-01 1.10577450e-02 -1.58297778e-02 1.69332710e+00] [-1.10685295e-02 9.99938566e-01 -5.93829184e-04 3.48778433e-01] [ 1.58222389e-02 7.68930830e-04 9.99874525e-01 -8.75148076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8218580639999997 meters Centerline goodness [0,1] 0.987713496316142 Centerline is valid? [True, True] Translation: X:1.72, Y:0.35, Z:-0.09 [[ 9.99784403e-01 1.27825998e-02 -1.63631439e-02 1.72304135e+00] [-1.27943601e-02 9.99917960e-01 -6.14224732e-04 3.53128328e-01] [ 1.63539501e-02 8.23448263e-04 9.99865926e-01 -8.68175787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851858064 meters Centerline goodness [0,1] 0.9884749733313811 Centerline is valid? [True, True] Translation: X:1.75, Y:0.34, Z:-0.08 [[ 9.99762137e-01 1.44270053e-02 -1.63563812e-02 1.75295108e+00] [-1.44389844e-02 9.99895564e-01 -6.14518064e-04 3.42248512e-01] [ 1.63458074e-02 8.50541427e-04 9.99866037e-01 -8.26201011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8818580639999998 meters Centerline goodness [0,1] 0.9876288229649101 Centerline is valid? [True, True] Translation: X:1.78, Y:0.36, Z:-0.09 [[ 9.99720839e-01 1.66801764e-02 -1.67336921e-02 1.78072166e+00] [-1.66930427e-02 9.99860463e-01 -6.29496834e-04 3.62321279e-01] [ 1.67208570e-02 9.08657341e-04 9.99859784e-01 -8.59701421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9118580639999996 meters Centerline goodness [0,1] 0.9896246503277525 Centerline is valid? [True, True] Translation: X:1.81, Y:0.35, Z:-0.08 [[ 9.99717714e-01 1.85985693e-02 -1.47846220e-02 1.81099946e+00] [-1.86088297e-02 9.99826686e-01 -5.56715000e-04 3.51802687e-01] [ 1.47717055e-02 8.31682361e-04 9.99890547e-01 -8.01303555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941858064 meters Centerline goodness [0,1] 0.9896821086929278 Centerline is valid? [True, True] Translation: X:1.84, Y:0.35, Z:-0.08 [[ 9.99725415e-01 1.86475795e-02 -1.41902127e-02 1.83861468e+00] [-1.86570533e-02 9.99825799e-01 -5.35533944e-04 3.54463364e-01] [ 1.41777543e-02 8.00134448e-04 9.99899170e-01 -7.93191221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9718580639999996 meters Centerline goodness [0,1] 0.9895022924835585 Centerline is valid? [True, True] Translation: X:1.87, Y:0.36, Z:-0.08 [[ 9.99764466e-01 1.64619618e-02 -1.41427261e-02 1.86702973e+00] [-1.64711668e-02 9.99864198e-01 -5.34625300e-04 3.57900652e-01] [ 1.41320045e-02 7.67446578e-04 9.99899844e-01 -7.92563868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001858064 meters Centerline goodness [0,1] 0.9899429756350441 Centerline is valid? [True, True] Translation: X:1.90, Y:0.36, Z:-0.08 [[ 9.99796616e-01 1.43583830e-02 -1.41620333e-02 1.89702831e+00] [-1.43674076e-02 9.99896640e-01 -5.35704193e-04 3.59385312e-01] [ 1.41528777e-02 7.39066945e-04 9.99899570e-01 -7.94482814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0318580639999997 meters Centerline goodness [0,1] 0.990410361790896 Centerline is valid? [True, True] Translation: X:1.93, Y:0.36, Z:-0.08 [[ 9.99823130e-01 1.21269392e-02 -1.43751717e-02 1.92717486e+00] [-1.21360110e-02 9.99926208e-01 -5.44003588e-04 3.59539331e-01] [ 1.43675138e-02 7.18364611e-04 9.99896524e-01 -7.94187174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061858064 meters Centerline goodness [0,1] 0.9900938908880341 Centerline is valid? [True, True] Translation: X:1.96, Y:0.36, Z:-0.08 [[ 9.99850353e-01 9.05708527e-03 -1.47391030e-02 1.95630928e+00] [-9.06629576e-03 9.99958744e-01 -5.58201598e-04 3.59302733e-01] [ 1.47334392e-02 6.91747132e-04 9.99891218e-01 -8.01317924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0918580639999997 meters Centerline goodness [0,1] 0.9908876278838586 Centerline is valid? [True, True] Translation: X:1.99, Y:0.36, Z:-0.08 [[ 9.99863488e-01 6.38917232e-03 -1.52376110e-02 1.98619579e+00] [-6.39871491e-03 9.99979361e-01 -5.77581057e-04 3.58549001e-01] [ 1.52336062e-02 6.75003339e-04 9.99883734e-01 -8.01510482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121858064 meters Centerline goodness [0,1] 0.9912840048031137 Centerline is valid? [True, True] Translation: X:2.02, Y:0.36, Z:-0.08 [[ 9.99896896e-01 1.72398007e-03 -1.42557023e-02 2.01514436e+00] [-1.73186543e-03 9.99998354e-01 -5.40810681e-04 3.58164830e-01] [ 1.42547465e-02 5.65443879e-04 9.99898236e-01 -7.93280860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.151858064 meters Centerline goodness [0,1] 0.9915340191674774 Centerline is valid? [True, True] Translation: X:2.04, Y:0.36, Z:-0.08 [[ 9.99900664e-01 -3.87309923e-05 -1.40947188e-02 2.04435820e+00] [ 3.11887650e-05 9.99999856e-01 -5.35329583e-04 3.57757860e-01] [ 1.40947375e-02 5.34836808e-04 9.99900521e-01 -7.89470014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1818580639999996 meters Centerline goodness [0,1] 0.9915415477519957 Centerline is valid? [True, True] Translation: X:2.07, Y:0.36, Z:-0.08 [[ 9.99905140e-01 -1.54518455e-03 -1.36865804e-02 2.07330837e+00] [ 1.53820240e-03 9.99998681e-01 -5.20657968e-04 3.57478276e-01] [ 1.36873669e-02 4.99555848e-04 9.99906199e-01 -7.84012593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.211858064 meters Centerline goodness [0,1] 0.9923714622397718 Centerline is valid? [True, True] Translation: X:2.10, Y:0.36, Z:-0.08 [[ 9.99900688e-01 -3.51207855e-03 -1.36484572e-02 2.10262698e+00] [ 3.50530844e-03 9.99993721e-01 -5.19925443e-04 3.57816555e-01] [ 1.36501975e-02 4.72031756e-04 9.99906720e-01 -7.81630755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2418580639999997 meters Centerline goodness [0,1] 0.9921391433523149 Centerline is valid? [True, True] Translation: X:2.13, Y:0.36, Z:-0.08 [[ 9.99893253e-01 -4.65972309e-03 -1.38480767e-02 2.13019406e+00] [ 4.65284948e-03 9.99989036e-01 -5.28534783e-04 3.60715025e-01] [ 1.38503877e-02 4.64045347e-04 9.99903971e-01 -7.89769204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.271858064 meters Centerline goodness [0,1] 0.9922297995453606 Centerline is valid? [True, True] Translation: X:2.16, Y:0.36, Z:-0.08 [[ 9.99892130e-01 -5.37402951e-03 -1.36692492e-02 2.15932102e+00] [ 5.36736385e-03 9.99985458e-01 -5.24278281e-04 3.61782372e-01] [ 1.36718680e-02 4.50853893e-04 9.99906434e-01 -7.90782103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3018580639999997 meters Centerline goodness [0,1] 0.9921455741749768 Centerline is valid? [True, True] Translation: X:2.19, Y:0.37, Z:-0.08 [[ 9.99887728e-01 -5.60727138e-03 -1.38956527e-02 2.18579840e+00] [ 5.60036828e-03 9.99984174e-01 -5.35644396e-04 3.65488482e-01] [ 1.38984363e-02 4.57763486e-04 9.99903307e-01 -7.96516586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.331858064 meters Centerline goodness [0,1] 0.9925324007405883 Centerline is valid? [True, True] Translation: X:2.21, Y:0.37, Z:-0.08 [[ 9.99906198e-01 -5.00263927e-03 -1.27502851e-02 2.21325870e+00] [ 4.99676162e-03 9.99987395e-01 -4.92796732e-04 3.72126925e-01] [ 1.27525897e-02 4.29040371e-04 9.99918590e-01 -7.86284111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3618580639999998 meters Centerline goodness [0,1] 0.9925293049364372 Centerline is valid? [True, True] Translation: X:2.24, Y:0.38, Z:-0.08 [[ 9.99923235e-01 -4.95673144e-03 -1.13558033e-02 2.24119983e+00] [ 4.95204080e-03 9.99987641e-01 -4.41141950e-04 3.75410344e-01] [ 1.13578495e-02 3.84873685e-04 9.99935423e-01 -7.71800511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3918580639999996 meters Centerline goodness [0,1] 0.992712600613459 Centerline is valid? [True, True] Translation: X:2.27, Y:0.38, Z:-0.08 [[ 9.99929512e-01 -4.58647102e-03 -1.09514650e-02 2.26983983e+00] [ 4.58205912e-03 9.99989411e-01 -4.27916281e-04 3.79319994e-01] [ 1.09533117e-02 3.77705858e-04 9.99939939e-01 -7.68934673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421858064 meters Centerline goodness [0,1] 0.9935077018505117 Centerline is valid? [True, True] Translation: X:2.30, Y:0.39, Z:-0.08 [[ 9.99943216e-01 -3.78752328e-03 -9.96086929e-03 2.29868339e+00] [ 3.78381285e-03 9.99992765e-01 -3.91319153e-04 3.85172023e-01] [ 9.96227935e-03 3.53606867e-04 9.99950313e-01 -7.57097181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4518580639999996 meters Centerline goodness [0,1] 0.9935806138666997 Centerline is valid? [True, True] Translation: X:2.33, Y:0.39, Z:-0.08 [[ 9.99948776e-01 -3.22275952e-03 -9.59470508e-03 2.32717215e+00] [ 3.21927116e-03 9.99994746e-01 -3.78994189e-04 3.89313926e-01] [ 9.59587608e-03 3.48086819e-04 9.99953898e-01 -7.52399701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481858064 meters Centerline goodness [0,1] 0.9936045183662452 Centerline is valid? [True, True] Translation: X:2.36, Y:0.39, Z:-0.07 [[ 9.99957504e-01 -2.31624103e-03 -8.92330214e-03 2.35501349e+00] [ 2.31317783e-03 9.99997262e-01 -3.53586477e-04 3.94279515e-01] [ 8.92409670e-03 3.32930266e-04 9.99960124e-01 -7.46988805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5118580639999997 meters Centerline goodness [0,1] 0.9940212669121602 Centerline is valid? [True, True] Translation: X:2.38, Y:0.40, Z:-0.07 [[ 9.99963328e-01 -1.62297222e-04 -8.56253068e-03 2.38301360e+00] [ 1.59393016e-04 9.99999930e-01 -3.39857507e-04 4.02532135e-01] [ 8.56258524e-03 3.38480236e-04 9.99963283e-01 -7.44390677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541858064 meters Centerline goodness [0,1] 0.9942074558318508 Centerline is valid? [True, True] Translation: X:2.41, Y:0.41, Z:-0.07 [[ 9.99962863e-01 1.15811854e-03 -8.54000617e-03 2.41108099e+00] [-1.16106244e-03 9.99999268e-01 -3.39769194e-04 4.07835372e-01] [ 8.53960643e-03 3.49672056e-04 9.99963476e-01 -7.43365941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5718580639999997 meters Centerline goodness [0,1] 0.9950061382883539 Centerline is valid? [True, True] Translation: X:2.44, Y:0.41, Z:-0.07 [[ 9.99968393e-01 2.19321508e-03 -7.64223276e-03 2.43963681e+00] [-2.19561234e-03 9.99997543e-01 -3.05309769e-04 4.13292679e-01] [ 7.64154437e-03 3.22079499e-04 9.99970751e-01 -7.35040485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6018580639999995 meters Centerline goodness [0,1] 0.994526795895097 Centerline is valid? [True, True] Translation: X:2.47, Y:0.42, Z:-0.07 [[ 9.99958904e-01 3.57751876e-03 -8.33018924e-03 2.46707000e+00] [-3.58042472e-03 9.99993534e-01 -3.33959489e-04 4.18937532e-01] [ 8.32894064e-03 3.63771380e-04 9.99965248e-01 -7.40084784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6318580639999998 meters Centerline goodness [0,1] 0.9945439080555152 Centerline is valid? [True, True] Translation: X:2.50, Y:0.42, Z:-0.07 [[ 9.99948743e-01 5.31901655e-03 -8.61507287e-03 2.49599396e+00] [-5.32219350e-03 9.99985777e-01 -3.45882670e-04 4.24702926e-01] [ 8.61311058e-03 3.91716026e-04 9.99962830e-01 -7.47205130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6618580639999996 meters Centerline goodness [0,1] 0.9947038500527546 Centerline is valid? [True, True] Translation: X:2.52, Y:0.43, Z:-0.08 [[ 9.99929900e-01 7.74036652e-03 -8.96004984e-03 2.52441147e+00] [-7.74390368e-03 9.99969951e-01 -3.60143249e-04 4.33428413e-01] [ 8.95699296e-03 4.29503766e-04 9.99959793e-01 -7.57498078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.691858064 meters Centerline goodness [0,1] 0.9947956783312863 Centerline is valid? [True, True] Translation: X:2.55, Y:0.44, Z:-0.08 [[ 9.99927490e-01 8.61883413e-03 -8.41012352e-03 2.55232413e+00] [-8.62198575e-03 9.99962773e-01 -3.38555505e-04 4.37815979e-01] [ 8.40689247e-03 4.11042922e-04 9.99964577e-01 -7.59163041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7218580639999996 meters Centerline goodness [0,1] 0.9952949540996633 Centerline is valid? [True, True] Translation: X:2.58, Y:0.44, Z:-0.08 [[ 9.99924056e-01 9.29510486e-03 -8.09218200e-03 2.58069435e+00] [-9.29804962e-03 9.99956719e-01 -3.26355476e-04 4.39231563e-01] [ 8.08879826e-03 4.01572201e-04 9.99967205e-01 -7.55104902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.751858064 meters Centerline goodness [0,1] 0.9958147556153781 Centerline is valid? [True, True] Translation: X:2.61, Y:0.44, Z:-0.08 [[ 9.99921273e-01 1.00959696e-02 -7.45107669e-03 2.60848955e+00] [-1.00984928e-02 9.99948964e-01 -3.01092971e-04 4.44510201e-01] [ 7.44765659e-03 3.76313912e-04 9.99972195e-01 -7.55793493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7818580639999997 meters Centerline goodness [0,1] 0.9956543645295377 Centerline is valid? [True, True] Translation: X:2.64, Y:0.45, Z:-0.08 [[ 9.99925294e-01 9.60323817e-03 -7.56205493e-03 2.63707275e+00] [-9.60582723e-03 9.99953816e-01 -3.06128631e-04 4.46881005e-01] [ 7.55876586e-03 3.78745554e-04 9.99971360e-01 -7.57027096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.811858064 meters Centerline goodness [0,1] 0.9962342744141036 Centerline is valid? [True, True] Translation: X:2.66, Y:0.45, Z:-0.08 [[ 9.99929744e-01 9.33319213e-03 -7.30741263e-03 2.66469344e+00] [-9.33560610e-03 9.99956378e-01 -2.96303948e-04 4.49970212e-01] [ 7.30432841e-03 3.64502257e-04 9.99973257e-01 -7.56450786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8418580639999997 meters Centerline goodness [0,1] 0.996340443329151 Centerline is valid? [True, True] Translation: X:2.69, Y:0.45, Z:-0.08 [[ 9.99935697e-01 7.01881920e-03 -8.90721748e-03 2.69343097e+00] [-7.02231918e-03 9.99975278e-01 -3.61722523e-04 4.52218603e-01] [ 8.90445841e-03 4.24248587e-04 9.99960265e-01 -7.69703765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8718580639999995 meters Centerline goodness [0,1] 0.9971961040603786 Centerline is valid? [True, True] Translation: X:2.72, Y:0.45, Z:-0.08 [[ 9.99949544e-01 6.46903480e-03 -7.68513293e-03 2.72200510e+00] [-6.47162700e-03 9.99979010e-01 -3.12480489e-04 4.48985582e-01] [ 7.68295017e-03 3.62200036e-04 9.99970420e-01 -7.57203733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901858064 meters Centerline goodness [0,1] 0.99726649564742 Centerline is valid? [True, True] Translation: X:2.75, Y:0.45, Z:-0.08 [[ 9.99958676e-01 4.51408098e-03 -7.89111597e-03 2.75107355e+00] [-4.51675648e-03 9.99989748e-01 -3.21263820e-04 4.50881371e-01] [ 7.88958486e-03 3.56892793e-04 9.99968813e-01 -7.60821055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9318580639999996 meters Centerline goodness [0,1] 0.9968358409119483 Centerline is valid? [True, True] Translation: X:2.78, Y:0.45, Z:-0.08 [[ 9.99958774e-01 2.40921566e-03 -8.75472056e-03 2.77990699e+00] [-2.41243187e-03 9.99997026e-01 -3.56826997e-04 4.53858907e-01] [ 8.75383486e-03 3.77932453e-04 9.99961613e-01 -7.67468008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961858064 meters Centerline goodness [0,1] 0.9973789603908494 Centerline is valid? [True, True] Translation: X:2.81, Y:0.46, Z:-0.08 [[ 9.99956224e-01 1.55325403e-04 -9.35549534e-03 2.80824671e+00] [-1.58904533e-04 9.99999914e-01 -3.81827747e-04 4.56583249e-01] [ 9.35543523e-03 3.83297663e-04 9.99956163e-01 -7.76433695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9918580639999997 meters Centerline goodness [0,1] 0.9976844055237454 Centerline is valid? [True, True] Translation: X:2.84, Y:0.46, Z:-0.08 [[ 9.99954800e-01 -6.41525540e-04 -9.48615200e-03 2.83562829e+00] [ 6.37875348e-04 9.99999721e-01 -3.87812163e-04 4.59719998e-01] [ 9.48639815e-03 3.81743651e-04 9.99954930e-01 -7.78166808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021858064 meters Centerline goodness [0,1] 0.9979955691528642 Centerline is valid? [True, True] Translation: X:2.86, Y:0.46, Z:-0.08 [[ 9.99959202e-01 -1.26272093e-03 -8.94426481e-03 2.86460037e+00] [ 1.25949641e-03 9.99999140e-01 -3.66136240e-04 4.59730420e-01] [ 8.94471944e-03 3.54856033e-04 9.99959932e-01 -7.72615208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.051858064 meters Centerline goodness [0,1] 0.9981462756993597 Centerline is valid? [True, True] Translation: X:2.89, Y:0.46, Z:-0.08 [[ 9.99954384e-01 -3.59064962e-03 -8.85084055e-03 2.89263085e+00] [ 3.58757907e-03 9.99993499e-01 -3.62774668e-04 4.63059020e-01] [ 8.85208560e-03 3.31005029e-04 9.99960765e-01 -7.64068956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081858064 meters Centerline goodness [0,1] 0.9979356686958903 Centerline is valid? [True, True] Translation: X:2.92, Y:0.46, Z:-0.08 [[ 9.99953443e-01 -4.93739349e-03 -8.29063094e-03 2.92142647e+00] [ 4.93473625e-03 9.99987766e-01 -3.40938199e-04 4.64944161e-01] [ 8.29221285e-03 3.00010249e-04 9.99965574e-01 -7.56678251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.111858064 meters Centerline goodness [0,1] 0.99848210144622 Centerline is valid? [True, True] Translation: X:2.95, Y:0.47, Z:-0.07 [[ 9.99950901e-01 -5.50251863e-03 -8.24118888e-03 2.95064060e+00] [ 5.49990262e-03 9.99984818e-01 -3.40061439e-04 4.67235086e-01] [ 8.24293495e-03 2.94719006e-04 9.99965983e-01 -7.49410312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141858064 meters Centerline goodness [0,1] 0.9983360013480496 Centerline is valid? [True, True] Translation: X:2.98, Y:0.47, Z:-0.07 [[ 9.99950245e-01 -6.82538422e-03 -7.27476897e-03 2.97841798e+00] [ 6.82337655e-03 9.99976675e-01 -3.00760359e-04 4.69449415e-01] [ 7.27665209e-03 2.51106906e-04 9.99973493e-01 -7.36354183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.171858064 meters Centerline goodness [0,1] 0.9985848259547144 Centerline is valid? [True, True] Translation: X:3.01, Y:0.47, Z:-0.07 [[ 9.99952330e-01 -7.19090007e-03 -6.60513623e-03 3.00665108e+00] [ 7.18924701e-03 9.99974119e-01 -2.73978040e-04 4.71782678e-01] [ 6.60693543e-03 2.26479023e-04 9.99978148e-01 -7.29071243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2018580640000005 meters Centerline goodness [0,1] 0.9987180834296522 Centerline is valid? [True, True] Translation: X:3.04, Y:0.47, Z:-0.07 [[ 9.99942292e-01 -7.66107503e-03 -7.53131001e-03 3.03513760e+00] [ 7.65892587e-03 9.99970621e-01 -3.14163395e-04 4.70494764e-01] [ 7.53349557e-03 2.56463520e-04 9.99971590e-01 -7.27705433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231858064 meters Centerline goodness [0,1] 0.9979316167159139 Centerline is valid? [True, True] Translation: X:3.06, Y:0.48, Z:-0.07 [[ 9.99963166e-01 -5.59560001e-03 -6.50819100e-03 3.06385615e+00] [ 5.59394599e-03 9.99984317e-01 -2.72320126e-04 4.78205584e-01] [ 6.50961273e-03 2.35903626e-04 9.99978784e-01 -7.33219589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261858064 meters Centerline goodness [0,1] 0.9991335770588111 Centerline is valid? [True, True] Translation: X:3.09, Y:0.48, Z:-0.07 [[ 9.99964437e-01 -5.04202146e-03 -6.76040288e-03 3.09269097e+00] [ 5.04021856e-03 9.99987258e-01 -2.83696400e-04 4.82565429e-01] [ 6.76174714e-03 2.49612403e-04 9.99977108e-01 -7.14259721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291858064 meters Centerline goodness [0,1] 0.9990932669801573 Centerline is valid? [True, True] Translation: X:3.12, Y:0.48, Z:-0.07 [[ 9.99974480e-01 -3.53776925e-03 -6.20672622e-03 3.12104635e+00] [ 3.53621582e-03 9.99993713e-01 -2.61238590e-04 4.84430368e-01] [ 6.20761141e-03 2.39283600e-04 9.99980704e-01 -7.04003364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321858064000001 meters Centerline goodness [0,1] 0.9993031211724458 Centerline is valid? [True, True] Translation: X:3.15, Y:0.49, Z:-0.07 [[ 9.99975428e-01 4.84401582e-04 -6.99345749e-03 3.15057357e+00] [-4.86474189e-04 9.99999838e-01 -2.94665681e-04 4.92144506e-01] [ 6.99331363e-03 2.98060577e-04 9.99975502e-01 -7.10647608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.351858064 meters Centerline goodness [0,1] 0.9994707986706463 Centerline is valid? [True, True] Translation: X:3.18, Y:0.49, Z:-0.07 [[ 9.99971096e-01 2.15585867e-03 -7.29102208e-03 3.18003916e+00] [-2.15815689e-03 9.99997624e-01 -3.07358849e-04 4.94831112e-01] [ 7.29034213e-03 3.23085134e-04 9.99973373e-01 -7.12614026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381858064 meters Centerline goodness [0,1] 0.9992207573396235 Centerline is valid? [True, True] Translation: X:3.21, Y:0.50, Z:-0.07 [[ 9.99973242e-01 2.21399638e-03 -6.97228785e-03 3.20785915e+00] [-2.21610178e-03 9.99997501e-01 -2.94255955e-04 4.98224899e-01] [ 6.97161895e-03 3.09699381e-04 9.99975650e-01 -7.12922791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4118580640000005 meters Centerline goodness [0,1] 0.9993873196290115 Centerline is valid? [True, True] Translation: X:3.24, Y:0.50, Z:-0.07 [[ 9.99978976e-01 3.22631844e-03 -5.62481122e-03 3.23556595e+00] [-3.22770656e-03 9.99994763e-01 -2.37724999e-04 5.01934879e-01] [ 5.62401478e-03 2.55875241e-04 9.99984152e-01 -7.00358726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441858064 meters Centerline goodness [0,1] 0.9991131569501045 Centerline is valid? [True, True] Translation: X:3.26, Y:0.49, Z:-0.07 [[ 9.99984530e-01 4.22227187e-03 -3.62117480e-03 3.26483678e+00] [-4.22285429e-03 9.99991072e-01 -1.53205520e-04 4.85965363e-01] [ 3.62049559e-03 1.68494844e-04 9.99993432e-01 -6.90421709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471858064 meters Centerline goodness [0,1] 0.9995136906649752 Centerline is valid? [True, True] Translation: X:3.29, Y:0.48, Z:-0.07 [[ 9.99985713e-01 3.69186412e-03 -3.86571792e-03 3.29402364e+00] [-3.69252494e-03 9.99993169e-01 -1.63820973e-04 4.79309069e-01] [ 3.86508671e-03 1.78092893e-04 9.99992515e-01 -6.80974032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501858064 meters Centerline goodness [0,1] 0.999555959655763 Centerline is valid? [True, True] Translation: X:3.32, Y:0.48, Z:-0.07 [[ 9.99986306e-01 3.32914382e-03 -4.03781343e-03 3.32198027e+00] [-3.32986310e-03 9.99994441e-01 -1.71426216e-04 4.83483230e-01] [ 4.03722028e-03 1.84869234e-04 9.99991833e-01 -6.80710379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.531858064000001 meters Centerline goodness [0,1] 0.9995378054160802 Centerline is valid? [True, True] Translation: X:3.35, Y:0.49, Z:-0.07 [[ 9.99986900e-01 7.36382272e-04 -5.06535677e-03 3.35079149e+00] [-7.37483254e-04 9.99999705e-01 -2.15490787e-04 4.87984081e-01] [ 5.06519659e-03 2.19223580e-04 9.99987148e-01 -6.96948273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561858064 meters Centerline goodness [0,1] 0.999619988599658 Centerline is valid? [True, True] Translation: X:3.38, Y:0.49, Z:-0.07 [[ 9.99980639e-01 -9.93444737e-04 -6.14292307e-03 3.37984185e+00] [ 9.91856006e-04 9.99999474e-01 -2.61668876e-04 4.89052498e-01] [ 6.14317979e-03 2.55570914e-04 9.99981098e-01 -7.08538107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.591858064 meters Centerline goodness [0,1] 0.9995776491954217 Centerline is valid? [True, True] Translation: X:3.41, Y:0.49, Z:-0.07 [[ 9.99971614e-01 -3.35537962e-03 -6.74630323e-03 3.40875973e+00] [ 3.35351376e-03 9.99994336e-01 -2.87867142e-04 4.89228626e-01] [ 6.74723092e-03 2.65235150e-04 9.99977202e-01 -7.17626214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621858064 meters Centerline goodness [0,1] 0.9995776491954217 Centerline is valid? [True, True] Translation: X:3.44, Y:0.49, Z:-0.07 [[ 9.99970628e-01 -3.63757374e-03 -6.74625266e-03 3.43621516e+00] [ 3.63570635e-03 9.99993349e-01 -2.89048061e-04 4.90464763e-01] [ 6.74725923e-03 2.64512178e-04 9.99977202e-01 -7.16688148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.651858064 meters Centerline goodness [0,1] 0.99978855221703 Centerline is valid? [True, True] Translation: X:3.47, Y:0.49, Z:-0.07 [[ 9.99949032e-01 -6.44625859e-03 -7.77039851e-03 3.46513719e+00] [ 6.44385482e-03 9.99979182e-01 -3.34346124e-04 4.90830913e-01] [ 7.77239203e-03 2.84257763e-04 9.99969754e-01 -7.20310390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681858064 meters Centerline goodness [0,1] 0.9998519395913533 Centerline is valid? [True, True] Translation: X:3.49, Y:0.49, Z:-0.07 [[ 9.99898484e-01 -1.17513037e-02 -8.05787712e-03 3.49368027e+00] [ 1.17488869e-02 9.99930919e-01 -3.47208650e-04 4.92857952e-01] [ 8.06140063e-03 2.52502316e-04 9.99967475e-01 -7.19666110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711858064 meters Centerline goodness [0,1] 0.9996833505731355 Centerline is valid? [True, True] Translation: X:3.52, Y:0.49, Z:-0.07 [[ 9.99867008e-01 -1.44526698e-02 -7.55559703e-03 3.52281491e+00] [ 1.44506185e-02 9.99895531e-01 -3.26021229e-04 4.93167023e-01] [ 7.55951959e-03 2.16794820e-04 9.99971403e-01 -7.18537043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7418580640000005 meters Centerline goodness [0,1] 0.9997253501785224 Centerline is valid? [True, True] Translation: X:3.55, Y:0.49, Z:-0.07 [[ 9.99777971e-01 -1.98855597e-02 -6.96939447e-03 3.55327760e+00] [ 1.98839443e-02 9.99802250e-01 -3.01007334e-04 4.91083704e-01] [ 6.97400196e-03 1.62361451e-04 9.99975668e-01 -7.17500323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.771858064 meters Centerline goodness [0,1] 0.9999577604595662 Centerline is valid? [True, True] Translation: X:3.58, Y:0.49, Z:-0.07 [[ 9.99724618e-01 -2.22912134e-02 -7.33410070e-03 3.58139826e+00] [ 2.22894850e-02 9.99751508e-01 -3.17332103e-04 4.91038626e-01] [ 7.33935196e-03 1.53771388e-04 9.99973055e-01 -7.17891649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801858064 meters Centerline goodness [0,1] 0.9999788516442847 Centerline is valid? [True, True] Translation: X:3.61, Y:0.49, Z:-0.07 [[ 9.99660511e-01 -2.49143475e-02 -7.62483453e-03 3.61025837e+00] [ 2.49125443e-02 9.99689579e-01 -3.31391460e-04 4.90901661e-01] [ 7.63072402e-03 1.41324928e-04 9.99970876e-01 -7.18243388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831858064 meters Centerline goodness [0,1] 0.9998308918341895 Centerline is valid? [True, True] Translation: X:3.64, Y:0.49, Z:-0.07 [[ 9.99575597e-01 -2.81294859e-02 -7.57355888e-03 3.63878651e+00] [ 2.81277849e-02 9.99604281e-01 -3.31036265e-04 4.88631939e-01] [ 7.57987376e-03 1.17868337e-04 9.99971265e-01 -7.16734610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.861858064 meters Centerline goodness [0,1] 0.999664436568025 Centerline is valid? [True, True] Translation: X:3.67, Y:0.49, Z:-0.07 [[ 9.99564245e-01 -2.85060044e-02 -7.66340185e-03 3.66774471e+00] [ 2.85042589e-02 9.99593614e-01 -3.36912513e-04 4.89449952e-01] [ 7.66989159e-03 1.18326111e-04 9.99970579e-01 -7.12910448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.891858064 meters Centerline goodness [0,1] 0.9996420525130019 Centerline is valid? [True, True] Translation: X:3.70, Y:0.49, Z:-0.07 [[ 9.99580262e-01 -2.79612838e-02 -7.58059785e-03 3.69624745e+00] [ 2.79595458e-02 9.99608999e-01 -3.35171753e-04 4.91617332e-01] [ 7.58700566e-03 1.23080996e-04 9.99971211e-01 -7.10885967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921858064 meters Centerline goodness [0,1] 0.9997683039851715 Centerline is valid? [True, True] Translation: X:3.72, Y:0.50, Z:-0.07 [[ 9.99679486e-01 -2.36160438e-02 -9.12185494e-03 3.72446609e+00] [ 2.36133341e-02 9.99721084e-01 -4.04651928e-04 4.96621536e-01] [ 9.12886699e-03 1.89124823e-04 9.99958313e-01 -7.22645352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9518580640000005 meters Centerline goodness [0,1] 0.9998100985377587 Centerline is valid? [True, True] Translation: X:3.75, Y:0.50, Z:-0.07 [[ 9.99714186e-01 -2.15889609e-02 -1.02695383e-02 3.75321502e+00] [ 2.15854001e-02 9.99766903e-01 -4.57459281e-04 4.98698502e-01] [ 1.02770205e-02 2.35656441e-04 9.99947162e-01 -7.30127524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981858064 meters Centerline goodness [0,1] 0.999198041533007 Centerline is valid? [True, True] Translation: X:3.78, Y:0.50, Z:-0.07 [[ 9.99759434e-01 -1.91144207e-02 -1.07569645e-02 3.78178527e+00] [ 1.91103419e-02 9.99817265e-01 -4.81847469e-04 5.01211295e-01] [ 1.07642091e-02 2.76162283e-04 9.99942026e-01 -7.35775832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011858064 meters Centerline goodness [0,1] 0.998927377121585 Centerline is valid? [True, True] Translation: X:3.81, Y:0.51, Z:-0.07 [[ 9.99850493e-01 -1.41634896e-02 -9.91903110e-03 3.80958668e+00] [ 1.41597671e-02 9.99899646e-01 -4.45420210e-04 5.06977040e-01] [ 9.92434439e-03 3.04902446e-04 9.99950706e-01 -7.28365322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041858064 meters Centerline goodness [0,1] 0.9982595567111913 Centerline is valid? [True, True] Translation: X:3.84, Y:0.51, Z:-0.07 [[ 9.99880558e-01 -1.23637690e-02 -9.27400325e-03 3.83775082e+00] [ 1.23604313e-02 9.99923520e-01 -4.17130624e-04 5.09884390e-01] [ 9.27845128e-03 3.02450121e-04 9.99956909e-01 -7.21356033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.071858064 meters Centerline goodness [0,1] 0.9980373535929091 Centerline is valid? [True, True] Translation: X:3.87, Y:0.51, Z:-0.07 [[ 9.99890313e-01 -1.18017220e-02 -8.94879350e-03 3.86603674e+00] [ 1.17985780e-02 9.99930313e-01 -4.04041945e-04 5.12688520e-01] [ 8.95293828e-03 2.98414589e-04 9.99959877e-01 -7.17387118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101858064 meters Centerline goodness [0,1] 0.997213426219126 Centerline is valid? [True, True] Translation: X:3.89, Y:0.52, Z:-0.07 [[ 9.99896940e-01 -1.14928481e-02 -8.60367235e-03 3.89414130e+00] [ 1.14899203e-02 9.99933913e-01 -3.89652189e-04 5.16609149e-01] [ 8.60758197e-03 2.90756523e-04 9.99962912e-01 -7.19882777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131858064 meters Centerline goodness [0,1] 0.9970295152421682 Centerline is valid? [True, True] Translation: X:3.92, Y:0.52, Z:-0.07 [[ 9.99902936e-01 -1.07431229e-02 -8.87148150e-03 3.92148496e+00] [ 1.07399737e-02 9.99942244e-01 -4.02544562e-04 5.18939544e-01] [ 8.87529370e-03 3.07226011e-04 9.99960567e-01 -7.27620252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1618580640000005 meters Centerline goodness [0,1] 0.9971775807232977 Centerline is valid? [True, True] Translation: X:3.95, Y:0.52, Z:-0.07 [[ 9.99894215e-01 -1.07445224e-02 -9.80382811e-03 3.95006736e+00] [ 1.07406587e-02 9.99942218e-01 -4.46663879e-04 5.20145723e-01] [ 9.80806081e-03 3.41317057e-04 9.99951842e-01 -7.36519561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.191858064 meters Centerline goodness [0,1] 0.9964252670535789 Centerline is valid? [True, True] Translation: X:3.98, Y:0.52, Z:-0.07 [[ 9.99887646e-01 -1.04367079e-02 -1.07596375e-02 3.97854904e+00] [ 1.04320098e-02 9.99945464e-01 -4.92676458e-04 5.23556498e-01] [ 1.07641927e-02 3.80376459e-04 9.99941992e-01 -7.48222104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221858064 meters Centerline goodness [0,1] 0.9948232323232323 Centerline is valid? [True, True] Translation: X:4.01, Y:0.53, Z:-0.08 [[ 9.99906741e-01 -7.92217890e-03 -1.11241865e-02 4.00744583e+00] [ 7.91698884e-03 9.99968530e-01 -5.10515671e-04 5.26239486e-01] [ 1.11278808e-02 4.22398001e-04 9.99937994e-01 -7.54784388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.251858064 meters Centerline goodness [0,1] 0.9944703755098608 Centerline is valid? [True, True] Translation: X:4.04, Y:0.53, Z:-0.08 [[ 9.99918124e-01 -7.10522596e-03 -1.06424436e-02 4.03560522e+00] [ 7.10042154e-03 9.99974672e-01 -4.89155867e-04 5.28390799e-01] [ 1.06456496e-02 4.13549982e-04 9.99943248e-01 -7.52221878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.281858064 meters Centerline goodness [0,1] 0.9934678960744365 Centerline is valid? [True, True] Translation: X:4.06, Y:0.52, Z:-0.07 [[ 9.99944916e-01 -5.21505328e-03 -9.10867751e-03 4.06447730e+00] [ 5.21144110e-03 9.99986332e-01 -4.20255376e-04 5.24779271e-01] [ 9.11074466e-03 3.72762890e-04 9.99958427e-01 -7.32886962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.311858064 meters Centerline goodness [0,1] 0.9934495977084123 Centerline is valid? [True, True] Translation: X:4.09, Y:0.53, Z:-0.07 [[ 9.99949439e-01 -4.26828036e-03 -9.10500633e-03 4.09313482e+00] [ 4.26461222e-03 9.99990817e-01 -4.22247418e-04 5.26495331e-01] [ 9.10672499e-03 3.83396748e-04 9.99958459e-01 -7.25888033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341858064 meters Centerline goodness [0,1] 0.9925854355268962 Centerline is valid? [True, True] Translation: X:4.12, Y:0.53, Z:-0.07 [[ 9.99952098e-01 -3.31472900e-03 -9.20943124e-03 4.12065834e+00] [ 3.31092386e-03 9.99994427e-01 -4.28393298e-04 5.33973986e-01] [ 9.21079992e-03 3.97881051e-04 9.99957501e-01 -7.33463268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.371858064 meters Centerline goodness [0,1] 0.9922860705454699 Centerline is valid? [True, True] Translation: X:4.15, Y:0.53, Z:-0.07 [[ 9.99961767e-01 -9.16530791e-04 -8.69628816e-03 4.15004145e+00] [ 9.13042766e-04 9.99999501e-01 -4.05055197e-04 5.30330904e-01] [ 8.69665507e-03 3.97099627e-04 9.99962105e-01 -7.26223015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401858064 meters Centerline goodness [0,1] 0.9905927019616114 Centerline is valid? [True, True] Translation: X:4.18, Y:0.53, Z:-0.07 [[ 9.99962897e-01 4.61068013e-06 -8.61416806e-03 4.17855999e+00] [-8.07895882e-06 9.99999919e-01 -4.02590162e-04 5.30908999e-01] [ 8.61416551e-03 4.02644818e-04 9.99962816e-01 -7.27703455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431858064 meters Centerline goodness [0,1] 0.9915035016509285 Centerline is valid? [True, True] Translation: X:4.21, Y:0.53, Z:-0.07 [[ 9.99964010e-01 9.93613440e-04 -8.42561624e-03 4.20621225e+00] [-9.96976439e-04 9.99999425e-01 -3.94949016e-04 5.32450576e-01] [ 8.42521897e-03 4.03334943e-04 9.99964426e-01 -7.27944530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461858064 meters Centerline goodness [0,1] 0.9906892863883239 Centerline is valid? [True, True] Translation: X:4.24, Y:0.53, Z:-0.07 [[ 9.99962450e-01 1.58639873e-03 -8.51952031e-03 4.23508921e+00] [-1.58987083e-03 9.99998656e-01 -4.00789735e-04 5.32832122e-01] [ 8.51887304e-03 4.14319622e-04 9.99963628e-01 -7.30329637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4918580640000005 meters Centerline goodness [0,1] 0.9909100517915653 Centerline is valid? [True, True] Translation: X:4.26, Y:0.53, Z:-0.07 [[ 9.99967446e-01 1.86091314e-03 -7.85139858e-03 4.26318745e+00] [-1.86387975e-03 9.99998194e-01 -3.70543683e-04 5.32331387e-01] [ 7.85069486e-03 3.85165683e-04 9.99969109e-01 -7.27755039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521858064 meters Centerline goodness [0,1] 0.9928927997292495 Centerline is valid? [True, True] Translation: X:4.29, Y:0.53, Z:-0.07 [[ 9.99974800e-01 1.21176580e-03 -6.99512150e-03 4.29165856e+00] [-1.21410860e-03 9.99999208e-01 -3.30682333e-04 5.32734375e-01] [ 6.99471525e-03 3.39166837e-04 9.99975479e-01 -7.20867206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551858064 meters Centerline goodness [0,1] 0.9900170594553611 Centerline is valid? [True, True] Translation: X:4.32, Y:0.53, Z:-0.07 [[ 9.99975967e-01 1.24282515e-06 -6.93296231e-03 4.31941829e+00] [-3.51855149e-06 9.99999946e-01 -3.28235139e-04 5.32704831e-01] [ 6.93296153e-03 3.28251644e-04 9.99975913e-01 -7.23765532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581858064 meters Centerline goodness [0,1] 0.9907479445717771 Centerline is valid? [True, True] Translation: X:4.35, Y:0.53, Z:-0.07 [[ 9.99964781e-01 -3.54218932e-03 -7.60847651e-03 4.34916402e+00] [ 3.53954763e-03 9.99993671e-01 -3.60641394e-04 5.28737833e-01] [ 7.60970582e-03 3.33698128e-04 9.99970990e-01 -7.23368664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.611858064 meters Centerline goodness [0,1] 0.9896261623126067 Centerline is valid? [True, True] Translation: X:4.38, Y:0.53, Z:-0.07 [[ 9.99950311e-01 -5.72144926e-03 -8.16331933e-03 4.37844292e+00] [ 5.71847796e-03 9.99983574e-01 -3.87276095e-04 5.26312921e-01] [ 8.16540102e-03 3.40575090e-04 9.99966605e-01 -7.33249269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641858064 meters Centerline goodness [0,1] 0.9911980749746707 Centerline is valid? [True, True] Translation: X:4.41, Y:0.52, Z:-0.07 [[ 9.99929529e-01 -8.55940761e-03 -8.22643757e-03 4.40758174e+00] [ 8.55648353e-03 9.99963316e-01 -3.90579021e-04 5.24205191e-01] [ 8.22947892e-03 3.20162119e-04 9.99966086e-01 -7.34177832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.671858064 meters Centerline goodness [0,1] 0.9916184604990922 Centerline is valid? [True, True] Translation: X:4.44, Y:0.52, Z:-0.07 [[ 9.99900111e-01 -1.13950965e-02 -8.36175248e-03 4.43752641e+00] [ 1.13921723e-02 9.99935028e-01 -3.97262524e-04 5.20671207e-01] [ 8.36573604e-03 3.01964317e-04 9.99964961e-01 -7.34399699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7018580640000005 meters Centerline goodness [0,1] 0.9915043426933131 Centerline is valid? [True, True] Translation: X:4.47, Y:0.51, Z:-0.07 [[ 9.99843281e-01 -1.59642820e-02 -7.65212197e-03 4.46831686e+00] [ 1.59619655e-02 9.99872534e-01 -3.63713673e-04 5.09215400e-01] [ 7.65695301e-03 2.41513766e-04 9.99970656e-01 -7.23130806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.731858064 meters Centerline goodness [0,1] 0.9918029350104822 Centerline is valid? [True, True] Translation: X:4.50, Y:0.51, Z:-0.07 [[ 9.99814083e-01 -1.78778494e-02 -7.22365643e-03 4.49742393e+00] [ 1.78758282e-02 9.99840155e-01 -3.44275310e-04 5.08161745e-01] [ 7.22865667e-03 2.15082462e-04 9.99973850e-01 -7.14303582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761858064 meters Centerline goodness [0,1] 0.9913435413551255 Centerline is valid? [True, True] Translation: X:4.53, Y:0.51, Z:-0.07 [[ 9.99804278e-01 -1.88018838e-02 -6.15595669e-03 4.52550636e+00] [ 1.88004279e-02 9.99823213e-01 -2.94277041e-04 5.09308425e-01] [ 6.16040136e-03 1.78484824e-04 9.99981009e-01 -7.03140898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791858064 meters Centerline goodness [0,1] 0.9909765220515204 Centerline is valid? [True, True] Translation: X:4.55, Y:0.51, Z:-0.07 [[ 9.99824941e-01 -1.80246665e-02 -5.01986263e-03 4.55454460e+00] [ 1.80236857e-02 9.99837531e-01 -2.40553557e-04 5.06165308e-01] [ 5.02338296e-03 1.50035020e-04 9.99987371e-01 -6.86044162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821858064 meters Centerline goodness [0,1] 0.9928332840049047 Centerline is valid? [True, True] Translation: X:4.58, Y:0.51, Z:-0.07 [[ 9.99854464e-01 -1.65608871e-02 -4.09728526e-03 4.58327197e+00] [ 1.65602187e-02 9.99862851e-01 -1.97012926e-04 5.06225117e-01] [ 4.09998603e-03 1.29132313e-04 9.99991587e-01 -6.74494055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.851858064 meters Centerline goodness [0,1] 0.9936289554450206 Centerline is valid? [True, True] Translation: X:4.61, Y:0.51, Z:-0.07 [[ 9.99911689e-01 -1.27324183e-02 -3.80779117e-03 4.61214484e+00] [ 1.27318125e-02 9.99918930e-01 -1.83303784e-04 5.05349125e-01] [ 3.80981638e-03 1.34807513e-04 9.99992734e-01 -6.67843048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881858064 meters Centerline goodness [0,1] 0.9931274375461158 Centerline is valid? [True, True] Translation: X:4.64, Y:0.50, Z:-0.07 [[ 9.99933899e-01 -1.06400119e-02 -4.35752949e-03 4.64206137e+00] [ 1.06391984e-02 9.99943380e-01 -2.09811446e-04 5.00743729e-01] [ 4.35951517e-03 1.63436956e-04 9.99990484e-01 -6.68902073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9118580640000005 meters Centerline goodness [0,1] 0.9925609036500043 Centerline is valid? [True, True] Translation: X:4.67, Y:0.51, Z:-0.07 [[ 9.99948750e-01 -8.80462669e-03 -4.99766880e-03 4.66963699e+00] [ 8.80353131e-03 9.99961219e-01 -2.41135142e-04 5.07574999e-01] [ 4.99959809e-03 1.97125650e-04 9.99987483e-01 -6.76185491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941858064 meters Centerline goodness [0,1] 0.99197266934943 Centerline is valid? [True, True] Translation: X:4.70, Y:0.50, Z:-0.07 [[ 9.99963061e-01 -6.18787192e-03 -5.96545636e-03 4.70022011e+00] [ 6.18625852e-03 9.99980823e-01 -2.88871879e-04 4.95395876e-01] [ 5.96712947e-03 2.51957353e-04 9.99982165e-01 -6.86836698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.971858064 meters Centerline goodness [0,1] 0.9923393359358603 Centerline is valid? [True, True] Translation: X:4.73, Y:0.49, Z:-0.07 [[ 9.99967582e-01 -5.58504935e-03 -5.80025856e-03 4.72875887e+00] [ 5.58350985e-03 9.99984372e-01 -2.81579400e-04 4.94561705e-01] [ 5.80174055e-03 2.49184471e-04 9.99983139e-01 -6.87834974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001858064 meters Centerline goodness [0,1] 0.9935274403016339 Centerline is valid? [True, True] Translation: X:4.76, Y:0.49, Z:-0.07 [[ 9.99967585e-01 -5.36211854e-03 -6.00642331e-03 4.75780506e+00] [ 5.36045454e-03 9.99985590e-01 -2.93101368e-04 4.92842618e-01] [ 6.00790840e-03 2.60894707e-04 9.99981918e-01 -6.86370059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.031858064 meters Centerline goodness [0,1] 0.9929792941570962 Centerline is valid? [True, True] Translation: X:4.79, Y:0.49, Z:-0.07 [[ 9.99964761e-01 -5.77775800e-03 -6.09045844e-03 4.78595866e+00] [ 5.77604743e-03 9.99983274e-01 -2.98412402e-04 4.91850705e-01] [ 6.09208072e-03 2.63223110e-04 9.99981408e-01 -6.89648373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061858064 meters Centerline goodness [0,1] 0.9948998866641481 Centerline is valid? [True, True] Translation: X:4.81, Y:0.49, Z:-0.07 [[ 9.99960643e-01 -6.90165962e-03 -5.57495250e-03 4.81486760e+00] [ 6.90023856e-03 9.99976156e-01 -2.74094765e-04 4.85020253e-01] [ 5.57671128e-03 2.35615475e-04 9.99984422e-01 -6.84967069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.091858064 meters Centerline goodness [0,1] 0.9947136563876652 Centerline is valid? [True, True] Translation: X:4.84, Y:0.48, Z:-0.07 [[ 9.99954617e-01 -7.64523801e-03 -5.68452616e-03 4.84306798e+00] [ 7.64376661e-03 9.99970747e-01 -2.80524004e-04 4.83362639e-01] [ 5.68650454e-03 2.37060082e-04 9.99983804e-01 -6.84704969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121858064 meters Centerline goodness [0,1] 0.9940987462460886 Centerline is valid? [True, True] Translation: X:4.87, Y:0.48, Z:-0.07 [[ 9.99941153e-01 -8.88664054e-03 -6.22241865e-03 4.87203845e+00] [ 8.88489530e-03 9.99960481e-01 -3.08062450e-04 4.80681736e-01] [ 6.22491039e-03 2.52758783e-04 9.99980593e-01 -6.88919205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151858064 meters Centerline goodness [0,1] 0.9949669707455174 Centerline is valid? [True, True] Translation: X:4.90, Y:0.48, Z:-0.07 [[ 9.99925033e-01 -1.00590539e-02 -6.98174309e-03 4.90086143e+00] [ 1.00568727e-02 9.99949368e-01 -3.47456369e-04 4.75002059e-01] [ 6.98488467e-03 2.77215819e-04 9.99975567e-01 -6.84957041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181858064 meters Centerline goodness [0,1] 0.995654820630156 Centerline is valid? [True, True] Translation: X:4.93, Y:0.47, Z:-0.07 [[ 9.99912475e-01 -1.13119173e-02 -6.86172182e-03 4.92995990e+00] [ 1.13098283e-02 9.99935983e-01 -3.43178449e-04 4.67484600e-01] [ 6.86516456e-03 2.65543517e-04 9.99976399e-01 -6.82049263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.211858064 meters Centerline goodness [0,1] 0.995513156515358 Centerline is valid? [True, True] Translation: X:4.96, Y:0.47, Z:-0.07 [[ 9.99920981e-01 -1.10831032e-02 -5.93271758e-03 4.95809792e+00] [ 1.10815318e-02 9.99938554e-01 -2.97677765e-04 4.66432055e-01] [ 5.93565223e-03 2.31910644e-04 9.99982357e-01 -6.71884822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2418580640000005 meters Centerline goodness [0,1] 0.995370855239731 Centerline is valid? [True, True] Translation: X:4.99, Y:0.46, Z:-0.07 [[ 9.99943161e-01 -9.20381175e-03 -5.38180743e-03 4.98587000e+00] [ 9.20248906e-03 9.99957620e-01 -2.70482215e-04 4.62618859e-01] [ 5.38406882e-03 2.20940817e-04 9.99985481e-01 -6.62600302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.271858064 meters Centerline goodness [0,1] 0.9953620146904512 Centerline is valid? [True, True] Translation: X:5.01, Y:0.46, Z:-0.07 [[ 9.99959967e-01 -7.27869546e-03 -5.20433733e-03 5.01417527e+00] [ 7.27743039e-03 9.99973485e-01 -2.61976120e-04 4.63110757e-01] [ 5.20610618e-03 2.24091430e-04 9.99986423e-01 -6.62252554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301858064 meters Centerline goodness [0,1] 0.9958461828938259 Centerline is valid? [True, True] Translation: X:5.04, Y:0.46, Z:-0.07 [[ 9.99974035e-01 -4.88046288e-03 -5.30196831e-03 5.04394820e+00] [ 4.87911463e-03 9.99988061e-01 -2.67195989e-04 4.63552639e-01] [ 5.30320906e-03 2.41320140e-04 9.99985909e-01 -6.58363421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.331858064 meters Centerline goodness [0,1] 0.9955490544352732 Centerline is valid? [True, True] Translation: X:5.07, Y:0.46, Z:-0.07 [[ 9.99981943e-01 -2.09064869e-03 -5.63404708e-03 5.07396734e+00] [ 2.08908094e-03 9.99997778e-01 -2.84134432e-04 4.59491910e-01] [ 5.63462859e-03 2.72359321e-04 9.99984088e-01 -6.55701761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.361858064 meters Centerline goodness [0,1] 0.9966447175271568 Centerline is valid? [True, True] Translation: X:5.10, Y:0.46, Z:-0.07 [[ 9.99978094e-01 3.18242730e-03 -5.80369730e-03 5.10401462e+00] [-3.18418050e-03 9.99994888e-01 -2.92866936e-04 4.56977846e-01] [ 5.80273560e-03 3.11340541e-04 9.99983116e-01 -6.51272543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.391858064 meters Centerline goodness [0,1] 0.996726746259888 Centerline is valid? [True, True] Translation: X:5.13, Y:0.46, Z:-0.06 [[ 9.99966712e-01 5.89666529e-03 -5.63944679e-03 5.13388239e+00] [-5.89836453e-03 9.99982564e-01 -2.84727839e-04 4.56204201e-01] [ 5.63766952e-03 3.17981874e-04 9.99984058e-01 -6.48443462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421858064 meters Centerline goodness [0,1] 0.996800836382645 Centerline is valid? [True, True] Translation: X:5.16, Y:0.46, Z:-0.06 [[ 9.99953929e-01 7.60353349e-03 -5.85889472e-03 5.16276150e+00] [-7.60539843e-03 9.99971035e-01 -2.96094691e-04 4.56049119e-01] [ 5.85647365e-03 3.40640278e-04 9.99982793e-01 -6.46895494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4518580640000005 meters Centerline goodness [0,1] 0.9970323286748611 Centerline is valid? [True, True] Translation: X:5.19, Y:0.45, Z:-0.06 [[ 9.99940055e-01 9.07155338e-03 -6.13127145e-03 5.19216682e+00] [-9.07362557e-03 9.99958786e-01 -3.10238518e-04 4.54433446e-01] [ 6.12820441e-03 3.65852782e-04 9.99981155e-01 -6.49230145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481858064 meters Centerline goodness [0,1] 0.9970323286748611 Centerline is valid? [True, True] Translation: X:5.22, Y:0.46, Z:-0.06 [[ 9.99940679e-01 9.00251767e-03 -6.13125301e-03 5.22051009e+00] [-9.00459079e-03 9.99959410e-01 -3.10602607e-04 4.55932928e-01] [ 6.12820793e-03 3.65793607e-04 9.99981155e-01 -6.48261641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.511858064 meters Centerline goodness [0,1] 0.9972580948992192 Centerline is valid? [True, True] Translation: X:5.25, Y:0.45, Z:-0.07 [[ 9.99931994e-01 9.52229235e-03 -6.73301913e-03 5.24887262e+00] [-9.52480780e-03 9.99954580e-01 -3.41632025e-04 4.49035141e-01] [ 6.72946019e-03 4.05739505e-04 9.99977275e-01 -6.50592248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541858064 meters Centerline goodness [0,1] 0.9962597184282412 Centerline is valid? [True, True] Translation: X:5.28, Y:0.45, Z:-0.07 [[ 9.99945437e-01 8.14747623e-03 -6.53776251e-03 5.27832642e+00] [-8.14982229e-03 9.99966734e-01 -3.32287014e-04 4.45485586e-01] [ 6.53483773e-03 3.85550486e-04 9.99978573e-01 -6.58246327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.571858064 meters Centerline goodness [0,1] 0.9965292385359698 Centerline is valid? [True, True] Translation: X:5.31, Y:0.44, Z:-0.07 [[ 9.99952134e-01 7.37460056e-03 -6.42994290e-03 5.30748842e+00] [-7.37685719e-03 9.99972737e-01 -3.27309362e-04 4.42395791e-01] [ 6.42735382e-03 3.74726466e-04 9.99979274e-01 -6.53268605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601858064 meters Centerline goodness [0,1] 0.997159387597385 Centerline is valid? [True, True] Translation: X:5.34, Y:0.43, Z:-0.06 [[ 9.99967627e-01 5.45405887e-03 -5.91585526e-03 5.33823353e+00] [-5.45593708e-03 9.99985071e-01 -3.01396036e-04 4.30076641e-01] [ 5.91412311e-03 3.33662813e-04 9.99982456e-01 -6.36676408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.631858064 meters Centerline goodness [0,1] 0.9965132642987671 Centerline is valid? [True, True] Translation: X:5.37, Y:0.42, Z:-0.06 [[ 9.99977030e-01 3.50199558e-03 -5.80305136e-03 5.36781335e+00] [-3.50377115e-03 9.99993818e-01 -2.95834120e-04 4.23426313e-01] [ 5.80197948e-03 3.16159888e-04 9.99983118e-01 -6.34844253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6618580640000005 meters Centerline goodness [0,1] 0.9974432592157931 Centerline is valid? [True, True] Translation: X:5.40, Y:0.42, Z:-0.06 [[ 9.99982138e-01 2.94500122e-03 -5.20100907e-03 5.39545961e+00] [-2.94642163e-03 9.99995624e-01 -2.65462767e-04 4.23610360e-01] [ 5.20020452e-03 2.80782391e-04 9.99986439e-01 -6.23305664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.691858064 meters Centerline goodness [0,1] 0.9979170173371487 Centerline is valid? [True, True] Translation: X:5.42, Y:0.42, Z:-0.06 [[ 9.99986131e-01 1.89438054e-03 -4.91417456e-03 5.42485178e+00] [-1.89563786e-03 9.99998172e-01 -2.51212179e-04 4.18135612e-01] [ 4.91368968e-03 2.60524190e-04 9.99987894e-01 -6.16560610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721858064 meters Centerline goodness [0,1] 0.9971884179605539 Centerline is valid? [True, True] Translation: X:5.45, Y:0.41, Z:-0.06 [[ 9.99981051e-01 -8.50472243e-04 -6.09710153e-03 5.45373254e+00] [ 8.48584942e-04 9.99999591e-01 -3.12120865e-04 4.10840430e-01] [ 6.09736449e-03 3.06941042e-04 9.99981364e-01 -6.31443642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.751858064 meters Centerline goodness [0,1] 0.9965992071771334 Centerline is valid? [True, True] Translation: X:5.48, Y:0.41, Z:-0.06 [[ 9.99977013e-01 -1.42590219e-03 -6.62868557e-03 5.48276380e+00] [ 1.42368129e-03 9.99998929e-01 -3.39750490e-04 4.07953297e-01] [ 6.62916292e-03 3.30305545e-04 9.99977972e-01 -6.33745952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.781858064 meters Centerline goodness [0,1] 0.997003308846482 Centerline is valid? [True, True] Translation: X:5.51, Y:0.41, Z:-0.06 [[ 9.99979470e-01 -1.57725295e-03 -6.21061527e-03 5.51096995e+00] [ 1.57530009e-03 9.99998708e-01 -3.19316781e-04 4.05688979e-01] [ 6.21111089e-03 3.09526643e-04 9.99980663e-01 -6.25225836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.811858064 meters Centerline goodness [0,1] 0.9977611315701372 Centerline is valid? [True, True] Translation: X:5.54, Y:0.39, Z:-0.06 [[ 9.99981760e-01 -2.14287295e-03 -5.64686271e-03 5.54027765e+00] [ 2.14126180e-03 9.99997665e-01 -2.91348391e-04 3.93357874e-01] [ 5.64747385e-03 2.79251666e-04 9.99984014e-01 -6.10008535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841858064 meters Centerline goodness [0,1] 0.998071683085307 Centerline is valid? [True, True] Translation: X:5.57, Y:0.40, Z:-0.06 [[ 9.99980150e-01 -1.61217724e-03 -6.09099642e-03 5.56824481e+00] [ 1.61028977e-03 9.99998654e-01 -3.14770232e-04 3.98108857e-01] [ 6.09149569e-03 3.04955714e-04 9.99981400e-01 -6.11243397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.871858064 meters Centerline goodness [0,1] 0.9985606408277359 Centerline is valid? [True, True] Translation: X:5.60, Y:0.39, Z:-0.06 [[ 9.99969412e-01 -1.31507838e-03 -7.71007179e-03 5.59765985e+00] [ 1.31203443e-03 9.99999059e-01 -3.99846817e-04 3.91739000e-01] [ 7.71059036e-03 3.89718707e-04 9.99970197e-01 -6.18838061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901858064 meters Centerline goodness [0,1] 0.9980559387934278 Centerline is valid? [True, True] Translation: X:5.63, Y:0.38, Z:-0.06 [[ 9.99961536e-01 -1.65854750e-03 -8.61248034e-03 5.62654298e+00] [ 1.65475107e-03 9.99998531e-01 -4.47913934e-04 3.84211131e-01] [ 8.61321057e-03 4.33645195e-04 9.99962812e-01 -6.18670173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.931858064 meters Centerline goodness [0,1] 0.997830123724676 Centerline is valid? [True, True] Translation: X:5.65, Y:0.38, Z:-0.06 [[ 9.99955550e-01 -2.36362734e-03 -9.12751522e-03 5.65461993e+00] [ 2.35938423e-03 9.99997104e-01 -4.75609707e-04 3.82527040e-01] [ 9.12861295e-03 4.54053251e-04 9.99958230e-01 -6.21996931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961858064 meters Centerline goodness [0,1] 0.9979373710856928 Centerline is valid? [True, True] Translation: X:5.68, Y:0.38, Z:-0.06 [[ 9.99954098e-01 -3.01800102e-03 -9.09360076e-03 5.68401326e+00] [ 3.01380923e-03 9.99995346e-01 -4.74628237e-04 3.77750917e-01] [ 9.09499087e-03 4.47200073e-04 9.99958540e-01 -6.16431902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.991858064 meters Centerline goodness [0,1] 0.9986216114615095 Centerline is valid? [True, True] Translation: X:5.71, Y:0.37, Z:-0.06 [[ 9.99957569e-01 -3.68980921e-03 -8.44074141e-03 5.71378567e+00] [ 3.68621012e-03 9.99993108e-01 -4.41912602e-04 3.70248146e-01] [ 8.44231381e-03 4.10779504e-04 9.99964279e-01 -5.91006187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021858064 meters Centerline goodness [0,1] 0.998561630985387 Centerline is valid? [True, True] Translation: X:5.74, Y:0.37, Z:-0.06 [[ 9.99957714e-01 -4.36347063e-03 -8.09505407e-03 5.74206607e+00] [ 4.36017141e-03 9.99990404e-01 -4.25163667e-04 3.69995828e-01] [ 8.09683158e-03 3.89849865e-04 9.99967144e-01 -5.87781682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051858064 meters Centerline goodness [0,1] 0.998416402733789 Centerline is valid? [True, True] Translation: X:5.77, Y:0.37, Z:-0.06 [[ 9.99954792e-01 -4.99771106e-03 -8.08924309e-03 5.77079268e+00] [ 4.99442454e-03 9.99987437e-01 -4.26433833e-04 3.65152212e-01] [ 8.09127266e-03 3.86013441e-04 9.99967191e-01 -5.83706361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081858064 meters Centerline goodness [0,1] 0.9983455007962277 Centerline is valid? [True, True] Translation: X:5.80, Y:0.36, Z:-0.06 [[ 9.99954193e-01 -5.50127183e-03 -7.83250193e-03 5.79870512e+00] [ 5.49819681e-03 9.99984799e-01 -4.14076295e-04 3.61155410e-01] [ 7.83466082e-03 3.70992691e-04 9.99969240e-01 -5.76089730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.111858064 meters Centerline goodness [0,1] 0.9985245526900938 Centerline is valid? [True, True] Translation: X:5.83, Y:0.36, Z:-0.06 [[ 9.99962192e-01 -5.60473818e-03 -6.64834686e-03 5.82717527e+00] [ 5.60251743e-03 9.99984244e-01 -3.52607672e-04 3.57412823e-01] [ 6.65021838e-03 3.15346862e-04 9.99977837e-01 -5.62679202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141858064 meters Centerline goodness [0,1] 0.9988966378682211 Centerline is valid? [True, True] Translation: X:5.85, Y:0.36, Z:-0.05 [[ 9.99965639e-01 -5.84605806e-03 -5.87751193e-03 5.85470640e+00] [ 5.84432051e-03 9.99982873e-01 -3.12757536e-04 3.55744892e-01] [ 5.87923966e-03 2.78396726e-04 9.99982678e-01 -5.48031304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171858064 meters Centerline goodness [0,1] 0.9988155844155844 Centerline is valid? [True, True] Translation: X:5.88, Y:0.35, Z:-0.05 [[ 9.99964428e-01 -6.26349634e-03 -5.64903354e-03 5.88326165e+00] [ 6.26189291e-03 9.99980349e-01 -3.01482719e-04 3.53234669e-01] [ 5.65081086e-03 2.66098351e-04 9.99983999e-01 -5.39348674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201858064 meters Centerline goodness [0,1] 0.9989180191427383 Centerline is valid? [True, True] Translation: X:5.91, Y:0.34, Z:-0.05 [[ 9.99965085e-01 -6.22984559e-03 -5.56934201e-03 5.91283494e+00] [ 6.22827856e-03 9.99980559e-01 -2.98666920e-04 3.42927722e-01] [ 5.57109439e-03 2.63969079e-04 9.99984446e-01 -5.19687624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.231858064 meters Centerline goodness [0,1] 0.999043996924164 Centerline is valid? [True, True] Translation: X:5.94, Y:0.34, Z:-0.05 [[ 9.99970631e-01 -5.49548428e-03 -5.34199134e-03 5.94133552e+00] [ 5.49402644e-03 9.99984866e-01 -2.87536635e-04 3.41054734e-01] [ 5.34349065e-03 2.58179149e-04 9.99985690e-01 -5.09125351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261858064 meters Centerline goodness [0,1] 0.9988756558674107 Centerline is valid? [True, True] Translation: X:5.97, Y:0.34, Z:-0.05 [[ 9.99973609e-01 -5.00521398e-03 -5.26582906e-03 5.96895762e+00] [ 5.00378739e-03 9.99987441e-01 -2.84053485e-04 3.44226381e-01] [ 5.26718467e-03 2.57696900e-04 9.99986095e-01 -5.07122022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291858064 meters Centerline goodness [0,1] 0.9985950993760588 Centerline is valid? [True, True] Translation: X:6.00, Y:0.34, Z:-0.05 [[ 9.99980116e-01 -3.06280588e-03 -5.51235182e-03 5.99800492e+00] [ 3.06121086e-03 9.99995270e-01 -2.97767033e-04 3.41303569e-01] [ 5.51323775e-03 2.80886641e-04 9.99984763e-01 -5.06079699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321858064 meters Centerline goodness [0,1] 0.9982220016953007 Centerline is valid? [True, True] Translation: X:6.03, Y:0.34, Z:-0.05 [[ 9.99980113e-01 -2.61494040e-03 -5.73889292e-03 6.02682299e+00] [ 2.61319999e-03 9.99996537e-01 -3.10743306e-04 3.36125414e-01] [ 5.73968563e-03 2.95740251e-04 9.99983484e-01 -5.02777716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351858064 meters Centerline goodness [0,1] 0.9990653817396361 Centerline is valid? [True, True] Translation: X:6.06, Y:0.33, Z:-0.05 [[ 9.99981677e-01 -1.48024627e-03 -5.86984032e-03 6.05582364e+00] [ 1.47839753e-03 9.99998856e-01 -3.19283238e-04 3.32324236e-01] [ 5.87030623e-03 3.10599430e-04 9.99982721e-01 -4.95486604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381858064 meters Centerline goodness [0,1] 0.9994202658495176 Centerline is valid? [True, True] Translation: X:6.08, Y:0.33, Z:-0.05 [[ 9.99979569e-01 -1.13192687e-04 -6.39134197e-03 6.08374564e+00] [ 1.10965459e-04 9.99999933e-01 -3.48829431e-04 3.30804359e-01] [ 6.39138102e-03 3.48113086e-04 9.99979514e-01 -4.92218027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4118580640000005 meters Centerline goodness [0,1] 0.9995224649115522 Centerline is valid? [True, True] Translation: X:6.11, Y:0.33, Z:-0.05 [[ 9.99979904e-01 1.30768429e-04 -6.33829574e-03 6.11251446e+00] [-1.32970095e-04 9.99999931e-01 -3.46939224e-04 3.29571049e-01] [ 6.33824994e-03 3.47775056e-04 9.99979853e-01 -4.85796553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441858064 meters Centerline goodness [0,1] 0.999049056291733 Centerline is valid? [True, True] Translation: X:6.14, Y:0.33, Z:-0.05 [[ 9.99978622e-01 -4.66570204e-04 -6.52207408e-03 6.14180089e+00] [ 4.64244735e-04 9.99999828e-01 -3.58062920e-04 3.28355922e-01] [ 6.52224002e-03 3.55027426e-04 9.99978667e-01 -4.93095691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471858064 meters Centerline goodness [0,1] 0.9990858282603727 Centerline is valid? [True, True] Translation: X:6.17, Y:0.33, Z:-0.05 [[ 9.99971801e-01 -8.21267023e-04 -7.46478723e-03 6.16926092e+00] [ 8.18225937e-04 9.99999581e-01 -4.10435606e-04 3.28642650e-01] [ 7.46512118e-03 4.04316149e-04 9.99972054e-01 -4.97144821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501858064 meters Centerline goodness [0,1] 0.9984438865489553 Centerline is valid? [True, True] Translation: X:6.20, Y:0.32, Z:-0.05 [[ 9.99958502e-01 -2.87483635e-03 -8.64468565e-03 6.19919272e+00] [ 2.87082725e-03 9.99995766e-01 -4.76138803e-04 3.19512739e-01] [ 8.64601787e-03 4.51301645e-04 9.99962521e-01 -5.08449407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.531858064 meters Centerline goodness [0,1] 0.9988601744969224 Centerline is valid? [True, True] Translation: X:6.23, Y:0.32, Z:-0.05 [[ 9.99954325e-01 -3.61011068e-03 -8.84962888e-03 6.22790212e+00] [ 3.60593167e-03 9.99993379e-01 -4.88134841e-04 3.17589678e-01] [ 8.85133251e-03 4.56201388e-04 9.99960722e-01 -5.06572724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561858064 meters Centerline goodness [0,1] 0.998919278410508 Centerline is valid? [True, True] Translation: X:6.26, Y:0.32, Z:-0.05 [[ 9.99939658e-01 -4.60855637e-03 -9.97200711e-03 6.25616068e+00] [ 4.60328091e-03 9.99989253e-01 -5.51914250e-04 3.20266948e-01] [ 9.97444346e-03 5.05976996e-04 9.99950126e-01 -5.18958326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.591858064 meters Centerline goodness [0,1] 0.9990870611669018 Centerline is valid? [True, True] Translation: X:6.28, Y:0.32, Z:-0.05 [[ 9.99933689e-01 -5.97118480e-03 -9.84690712e-03 6.28495066e+00] [ 5.96608350e-03 9.99982053e-01 -5.47355329e-04 3.16121166e-01] [ 9.84999875e-03 4.88571564e-04 9.99951368e-01 -5.17729865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621858064 meters Centerline goodness [0,1] 0.9993146275104363 Centerline is valid? [True, True] Translation: X:6.31, Y:0.31, Z:-0.05 [[ 9.99913992e-01 -7.93461614e-03 -1.04427537e-02 6.31260363e+00] [ 7.92897028e-03 9.99968396e-01 -5.81940070e-04 3.14766234e-01] [ 1.04470411e-02 4.99089735e-04 9.99945304e-01 -5.28432725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651858064 meters Centerline goodness [0,1] 0.9992703468979319 Centerline is valid? [True, True] Translation: X:6.34, Y:0.31, Z:-0.05 [[ 9.99909085e-01 -8.72117886e-03 -1.02841432e-02 6.34163861e+00] [ 8.71572445e-03 9.99961852e-01 -5.75069977e-04 3.08471424e-01] [ 1.02887662e-02 4.85383935e-04 9.99946951e-01 -5.21602209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681858064 meters Centerline goodness [0,1] 0.9993527643226991 Centerline is valid? [True, True] Translation: X:6.37, Y:0.31, Z:-0.05 [[ 9.99897342e-01 -9.66881107e-03 -1.05745033e-02 6.36973295e+00] [ 9.66306969e-03 9.99953135e-01 -5.93904611e-04 3.13183740e-01] [ 1.05797501e-02 4.91661479e-04 9.99943912e-01 -5.30510866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.711858064 meters Centerline goodness [0,1] 0.9997284141475338 Centerline is valid? [True, True] Translation: X:6.40, Y:0.30, Z:-0.05 [[ 9.99893992e-01 -1.09685193e-02 -9.57583481e-03 6.39913144e+00] [ 1.09638493e-02 9.99939749e-01 -5.40046379e-04 3.03310186e-01] [ 9.58118137e-03 4.35001119e-04 9.99954005e-01 -5.03863781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741858064 meters Centerline goodness [0,1] 0.9994351228084857 Centerline is valid? [True, True] Translation: X:6.43, Y:0.30, Z:-0.05 [[ 9.99881319e-01 -1.21011087e-02 -9.53474371e-03 6.42793371e+00] [ 1.20965084e-02 9.99926689e-01 -5.40009218e-04 3.01929815e-01] [ 9.54057941e-03 4.24608022e-04 9.99954397e-01 -4.97364235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.771858064 meters Centerline goodness [0,1] 0.9994748119826898 Centerline is valid? [True, True] Translation: X:6.46, Y:0.31, Z:-0.05 [[ 9.99878311e-01 -1.28951868e-02 -8.77936509e-03 6.45589012e+00] [ 1.28913045e-02 9.99916779e-01 -4.98655625e-04 3.06857943e-01] [ 8.78506473e-03 3.85417476e-04 9.99961336e-01 -5.01507327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801858064 meters Centerline goodness [0,1] 0.9994930719837783 Centerline is valid? [True, True] Translation: X:6.49, Y:0.30, Z:-0.05 [[ 9.99864674e-01 -1.38920397e-02 -8.81162965e-03 6.48540700e+00] [ 1.38881523e-02 9.99903429e-01 -5.02195836e-04 2.98860972e-01] [ 8.81775523e-03 3.79750621e-04 9.99961051e-01 -4.91333152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831858064 meters Centerline goodness [0,1] 0.9993285915108789 Centerline is valid? [True, True] Translation: X:6.51, Y:0.30, Z:-0.05 [[ 9.99849877e-01 -1.49877564e-02 -8.69426730e-03 6.51422197e+00] [ 1.49839956e-02 9.99887610e-01 -4.97543065e-04 2.97856077e-01] [ 8.70074720e-03 3.67193510e-04 9.99962080e-01 -4.91790876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861858064 meters Centerline goodness [0,1] 0.9992410347226615 Centerline is valid? [True, True] Translation: X:6.54, Y:0.30, Z:-0.05 [[ 9.99851418e-01 -1.52211105e-02 -8.09065740e-03 6.54195223e+00] [ 1.52178452e-02 9.99884094e-01 -4.64993808e-04 2.97165394e-01] [ 8.09679736e-03 3.41802346e-04 9.99967162e-01 -4.80048981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891858064 meters Centerline goodness [0,1] 0.9994929755994507 Centerline is valid? [True, True] Translation: X:6.57, Y:0.29, Z:-0.05 [[ 9.99846953e-01 -1.59117047e-02 -7.27241017e-03 6.57011496e+00] [ 1.59090765e-02 9.99873355e-01 -4.19101708e-04 2.93913484e-01] [ 7.27815778e-03 3.03340236e-04 9.99973468e-01 -4.54590161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921858064 meters Centerline goodness [0,1] 0.9995554897021781 Centerline is valid? [True, True] Translation: X:6.60, Y:0.29, Z:-0.04 [[ 9.99826785e-01 -1.73575290e-02 -6.71678450e-03 6.59942811e+00] [ 1.73553128e-02 9.99849310e-01 -3.88098036e-04 2.92371121e-01] [ 6.72250877e-03 2.71458916e-04 9.99977367e-01 -4.47976362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951858064 meters Centerline goodness [0,1] 0.999511366050563 Centerline is valid? [True, True] Translation: X:6.63, Y:0.29, Z:-0.04 [[ 9.99813011e-01 -1.82406093e-02 -6.42046016e-03 6.62788535e+00] [ 1.82385961e-02 9.99833594e-01 -3.71964954e-04 2.89281850e-01] [ 6.42617662e-03 2.54795221e-04 9.99979319e-01 -4.30439953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981858064 meters Centerline goodness [0,1] 0.999300625198686 Centerline is valid? [True, True] Translation: X:6.66, Y:0.29, Z:-0.04 [[ 9.99809543e-01 -1.85487886e-02 -6.06788176e-03 6.65623934e+00] [ 1.85469905e-02 9.99827928e-01 -3.52483675e-04 2.89433700e-01] [ 6.07337579e-03 2.39875597e-04 9.99981528e-01 -4.25450249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.011858064 meters Centerline goodness [0,1] 0.9998299861863776 Centerline is valid? [True, True] Translation: X:6.68, Y:0.29, Z:-0.04 [[ 9.99808483e-01 -1.87187367e-02 -5.71014210e-03 6.68417328e+00] [ 1.87171390e-02 9.99824764e-01 -3.33117698e-04 2.90418538e-01] [ 5.71537701e-03 2.26176377e-04 9.99983642e-01 -4.19748030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041858064 meters Centerline goodness [0,1] 0.9994467025600647 Centerline is valid? [True, True] Translation: X:6.71, Y:0.29, Z:-0.04 [[ 9.99803863e-01 -1.89776723e-02 -5.66419891e-03 6.71234102e+00] [ 1.89760962e-02 9.99819883e-01 -3.31879067e-04 2.90997987e-01] [ 5.66947699e-03 2.24329590e-04 9.99983903e-01 -4.25230836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.071858064 meters Centerline goodness [0,1] 0.999616 Centerline is valid? [True, True] Translation: X:6.74, Y:0.29, Z:-0.04 [[ 9.99799891e-01 -1.90699962e-02 -6.04257287e-03 6.73983978e+00] [ 1.90681968e-02 9.99818122e-01 -3.55267038e-04 2.88813051e-01] [ 6.04824880e-03 2.39974977e-04 9.99981680e-01 -4.18091199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101858064 meters Centerline goodness [0,1] 0.999488785225893 Centerline is valid? [True, True] Translation: X:6.77, Y:0.29, Z:-0.04 [[ 9.99788449e-01 -1.96399256e-02 -6.10989424e-03 6.76883445e+00] [ 1.96380905e-02 9.99807089e-01 -3.60200437e-04 2.88162819e-01] [ 6.11578989e-03 2.40137580e-04 9.99981270e-01 -4.14358643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.131858064 meters Centerline goodness [0,1] 0.9994255930220189 Centerline is valid? [True, True] Translation: X:6.80, Y:0.28, Z:-0.04 [[ 9.99759040e-01 -2.11554933e-02 -5.85716889e-03 6.79859503e+00] [ 2.11538252e-02 9.99776173e-01 -3.46608642e-04 2.80264136e-01] [ 5.86319057e-03 2.22623596e-04 9.99982787e-01 -4.07481960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161858064 meters Centerline goodness [0,1] 0.99934149035602 Centerline is valid? [True, True] Translation: X:6.83, Y:0.29, Z:-0.04 [[ 9.99715572e-01 -2.30399609e-02 -6.15915765e-03 6.82613436e+00] [ 2.30381453e-02 9.99734520e-01 -3.65575444e-04 2.86336169e-01] [ 6.16594536e-03 2.23575895e-04 9.99980965e-01 -4.18064071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191858064 meters Centerline goodness [0,1] 0.9997224060985245 Centerline is valid? [True, True] Translation: X:6.86, Y:0.28, Z:-0.04 [[ 9.99560849e-01 -2.88160131e-02 -6.90990118e-03 6.85632802e+00] [ 2.88138628e-02 9.99584710e-01 -4.10567420e-04 2.80128689e-01] [ 6.91886248e-03 2.11286175e-04 9.99976042e-01 -4.38089013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221858064 meters Centerline goodness [0,1] 0.9995936524231147 Centerline is valid? [True, True] Translation: X:6.89, Y:0.28, Z:-0.04 [[ 9.99458306e-01 -3.20227657e-02 -7.59194813e-03 6.88573954e+00] [ 3.20202583e-02 9.99487118e-01 -4.51632312e-04 2.77300300e-01] [ 7.60251687e-03 2.08291526e-04 9.99971079e-01 -4.45566781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251858064 meters Centerline goodness [0,1] 0.9996368064605722 Centerline is valid? [True, True] Translation: X:6.92, Y:0.27, Z:-0.04 [[ 9.99323362e-01 -3.61264719e-02 -6.90619686e-03 6.91541934e+00] [ 3.61244875e-02 9.99347213e-01 -4.11905457e-04 2.70170529e-01] [ 6.91656928e-03 1.62143924e-04 9.99976067e-01 -4.40096630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281858064 meters Centerline goodness [0,1] 0.999635427836157 Centerline is valid? [True, True] Translation: X:6.94, Y:0.26, Z:-0.04 [[ 9.99018444e-01 -4.39196870e-02 -5.76270042e-03 6.94482898e+00] [ 4.39184309e-02 9.99035061e-01 -3.44391925e-04 2.64753978e-01] [ 5.77226535e-03 9.09651252e-05 9.99983336e-01 -4.28345658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.311858064 meters Centerline goodness [0,1] 0.9995290793501295 Centerline is valid? [True, True] Translation: X:6.97, Y:0.26, Z:-0.04 [[ 9.98826039e-01 -4.81842806e-02 -4.98192958e-03 6.97383545e+00] [ 4.81833927e-02 9.98838461e-01 -2.98164327e-04 2.60280274e-01] [ 4.99050971e-03 5.77680242e-05 9.99987546e-01 -4.18202228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341858064 meters Centerline goodness [0,1] 0.9998712777825453 Centerline is valid? [True, True] Translation: X:7.00, Y:0.25, Z:-0.04 [[ 9.98438799e-01 -5.57086163e-02 -4.06390880e-03 7.00350677e+00] [ 5.57080847e-02 9.98447069e-01 -2.43977464e-04 2.52407223e-01] [ 4.07118947e-03 1.72039911e-05 9.99991713e-01 -4.03904763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.371858064 meters Centerline goodness [0,1] 0.999677211103938 Centerline is valid? [True, True] Translation: X:7.03, Y:0.25, Z:-0.04 [[ 9.98254713e-01 -5.89479391e-02 -3.55920287e-03 7.03106469e+00] [ 5.89475493e-02 9.98261058e-01 -2.14427106e-04 2.51491657e-01] [ 3.56565366e-03 4.24658211e-06 9.99993643e-01 -4.02995080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401858064 meters Centerline goodness [0,1] 0.9997205623146038 Centerline is valid? [True, True] Translation: X:7.06, Y:0.25, Z:-0.04 [[ 9.97860972e-01 -6.53323851e-02 -2.27172953e-03 7.06042436e+00] [ 6.53322430e-02 9.97863557e-01 -1.36776856e-04 2.47814567e-01] [ 2.27581207e-03 -1.19328991e-05 9.99997410e-01 -3.91598951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.431858064 meters Centerline goodness [0,1] 0.9997205623146038 Centerline is valid? [True, True] Translation: X:7.09, Y:0.25, Z:-0.04 [[ 9.97842925e-01 -6.56074420e-02 -2.27169874e-03 7.08795180e+00] [ 6.56072995e-02 9.97845511e-01 -1.37285912e-04 2.49557803e-01] [ 2.27581137e-03 -1.20502436e-05 9.99997410e-01 -3.90660624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461858064 meters Centerline goodness [0,1] 0.999613393758457 Centerline is valid? [True, True] Translation: X:7.12, Y:0.25, Z:-0.04 [[ 9.97665187e-01 -6.82719495e-02 -1.76502395e-03 7.11619449e+00] [ 6.82718667e-02 9.97666748e-01 -1.07187779e-04 2.46301289e-01] [ 1.76822362e-03 -1.35639639e-05 9.99998437e-01 -3.78155719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.491858064 meters Centerline goodness [0,1] 0.999935571161652 Centerline is valid? [True, True] Translation: X:7.14, Y:0.25, Z:-0.04 [[ 9.97499004e-01 -7.06609666e-02 -1.66283859e-03 7.14461394e+00] [ 7.06608964e-02 9.97500390e-01 -1.00979999e-04 2.48811914e-01] [ 1.66581749e-03 -1.67702169e-05 9.99998612e-01 -3.73349732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521858064 meters Centerline goodness [0,1] 0.9998499142367067 Centerline is valid? [True, True] Translation: X:7.17, Y:0.25, Z:-0.04 [[ 9.97395606e-01 -7.21052929e-02 -1.68279461e-03 7.17323577e+00] [ 7.21052224e-02 9.97397025e-01 -1.02603206e-04 2.49647842e-01] [ 1.68581258e-03 -1.90022928e-05 9.99998579e-01 -3.73023930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.551858064 meters Centerline goodness [0,1] 0.9998277606734558 Centerline is valid? [True, True] Translation: X:7.20, Y:0.25, Z:-0.04 [[ 9.97310509e-01 -7.32666688e-02 -1.93511122e-03 7.20165473e+00] [ 7.32665766e-02 9.97312386e-01 -1.18566092e-04 2.51476737e-01] [ 1.93859733e-03 -2.35317650e-05 9.99998121e-01 -3.76441481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581858064 meters Centerline goodness [0,1] 0.9998715010815326 Centerline is valid? [True, True] Translation: X:7.23, Y:0.26, Z:-0.04 [[ 9.97316115e-01 -7.31484916e-02 -3.14086073e-03 7.23002044e+00] [ 7.31482443e-02 9.97321060e-01 -1.93695951e-04 2.55424217e-01] [ 3.14661511e-03 -3.65723540e-05 9.99995049e-01 -3.92757466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611858064 meters Centerline goodness [0,1] 0.9998924592420527 Centerline is valid? [True, True] Translation: X:7.26, Y:0.26, Z:-0.04 [[ 9.97376641e-01 -7.22852165e-02 -3.83180788e-03 7.25792089e+00] [ 7.22848392e-02 9.97384001e-01 -2.37031247e-04 2.58838258e-01] [ 3.83891773e-03 -4.05721873e-05 9.99992631e-01 -3.99677191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641858064000001 meters Centerline goodness [0,1] 0.9996992739614211 Centerline is valid? [True, True] Translation: X:7.29, Y:0.26, Z:-0.04 [[ 9.97466854e-01 -7.10068985e-02 -4.23040105e-03 7.28705296e+00] [ 7.10064251e-02 9.97475824e-01 -2.62185447e-04 2.63775475e-01] [ 4.23833975e-03 -3.88643634e-05 9.99991017e-01 -4.03773971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671858064 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:7.32, Y:0.27, Z:-0.04 [[ 9.97721675e-01 -6.72265041e-02 -5.66191867e-03 7.31566590e+00] [ 6.72255862e-02 9.97737739e-01 -3.52494673e-04 2.70319944e-01] [ 5.67280692e-03 -2.89342264e-05 9.99983909e-01 -4.04703622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701858064 meters Centerline goodness [0,1] 0.9997423178509309 Centerline is valid? [True, True] Translation: X:7.34, Y:0.27, Z:-0.04 [[ 9.97856699e-01 -6.51458100e-02 -6.16694971e-03 7.34354077e+00] [ 6.51446709e-02 9.97875755e-01 -3.85623173e-04 2.74711146e-01] [ 6.17897133e-03 -1.69472421e-05 9.99980910e-01 -4.09188984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731858064 meters Centerline goodness [0,1] 0.9998072020736488 Centerline is valid? [True, True] Translation: X:7.37, Y:0.28, Z:-0.04 [[ 9.98157534e-01 -6.03361391e-02 -6.40990653e-03 7.37046073e+00] [ 6.03348005e-02 9.98178115e-01 -4.02181480e-04 2.82459883e-01] [ 6.42249450e-03 1.47000425e-05 9.99979375e-01 -4.20369605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761858064 meters Centerline goodness [0,1] 0.9996993837366601 Centerline is valid? [True, True] Translation: X:7.40, Y:0.29, Z:-0.04 [[ 9.98308711e-01 -5.78037513e-02 -6.20033640e-03 7.39885382e+00] [ 5.78024432e-02 9.98327965e-01 -3.90116740e-04 2.86929516e-01] [ 6.21251943e-03 3.10623475e-05 9.99980702e-01 -4.19146760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.791858064 meters Centerline goodness [0,1] 0.9995941298357294 Centerline is valid? [True, True] Translation: X:7.43, Y:0.29, Z:-0.04 [[ 9.98449567e-01 -5.53659042e-02 -5.75133354e-03 7.42794403e+00] [ 5.53647306e-02 9.98466131e-01 -3.63205565e-04 2.91465232e-01] [ 5.76262095e-03 4.42214075e-05 9.99983395e-01 -4.18263647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821858064 meters Centerline goodness [0,1] 0.9995509846265689 Centerline is valid? [True, True] Translation: X:7.46, Y:0.30, Z:-0.04 [[ 9.98659824e-01 -5.15596645e-02 -4.48958372e-03 7.45688317e+00] [ 5.15589067e-02 9.98669915e-01 -2.84438068e-04 2.96801011e-01] [ 4.49827772e-03 5.25788429e-05 9.99989881e-01 -4.02122838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851858064 meters Centerline goodness [0,1] 0.9996373333333334 Centerline is valid? [True, True] Translation: X:7.48, Y:0.30, Z:-0.04 [[ 9.98732392e-01 -5.02263830e-02 -3.30447232e-03 7.48453426e+00] [ 5.02259632e-02 9.98737858e-01 -2.09968398e-04 3.00650316e-01] [ 3.31084756e-03 4.37319348e-05 9.99994518e-01 -3.93141654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881858064 meters Centerline goodness [0,1] 0.9995517800734227 Centerline is valid? [True, True] Translation: X:7.51, Y:0.30, Z:-0.04 [[ 9.98770859e-01 -4.95169116e-02 -2.20144298e-03 7.51367833e+00] [ 4.95167238e-02 9.98773285e-01 -1.39779883e-04 3.03528114e-01] [ 2.20566390e-03 3.05998298e-05 9.99997567e-01 -3.82642069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.911858064 meters Centerline goodness [0,1] 0.9996170620146793 Centerline is valid? [True, True] Translation: X:7.54, Y:0.31, Z:-0.04 [[ 9.98852561e-01 -4.78805411e-02 -1.00736598e-03 7.54087280e+00] [ 4.78805009e-02 9.98853069e-01 -6.40348811e-05 3.08131376e-01] [ 1.00927662e-03 1.57282174e-05 9.99999491e-01 -3.69119460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941858064 meters Centerline goodness [0,1] 0.9994447173397689 Centerline is valid? [True, True] Translation: X:7.57, Y:0.31, Z:-0.04 [[ 9.98872667e-01 -4.74699075e-02 5.79214289e-05 7.56952117e+00] [ 4.74699073e-02 9.98872669e-01 4.56616389e-06 3.10835942e-01] [-5.80728876e-05 -1.81149144e-06 9.99999998e-01 -3.65715734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971858064 meters Centerline goodness [0,1] 0.9997233395049905 Centerline is valid? [True, True] Translation: X:7.60, Y:0.32, Z:-0.04 [[ 9.98903626e-01 -4.68113823e-02 4.89492465e-04 7.59686247e+00] [ 4.68113723e-02 9.98903746e-01 3.17970682e-05 3.16631683e-01] [-4.90444322e-04 -8.84839269e-06 9.99999880e-01 -3.56376185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001858064 meters Centerline goodness [0,1] 0.9997659225842147 Centerline is valid? [True, True] Translation: X:7.63, Y:0.32, Z:-0.04 [[ 9.98922044e-01 -4.64051202e-02 1.14659406e-03 7.62574918e+00] [ 4.64050648e-02 9.98922702e-01 7.49022195e-05 3.17806745e-01] [-1.14883469e-03 -2.16137064e-05 9.99999340e-01 -3.57474012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031858064 meters Centerline goodness [0,1] 0.9997440491425647 Centerline is valid? [True, True] Translation: X:7.65, Y:0.32, Z:-0.04 [[ 9.98962023e-01 -4.55507890e-02 -3.81140036e-05 7.65317400e+00] [ 4.55507890e-02 9.98962024e-01 -2.02131005e-06 3.22141131e-01] [ 3.81665144e-05 2.83089041e-07 9.99999999e-01 -3.70077251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061858064 meters Centerline goodness [0,1] 0.999722613408441 Centerline is valid? [True, True] Translation: X:7.68, Y:0.33, Z:-0.04 [[ 9.98946873e-01 -4.58712173e-02 -9.87812533e-04 7.68114955e+00] [ 4.58711771e-02 9.98947362e-01 -6.32684364e-05 3.25165643e-01] [ 9.89674924e-04 1.78896831e-05 9.99999510e-01 -3.78407178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091858064 meters Centerline goodness [0,1] 0.9997660868455748 Centerline is valid? [True, True] Translation: X:7.71, Y:0.33, Z:-0.04 [[ 9.98931730e-01 -4.61591239e-02 -2.17582342e-03 7.70870634e+00] [ 4.61589260e-02 9.98934099e-01 -1.41094741e-04 3.27690178e-01] [ 2.18001702e-03 4.05103410e-05 9.99997623e-01 -3.89905701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121858064 meters Centerline goodness [0,1] 0.9997868576422192 Centerline is valid? [True, True] Translation: X:7.74, Y:0.33, Z:-0.04 [[ 9.98827885e-01 -4.82268608e-02 -4.12631807e-03 7.73762290e+00] [ 4.82261587e-02 9.98836406e-01 -2.69533497e-04 3.29016108e-01] [ 4.13451546e-03 7.02211027e-05 9.99991450e-01 -4.09947014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151858064 meters Centerline goodness [0,1] 0.9996805111821087 Centerline is valid? [True, True] Translation: X:7.77, Y:0.33, Z:-0.04 [[ 9.98746923e-01 -4.97287138e-02 -5.62485454e-03 7.76561777e+00] [ 4.97274254e-02 9.98762758e-01 -3.68767470e-04 3.31176309e-01] [ 5.63623357e-03 8.85958417e-05 9.99984112e-01 -4.24852643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181858064 meters Centerline goodness [0,1] 0.9997219667643348 Centerline is valid? [True, True] Translation: X:7.79, Y:0.33, Z:-0.04 [[ 9.98610045e-01 -5.22175414e-02 -7.16281210e-03 7.79415576e+00] [ 5.22155068e-02 9.98635729e-01 -4.70897885e-04 3.32349959e-01] [ 7.17762921e-03 9.62334938e-05 9.99974236e-01 -4.37501329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211858064 meters Centerline goodness [0,1] 0.9996379974872767 Centerline is valid? [True, True] Translation: X:7.82, Y:0.33, Z:-0.04 [[ 9.98341114e-01 -5.69012637e-02 -8.79013507e-03 7.82202211e+00] [ 5.68983659e-02 9.98379808e-01 -5.79593530e-04 3.32677837e-01] [ 8.80887297e-03 7.84877290e-05 9.99961198e-01 -4.44179070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241858064 meters Centerline goodness [0,1] 0.9997659425069685 Centerline is valid? [True, True] Translation: X:7.85, Y:0.33, Z:-0.04 [[ 9.98179252e-01 -5.97183020e-02 -8.47968684e-03 7.85130762e+00] [ 5.97156926e-02 9.98215268e-01 -5.60809773e-04 3.33516217e-01] [ 8.49804348e-03 5.34183069e-05 9.99963890e-01 -4.32134135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271858064 meters Centerline goodness [0,1] 0.9997443218136106 Centerline is valid? [True, True] Translation: X:7.88, Y:0.34, Z:-0.04 [[ 9.98029741e-01 -6.22023585e-02 -8.21602386e-03 7.87910396e+00] [ 6.21999809e-02 9.98063558e-01 -5.44832971e-04 3.35525495e-01] [ 8.23400390e-03 3.27229818e-05 9.99966099e-01 -4.26742054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301858064 meters Centerline goodness [0,1] 0.9998087791611779 Centerline is valid? [True, True] Translation: X:7.91, Y:0.34, Z:-0.04 [[ 9.97748742e-01 -6.67269177e-02 -6.70565407e-03 7.90826910e+00] [ 6.67254282e-02 9.97771276e-01 -4.45856117e-04 3.38553312e-01] [ 6.72045962e-03 -2.58525941e-06 9.99977417e-01 -4.07282878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331858064 meters Centerline goodness [0,1] 0.9999362624288264 Centerline is valid? [True, True] Translation: X:7.93, Y:0.34, Z:-0.04 [[ 9.97615028e-01 -6.87858831e-02 -5.72353035e-03 7.93475176e+00] [ 6.87848252e-02 9.97631446e-01 -3.81713948e-04 3.41312521e-01] [ 5.73623039e-03 -1.28884634e-05 9.99983548e-01 -3.97844271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361858064 meters Centerline goodness [0,1] 0.9999361376021798 Centerline is valid? [True, True] Translation: X:7.96, Y:0.34, Z:-0.04 [[ 9.97481495e-01 -7.07332545e-02 -5.24160703e-03 7.96267416e+00] [ 7.07323884e-02 9.97495266e-01 -3.50671552e-04 3.43894699e-01] [ 5.25328234e-03 -2.09630010e-05 9.99986201e-01 -3.83758283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.99, Y:0.35, Z:-0.04 [[ 9.97292688e-01 -7.33657748e-02 -4.97577713e-03 7.99144347e+00] [ 7.33650207e-02 9.97305100e-01 -3.34153689e-04 3.48042521e-01] [ 4.98688335e-03 -3.17989619e-05 9.99987565e-01 -3.65661885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.02, Y:0.35, Z:-0.04 [[ 9.97245644e-01 -7.40132361e-02 -4.81308855e-03 8.01937539e+00] [ 7.40125323e-02 9.97257259e-01 -3.24426705e-04 3.51905400e-01] [ 4.82389937e-03 -3.26957535e-05 9.99988364e-01 -3.64174809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451858064 meters Centerline goodness [0,1] 0.9999575461685417 Centerline is valid? [True, True] Translation: X:8.05, Y:0.36, Z:-0.04 [[ 9.97238835e-01 -7.40500882e-02 -5.59380315e-03 8.04634966e+00] [ 7.40491296e-02 9.97254523e-01 -3.78578460e-04 3.56168453e-01] [ 5.60647926e-03 -3.66831123e-05 9.99984283e-01 -3.68892586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481858064 meters Centerline goodness [0,1] 0.9999788422477996 Centerline is valid? [True, True] Translation: X:8.07, Y:0.36, Z:-0.04 [[ 9.97388784e-01 -7.19122877e-02 -6.65099276e-03 8.07352047e+00] [ 7.19108779e-02 9.97410959e-01 -4.51178027e-04 3.63781508e-01] [ 6.66621832e-03 -2.82788250e-05 9.99977780e-01 -3.82678023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.10, Y:0.37, Z:-0.04 [[ 9.97482122e-01 -7.05374386e-02 -7.34075219e-03 8.10137352e+00] [ 7.05356737e-02 9.97509132e-01 -4.99365274e-04 3.70038550e-01] [ 7.35769129e-03 -1.96769682e-05 9.99972932e-01 -3.87782995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.13, Y:0.38, Z:-0.04 [[ 9.97704766e-01 -6.72284734e-02 -8.09519793e-03 8.12848503e+00] [ 6.72261991e-02 9.97737607e-01 -5.53043592e-04 3.79042012e-01] [ 8.11406369e-03 7.56484058e-06 9.99967080e-01 -3.91626337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.16, Y:0.38, Z:-0.04 [[ 9.97793178e-01 -6.58912030e-02 -8.19289946e-03 8.15560957e+00] [ 6.58888168e-02 9.97826813e-01 -5.61117242e-04 3.84158487e-01] [ 8.21206745e-03 2.00585046e-05 9.99966280e-01 -3.93947369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.18, Y:0.39, Z:-0.04 [[ 9.97864635e-01 -6.48230153e-02 -8.00918275e-03 8.18330241e+00] [ 6.48206878e-02 9.97896776e-01 -5.50120578e-04 3.88391242e-01] [ 8.02799812e-03 2.97851356e-05 9.99967775e-01 -3.80401375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:0.39, Z:-0.04 [[ 9.98008962e-01 -6.25857265e-02 -7.81915498e-03 8.21218175e+00] [ 6.25834236e-02 9.98039591e-01 -5.39093333e-04 3.94811246e-01] [ 7.83756578e-03 4.86704898e-05 9.99969285e-01 -3.73070661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.24, Y:0.40, Z:-0.04 [[ 9.98087702e-01 -6.13352500e-02 -7.67630812e-03 8.23992203e+00] [ 6.13329842e-02 9.98117219e-01 -5.30445107e-04 3.99253453e-01] [ 7.69439030e-03 5.86198534e-05 9.99970396e-01 -3.77477979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.27, Y:0.40, Z:-0.04 [[ 9.98119950e-01 -6.08050092e-02 -7.70174393e-03 8.26730672e+00] [ 6.08027011e-02 9.98149661e-01 -5.33707081e-04 4.03222464e-01] [ 7.71994516e-03 6.44168515e-05 9.99970199e-01 -3.79456868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.30, Y:0.41, Z:-0.04 [[ 9.98172043e-01 -5.99877375e-02 -7.35149067e-03 8.29519447e+00] [ 5.99856031e-02 9.98199112e-01 -5.10690019e-04 4.07526811e-01] [ 7.36888659e-03 6.87728986e-05 9.99972847e-01 -3.85583348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.32, Y:0.41, Z:-0.04 [[ 9.98193158e-01 -5.97502740e-02 -6.35005619e-03 8.32277040e+00] [ 5.97486698e-02 9.98213354e-01 -4.42201695e-04 4.11419239e-01] [ 6.36513256e-03 6.19952966e-05 9.99979740e-01 -3.77006553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781858064 meters Centerline goodness [0,1] 0.999979064168324 Centerline is valid? [True, True] Translation: X:8.35, Y:0.41, Z:-0.04 [[ 9.98175894e-01 -6.00749742e-02 -5.99009044e-03 8.34978277e+00] [ 6.00735442e-02 9.98193866e-01 -4.18523151e-04 4.14101197e-01] [ 6.00441431e-03 5.79137577e-05 9.99981972e-01 -3.75705997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811858064 meters Centerline goodness [0,1] 0.9999579672985582 Centerline is valid? [True, True] Translation: X:8.38, Y:0.41, Z:-0.04 [[ 9.98156275e-01 -6.03764621e-02 -6.22363218e-03 8.37762647e+00] [ 6.03749151e-02 9.98175676e-01 -4.36318908e-04 4.14838849e-01] [ 6.23862165e-03 5.97631910e-05 9.99980538e-01 -3.68602799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.40, Y:0.42, Z:-0.04 [[ 9.98130788e-01 -6.07859695e-02 -6.32422998e-03 8.40440026e+00] [ 6.07843704e-02 9.98150821e-01 -4.44928706e-04 4.16629464e-01] [ 6.33958077e-03 5.96827022e-05 9.99979903e-01 -3.67466787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.43, Y:0.42, Z:-0.04 [[ 9.98125156e-01 -6.08638290e-02 -6.46268889e-03 8.43171837e+00] [ 6.08621540e-02 9.98146077e-01 -4.55720947e-04 4.18777935e-01] [ 6.47844449e-03 6.15333755e-05 9.99979013e-01 -3.69867687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901858064 meters Centerline goodness [0,1] 0.9999371530323662 Centerline is valid? [True, True] Translation: X:8.46, Y:0.42, Z:-0.04 [[ 9.98155073e-01 -6.03338634e-02 -6.80259825e-03 8.45903981e+00] [ 6.03319902e-02 9.98178251e-01 -4.80424846e-04 4.22495469e-01] [ 6.81919150e-03 6.91242067e-05 9.99976747e-01 -3.78153625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931858064 meters Centerline goodness [0,1] 0.9999790220059158 Centerline is valid? [True, True] Translation: X:8.49, Y:0.42, Z:-0.04 [[ 9.98277307e-01 -5.82365341e-02 -7.13606670e-03 8.48742251e+00] [ 5.82344146e-02 9.98302809e-01 -5.04617403e-04 4.23714991e-01] [ 7.15334260e-03 8.81834354e-05 9.99974411e-01 -3.72263415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.52, Y:0.43, Z:-0.04 [[ 9.98383032e-01 -5.63956409e-02 -7.13111222e-03 8.51525111e+00] [ 5.63934728e-02 9.98408494e-01 -5.04897995e-04 4.26905276e-01] [ 7.14823706e-03 1.01933408e-04 9.99974446e-01 -3.69993256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991858064 meters Centerline goodness [0,1] 0.9999790615381394 Centerline is valid? [True, True] Translation: X:8.54, Y:0.43, Z:-0.04 [[ 9.98495866e-01 -5.42840709e-02 -7.69708465e-03 8.54267209e+00] [ 5.42814769e-02 9.98525525e-01 -5.45668640e-04 4.30805695e-01] [ 7.71535661e-03 1.27038758e-04 9.99970228e-01 -3.73562621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:0.44, Z:-0.04 [[ 9.98748785e-01 -4.91584056e-02 -9.18230101e-03 8.57185364e+00] [ 4.91544922e-02 9.98790975e-01 -6.51513644e-04 4.38488678e-01] [ 9.20322675e-03 1.99347117e-04 9.99957630e-01 -3.93228365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:0.44, Z:-0.04 [[ 9.98856862e-01 -4.69722769e-02 -8.86425049e-03 8.59960260e+00] [ 4.69685387e-02 9.98896171e-01 -6.29528637e-04 4.43024196e-01] [ 8.88403626e-03 2.12468107e-04 9.99960514e-01 -4.01031081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.63, Y:0.45, Z:-0.04 [[ 9.98918785e-01 -4.56569751e-02 -8.75792017e-03 8.62811931e+00] [ 4.56532618e-02 9.98957152e-01 -6.23545595e-04 4.46291293e-01] [ 8.77725619e-03 2.23043786e-04 9.99961454e-01 -3.99145539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.66, Y:0.45, Z:-0.04 [[ 9.98988185e-01 -4.41731099e-02 -8.44642021e-03 8.65596066e+00] [ 4.41695928e-02 9.99023866e-01 -6.02578969e-04 4.50914400e-01] [ 8.46479315e-03 2.28894330e-04 9.99964147e-01 -4.00625522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.68, Y:0.45, Z:-0.04 [[ 9.98986783e-01 -4.41220426e-02 -8.86858936e-03 8.68473904e+00] [ 4.41181490e-02 9.99026119e-01 -6.34286827e-04 4.52629904e-01] [ 8.88793844e-03 2.42378410e-04 9.99960472e-01 -4.00437230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.71, Y:0.45, Z:-0.04 [[ 9.98979162e-01 -4.42702086e-02 -8.98788811e-03 8.71257498e+00] [ 4.42661938e-02 9.99019563e-01 -6.45230394e-04 4.51496695e-01] [ 9.00764054e-03 2.46712121e-04 9.99959400e-01 -3.92779086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.74, Y:0.46, Z:-0.04 [[ 9.98938327e-01 -4.51718063e-02 -9.04028889e-03 8.73979090e+00] [ 4.51677659e-02 9.98979204e-01 -6.50716563e-04 4.55750724e-01] [ 9.06045464e-03 2.41696063e-04 9.99958924e-01 -3.99801214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231858064 meters Centerline goodness [0,1] 0.9999789531286174 Centerline is valid? [True, True] Translation: X:8.77, Y:0.46, Z:-0.04 [[ 9.98891447e-01 -4.61245888e-02 -9.40212705e-03 8.76887071e+00] [ 4.61202431e-02 9.98935665e-01 -6.78615536e-04 4.56685855e-01] [ 9.42342090e-03 2.44234869e-04 9.99955569e-01 -4.00791949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.80, Y:0.45, Z:-0.04 [[ 9.98832539e-01 -4.73181913e-02 -9.72355208e-03 8.79760241e+00] [ 4.73135771e-02 9.98879837e-01 -7.04149052e-04 4.54900049e-01] [ 9.74597918e-03 2.43270954e-04 9.99952477e-01 -3.96431507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.83, Y:0.46, Z:-0.04 [[ 9.98819557e-01 -4.75914669e-02 -9.72336743e-03 8.82509039e+00] [ 4.75868410e-02 9.98866855e-01 -7.06692606e-04 4.56977596e-01] [ 9.74598198e-03 2.43154057e-04 9.99952477e-01 -3.95492998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.85, Y:0.46, Z:-0.04 [[ 9.98770608e-01 -4.86073909e-02 -9.72595324e-03 8.85398095e+00] [ 4.86027863e-02 9.98817934e-01 -7.09376696e-04 4.56344642e-01] [ 9.74893747e-03 2.35796167e-04 9.99952450e-01 -3.87841137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351858064 meters Centerline goodness [0,1] 0.999957965531736 Centerline is valid? [True, True] Translation: X:8.88, Y:0.46, Z:-0.04 [[ 9.98741836e-01 -4.91596695e-02 -9.90316129e-03 8.88128804e+00] [ 4.91549086e-02 9.98790905e-01 -7.23723781e-04 4.61783987e-01] [ 9.92676545e-03 2.36024230e-04 9.99950701e-01 -3.96548449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.91, Y:0.46, Z:-0.04 [[ 9.98716512e-01 -4.97552034e-02 -9.47359030e-03 8.91019828e+00] [ 4.97508566e-02 9.98761418e-01 -6.94090406e-04 4.60613779e-01] [ 9.49639109e-03 2.21880317e-04 9.99954884e-01 -3.90286515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.94, Y:0.46, Z:-0.04 [[ 9.98663425e-01 -5.08490002e-02 -9.25973161e-03 8.93953678e+00] [ 5.08448798e-02 9.98706331e-01 -6.80001255e-04 4.61544665e-01] [ 9.28232997e-03 2.08282441e-04 9.99956897e-01 -3.84049196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441858064 meters Centerline goodness [0,1] 0.9999579425495226 Centerline is valid? [True, True] Translation: X:8.97, Y:0.46, Z:-0.04 [[ 9.98448261e-01 -5.49775193e-02 -8.86239996e-03 8.96796051e+00] [ 5.49739003e-02 9.98487579e-01 -6.51626112e-04 4.60479021e-01] [ 8.88482107e-03 1.63414266e-04 9.99960516e-01 -3.75187567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471858064 meters Centerline goodness [0,1] 0.999978931844517 Centerline is valid? [True, True] Translation: X:9.00, Y:0.46, Z:-0.04 [[ 9.98268690e-01 -5.81990808e-02 -8.51409399e-03 8.99697488e+00] [ 5.81958455e-02 9.98304988e-01 -6.27457440e-04 4.59715568e-01] [ 8.53617995e-03 1.30886218e-04 9.99963558e-01 -3.70301386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.03, Y:0.46, Z:-0.04 [[ 9.98053473e-01 -6.17917281e-02 -8.42897707e-03 9.02604675e+00] [ 6.17886684e-02 9.98089060e-01 -6.23177200e-04 4.58672851e-01] [ 8.45137699e-03 1.01148900e-04 9.99964281e-01 -3.71572221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.05, Y:0.45, Z:-0.04 [[ 9.97558858e-01 -6.94093477e-02 -7.65940802e-03 9.05396832e+00] [ 6.94070360e-02 9.97588262e-01 -5.67533865e-04 4.53773847e-01] [ 7.68032770e-03 3.45316264e-05 9.99970505e-01 -3.66077023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561858063999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.08, Y:0.45, Z:-0.04 [[ 9.97274975e-01 -7.33980881e-02 -7.43935862e-03 9.08262033e+00] [ 7.33960079e-02 9.97302723e-01 -5.52620401e-04 4.52172694e-01] [ 7.45985388e-03 5.09527275e-06 9.99972175e-01 -3.54306988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.11, Y:0.45, Z:-0.03 [[ 9.97001876e-01 -7.70776120e-02 -6.80450316e-03 9.11099147e+00] [ 7.70759457e-02 9.97025096e-01 -5.07167128e-04 4.51027445e-01] [ 6.82335164e-03 -1.88169383e-05 9.99976720e-01 -3.43079430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621858064 meters Centerline goodness [0,1] 0.9999788771070086 Centerline is valid? [True, True] Translation: X:9.14, Y:0.45, Z:-0.03 [[ 9.96541798e-01 -8.28583319e-02 -6.24029236e-03 9.13979076e+00] [ 8.28570339e-02 9.96561335e-01 -4.66686467e-04 4.47852296e-01] [ 6.25750295e-03 -5.19795450e-05 9.99980420e-01 -3.25459505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.17, Y:0.45, Z:-0.03 [[ 9.96424104e-01 -8.43193071e-02 -5.40922946e-03 9.16794103e+00] [ 8.43183484e-02 9.96438785e-01 -4.05444495e-04 4.46705279e-01] [ 5.42415283e-03 -5.21026271e-05 9.99985288e-01 -3.24812322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.20, Y:0.45, Z:-0.03 [[ 9.96363673e-01 -8.50502914e-02 -5.08716606e-03 9.19585294e+00] [ 8.50494492e-02 9.96376658e-01 -3.82053917e-04 4.50027398e-01] [ 5.10122732e-03 -5.19960281e-05 9.99986987e-01 -3.15207920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.22, Y:0.45, Z:-0.03 [[ 9.96555771e-01 -8.28366900e-02 -3.83117248e-03 9.22494774e+00] [ 8.28361929e-02 9.96563135e-01 -2.88544481e-04 4.53817608e-01] [ 3.84190732e-03 -2.98090749e-05 9.99992619e-01 -3.01115744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.25, Y:0.46, Z:-0.03 [[ 9.96710941e-01 -8.09496762e-02 -3.80139443e-03 9.25377251e+00] [ 8.09491695e-02 9.96718190e-01 -2.87232306e-04 4.57935903e-01] [ 3.81217034e-03 -2.14321407e-05 9.99992733e-01 -2.99162160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771858064 meters Centerline goodness [0,1] 0.9998737134558313 Centerline is valid? [True, True] Translation: X:9.28, Y:0.46, Z:-0.03 [[ 9.96876519e-01 -7.88655821e-02 -4.17439562e-03 9.28292471e+00] [ 7.88649484e-02 9.96885259e-01 -3.16463754e-04 4.61869478e-01] [ 4.18635155e-03 -1.37382096e-05 9.99991237e-01 -3.03417475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801858064 meters Centerline goodness [0,1] 0.9999789637545491 Centerline is valid? [True, True] Translation: X:9.31, Y:0.47, Z:-0.03 [[ 9.97177780e-01 -7.48908036e-02 -5.27653310e-03 9.31085433e+00] [ 7.48897294e-02 9.97191741e-01 -4.01146218e-04 4.67951610e-01] [ 5.29175739e-03 4.85595861e-06 9.99985999e-01 -3.13247946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.34, Y:0.47, Z:-0.03 [[ 9.97286766e-01 -7.33824805e-02 -5.84097753e-03 9.33862240e+00] [ 7.33811279e-02 9.97303871e-01 -4.45842474e-04 4.72118317e-01] [ 5.85794652e-03 1.60152802e-05 9.99982842e-01 -3.16667090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.37, Y:0.48, Z:-0.03 [[ 9.97400510e-01 -7.17810524e-02 -6.30112099e-03 9.36654510e+00] [ 7.17794378e-02 9.97420413e-01 -4.82291715e-04 4.76506294e-01] [ 6.31948611e-03 2.87470794e-05 9.99980031e-01 -3.26417740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.39, Y:0.48, Z:-0.03 [[ 9.97503677e-01 -7.03492713e-02 -6.11512139e-03 9.39497654e+00] [ 7.03477178e-02 9.97522420e-01 -4.69032356e-04 4.81016512e-01] [ 6.13296678e-03 3.76766661e-05 9.99981192e-01 -3.25562678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:0.48, Z:-0.03 [[ 9.97493234e-01 -7.04861735e-02 -6.24073288e-03 9.42332983e+00] [ 7.04845476e-02 9.97512756e-01 -4.80369276e-04 4.84279735e-01] [ 6.25907004e-03 3.92898695e-05 9.99980411e-01 -3.20293384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:0.49, Z:-0.03 [[ 9.97471410e-01 -7.08002075e-02 -6.17382220e-03 9.44967446e+00] [ 7.07986140e-02 9.97490516e-01 -4.76557131e-04 4.88113963e-01] [ 6.19206943e-03 3.82540590e-05 9.99980828e-01 -3.26031870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.48, Y:0.49, Z:-0.03 [[ 9.97359511e-01 -7.23725428e-02 -6.01830738e-03 9.47741157e+00] [ 7.23710501e-02 9.97377669e-01 -4.65727844e-04 4.89587540e-01] [ 6.03623129e-03 2.89468707e-05 9.99981781e-01 -3.18134156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.50, Y:0.49, Z:-0.03 [[ 9.97315168e-01 -7.30168019e-02 -5.56788754e-03 9.50421154e+00] [ 7.30155277e-02 9.97330710e-01 -4.32049313e-04 4.91502147e-01] [ 5.58457210e-03 2.43470863e-05 9.99984406e-01 -3.13423920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:0.49, Z:-0.03 [[ 9.97282067e-01 -7.34780011e-02 -5.42784868e-03 9.53111871e+00] [ 7.34767934e-02 9.97296838e-01 -4.21843841e-04 4.94470339e-01] [ 5.44417256e-03 2.18763826e-05 9.99985180e-01 -3.12713963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.56, Y:0.50, Z:-0.03 [[ 9.97300547e-01 -7.32448795e-02 -5.17759501e-03 9.55931366e+00] [ 7.32437728e-02 9.97313986e-01 -4.03287005e-04 4.99731329e-01] [ 5.19322662e-03 2.29717582e-05 9.99986515e-01 -3.25423153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.59, Y:0.50, Z:-0.03 [[ 9.97336962e-01 -7.27381162e-02 -5.30563561e-03 9.58674007e+00] [ 7.27369389e-02 9.97351074e-01 -4.14773808e-04 5.02894832e-01] [ 5.32175124e-03 2.77535562e-05 9.99985839e-01 -3.26743877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.61, Y:0.51, Z:-0.03 [[ 9.97390953e-01 -7.20287572e-02 -4.81093005e-03 9.61496595e+00] [ 7.20277748e-02 9.97402555e-01 -3.77378914e-04 5.05772127e-01] [ 4.82561606e-03 2.98737279e-05 9.99988356e-01 -3.24568223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161858064 meters Centerline goodness [0,1] 0.9998321619637051 Centerline is valid? [True, True] Translation: X:9.64, Y:0.51, Z:-0.03 [[ 9.97513119e-01 -7.03242609e-02 -4.69841635e-03 9.64238448e+00] [ 7.03233000e-02 9.97524184e-01 -3.69626714e-04 5.09600828e-01] [ 4.71277766e-03 3.82993545e-05 9.99988894e-01 -3.23081465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:0.51, Z:-0.03 [[ 9.97556594e-01 -6.96817855e-02 -5.02895490e-03 9.67100930e+00] [ 6.96806727e-02 9.97569269e-01 -3.96367019e-04 5.11522848e-01] [ 5.04435043e-03 4.49775727e-05 9.99987276e-01 -3.21770313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221858064 meters Centerline goodness [0,1] 0.9999580475321461 Centerline is valid? [True, True] Translation: X:9.70, Y:0.51, Z:-0.03 [[ 9.97572402e-01 -6.94166749e-02 -5.53421611e-03 9.69886688e+00] [ 6.94153145e-02 9.97587752e-01 -4.37753351e-04 5.13284127e-01] [ 5.55125359e-03 5.25313095e-05 9.99984590e-01 -3.22991192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.73, Y:0.52, Z:-0.03 [[ 9.97613306e-01 -6.88469240e-02 -5.27197746e-03 9.72712272e+00] [ 6.88456756e-02 9.97627234e-01 -4.18114338e-04 5.15166472e-01] [ 5.28825418e-03 5.41635765e-05 9.99986016e-01 -3.16758750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281858064 meters Centerline goodness [0,1] 0.9999370858149484 Centerline is valid? [True, True] Translation: X:9.75, Y:0.52, Z:-0.03 [[ 9.97602795e-01 -6.90185215e-02 -5.01073096e-03 9.75362035e+00] [ 6.90173935e-02 9.97615377e-01 -3.97881361e-04 5.17581324e-01] [ 5.02624344e-03 5.10999668e-05 9.99987367e-01 -3.18270177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311858063999999 meters Centerline goodness [0,1] 0.9998107733064211 Centerline is valid? [True, True] Translation: X:9.78, Y:0.52, Z:-0.03 [[ 9.97595511e-01 -6.91154419e-02 -5.12360690e-03 9.78049186e+00] [ 6.91142606e-02 9.97608667e-01 -4.07479105e-04 5.20071457e-01] [ 5.13951775e-03 5.23850242e-05 9.99986791e-01 -3.20457280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341858064 meters Centerline goodness [0,1] 0.999916151346819 Centerline is valid? [True, True] Translation: X:9.81, Y:0.52, Z:-0.03 [[ 9.97565343e-01 -6.94337438e-02 -6.50709631e-03 9.80831524e+00] [ 6.94318360e-02 9.97586563e-01 -5.18907768e-04 5.20505622e-01] [ 6.52742156e-03 6.58447609e-05 9.99978694e-01 -3.26006261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371858064 meters Centerline goodness [0,1] 0.9999159469625334 Centerline is valid? [True, True] Translation: X:9.84, Y:0.52, Z:-0.03 [[ 9.97542068e-01 -6.97737332e-02 -6.43804781e-03 9.83622167e+00] [ 6.97718611e-02 9.97562841e-01 -5.15201327e-04 5.22004693e-01] [ 6.45830479e-03 6.47404197e-05 9.99979143e-01 -3.23450444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401858064 meters Centerline goodness [0,1] 0.999768299104792 Centerline is valid? [True, True] Translation: X:9.86, Y:0.52, Z:-0.03 [[ 9.97517383e-01 -7.01534272e-02 -6.12921846e-03 9.86455955e+00] [ 7.01517274e-02 9.97536211e-01 -4.92157562e-04 5.23496344e-01] [ 6.14864390e-03 6.09604611e-05 9.99981095e-01 -3.26344618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431858064 meters Centerline goodness [0,1] 0.9997898099882293 Centerline is valid? [True, True] Translation: X:9.89, Y:0.52, Z:-0.03 [[ 9.97478816e-01 -7.06495842e-02 -6.68187237e-03 9.89138717e+00] [ 7.06475654e-02 9.97501194e-01 -5.37969524e-04 5.24920430e-01] [ 6.70318299e-03 6.45551886e-05 9.99977531e-01 -3.38888072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461858064 meters Centerline goodness [0,1] 0.9998946281427157 Centerline is valid? [True, True] Translation: X:9.92, Y:0.53, Z:-0.03 [[ 9.97460337e-01 -7.08225611e-02 -7.55253520e-03 9.91974781e+00] [ 7.08199748e-02 9.97488927e-01 -6.09670176e-04 5.26618157e-01] [ 7.57674864e-03 7.32514668e-05 9.99971293e-01 -3.43656157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491858064 meters Centerline goodness [0,1] 0.9999790101171235 Centerline is valid? [True, True] Translation: X:9.95, Y:0.53, Z:-0.03 [[ 9.97430756e-01 -7.11192785e-02 -8.59853044e-03 9.94813803e+00] [ 7.11159153e-02 9.97467815e-01 -6.96644581e-04 5.26761610e-01] [ 8.62630223e-03 8.33623688e-05 9.99962789e-01 -3.42168818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521858064 meters Centerline goodness [0,1] 0.9999789637545491 Centerline is valid? [True, True] Translation: X:9.97, Y:0.53, Z:-0.03 [[ 9.97406396e-01 -7.13701154e-02 -9.31598678e-03 9.97481491e+00] [ 7.13661580e-02 9.97449898e-01 -7.56962865e-04 5.28339934e-01] [ 9.34625459e-03 9.01534195e-05 9.99956319e-01 -3.46428702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551858064 meters Centerline goodness [0,1] 0.9997892962494732 Centerline is valid? [True, True] Translation: X:10.00, Y:0.53, Z:-0.03 [[ 9.97448742e-01 -7.06914720e-02 -9.93596573e-03 1.00027104e+01] [ 7.06869242e-02 9.97498223e-01 -8.08590353e-04 5.29735820e-01] [ 9.96826861e-03 1.04184573e-04 9.99950310e-01 -3.49645808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581858064 meters Centerline goodness [0,1] 0.9996417658834685 Centerline is valid? [True, True] Translation: X:10.03, Y:0.53, Z:-0.03 [[ 9.97446207e-01 -7.07585368e-02 -9.71046812e-03 1.00308068e+01] [ 7.07541769e-02 9.97493468e-01 -7.92224462e-04 5.31487409e-01] [ 9.74218516e-03 1.03145105e-04 9.99952538e-01 -3.43407922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611858064 meters Centerline goodness [0,1] 0.9998314796090327 Centerline is valid? [True, True] Translation: X:10.06, Y:0.53, Z:-0.03 [[ 9.97468407e-01 -7.05522044e-02 -8.89742192e-03 1.00592111e+01] [ 7.05485147e-02 9.97508084e-01 -7.28268401e-04 5.31108922e-01] [ 8.92663123e-03 9.87248215e-05 9.99960152e-01 -3.23085743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641858064 meters Centerline goodness [0,1] 0.9996413729088877 Centerline is valid? [True, True] Translation: X:10.09, Y:0.53, Z:-0.03 [[ 9.97484747e-01 -7.03642871e-02 -8.54670176e-03 1.00873004e+01] [ 7.03608553e-02 9.97521357e-01 -7.01927141e-04 5.32202195e-01] [ 8.57490814e-03 9.88083705e-05 9.99963230e-01 -3.15796804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671858064 meters Centerline goodness [0,1] 0.9995141118810208 Centerline is valid? [True, True] Translation: X:10.11, Y:0.53, Z:-0.03 [[ 9.97539794e-01 -6.95741385e-02 -8.59065638e-03 1.01148024e+01] [ 6.95706298e-02 9.97576778e-01 -7.06956764e-04 5.33987368e-01] [ 8.61902522e-03 1.07560130e-04 9.99962850e-01 -3.13546556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701858064 meters Centerline goodness [0,1] 0.9997052321296979 Centerline is valid? [True, True] Translation: X:10.14, Y:0.54, Z:-0.03 [[ 9.97596845e-01 -6.87504772e-02 -8.59692386e-03 1.01433686e+01] [ 6.87469191e-02 9.97633880e-01 -7.09053873e-04 5.35038317e-01] [ 8.62533030e-03 1.16337878e-04 9.99962794e-01 -3.08720201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731858064 meters Centerline goodness [0,1] 0.9996414107323659 Centerline is valid? [True, True] Translation: X:10.17, Y:0.54, Z:-0.03 [[ 9.97753536e-01 -6.64276942e-02 -8.67422696e-03 1.01713351e+01] [ 6.64239707e-02 9.97791232e-01 -7.16968796e-04 5.37714624e-01] [ 8.70269419e-03 1.39181554e-04 9.99962121e-01 -3.04739831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761858064 meters Centerline goodness [0,1] 0.9997678100263853 Centerline is valid? [True, True] Translation: X:10.20, Y:0.54, Z:-0.03 [[ 9.97854456e-01 -6.49721656e-02 -8.06856623e-03 1.02002449e+01] [ 6.49688839e-02 9.97887066e-01 -6.68450489e-04 5.39158991e-01] [ 8.09494856e-03 1.42810557e-04 9.99967225e-01 -2.90904668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791858064 meters Centerline goodness [0,1] 0.9995568124261354 Centerline is valid? [True, True] Translation: X:10.23, Y:0.54, Z:-0.03 [[ 9.98080151e-01 -6.15168652e-02 -7.18934472e-03 1.02278704e+01] [ 6.15141613e-02 9.98106032e-01 -5.96830987e-04 5.43205935e-01] [ 7.21244350e-03 1.53438651e-04 9.99973978e-01 -2.80676441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821858064 meters Centerline goodness [0,1] 0.9997041607674915 Centerline is valid? [True, True] Translation: X:10.26, Y:0.54, Z:-0.03 [[ 9.98141019e-01 -6.05273467e-02 -7.13762249e-03 1.02565804e+01] [ 6.05246464e-02 9.98166526e-01 -5.93913994e-04 5.42970161e-01] [ 7.16048389e-03 1.60807842e-04 9.99974350e-01 -2.70469687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851858064 meters Centerline goodness [0,1] 0.9997676874340021 Centerline is valid? [True, True] Translation: X:10.29, Y:0.54, Z:-0.03 [[ 9.98173387e-01 -6.00032923e-02 -7.03527552e-03 1.02852492e+01] [ 6.00006434e-02 9.98198166e-01 -5.87157861e-04 5.44625698e-01] [ 7.05783052e-03 1.63964293e-04 9.99975080e-01 -2.62035848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881858064 meters Centerline goodness [0,1] 0.9995151770657673 Centerline is valid? [True, True] Translation: X:10.31, Y:0.54, Z:-0.03 [[ 9.98212516e-01 -5.93686820e-02 -6.86537670e-03 1.03132952e+01] [ 5.93661367e-02 9.98236110e-01 -5.74123149e-04 5.44986263e-01] [ 6.88735187e-03 1.65526022e-04 9.99976268e-01 -2.52315026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911858064 meters Centerline goodness [0,1] 0.9997037099743921 Centerline is valid? [True, True] Translation: X:10.34, Y:0.55, Z:-0.02 [[ 9.98170153e-01 -6.00752916e-02 -6.87791009e-03 1.03408499e+01] [ 6.00727450e-02 9.98193835e-01 -5.76439950e-04 5.46344081e-01] [ 6.90011725e-03 1.62210214e-04 9.99976181e-01 -2.47517890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941858064 meters Centerline goodness [0,1] 0.9997462304650326 Centerline is valid? [True, True] Translation: X:10.37, Y:0.55, Z:-0.02 [[ 9.98115879e-01 -6.09722596e-02 -6.86121050e-03 1.03696102e+01] [ 6.09697342e-02 9.98139449e-01 -5.76840032e-04 5.45383787e-01] [ 6.88361610e-03 1.57427015e-04 9.99976295e-01 -2.44673260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971858064 meters Centerline goodness [0,1] 0.9995123192400661 Centerline is valid? [True, True] Translation: X:10.40, Y:0.55, Z:-0.02 [[ 9.98057122e-01 -6.18289901e-02 -7.69138954e-03 1.03972148e+01] [ 6.18258253e-02 9.98086743e-01 -6.48792201e-04 5.46657191e-01] [ 7.71678810e-03 1.72005171e-04 9.99970210e-01 -2.49746785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001858064 meters Centerline goodness [0,1] 0.9996181100691645 Centerline is valid? [True, True] Translation: X:10.43, Y:0.55, Z:-0.03 [[ 9.97907277e-01 -6.41890690e-02 -7.79940178e-03 1.04257169e+01] [ 6.41858706e-02 9.97937743e-01 -6.59953520e-04 5.47085207e-01] [ 7.82567921e-03 1.57961026e-04 9.99969366e-01 -2.64456401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031858064 meters Centerline goodness [0,1] 0.9997023366572406 Centerline is valid? [True, True] Translation: X:10.46, Y:0.55, Z:-0.03 [[ 9.97785456e-01 -6.60225297e-02 -8.07519369e-03 1.04550394e+01] [ 6.60191451e-02 9.97818121e-01 -6.85270670e-04 5.47243447e-01] [ 8.10281790e-03 1.50635724e-04 9.99967160e-01 -2.64142764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061858063999999 meters Centerline goodness [0,1] 0.9995525536402957 Centerline is valid? [True, True] Translation: X:10.48, Y:0.55, Z:-0.03 [[ 9.97674395e-01 -6.76350849e-02 -8.44379762e-03 1.04843086e+01] [ 6.76314245e-02 9.97710115e-01 -7.18623823e-04 5.45794715e-01] [ 8.47306648e-03 1.45886527e-04 9.99964092e-01 -2.61238669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091858064 meters Centerline goodness [0,1] 0.9996386438516314 Centerline is valid? [True, True] Translation: X:10.51, Y:0.54, Z:-0.03 [[ 9.97454691e-01 -7.07277506e-02 -9.04018388e-03 1.05136673e+01] [ 7.07236612e-02 9.97495648e-01 -7.71640422e-04 5.42146216e-01] [ 9.07212047e-03 1.30321457e-04 9.99958839e-01 -2.51914074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121858064 meters Centerline goodness [0,1] 0.999529944661667 Centerline is valid? [True, True] Translation: X:10.54, Y:0.54, Z:-0.03 [[ 9.97381125e-01 -7.17318731e-02 -9.24284656e-03 1.05431474e+01] [ 7.17276260e-02 9.97423943e-01 -7.90598617e-04 5.42121907e-01] [ 9.27574759e-03 1.25560696e-04 9.99956971e-01 -2.51340560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151858064 meters Centerline goodness [0,1] 0.9997229267460943 Centerline is valid? [True, True] Translation: X:10.57, Y:0.54, Z:-0.03 [[ 9.97312757e-01 -7.27062605e-02 -9.00355718e-03 1.05711103e+01] [ 7.27022615e-02 9.97353391e-01 -7.71089325e-04 5.44675779e-01] [ 9.03579131e-03 1.14438252e-04 9.99959170e-01 -2.58661765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181858064 meters Centerline goodness [0,1] 0.9996147095337985 Centerline is valid? [True, True] Translation: X:10.60, Y:0.54, Z:-0.03 [[ 9.97215418e-01 -7.39973065e-02 -9.26329809e-03 1.05990715e+01] [ 7.39931106e-02 9.97258435e-01 -7.95329846e-04 5.42493342e-01] [ 9.29675443e-03 1.07694945e-04 9.99956778e-01 -2.57892488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211858064 meters Centerline goodness [0,1] 0.9996147095337985 Centerline is valid? [True, True] Translation: X:10.63, Y:0.54, Z:-0.03 [[ 9.97194293e-01 -7.42814788e-02 -9.26307091e-03 1.06265440e+01] [ 7.42772706e-02 9.97237309e-01 -7.97969864e-04 5.44922039e-01] [ 9.29675429e-03 1.07695370e-04 9.99956778e-01 -2.56954519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241858064 meters Centerline goodness [0,1] 0.999572183362211 Centerline is valid? [True, True] Translation: X:10.65, Y:0.55, Z:-0.03 [[ 9.97133256e-01 -7.51313719e-02 -8.97475783e-03 1.06548140e+01] [ 7.51274330e-02 9.97173639e-01 -7.75697769e-04 5.45661273e-01] [ 9.00767117e-03 9.92235248e-05 9.99959425e-01 -2.57102582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271858064 meters Centerline goodness [0,1] 0.9997219608178629 Centerline is valid? [True, True] Translation: X:10.68, Y:0.55, Z:-0.03 [[ 9.97020720e-01 -7.65758899e-02 -9.26372780e-03 1.06822555e+01] [ 7.65717412e-02 9.97063752e-01 -8.02219651e-04 5.46610228e-01] [ 9.29795787e-03 9.04898470e-05 9.99956769e-01 -2.68706382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301858064 meters Centerline goodness [0,1] 0.9997431011967203 Centerline is valid? [True, True] Translation: X:10.71, Y:0.55, Z:-0.03 [[ 9.96909041e-01 -7.79993408e-02 -9.40567965e-03 1.07107569e+01] [ 7.79951084e-02 9.96953407e-01 -8.16519059e-04 5.45824336e-01] [ 9.44071233e-03 8.03982282e-05 9.99955432e-01 -2.57435263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331858064 meters Centerline goodness [0,1] 0.9994857069386706 Centerline is valid? [True, True] Translation: X:10.74, Y:0.55, Z:-0.03 [[ 9.96819464e-01 -7.91125334e-02 -9.60015157e-03 1.07383676e+01] [ 7.91081495e-02 9.96865689e-01 -8.36118098e-04 5.46583777e-01] [ 9.63620913e-03 7.40085681e-05 9.99953568e-01 -2.56231335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361858064 meters Centerline goodness [0,1] 0.9995721742106615 Centerline is valid? [True, True] Translation: X:10.77, Y:0.55, Z:-0.03 [[ 9.96706780e-01 -8.04820607e-02 -9.91126967e-03 1.07669617e+01] [ 8.04774277e-02 9.96756055e-01 -8.66031026e-04 5.47369947e-01] [ 9.94881802e-03 6.55455070e-05 9.99950507e-01 -2.57175564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391858064 meters Centerline goodness [0,1] 0.9996776273372018 Centerline is valid? [True, True] Translation: X:10.79, Y:0.55, Z:-0.02 [[ 9.96535095e-01 -8.25542377e-02 -1.01292293e-02 1.07948605e+01] [ 8.25494761e-02 9.96586572e-01 -8.88003013e-04 5.45350572e-01] [ 1.01679623e-02 4.87635979e-05 9.99948304e-01 -2.45383826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421858064 meters Centerline goodness [0,1] 0.9997205623146038 Centerline is valid? [True, True] Translation: X:10.82, Y:0.55, Z:-0.02 [[ 9.96398150e-01 -8.41557740e-02 -1.04178486e-02 1.08234863e+01] [ 8.41507925e-02 9.96452610e-01 -9.16382418e-04 5.45627083e-01] [ 1.04580113e-02 3.64115292e-05 9.99945313e-01 -2.42472443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451858064 meters Centerline goodness [0,1] 0.9995265762857758 Centerline is valid? [True, True] Translation: X:10.85, Y:0.54, Z:-0.02 [[ 9.96207895e-01 -8.62796472e-02 -1.12094716e-02 1.08511776e+01] [ 8.62739909e-02 9.96270958e-01 -9.88084471e-04 5.44377635e-01] [ 1.12529226e-02 1.72516976e-05 9.99936684e-01 -2.46867262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481858064 meters Centerline goodness [0,1] 0.9996552987052157 Centerline is valid? [True, True] Translation: X:10.88, Y:0.54, Z:-0.02 [[ 9.96096779e-01 -8.75139621e-02 -1.15114438e-02 1.08787309e+01] [ 8.75080559e-02 9.96163293e-01 -1.01673662e-03 5.44748743e-01] [ 1.15562564e-02 5.42400780e-06 9.99933224e-01 -2.49159173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511858064 meters Centerline goodness [0,1] 0.9996769886730694 Centerline is valid? [True, True] Translation: X:10.91, Y:0.55, Z:-0.02 [[ 9.95963557e-01 -8.89970199e-02 -1.16671987e-02 1.09065846e+01] [ 8.89910191e-02 9.96031892e-01 -1.03351156e-03 5.45096969e-01] [ 1.17128815e-02 -8.93605793e-06 9.99931402e-01 -2.49465496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541858064 meters Centerline goodness [0,1] 0.9996544724225802 Centerline is valid? [True, True] Translation: X:10.93, Y:0.55, Z:-0.03 [[ 9.95837422e-01 -9.03718661e-02 -1.18640296e-02 1.09340477e+01] [ 9.03657382e-02 9.95908091e-01 -1.05266912e-03 5.45594145e-01] [ 1.19106147e-02 -2.38144819e-05 9.99929066e-01 -2.51077752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571858064 meters Centerline goodness [0,1] 0.999632972062697 Centerline is valid? [True, True] Translation: X:10.96, Y:0.55, Z:-0.03 [[ 9.95743518e-01 -9.14344918e-02 -1.16008370e-02 1.09612547e+01] [ 9.14286832e-02 9.95811093e-01 -1.03117391e-03 5.46010187e-01] [ 1.16465270e-02 -3.38645135e-05 9.99932176e-01 -2.56734260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601858064 meters Centerline goodness [0,1] 0.9995258109710098 Centerline is valid? [True, True] Translation: X:10.99, Y:0.55, Z:-0.03 [[ 9.95642474e-01 -9.23727181e-02 -1.27806163e-02 1.09903834e+01] [ 9.23657065e-02 9.95724499e-01 -1.13906156e-03 5.45457468e-01] [ 1.28311910e-02 -4.63925886e-05 9.99917676e-01 -2.57816505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631858064 meters Centerline goodness [0,1] 0.9995650188129364 Centerline is valid? [True, True] Translation: X:11.02, Y:0.55, Z:-0.03 [[ 9.95624865e-01 -9.24208580e-02 -1.37663608e-02 1.10195337e+01] [ 9.24126791e-02 9.95720032e-01 -1.23043589e-03 5.46713727e-01] [ 1.38211592e-02 -4.71337146e-05 9.99904482e-01 -2.55355992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661858064 meters Centerline goodness [0,1] 0.9996957117085787 Centerline is valid? [True, True] Translation: X:11.05, Y:0.55, Z:-0.03 [[ 9.95670612e-01 -9.19156499e-02 -1.38400263e-02 1.10464801e+01] [ 9.19073041e-02 9.95766796e-01 -1.23919245e-03 5.47823362e-01] [ 1.38953399e-02 -3.81720046e-05 9.99903454e-01 -2.57613344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691858064 meters Centerline goodness [0,1] 0.9996538220212466 Centerline is valid? [True, True] Translation: X:11.07, Y:0.55, Z:-0.02 [[ 9.95807857e-01 -9.05875390e-02 -1.26732037e-02 1.10746002e+01] [ 9.05804130e-02 9.95888497e-01 -1.13634132e-03 5.49489077e-01] [ 1.27240362e-02 -1.63664126e-05 9.99919046e-01 -2.48128680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721858064 meters Centerline goodness [0,1] 0.9996738563228388 Centerline is valid? [True, True] Translation: X:11.10, Y:0.55, Z:-0.02 [[ 9.95892972e-01 -8.98057907e-02 -1.14938422e-02 1.11036562e+01] [ 8.97998494e-02 9.95959296e-01 -1.03300985e-03 5.51917230e-01] [ 1.15401692e-02 -3.37804459e-06 9.99933410e-01 -2.37046345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751858064 meters Centerline goodness [0,1] 0.9997390737116765 Centerline is valid? [True, True] Translation: X:11.13, Y:0.55, Z:-0.02 [[ 9.95936866e-01 -8.93841740e-02 -1.09648765e-02 1.11315427e+01] [ 8.93787090e-02 9.95997224e-01 -9.88415350e-04 5.53983208e-01] [ 1.10093353e-02 4.37277825e-06 9.99939395e-01 -2.29115221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781858064 meters Centerline goodness [0,1] 0.9995666117708243 Centerline is valid? [True, True] Translation: X:11.16, Y:0.56, Z:-0.02 [[ 9.96042299e-01 -8.82105977e-02 -1.08916847e-02 1.11599231e+01] [ 8.82051016e-02 9.96101847e-01 -9.84885546e-04 5.55180921e-01] [ 1.09361046e-02 2.02855062e-05 9.99940199e-01 -2.27672840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811858063999999 meters Centerline goodness [0,1] 0.99954316045945 Centerline is valid? [True, True] Translation: X:11.19, Y:0.56, Z:-0.02 [[ 9.96052249e-01 -8.80432398e-02 -1.13272217e-02 1.11874804e+01] [ 8.80372654e-02 9.96116653e-01 -1.02595646e-03 5.57177769e-01] [ 1.13735627e-02 2.46886095e-05 9.99935319e-01 -2.33556113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841858064 meters Centerline goodness [0,1] 0.9997826842837274 Centerline is valid? [True, True] Translation: X:11.22, Y:0.56, Z:-0.02 [[ 9.96016615e-01 -8.84178623e-02 -1.15405711e-02 1.12160135e+01] [ 8.84116554e-02 9.96083471e-01 -1.04790569e-03 5.58165012e-01] [ 1.15880257e-02 2.34104833e-05 9.99932856e-01 -2.29297053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871858064 meters Centerline goodness [0,1] 0.9994998260264439 Centerline is valid? [True, True] Translation: X:11.24, Y:0.56, Z:-0.02 [[ 9.95990988e-01 -8.87286148e-02 -1.13659695e-02 1.12435260e+01] [ 8.87225861e-02 9.96055838e-01 -1.03455046e-03 5.59438930e-01] [ 1.14129345e-02 2.19847266e-05 9.99934870e-01 -2.34748351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901858064 meters Centerline goodness [0,1] 0.9995873153779322 Centerline is valid? [True, True] Translation: X:11.27, Y:0.56, Z:-0.02 [[ 9.95954271e-01 -8.91527222e-02 -1.12641736e-02 1.12713418e+01] [ 8.91467958e-02 9.96017968e-01 -1.02814051e-03 5.60331571e-01] [ 1.13109808e-02 1.98159486e-05 9.99936029e-01 -2.20189534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931858064 meters Centerline goodness [0,1] 0.9995432995519986 Centerline is valid? [True, True] Translation: X:11.30, Y:0.56, Z:-0.02 [[ 9.95919375e-01 -8.95135197e-02 -1.14860137e-02 1.12990456e+01] [ 8.95073434e-02 9.95985607e-01 -1.05169192e-03 5.61013843e-01] [ 1.15340450e-02 1.93177832e-05 9.99933481e-01 -2.07571536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961858064 meters Centerline goodness [0,1] 0.9995872526231182 Centerline is valid? [True, True] Translation: X:11.33, Y:0.56, Z:-0.02 [[ 9.95911147e-01 -8.95801351e-02 -1.16784915e-02 1.13258145e+01] [ 8.95737239e-02 9.95979618e-01 -1.07193446e-03 5.62951544e-01] [ 1.17275635e-02 2.14655026e-05 9.99931230e-01 -2.07453391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991858064 meters Centerline goodness [0,1] 0.99963100431942 Centerline is valid? [True, True] Translation: X:11.35, Y:0.56, Z:-0.02 [[ 9.95885045e-01 -8.98732920e-02 -1.16519532e-02 1.13543434e+01] [ 8.98668949e-02 9.95953207e-01 -1.07250176e-03 5.64794181e-01] [ 1.17011894e-02 2.09636105e-05 9.99931539e-01 -2.01069263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021858064 meters Centerline goodness [0,1] 0.9995649715056336 Centerline is valid? [True, True] Translation: X:11.38, Y:0.57, Z:-0.02 [[ 9.95861234e-01 -9.01704272e-02 -1.13884349e-02 1.13827027e+01] [ 9.01642988e-02 9.95926350e-01 -1.05146707e-03 5.66661999e-01] [ 1.14368536e-02 2.02850505e-05 9.99934597e-01 -1.94936793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051858064 meters Centerline goodness [0,1] 0.9997825661542475 Centerline is valid? [True, True] Translation: X:11.41, Y:0.57, Z:-0.02 [[ 9.95785004e-01 -9.10273358e-02 -1.12361112e-02 1.14104046e+01] [ 9.10213889e-02 9.95848394e-01 -1.04057690e-03 5.68802094e-01] [ 1.12841842e-02 1.34644264e-05 9.99936331e-01 -1.89999470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081858064 meters Centerline goodness [0,1] 0.9997827786949344 Centerline is valid? [True, True] Translation: X:11.44, Y:0.57, Z:-0.02 [[ 9.95581577e-01 -9.31900802e-02 -1.15296349e-02 1.14384732e+01] [ 9.31839253e-02 9.95648336e-01 -1.07106519e-03 5.69171009e-01] [ 1.15792745e-02 -8.04386849e-06 9.99932958e-01 -1.87748484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111858064 meters Centerline goodness [0,1] 0.9997391928017213 Centerline is valid? [True, True] Translation: X:11.47, Y:0.57, Z:-0.02 [[ 9.95437659e-01 -9.47059804e-02 -1.16036624e-02 1.14664845e+01] [ 9.46998107e-02 9.95505287e-01 -1.08123935e-03 5.70219682e-01] [ 1.16539071e-02 -2.25582683e-05 9.99932091e-01 -1.92752791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141858064 meters Centerline goodness [0,1] 0.9996740972493808 Centerline is valid? [True, True] Translation: X:11.49, Y:0.57, Z:-0.02 [[ 9.95253556e-01 -9.65532279e-02 -1.21587010e-02 1.14945169e+01] [ 9.65465700e-02 9.95327821e-01 -1.13473390e-03 5.71309771e-01] [ 1.22114556e-02 -4.45329305e-05 9.99925436e-01 -1.93946322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171858064 meters Centerline goodness [0,1] 0.9998037633822471 Centerline is valid? [True, True] Translation: X:11.52, Y:0.57, Z:-0.02 [[ 9.94960376e-01 -9.95227670e-02 -1.22094084e-02 1.15236810e+01] [ 9.95162465e-02 9.95035282e-01 -1.14195065e-03 5.71018869e-01] [ 1.22624422e-02 -7.88388428e-05 9.99924810e-01 -1.95797346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201858064 meters Centerline goodness [0,1] 0.99969408268508 Centerline is valid? [True, True] Translation: X:11.55, Y:0.57, Z:-0.02 [[ 9.94828764e-01 -1.00753847e-01 -1.28215912e-02 1.15517731e+01] [ 1.00746736e-01 9.94911379e-01 -1.20091979e-03 5.71359572e-01] [ 1.28773443e-02 -9.70239206e-05 9.99917079e-01 -2.02444480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231858063999999 meters Centerline goodness [0,1] 0.9996754792090347 Centerline is valid? [True, True] Translation: X:11.58, Y:0.57, Z:-0.02 [[ 9.94693865e-01 -1.02044135e-01 -1.30808531e-02 1.15799508e+01] [ 1.02036831e-01 9.94779866e-01 -1.22633971e-03 5.71243422e-01] [ 1.31377100e-02 -1.14896208e-04 9.99913690e-01 -2.00929441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261858064 meters Centerline goodness [0,1] 0.9996507846432547 Centerline is valid? [True, True] Translation: X:11.61, Y:0.57, Z:-0.02 [[ 9.94704337e-01 -1.01994634e-01 -1.26639629e-02 1.16075604e+01] [ 1.01987746e-01 9.94784943e-01 -1.19014926e-03 5.74065399e-01] [ 1.27193085e-02 -1.07722413e-04 9.99919101e-01 -1.96984437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291858064 meters Centerline goodness [0,1] 0.9995624206887498 Centerline is valid? [True, True] Translation: X:11.63, Y:0.58, Z:-0.02 [[ 9.94715588e-01 -1.01891475e-01 -1.26105455e-02 1.16345878e+01] [ 1.01884603e-01 9.94795515e-01 -1.18784700e-03 5.76457029e-01] [ 1.26659456e-02 -1.03250502e-04 9.99919778e-01 -2.01180398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321858064 meters Centerline goodness [0,1] 0.9996938485425004 Centerline is valid? [True, True] Translation: X:11.66, Y:0.58, Z:-0.02 [[ 9.94843691e-01 -1.00661976e-01 -1.23772958e-02 1.16638199e+01] [ 1.00655227e-01 9.94920680e-01 -1.16857681e-03 5.79639803e-01] [ 1.24320588e-02 -8.32882520e-05 9.99922716e-01 -1.98077629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351858064 meters Centerline goodness [0,1] 0.9998690585308367 Centerline is valid? [True, True] Translation: X:11.69, Y:0.58, Z:-0.02 [[ 9.94944913e-01 -9.97358484e-02 -1.17209719e-02 1.16916730e+01] [ 9.97297149e-02 9.95013948e-01 -1.10807805e-03 5.82392307e-01] [ 1.17730457e-02 -6.64525659e-05 9.99930693e-01 -1.92782489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381858064 meters Centerline goodness [0,1] 0.9995629848137223 Centerline is valid? [True, True] Translation: X:11.72, Y:0.58, Z:-0.02 [[ 9.95029616e-01 -9.89430356e-02 -1.12400803e-02 1.17191851e+01] [ 9.89373336e-02 9.95093098e-01 -1.06358004e-03 5.84578281e-01] [ 1.12901601e-02 -5.37699374e-05 9.99936263e-01 -1.87860063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411858064 meters Centerline goodness [0,1] 0.9996715280515044 Centerline is valid? [True, True] Translation: X:11.75, Y:0.59, Z:-0.02 [[ 9.95240813e-01 -9.68212099e-02 -1.10171085e-02 1.17470701e+01] [ 9.68155748e-02 9.95301790e-01 -1.04492814e-03 5.85560590e-01] [ 1.10665191e-02 -2.66725649e-05 9.99938764e-01 -1.63884563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441858064 meters Centerline goodness [0,1] 0.9997147809298141 Centerline is valid? [True, True] Translation: X:11.77, Y:0.59, Z:-0.02 [[ 9.95331081e-01 -9.58763465e-02 -1.11250272e-02 1.17741950e+01] [ 9.58705140e-02 9.95393252e-01 -1.05762477e-03 5.87591757e-01] [ 1.11751782e-02 -1.38752686e-05 9.99937556e-01 -1.60406428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471858064 meters Centerline goodness [0,1] 0.9996489919487528 Centerline is valid? [True, True] Translation: X:11.80, Y:0.59, Z:-0.02 [[ 9.95396452e-01 -9.51819516e-02 -1.12383008e-02 1.18019068e+01] [ 9.51759229e-02 9.95459892e-01 -1.07126974e-03 5.90406884e-01] [ 1.12892432e-02 -3.27755033e-06 9.99936274e-01 -1.61124736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501858064 meters Centerline goodness [0,1] 0.9995831230664589 Centerline is valid? [True, True] Translation: X:11.83, Y:0.59, Z:-0.02 [[ 9.95535638e-01 -9.37222174e-02 -1.11776268e-02 1.18302313e+01] [ 9.37161258e-02 9.95598386e-01 -1.06867487e-03 5.93286735e-01] [ 1.12285858e-02 1.63800352e-05 9.99936957e-01 -1.64387410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531858064 meters Centerline goodness [0,1] 0.9996258391108177 Centerline is valid? [True, True] Translation: X:11.86, Y:0.60, Z:-0.02 [[ 9.95601702e-01 -9.30334343e-02 -1.10467628e-02 1.18585097e+01] [ 9.30274071e-02 9.95662985e-01 -1.05932064e-03 5.95878509e-01] [ 1.10974051e-02 2.70097305e-05 9.99938422e-01 -1.64990486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561858063999999 meters Centerline goodness [0,1] 0.9996270212159108 Centerline is valid? [True, True] Translation: X:11.89, Y:0.60, Z:-0.02 [[ 9.95644893e-01 -9.25496679e-02 -1.12163329e-02 1.18860348e+01] [ 9.25433872e-02 9.95708068e-01 -1.07881058e-03 5.98584331e-01] [ 1.12680367e-02 3.61148024e-05 9.99936513e-01 -1.65051271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591858064 meters Centerline goodness [0,1] 0.999515343775472 Centerline is valid? [True, True] Translation: X:11.91, Y:0.60, Z:-0.02 [[ 9.95749109e-01 -9.14775579e-02 -1.07503117e-02 1.19126664e+01] [ 9.14717002e-02 9.95807137e-01 -1.03635361e-03 6.01236785e-01] [ 1.08000403e-02 4.85988951e-05 9.99941677e-01 -1.65201101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621858064 meters Centerline goodness [0,1] 0.9996702064507619 Centerline is valid? [True, True] Translation: X:11.94, Y:0.60, Z:-0.02 [[ 9.95979662e-01 -8.89642011e-02 -1.04825742e-02 1.19412674e+01] [ 8.89584669e-02 9.96034821e-01 -1.01295289e-03 6.03541298e-01] [ 1.05311255e-02 7.63667430e-05 9.99944543e-01 -1.61384799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651858064 meters Centerline goodness [0,1] 0.9995379741265511 Centerline is valid? [True, True] Translation: X:11.97, Y:0.61, Z:-0.02 [[ 9.96064052e-01 -8.80166058e-02 -1.04633017e-02 1.19698300e+01] [ 8.80108132e-02 9.96119004e-01 -1.01368439e-03 6.06142135e-01] [ 1.05119147e-02 8.88108977e-05 9.99944744e-01 -1.63158583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681858064 meters Centerline goodness [0,1] 0.9997358980566499 Centerline is valid? [True, True] Translation: X:12.00, Y:0.61, Z:-0.02 [[ 9.96089930e-01 -8.77447289e-02 -1.02817438e-02 1.19977948e+01] [ 8.77390922e-02 9.96142989e-01 -9.98892446e-04 6.08785211e-01] [ 1.03297345e-02 9.28758398e-05 9.99946643e-01 -1.65568038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711858064 meters Centerline goodness [0,1] 0.9994934924794644 Centerline is valid? [True, True] Translation: X:12.03, Y:0.61, Z:-0.02 [[ 9.96075045e-01 -8.78834274e-02 -1.05359878e-02 1.20259957e+01] [ 8.78774839e-02 9.96130761e-01 -1.02664007e-03 6.11466376e-01] [ 1.05854462e-02 9.67344620e-05 9.99943968e-01 -1.74051984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741858064 meters Centerline goodness [0,1] 0.9995812303012938 Centerline is valid? [True, True] Translation: X:12.05, Y:0.61, Z:-0.02 [[ 9.95917142e-01 -8.97844022e-02 -9.37055141e-03 1.20539088e+01] [ 8.97797718e-02 9.95961222e-01 -9.14477906e-04 6.11683749e-01] [ 9.41481169e-03 6.94582555e-05 9.99955677e-01 -1.75489701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771858064 meters Centerline goodness [0,1] 0.9995137046861184 Centerline is valid? [True, True] Translation: X:12.08, Y:0.61, Z:-0.02 [[ 9.95757214e-01 -9.15501079e-02 -9.28160977e-03 1.20830709e+01] [ 9.15456254e-02 9.95800469e-01 -9.07552275e-04 6.11945243e-01] [ 9.32571787e-03 5.40109548e-05 9.99956513e-01 -1.66550376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801858064 meters Centerline goodness [0,1] 0.9996246660631886 Centerline is valid? [True, True] Translation: X:12.11, Y:0.61, Z:-0.02 [[ 9.95546496e-01 -9.38340742e-02 -9.07413334e-03 1.21120879e+01] [ 9.38298644e-02 9.95587849e-01 -8.89490705e-04 6.12364806e-01] [ 9.11756143e-03 3.41046542e-05 9.99958434e-01 -1.63898272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831858064 meters Centerline goodness [0,1] 0.9997121155081161 Centerline is valid? [True, True] Translation: X:12.14, Y:0.61, Z:-0.02 [[ 9.95233348e-01 -9.70418321e-02 -9.66780445e-03 1.21392808e+01] [ 9.70371843e-02 9.95280304e-01 -9.49785510e-04 6.11199570e-01] [ 9.71434427e-03 7.12169148e-06 9.99952815e-01 -1.60833252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861858064 meters Centerline goodness [0,1] 0.9996450675480822 Centerline is valid? [True, True] Translation: X:12.17, Y:0.61, Z:-0.02 [[ 9.95103848e-01 -9.83000488e-02 -1.02680472e-02 1.21672037e+01] [ 9.82948597e-02 9.95156822e-01 -1.01004002e-03 6.12650433e-01] [ 1.03176042e-02 -4.20155410e-06 9.99946772e-01 -1.59458321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891858064 meters Centerline goodness [0,1] 0.999712389380531 Centerline is valid? [True, True] Translation: X:12.20, Y:0.61, Z:-0.02 [[ 9.94956126e-01 -9.96404732e-02 -1.15794110e-02 1.21961884e+01] [ 9.96339377e-02 9.95023505e-01 -1.14134977e-03 6.14578499e-01] [ 1.16355108e-02 -1.81093712e-05 9.99932305e-01 -1.75493515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921858064 meters Centerline goodness [0,1] 0.99977856019841 Centerline is valid? [True, True] Translation: X:12.23, Y:0.62, Z:-0.02 [[ 9.94863833e-01 -1.00409695e-01 -1.28002970e-02 1.22253056e+01] [ 1.00401731e-01 9.94946176e-01 -1.26490763e-03 6.17545894e-01] [ 1.28626155e-02 -2.67611104e-05 9.99917273e-01 -1.86118326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951858064 meters Centerline goodness [0,1] 0.9997124720766152 Centerline is valid? [True, True] Translation: X:12.25, Y:0.62, Z:-0.02 [[ 9.94812390e-01 -1.00816919e-01 -1.35741308e-02 1.22531850e+01] [ 1.00807971e-01 9.94904994e-01 -1.34359535e-03 6.19645005e-01] [ 1.36404277e-02 -3.17552746e-05 9.99906965e-01 -1.98589768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981858063999999 meters Centerline goodness [0,1] 0.9996238355497533 Centerline is valid? [True, True] Translation: X:12.28, Y:0.62, Z:-0.02 [[ 9.94776238e-01 -1.01204399e-01 -1.33381103e-02 1.22812879e+01] [ 1.01195751e-01 9.94865654e-01 -1.32337551e-03 6.20267682e-01] [ 1.34035593e-02 -3.32975858e-05 9.99910168e-01 -1.80298652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011858064 meters Centerline goodness [0,1] 0.9996241266472097 Centerline is valid? [True, True] Translation: X:12.31, Y:0.62, Z:-0.02 [[ 9.94739824e-01 -1.01682331e-01 -1.23848935e-02 1.23097071e+01] [ 1.01674870e-01 9.94816919e-01 -1.23219854e-03 6.22931432e-01] [ 1.24459944e-02 -3.35154763e-05 9.99922545e-01 -1.61047901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041858064 meters Centerline goodness [0,1] 0.9997348827961028 Centerline is valid? [True, True] Translation: X:12.34, Y:0.63, Z:-0.02 [[ 9.94706600e-01 -1.02152176e-01 -1.11226154e-02 1.23372336e+01] [ 1.02146154e-01 9.94768783e-01 -1.10964749e-03 6.25978279e-01] [ 1.11777834e-02 -3.23586993e-05 9.99937526e-01 -1.51462666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071858064 meters Centerline goodness [0,1] 0.9996466743220563 Centerline is valid? [True, True] Translation: X:12.36, Y:0.63, Z:-0.01 [[ 9.94682048e-01 -1.02501323e-01 -1.00549969e-02 1.23649206e+01] [ 1.02496392e-01 9.94732868e-01 -1.00586879e-03 6.29011541e-01] [ 1.01051388e-02 -3.00812793e-05 9.99948941e-01 -1.41825355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101858064 meters Centerline goodness [0,1] 0.9996466743220563 Centerline is valid? [True, True] Translation: X:12.39, Y:0.63, Z:-0.01 [[ 9.94653607e-01 -1.02776968e-01 -1.00547174e-02 1.23923739e+01] [ 1.02772022e-01 9.94704425e-01 -1.00865755e-03 6.31835085e-01] [ 1.01051386e-02 -3.00787698e-05 9.99948941e-01 -1.40887449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131858064 meters Centerline goodness [0,1] 0.9996906350819817 Centerline is valid? [True, True] Translation: X:12.42, Y:0.63, Z:-0.01 [[ 9.94639402e-01 -1.03058908e-01 -8.44519421e-03 1.24203180e+01] [ 1.03055417e-01 9.94675254e-01 -8.48655235e-04 6.34821549e-01] [ 8.48768718e-03 -2.62170777e-05 9.99963979e-01 -1.23544708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161858064 meters Centerline goodness [0,1] 0.9996691444074376 Centerline is valid? [True, True] Translation: X:12.45, Y:0.64, Z:-0.01 [[ 9.94649238e-01 -1.02989920e-01 -8.12220251e-03 1.24481693e+01] [ 1.02986675e-01 9.94682399e-01 -8.17935531e-04 6.38080466e-01] [ 8.16325100e-03 -2.29196772e-05 9.99966680e-01 -1.18174357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191858064 meters Centerline goodness [0,1] 0.9995595683770094 Centerline is valid? [True, True] Translation: X:12.48, Y:0.64, Z:-0.01 [[ 9.94647952e-01 -1.03019550e-01 -7.90081752e-03 1.24759942e+01] [ 1.03016463e-01 9.94679331e-01 -7.97797045e-04 6.41713710e-01] [ 7.94096858e-03 -2.03870807e-05 9.99968470e-01 -1.19882262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221858064 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:12.50, Y:0.65, Z:-0.01 [[ 9.94823693e-01 -1.01237595e-01 -8.76182084e-03 1.25037662e+01] [ 1.01233707e-01 9.94862277e-01 -8.87241704e-04 6.46106356e-01] [ 8.80662724e-03 -4.34253702e-06 9.99961221e-01 -1.22961651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251858064 meters Centerline goodness [0,1] 0.9996677961597236 Centerline is valid? [True, True] Translation: X:12.53, Y:0.65, Z:-0.01 [[ 9.94949629e-01 -9.98893198e-02 -9.86711099e-03 1.25314540e+01] [ 9.98842950e-02 9.94998555e-01 -1.00196864e-03 6.49882304e-01] [ 9.91784714e-03 1.13389055e-05 9.99950817e-01 -1.25851636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281858064 meters Centerline goodness [0,1] 0.9996913580246913 Centerline is valid? [True, True] Translation: X:12.56, Y:0.65, Z:-0.01 [[ 9.95062606e-01 -9.86840687e-02 -1.05766060e-02 1.25603769e+01] [ 9.86781984e-02 9.95118814e-01 -1.07673788e-03 6.54244047e-01] [ 1.06312365e-02 2.77411689e-05 9.99943486e-01 -1.26874596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311858063999999 meters Centerline goodness [0,1] 0.999581589958159 Centerline is valid? [True, True] Translation: X:12.59, Y:0.66, Z:-0.01 [[ 9.95351526e-01 -9.55857687e-02 -1.17771066e-02 1.25887848e+01] [ 9.55782375e-02 9.95421195e-01 -1.20196149e-03 6.61345475e-01] [ 1.18380719e-02 7.07391199e-05 9.99929925e-01 -1.44378271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341858064 meters Centerline goodness [0,1] 0.9995816268111155 Centerline is valid? [True, True] Translation: X:12.62, Y:0.67, Z:-0.02 [[ 9.95460800e-01 -9.44072697e-02 -1.20442318e-02 1.26162020e+01] [ 9.43992822e-02 9.95533656e-01 -1.23124207e-03 6.66068511e-01] [ 1.21066763e-02 8.86863796e-05 9.99926708e-01 -1.57859102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371858064 meters Centerline goodness [0,1] 0.9995367919534145 Centerline is valid? [True, True] Translation: X:12.64, Y:0.67, Z:-0.02 [[ 9.95557218e-01 -9.33107177e-02 -1.26069369e-02 1.26446228e+01] [ 9.33018433e-02 9.95637031e-01 -1.29154726e-03 6.68602827e-01] [ 1.26724484e-02 1.09558747e-04 9.99919695e-01 -1.51732712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401858063999999 meters Centerline goodness [0,1] 0.9996024647187438 Centerline is valid? [True, True] Translation: X:12.67, Y:0.67, Z:-0.01 [[ 9.95615465e-01 -9.26668029e-02 -1.27557396e-02 1.26735133e+01] [ 9.26576237e-02 9.95697167e-01 -1.31000146e-03 6.70624175e-01] [ 1.28222474e-02 1.22341189e-04 9.99917784e-01 -1.41838477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431858064 meters Centerline goodness [0,1] 0.999536260047699 Centerline is valid? [True, True] Translation: X:12.70, Y:0.67, Z:-0.01 [[ 9.95695970e-01 -9.18397320e-02 -1.24498184e-02 1.27013348e+01] [ 9.18309027e-02 9.95773793e-01 -1.28021810e-03 6.73860795e-01] [ 1.25147778e-02 1.31429940e-04 9.99921678e-01 -1.38837605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461858064 meters Centerline goodness [0,1] 0.9995371798827523 Centerline is valid? [True, True] Translation: X:12.73, Y:0.68, Z:-0.01 [[ 9.95652250e-01 -9.24790058e-02 -1.11458637e-02 1.27303220e+01] [ 9.24719452e-02 9.95714628e-01 -1.14827879e-03 6.76901543e-01] [ 1.12042912e-02 1.12606671e-04 9.99937224e-01 -1.33863290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491858064 meters Centerline goodness [0,1] 0.9995145631067961 Centerline is valid? [True, True] Translation: X:12.76, Y:0.68, Z:-0.01 [[ 9.95624618e-01 -9.28680709e-02 -1.03509028e-02 1.27582616e+01] [ 9.28619739e-02 9.95678417e-01 -1.06913885e-03 6.79129376e-01] [ 1.04054594e-02 1.03255686e-04 9.99945856e-01 -1.25676083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521858064 meters Centerline goodness [0,1] 0.9995367306419589 Centerline is valid? [True, True] Translation: X:12.79, Y:0.68, Z:-0.01 [[ 9.95547961e-01 -9.38883367e-02 -8.32087360e-03 1.27864307e+01] [ 9.38844222e-02 9.95582731e-01 -8.60678139e-04 6.81210018e-01] [ 8.36492570e-03 7.56459571e-05 9.99965011e-01 -1.11475088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551858064 meters Centerline goodness [0,1] 0.999669093315685 Centerline is valid? [True, True] Translation: X:12.81, Y:0.68, Z:-0.01 [[ 9.95472127e-01 -9.47437788e-02 -7.67202182e-03 1.28149272e+01] [ 9.47404649e-02 9.95501689e-01 -7.95049512e-04 6.83360828e-01] [ 7.71283667e-03 6.45987151e-05 9.99970254e-01 -1.03033455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581858064 meters Centerline goodness [0,1] 0.9995810825708301 Centerline is valid? [True, True] Translation: X:12.84, Y:0.69, Z:-0.01 [[ 9.95439866e-01 -9.51213483e-02 -7.16947017e-03 1.28416380e+01] [ 9.51184543e-02 9.95465683e-01 -7.44326538e-04 6.85687875e-01] [ 7.20776286e-03 5.89833888e-05 9.99974022e-01 -9.54901304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611858064 meters Centerline goodness [0,1] 0.9996905461859817 Centerline is valid? [True, True] Translation: X:12.87, Y:0.69, Z:-0.01 [[ 9.95363971e-01 -9.59605345e-02 -6.49158587e-03 1.28699370e+01] [ 9.59581716e-02 9.95385138e-01 -6.75201833e-04 6.87497473e-01] [ 6.52642083e-03 4.91508663e-05 9.99978701e-01 -8.98491416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641858064 meters Centerline goodness [0,1] 0.9997355546740712 Centerline is valid? [True, True] Translation: X:12.90, Y:0.69, Z:-0.01 [[ 9.95331032e-01 -9.62495714e-02 -7.22193370e-03 1.28969231e+01] [ 9.62466433e-02 9.95357231e-01 -7.52707024e-04 6.91121612e-01] [ 7.26085165e-03 5.41057827e-05 9.99973638e-01 -9.17957783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671858064 meters Centerline goodness [0,1] 0.9997571422263435 Centerline is valid? [True, True] Translation: X:12.92, Y:0.69, Z:-0.01 [[ 9.95271628e-01 -9.67898368e-02 -8.13110185e-03 1.29245761e+01] [ 9.67861283e-02 9.95304840e-01 -8.49276238e-04 6.94091294e-01] [ 8.17512633e-03 5.82826765e-05 9.99966581e-01 -9.51359228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701858064 meters Centerline goodness [0,1] 0.99962436750116 Centerline is valid? [True, True] Translation: X:12.95, Y:0.70, Z:-0.01 [[ 9.95092327e-01 -9.85248690e-02 -9.17118986e-03 1.29511978e+01] [ 9.85202083e-02 9.95134588e-01 -9.59705147e-04 6.96528149e-01] [ 9.22112306e-03 5.14476933e-05 9.99957483e-01 -1.14404911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.731858063999999 meters Centerline goodness [0,1] 0.999712389380531 Centerline is valid? [True, True] Translation: X:12.98, Y:0.70, Z:-0.01 [[ 9.94930757e-01 -1.00101611e-01 -9.61543411e-03 1.29788423e+01] [ 1.00096540e-01 9.94977219e-01 -1.00840256e-03 6.98194783e-01] [ 9.66808061e-03 4.08190391e-05 9.99953262e-01 -1.16206999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761858064 meters Centerline goodness [0,1] 0.9997568039618846 Centerline is valid? [True, True] Translation: X:13.01, Y:0.70, Z:-0.01 [[ 9.94786436e-01 -1.01502886e-01 -9.85452401e-03 1.30061543e+01] [ 1.01497611e-01 9.94835244e-01 -1.03526559e-03 7.00072885e-01] [ 9.90871025e-03 2.96575250e-05 9.99950907e-01 -1.20008133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791858064 meters Centerline goodness [0,1] 0.9997348359297316 Centerline is valid? [True, True] Translation: X:13.03, Y:0.70, Z:-0.01 [[ 9.94431001e-01 -1.04892681e-01 -1.02229819e-02 1.30342418e+01] [ 1.04887158e-01 9.94483547e-01 -1.07631754e-03 7.00284116e-01] [ 1.02794851e-02 -1.93599197e-06 9.99947165e-01 -1.27345802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821858064 meters Centerline goodness [0,1] 0.9996448548344136 Centerline is valid? [True, True] Translation: X:13.06, Y:0.70, Z:-0.01 [[ 9.94196641e-01 -1.07055334e-01 -1.05922114e-02 1.30617134e+01] [ 1.07049511e-01 9.94253064e-01 -1.11679716e-03 7.01371243e-01] [ 1.06508977e-02 -2.35750646e-05 9.99943277e-01 -1.33182032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.851858064 meters Centerline goodness [0,1] 0.9996669700939145 Centerline is valid? [True, True] Translation: X:13.09, Y:0.70, Z:-0.01 [[ 9.93981089e-01 -1.08997057e-01 -1.10107345e-02 1.30903527e+01] [ 1.08990860e-01 9.94042071e-01 -1.16309681e-03 7.02432507e-01] [ 1.10719075e-02 -4.39731827e-05 9.99938704e-01 -1.29866019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881858064 meters Centerline goodness [0,1] 0.9997108026339206 Centerline is valid? [True, True] Translation: X:13.12, Y:0.70, Z:-0.01 [[ 9.93807597e-01 -1.10522379e-01 -1.14570153e-02 1.31182791e+01] [ 1.10515753e-01 9.93873634e-01 -1.21180371e-03 7.03760044e-01] [ 1.15207569e-02 -6.18809383e-05 9.99933632e-01 -1.33003970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911858064 meters Centerline goodness [0,1] 0.9997547544199942 Centerline is valid? [True, True] Translation: X:13.15, Y:0.71, Z:-0.01 [[ 9.93634776e-01 -1.12109837e-01 -1.10143350e-02 1.31462230e+01] [ 1.12103783e-01 9.93695818e-01 -1.16746896e-03 7.05647665e-01] [ 1.10757834e-02 -7.47108609e-05 9.99938659e-01 -1.31790813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941858064 meters Centerline goodness [0,1] 0.9997327870312639 Centerline is valid? [True, True] Translation: X:13.17, Y:0.71, Z:-0.01 [[ 9.93648601e-01 -1.11991846e-01 -1.09674418e-02 1.31733869e+01] [ 1.11985815e-01 9.93709123e-01 -1.16442639e-03 7.08239543e-01] [ 1.10288532e-02 -7.11672514e-05 9.99939178e-01 -1.29584558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971858064 meters Centerline goodness [0,1] 0.9997765712625958 Centerline is valid? [True, True] Translation: X:13.20, Y:0.71, Z:-0.01 [[ 9.93715265e-01 -1.11441330e-01 -1.05262856e-02 1.32011673e+01] [ 1.11435718e-01 9.93771013e-01 -1.12002945e-03 7.11355331e-01] [ 1.05855350e-02 -6.00138272e-05 9.99943970e-01 -1.29572488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001858064 meters Centerline goodness [0,1] 0.9998213488164359 Centerline is valid? [True, True] Translation: X:13.23, Y:0.71, Z:-0.01 [[ 9.93908464e-01 -1.09784341e-01 -9.66244794e-03 1.32286743e+01] [ 1.09779520e-01 9.93955430e-01 -1.02955497e-03 7.14656041e-01] [ 9.71707162e-03 -3.74554946e-05 9.99952787e-01 -1.35519505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.031858064 meters Centerline goodness [0,1] 0.9998662207357859 Centerline is valid? [True, True] Translation: X:13.26, Y:0.72, Z:-0.01 [[ 9.93976870e-01 -1.09207228e-01 -9.15226136e-03 1.32566957e+01] [ 1.09202860e-01 9.94019004e-01 -9.77083862e-04 7.17793525e-01] [ 9.20422635e-03 -2.82543589e-05 9.99957640e-01 -1.25531766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061858063999999 meters Centerline goodness [0,1] 0.9997320651081787 Centerline is valid? [True, True] Translation: X:13.28, Y:0.72, Z:-0.01 [[ 9.94000038e-01 -1.09048084e-01 -8.51115237e-03 1.32849183e+01] [ 1.09044282e-01 9.94036476e-01 -9.10962096e-04 7.20928006e-01] [ 8.55973458e-03 -2.25961379e-05 9.99963365e-01 -1.20649577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091858064 meters Centerline goodness [0,1] 0.9997103967564437 Centerline is valid? [True, True] Translation: X:13.31, Y:0.72, Z:-0.01 [[ 9.94073831e-01 -1.08381451e-01 -8.40712562e-03 1.33117754e+01] [ 1.08377704e-01 9.94109381e-01 -9.01384330e-04 7.23647726e-01] [ 8.45529578e-03 -1.51023955e-05 9.99964253e-01 -1.16277806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121858064 meters Centerline goodness [0,1] 0.9997549947657973 Centerline is valid? [True, True] Translation: X:13.34, Y:0.73, Z:-0.01 [[ 9.94139197e-01 -1.07869922e-01 -7.16503635e-03 1.33384693e+01] [ 1.07867179e-01 9.94165016e-01 -7.69281378e-04 7.26770896e-01] [ 7.20621080e-03 -8.09948796e-06 9.99974035e-01 -1.08963729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151858063999999 meters Centerline goodness [0,1] 0.9998217111274542 Centerline is valid? [True, True] Translation: X:13.37, Y:0.73, Z:-0.01 [[ 9.94139363e-01 -1.07886792e-01 -6.88240417e-03 1.33664742e+01] [ 1.07884250e-01 9.94163186e-01 -7.40515215e-04 7.29702403e-01] [ 6.92212466e-03 -6.32768950e-06 9.99976042e-01 -1.02510757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181858064 meters Centerline goodness [0,1] 0.9996878414234431 Centerline is valid? [True, True] Translation: X:13.39, Y:0.73, Z:-0.01 [[ 9.94176381e-01 -1.07550236e-01 -6.80223058e-03 1.33931245e+01] [ 1.07547737e-01 9.94199651e-01 -7.33217007e-04 7.32617883e-01] [ 6.84163294e-03 -2.61747219e-06 9.99976596e-01 -1.01753849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.211858064 meters Centerline goodness [0,1] 0.9997325130399893 Centerline is valid? [True, True] Translation: X:13.42, Y:0.74, Z:-0.01 [[ 9.94198323e-01 -1.07340965e-01 -6.90019702e-03 1.34196645e+01] [ 1.07338382e-01 9.94222268e-01 -7.44596542e-04 7.35785310e-01] [ 6.94025524e-03 -3.79350762e-07 9.99975916e-01 -1.10465623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241858064 meters Centerline goodness [0,1] 0.9997096918267083 Centerline is valid? [True, True] Translation: X:13.45, Y:0.74, Z:-0.01 [[ 9.94187416e-01 -1.07410710e-01 -7.37034969e-03 1.34479149e+01] [ 1.07407754e-01 9.94214735e-01 -7.96860389e-04 7.39211281e-01] [ 7.41330161e-03 5.95866521e-07 9.99972521e-01 -1.12891771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271858064 meters Centerline goodness [0,1] 0.9997544642857142 Centerline is valid? [True, True] Translation: X:13.48, Y:0.74, Z:-0.01 [[ 9.94155127e-01 -1.07666615e-01 -7.96767885e-03 1.34760016e+01] [ 1.07663150e-01 9.94187055e-01 -8.63725344e-04 7.42571546e-01] [ 8.01435755e-03 8.51572789e-07 9.99967885e-01 -1.26446550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301858064 meters Centerline goodness [0,1] 0.9997767757489173 Centerline is valid? [True, True] Translation: X:13.50, Y:0.75, Z:-0.01 [[ 9.94064886e-01 -1.08441837e-01 -8.68159241e-03 1.35035259e+01] [ 1.08437732e-01 9.94102795e-01 -9.43588131e-04 7.45545890e-01] [ 8.73271971e-03 -3.42436171e-06 9.99961869e-01 -1.38164578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.331858064 meters Centerline goodness [0,1] 0.9997757093192778 Centerline is valid? [True, True] Translation: X:13.53, Y:0.75, Z:-0.01 [[ 9.93806082e-01 -1.10702415e-01 -9.71840716e-03 1.35329614e+01] [ 1.10697353e-01 9.93853598e-01 -1.05888684e-03 7.46514641e-01] [ 9.77589525e-03 -2.34737681e-05 9.99952215e-01 -1.44200361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361858064 meters Centerline goodness [0,1] 0.9997757445281665 Centerline is valid? [True, True] Translation: X:13.56, Y:0.75, Z:-0.02 [[ 9.93606426e-01 -1.12490822e-01 -9.59607156e-03 1.35613660e+01] [ 1.12485946e-01 9.93652763e-01 -1.04813109e-03 7.48374592e-01] [ 9.65306815e-03 -3.79933988e-05 9.99953407e-01 -1.50155942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391858064 meters Centerline goodness [0,1] 0.9997528978344865 Centerline is valid? [True, True] Translation: X:13.59, Y:0.75, Z:-0.01 [[ 9.93355681e-01 -1.14703738e-01 -9.35642879e-03 1.35898066e+01] [ 1.14699177e-01 9.93399743e-01 -1.02435718e-03 7.50143719e-01] [ 9.41217155e-03 -5.56236631e-05 9.99955703e-01 -1.48987914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421858064 meters Centerline goodness [0,1] 0.9998426860237769 Centerline is valid? [True, True] Translation: X:13.62, Y:0.75, Z:-0.01 [[ 9.93073990e-01 -1.17171282e-01 -8.65688686e-03 1.36185238e+01] [ 1.17167453e-01 9.93111719e-01 -9.49827952e-04 7.51556574e-01] [ 8.70854835e-03 -7.10559536e-05 9.99962077e-01 -1.44232608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451858064 meters Centerline goodness [0,1] 0.999730742477618 Centerline is valid? [True, True] Translation: X:13.65, Y:0.75, Z:-0.01 [[ 9.92518793e-01 -1.21859174e-01 -7.53579582e-03 1.36471990e+01] [ 1.21856394e-01 9.92547396e-01 -8.28570501e-04 7.52425195e-01] [ 7.58060343e-03 -9.59131138e-05 9.99971262e-01 -1.34296019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481858063999999 meters Centerline goodness [0,1] 0.99979759816489 Centerline is valid? [True, True] Translation: X:13.68, Y:0.76, Z:-0.01 [[ 9.92237862e-01 -1.24129452e-01 -7.47686094e-03 1.36763148e+01] [ 1.24126767e-01 9.92266026e-01 -8.23926525e-04 7.55018015e-01] [ 7.52130864e-03 -1.10547483e-04 9.99971708e-01 -1.34065003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511858064 meters Centerline goodness [0,1] 0.9998425161420954 Centerline is valid? [True, True] Translation: X:13.70, Y:0.76, Z:-0.01 [[ 9.92011311e-01 -1.25904356e-01 -7.85191773e-03 1.37045627e+01] [ 1.25901439e-01 9.92042376e-01 -8.66712140e-04 7.57974576e-01] [ 7.89855795e-03 -1.28779491e-04 9.99968798e-01 -1.39311549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541858064 meters Centerline goodness [0,1] 0.9998877136248288 Centerline is valid? [True, True] Translation: X:13.73, Y:0.76, Z:-0.01 [[ 9.91699210e-01 -1.28259029e-01 -9.07185427e-03 1.37328908e+01] [ 1.28255224e-01 9.91740688e-01 -1.00237589e-03 7.60513994e-01] [ 9.12549076e-03 -1.69457327e-04 9.99958347e-01 -1.46983818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571858064 meters Centerline goodness [0,1] 0.9997755482234641 Centerline is valid? [True, True] Translation: X:13.76, Y:0.76, Z:-0.01 [[ 9.91600141e-01 -1.28989255e-01 -9.53590388e-03 1.37617602e+01] [ 1.28985067e-01 9.91645974e-01 -1.05544991e-03 7.63979037e-01] [ 9.59238239e-03 -1.83404923e-04 9.99953975e-01 -1.48732290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601858064 meters Centerline goodness [0,1] 0.9998208567525808 Centerline is valid? [True, True] Translation: X:13.79, Y:0.77, Z:-0.01 [[ 9.91495411e-01 -1.29773335e-01 -9.78429706e-03 1.37898197e+01] [ 1.29768950e-01 9.91543667e-01 -1.08433585e-03 7.67612457e-01] [ 9.84227566e-03 -1.94583935e-04 9.99951545e-01 -1.49225515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.631858064 meters Centerline goodness [0,1] 0.999865702710567 Centerline is valid? [True, True] Translation: X:13.82, Y:0.77, Z:-0.02 [[ 9.91258014e-01 -1.31574700e-01 -9.77997415e-03 1.38174830e+01] [ 1.31570399e-01 9.91306236e-01 -1.08469193e-03 7.70089578e-01] [ 9.83766738e-03 -2.11545531e-04 9.99951587e-01 -1.51310833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661858064 meters Centerline goodness [0,1] 0.9999775855112745 Centerline is valid? [True, True] Translation: X:13.85, Y:0.77, Z:-0.01 [[ 9.91117902e-01 -1.32630787e-01 -9.71482630e-03 1.38457073e+01] [ 1.32626576e-01 9.91165489e-01 -1.07923492e-03 7.74378137e-01] [ 9.77214034e-03 -2.18795101e-04 9.99952228e-01 -1.46756462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.691858064 meters Centerline goodness [0,1] 0.9998431548285907 Centerline is valid? [True, True] Translation: X:13.87, Y:0.78, Z:-0.01 [[ 9.90967567e-01 -1.33772812e-01 -9.38697398e-03 1.38746157e+01] [ 1.33768911e-01 9.91012001e-01 -1.04504270e-03 7.79673265e-01] [ 9.44240217e-03 -2.20081864e-04 9.99955395e-01 -1.35524420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721858064 meters Centerline goodness [0,1] 0.9998879099692873 Centerline is valid? [True, True] Translation: X:13.90, Y:0.78, Z:-0.01 [[ 9.90897446e-01 -1.34343174e-01 -8.61185202e-03 1.39028921e+01] [ 1.34339893e-01 9.90934846e-01 -9.60969575e-04 7.83711463e-01] [ 8.66288396e-03 -2.04692983e-04 9.99962456e-01 -1.25737893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.751858064 meters Centerline goodness [0,1] 0.9999554605380367 Centerline is valid? [True, True] Translation: X:13.93, Y:0.79, Z:-0.01 [[ 9.90821048e-01 -1.34997811e-01 -7.01729104e-03 1.39309291e+01] [ 1.34995636e-01 9.90845882e-01 -7.84845179e-04 7.90047772e-01] [ 7.05900631e-03 -1.69662542e-04 9.99975071e-01 -1.03764809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781858064 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:13.96, Y:0.79, Z:-0.01 [[ 9.90894874e-01 -1.34490050e-01 -6.30674142e-03 1.39590616e+01] [ 1.34488276e-01 9.90914933e-01 -7.06500351e-04 7.93343914e-01] [ 6.34446152e-03 -1.48115201e-04 9.99979863e-01 -1.03466040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811858063999999 meters Centerline goodness [0,1] 0.9996449494052903 Centerline is valid? [True, True] Translation: X:13.99, Y:0.80, Z:-0.01 [[ 9.90957356e-01 -1.34032681e-01 -6.22561503e-03 1.39870806e+01] [ 1.34030937e-01 9.90976902e-01 -6.98389346e-04 7.98775116e-01] [ 6.26304769e-03 -1.42350958e-04 9.99980377e-01 -1.03332654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841858064 meters Centerline goodness [0,1] 0.9997553598434303 Centerline is valid? [True, True] Translation: X:14.02, Y:0.81, Z:-0.01 [[ 9.91216077e-01 -1.32093058e-01 -6.48944893e-03 1.40156526e+01] [ 1.32091111e-01 9.91237311e-01 -7.29574700e-04 8.06296068e-01] [ 6.52895565e-03 -1.34032348e-04 9.99978677e-01 -1.12717265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871858064 meters Centerline goodness [0,1] 0.9997343369493026 Centerline is valid? [True, True] Translation: X:14.04, Y:0.81, Z:-0.01 [[ 9.91311032e-01 -1.31367505e-01 -6.70937658e-03 1.40440697e+01] [ 1.31365397e-01 9.91333728e-01 -7.55950722e-04 8.12955911e-01] [ 6.75053866e-03 -1.31997625e-04 9.99977206e-01 -1.14120394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901858063999999 meters Centerline goodness [0,1] 0.9996221634476474 Centerline is valid? [True, True] Translation: X:14.07, Y:0.82, Z:-0.01 [[ 9.91447404e-01 -1.30364611e-01 -6.09211679e-03 1.40716340e+01] [ 1.30362847e-01 9.91466114e-01 -6.87394760e-04 8.17148478e-01] [ 6.12973931e-03 -1.12669941e-04 9.99981207e-01 -1.12284537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931858064 meters Centerline goodness [0,1] 0.9997122556940171 Centerline is valid? [True, True] Translation: X:14.10, Y:0.82, Z:-0.01 [[ 9.91581901e-01 -1.29389235e-01 -4.87445731e-03 1.40997682e+01] [ 1.29388091e-01 9.91593878e-01 -5.50614993e-04 8.24915091e-01] [ 4.90472567e-03 -8.47168637e-05 9.99987968e-01 -1.01411076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961858064 meters Centerline goodness [0,1] 0.999492094337956 Centerline is valid? [True, True] Translation: X:14.13, Y:0.83, Z:-0.01 [[ 9.91998577e-01 -1.26204270e-01 -3.36250665e-03 1.41273209e+01] [ 1.26203705e-01 9.92004274e-01 -3.80418432e-04 8.32614884e-01] [ 3.38363140e-03 -4.69862535e-05 9.99994274e-01 -8.75380932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991858064 meters Centerline goodness [0,1] 0.9997130306174257 Centerline is valid? [True, True] Translation: X:14.16, Y:0.84, Z:-0.01 [[ 9.92186812e-01 -1.24715208e-01 -3.38335508e-03 1.41558896e+01] [ 1.24714627e-01 9.92192580e-01 -3.83082665e-04 8.39365449e-01] [ 3.40471603e-03 -4.18642973e-05 9.99994203e-01 -8.36868454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021858064 meters Centerline goodness [0,1] 0.9997130306174257 Centerline is valid? [True, True] Translation: X:14.18, Y:0.84, Z:-0.01 [[ 9.92151703e-01 -1.24994208e-01 -3.38326074e-03 1.41833028e+01] [ 1.24993625e-01 9.92157471e-01 -3.83913978e-04 8.42543909e-01] [ 3.40471444e-03 -4.19851178e-05 9.99994203e-01 -8.27484092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051858064 meters Centerline goodness [0,1] 0.9996696253551527 Centerline is valid? [True, True] Translation: X:14.21, Y:0.85, Z:-0.01 [[ 9.92398815e-01 -1.23005438e-01 -3.77543519e-03 1.42116032e+01] [ 1.23004693e-01 9.92405996e-01 -4.29590055e-04 8.49583018e-01] [ 3.79960643e-03 -3.80715869e-05 9.99992781e-01 -8.91997512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081858064 meters Centerline goodness [0,1] 0.9995830590300636 Centerline is valid? [True, True] Translation: X:14.24, Y:0.86, Z:-0.01 [[ 9.92617716e-01 -1.21187950e-01 -4.85283254e-03 1.42402783e+01] [ 1.21186691e-01 9.92629578e-01 -5.53642567e-04 8.56575869e-01] [ 4.88415992e-03 -3.85432966e-05 9.99988072e-01 -9.76782587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111858064 meters Centerline goodness [0,1] 0.9996282283989766 Centerline is valid? [True, True] Translation: X:14.27, Y:0.86, Z:-0.01 [[ 9.92976723e-01 -1.18143900e-01 -6.26465050e-03 1.42672382e+01] [ 1.18141733e-01 9.92996484e-01 -7.16065897e-04 8.63403833e-01] [ 6.30537474e-03 -2.90799012e-05 9.99980121e-01 -1.06778435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141858064 meters Centerline goodness [0,1] 0.9996061958519297 Centerline is valid? [True, True] Translation: X:14.30, Y:0.87, Z:-0.01 [[ 9.93042566e-01 -1.17587081e-01 -6.30394500e-03 1.42950945e+01] [ 1.17584869e-01 9.93062575e-01 -7.21680537e-04 8.68088857e-01] [ 6.34507216e-03 -2.45890529e-05 9.99979870e-01 -1.00081656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171858064 meters Centerline goodness [0,1] 0.9996938485425004 Centerline is valid? [True, True] Translation: X:14.32, Y:0.87, Z:-0.01 [[ 9.93057425e-01 -1.17489996e-01 -5.74908473e-03 1.43224388e+01] [ 1.17488146e-01 9.93074066e-01 -6.59690388e-04 8.72911031e-01] [ 5.78677397e-03 -2.03388657e-05 9.99983256e-01 -9.82342088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201858064 meters Centerline goodness [0,1] 0.9997380884824411 Centerline is valid? [True, True] Translation: X:14.35, Y:0.88, Z:-0.01 [[ 9.93056038e-01 -1.17491454e-01 -5.95520956e-03 1.43490959e+01] [ 1.17489461e-01 9.93073893e-01 -6.84636997e-04 8.80533255e-01] [ 5.99440214e-03 -1.97914570e-05 9.99982033e-01 -1.14632492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231858064 meters Centerline goodness [0,1] 0.999694743039051 Centerline is valid? [True, True] Translation: X:14.38, Y:0.89, Z:-0.01 [[ 9.93034281e-01 -1.17653402e-01 -6.37128308e-03 1.43769976e+01] [ 1.17651116e-01 9.93054720e-01 -7.33733268e-04 8.85327881e-01] [ 6.41335895e-03 -2.09662743e-05 9.99979434e-01 -1.24830334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261858064 meters Centerline goodness [0,1] 0.9996943298181262 Centerline is valid? [True, True] Translation: X:14.41, Y:0.89, Z:-0.01 [[ 9.93014059e-01 -1.17809799e-01 -6.62795511e-03 1.44050926e+01] [ 1.17807316e-01 9.93036178e-01 -7.65157136e-04 8.89761881e-01] [ 6.67194222e-03 -2.10098069e-05 9.99977742e-01 -1.33579662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291858064 meters Centerline goodness [0,1] 0.9997823058167886 Centerline is valid? [True, True] Translation: X:14.43, Y:0.89, Z:-0.01 [[ 9.93013529e-01 -1.17778560e-01 -7.23475631e-03 1.44319023e+01] [ 1.17775590e-01 9.93039884e-01 -8.36687273e-04 8.93762658e-01] [ 7.28294538e-03 -2.12359094e-05 9.99973479e-01 -1.41998790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321858064 meters Centerline goodness [0,1] 0.999651507231225 Centerline is valid? [True, True] Translation: X:14.46, Y:0.90, Z:-0.01 [[ 9.93044017e-01 -1.17553688e-01 -6.68663531e-03 1.44598484e+01] [ 1.17551137e-01 9.93066529e-01 -7.74597752e-04 8.97600296e-01] [ 6.73133054e-03 -1.68119203e-05 9.99977344e-01 -1.35397340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351858063999998 meters Centerline goodness [0,1] 0.9996326389489152 Centerline is valid? [True, True] Translation: X:14.49, Y:0.90, Z:-0.01 [[ 9.93044524e-01 -1.17569359e-01 -6.32601841e-03 1.44871088e+01] [ 1.17567068e-01 9.93064673e-01 -7.34079504e-04 9.01405629e-01] [ 6.36845066e-03 -1.47578065e-05 9.99979721e-01 -1.34303986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381858064 meters Centerline goodness [0,1] 0.9996954403063001 Centerline is valid? [True, True] Translation: X:14.51, Y:0.91, Z:-0.01 [[ 9.93026584e-01 -1.17741562e-01 -5.92681470e-03 1.45149329e+01] [ 1.17739548e-01 9.93044271e-01 -6.88830094e-04 9.06834202e-01] [ 5.96669331e-03 -1.37938887e-05 9.99982199e-01 -1.33089168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411858064 meters Centerline goodness [0,1] 0.9994151033317448 Centerline is valid? [True, True] Translation: X:14.54, Y:0.91, Z:-0.01 [[ 9.93011183e-01 -1.17879099e-01 -5.77131109e-03 1.45425904e+01] [ 1.17877183e-01 9.93027954e-01 -6.72317679e-04 9.11786862e-01] [ 5.81032545e-03 -1.26869170e-05 9.99983120e-01 -1.35635155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441858063999998 meters Centerline goodness [0,1] 0.9996771485762252 Centerline is valid? [True, True] Translation: X:14.57, Y:0.92, Z:-0.01 [[ 9.93024452e-01 -1.17754863e-01 -6.01919543e-03 1.45704497e+01] [ 1.17752766e-01 9.93042694e-01 -7.02920990e-04 9.16850078e-01] [ 6.06009041e-03 -1.07591781e-05 9.99981637e-01 -1.36202720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471858064 meters Centerline goodness [0,1] 0.9996317317273948 Centerline is valid? [True, True] Translation: X:14.60, Y:0.92, Z:-0.01 [[ 9.93109117e-01 -1.17043294e-01 -5.92869843e-03 1.45985650e+01] [ 1.17041237e-01 9.93126813e-01 -6.94003881e-04 9.21799343e-01] [ 5.96917788e-03 -4.68061533e-06 9.99982184e-01 -1.32317662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501858064 meters Centerline goodness [0,1] 0.9995891270030058 Centerline is valid? [True, True] Translation: X:14.63, Y:0.92, Z:-0.01 [[ 9.93086641e-01 -1.17240247e-01 -5.80064996e-03 1.46260623e+01] [ 1.17238271e-01 9.93103582e-01 -6.80629105e-04 9.24867691e-01] [ 5.84044338e-03 -4.13450362e-06 9.99982944e-01 -1.24199726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531858064 meters Centerline goodness [0,1] 0.9996975131257697 Centerline is valid? [True, True] Translation: X:14.65, Y:0.93, Z:-0.01 [[ 9.93052251e-01 -1.17521357e-01 -5.99645495e-03 1.46529426e+01] [ 1.17519243e-01 9.93070355e-01 -7.04923826e-04 9.27607406e-01] [ 6.03774525e-03 -4.67265449e-06 9.99981773e-01 -1.17389391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561858064 meters Centerline goodness [0,1] 0.9996750503671931 Centerline is valid? [True, True] Translation: X:14.68, Y:0.93, Z:-0.01 [[ 9.92977359e-01 -1.18117570e-01 -6.64863907e-03 1.46802886e+01] [ 1.18114979e-01 9.92999617e-01 -7.82461019e-04 9.30852860e-01] [ 6.69451844e-03 -8.33778614e-06 9.99977591e-01 -1.16598954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591858064 meters Centerline goodness [0,1] 0.9997188763704777 Centerline is valid? [True, True] Translation: X:14.71, Y:0.93, Z:-0.01 [[ 9.92925875e-01 -1.18509721e-01 -7.32487216e-03 1.47075050e+01] [ 1.18506579e-01 9.92952892e-01 -8.62993481e-04 9.34538229e-01] [ 7.37552611e-03 -1.11569847e-05 9.99972800e-01 -1.34467322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621858064 meters Centerline goodness [0,1] 0.9996101533396864 Centerline is valid? [True, True] Translation: X:14.74, Y:0.94, Z:-0.01 [[ 9.92891982e-01 -1.18763577e-01 -7.79265832e-03 1.47350060e+01] [ 1.18760016e-01 9.92922561e-01 -9.19787562e-04 9.38819697e-01] [ 7.84674352e-03 -1.22065285e-05 9.99969214e-01 -1.28368746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651858064 meters Centerline goodness [0,1] 0.9996528982992017 Centerline is valid? [True, True] Translation: X:14.76, Y:0.94, Z:-0.01 [[ 9.92841793e-01 -1.19160594e-01 -8.11952676e-03 1.47624982e+01] [ 1.19156722e-01 9.92874993e-01 -9.60694799e-04 9.42126569e-01] [ 8.17615204e-03 -1.36782458e-05 9.99966575e-01 -1.29252439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681858064 meters Centerline goodness [0,1] 0.9997176613673877 Centerline is valid? [True, True] Translation: X:14.79, Y:0.94, Z:-0.01 [[ 9.92659367e-01 -1.20658729e-01 -8.29772426e-03 1.47900912e+01] [ 1.20654717e-01 9.92694047e-01 -9.84158959e-04 9.44527352e-01] [ 8.35584884e-03 -2.42249668e-05 9.99965089e-01 -1.24796834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711858064 meters Centerline goodness [0,1] 0.9996959033841609 Centerline is valid? [True, True] Translation: X:14.82, Y:0.95, Z:-0.01 [[ 9.92486634e-01 -1.22059958e-01 -8.46447745e-03 1.48174722e+01] [ 1.22055822e-01 9.92522728e-01 -1.00537415e-03 9.46571990e-01] [ 8.52390217e-03 -3.53183457e-05 9.99963670e-01 -1.22514561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741858064 meters Centerline goodness [0,1] 0.9997183769849006 Centerline is valid? [True, True] Translation: X:14.85, Y:0.95, Z:-0.01 [[ 9.92245820e-01 -1.24010505e-01 -8.34427144e-03 1.48454621e+01] [ 1.24006540e-01 9.92280904e-01 -9.92792027e-04 9.48802365e-01] [ 8.40297784e-03 -4.96504941e-05 9.99964693e-01 -1.19378518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771858064 meters Centerline goodness [0,1] 0.9996962398837033 Centerline is valid? [True, True] Translation: X:14.87, Y:0.95, Z:-0.01 [[ 9.91706462e-01 -1.28332033e-01 -7.01305565e-03 1.48729610e+01] [ 1.28329333e-01 9.91731256e-01 -8.35526934e-04 9.50580097e-01] [ 7.06229136e-03 -7.13832943e-05 9.99975059e-01 -1.18650427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801858064 meters Centerline goodness [0,1] 0.9996973300183764 Centerline is valid? [True, True] Translation: X:14.90, Y:0.95, Z:-0.01 [[ 9.91405973e-01 -1.30666371e-01 -6.36373987e-03 1.49019986e+01] [ 1.30664189e-01 9.91426393e-01 -7.59173723e-04 9.53629696e-01] [ 6.40837814e-03 -7.88635473e-05 9.99979463e-01 -1.14903345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831858064 meters Centerline goodness [0,1] 0.9996099083284572 Centerline is valid? [True, True] Translation: X:14.93, Y:0.95, Z:-0.01 [[ 9.91147081e-01 -1.32637269e-01 -5.90071934e-03 1.49300441e+01] [ 1.32635422e-01 9.91164642e-01 -7.04934834e-04 9.54704205e-01] [ 5.94208500e-03 -8.39502987e-05 9.99982342e-01 -1.08713413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861858064 meters Centerline goodness [0,1] 0.999804347826087 Centerline is valid? [True, True] Translation: X:14.96, Y:0.96, Z:-0.01 [[ 9.90811638e-01 -1.35147193e-01 -5.24728900e-03 1.49585884e+01] [ 1.35145764e-01 9.90825529e-01 -6.27603681e-04 9.58142573e-01] [ 5.28396678e-03 -8.73118499e-05 9.99986036e-01 -9.33068540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891858064 meters Centerline goodness [0,1] 0.9997186999610508 Centerline is valid? [True, True] Translation: X:14.99, Y:0.96, Z:-0.01 [[ 9.90327977e-01 -1.38666451e-01 -4.70239802e-03 1.49862271e+01] [ 1.38665339e-01 9.90339137e-01 -5.63335843e-04 9.57350536e-01] [ 4.73508458e-03 -9.41723673e-05 9.99988785e-01 -8.41408382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921858064 meters Centerline goodness [0,1] 0.9997183891861448 Centerline is valid? [True, True] Translation: X:15.01, Y:0.96, Z:-0.01 [[ 9.90127121e-01 -1.40074719e-01 -5.23046970e-03 1.50147176e+01] [ 1.40073358e-01 9.90140930e-01 -6.27429265e-04 9.60297423e-01] [ 5.26678911e-03 -1.11414723e-04 9.99986124e-01 -8.76658753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951858064 meters Centerline goodness [0,1] 0.9997178513293543 Centerline is valid? [True, True] Translation: X:15.04, Y:0.96, Z:-0.01 [[ 9.89999348e-01 -1.40969290e-01 -5.38060997e-03 1.50421154e+01] [ 1.40967858e-01 9.90013962e-01 -6.46416244e-04 9.63539922e-01] [ 5.41800383e-03 -1.18541401e-04 9.99985315e-01 -8.83379026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981858064 meters Centerline goodness [0,1] 0.9996537321185102 Centerline is valid? [True, True] Translation: X:15.07, Y:0.97, Z:-0.01 [[ 9.89897199e-01 -1.41682852e-01 -5.43173433e-03 1.50701173e+01] [ 1.41681399e-01 9.89912094e-01 -6.53338197e-04 9.69459417e-01] [ 5.46950632e-03 -1.22838069e-04 9.99985035e-01 -8.80450521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011858064 meters Centerline goodness [0,1] 0.9998051357554237 Centerline is valid? [True, True] Translation: X:15.10, Y:0.97, Z:-0.01 [[ 9.89813537e-01 -1.42282224e-01 -4.99300045e-03 1.50981386e+01] [ 1.42280997e-01 9.89826124e-01 -6.01777894e-04 9.74304256e-01] [ 5.02782457e-03 -1.14761177e-04 9.99987354e-01 -8.13098607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041858064 meters Centerline goodness [0,1] 0.9996982303364732 Centerline is valid? [True, True] Translation: X:15.13, Y:0.98, Z:-0.01 [[ 9.89864252e-01 -1.41929982e-01 -4.96415680e-03 1.51257730e+01] [ 1.41928760e-01 9.89876693e-01 -5.99389774e-04 9.77487800e-01] [ 4.99897450e-03 -1.11242108e-04 9.99987499e-01 -8.36856290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071858064 meters Centerline goodness [0,1] 0.999632169980743 Centerline is valid? [True, True] Translation: X:15.15, Y:0.99, Z:-0.01 [[ 9.90016408e-01 -1.40846445e-01 -5.45800693e-03 1.51544197e+01] [ 1.40844948e-01 9.90031447e-01 -6.59626719e-04 9.85450454e-01] [ 5.49650458e-03 -1.15691428e-04 9.99984887e-01 -8.07479895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101858063999998 meters Centerline goodness [0,1] 0.9996973103865778 Centerline is valid? [True, True] Translation: X:15.18, Y:0.99, Z:-0.01 [[ 9.90132719e-01 -1.40023142e-01 -5.54244131e-03 1.51816238e+01] [ 1.40021581e-01 9.90148225e-01 -6.70491989e-04 9.88706647e-01] [ 5.58172282e-03 -1.12185341e-04 9.99984416e-01 -7.69595410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131858064 meters Centerline goodness [0,1] 0.9995909492131154 Centerline is valid? [True, True] Translation: X:15.21, Y:0.99, Z:-0.01 [[ 9.90226585e-01 -1.39364584e-01 -5.36863880e-03 1.52104619e+01] [ 1.39363106e-01 9.90241133e-01 -6.50244013e-04 9.93314041e-01] [ 5.40686795e-03 -1.04301269e-04 9.99985377e-01 -7.50089405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161858064 meters Centerline goodness [0,1] 0.9997840032831501 Centerline is valid? [True, True] Translation: X:15.24, Y:1.00, Z:-0.01 [[ 9.90343763e-01 -1.38519552e-01 -5.61830064e-03 1.52387760e+01] [ 1.38517912e-01 9.90359694e-01 -6.81906342e-04 9.98749366e-01] [ 5.65859587e-03 -1.02913582e-04 9.99983985e-01 -6.75815771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191858063999998 meters Centerline goodness [0,1] 0.999633770654258 Centerline is valid? [True, True] Translation: X:15.27, Y:1.01, Z:-0.01 [[ 9.90614845e-01 -1.36552734e-01 -5.96492971e-03 1.52672182e+01] [ 1.36550841e-01 9.90632799e-01 -7.25510611e-04 1.00523540e+00] [ 6.00812547e-03 -9.58145851e-05 9.99981946e-01 -6.59700481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221858064 meters Centerline goodness [0,1] 0.999719767191205 Centerline is valid? [True, True] Translation: X:15.30, Y:1.01, Z:-0.01 [[ 9.90760577e-01 -1.35451488e-01 -6.80977155e-03 1.52954012e+01] [ 1.35448981e-01 9.90783975e-01 -8.30102036e-04 1.01157777e+00] [ 6.85945108e-03 -9.99442442e-05 9.99976469e-01 -6.45571923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251858064 meters Centerline goodness [0,1] 0.9996554990956851 Centerline is valid? [True, True] Translation: X:15.32, Y:1.02, Z:-0.01 [[ 9.90930180e-01 -1.34177687e-01 -7.32981001e-03 1.53230074e+01] [ 1.34174739e-01 9.90957284e-01 -8.94782831e-04 1.01661594e+00] [ 7.38358852e-03 -9.68080313e-05 9.99972736e-01 -7.03358776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281858064 meters Centerline goodness [0,1] 0.9996130613297792 Centerline is valid? [True, True] Translation: X:15.35, Y:1.02, Z:-0.01 [[ 9.91063800e-01 -1.33170034e-01 -7.63458556e-03 1.53516598e+01] [ 1.33166795e-01 9.91093201e-01 -9.33367038e-04 1.02189527e+00] [ 7.69088236e-03 -9.16470075e-05 9.99970421e-01 -7.38611166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311858064 meters Centerline goodness [0,1] 0.9996558843771507 Centerline is valid? [True, True] Translation: X:15.38, Y:1.03, Z:-0.01 [[ 9.91198902e-01 -1.32125232e-01 -8.22550719e-03 1.53797752e+01] [ 1.32121418e-01 9.91233028e-01 -1.00772602e-03 1.02659991e+00] [ 8.28654043e-03 -8.79087462e-05 9.99965662e-01 -7.19906324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341858064 meters Centerline goodness [0,1] 0.9997639282341831 Centerline is valid? [True, True] Translation: X:15.41, Y:1.03, Z:-0.01 [[ 9.91400265e-01 -1.30631936e-01 -7.79818086e-03 1.54076931e+01] [ 1.30628447e-01 9.91430932e-01 -9.57263230e-04 1.03214536e+00] [ 7.85640686e-03 -6.96332325e-05 9.99969136e-01 -5.72588018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371858064 meters Centerline goodness [0,1] 0.9996562392574768 Centerline is valid? [True, True] Translation: X:15.44, Y:1.04, Z:-0.00 [[ 9.91518221e-01 -1.29762008e-01 -7.31024173e-03 1.54366145e+01] [ 1.29758905e-01 9.91545167e-01 -8.99125810e-04 1.03712664e+00] [ 7.36510722e-03 -5.70693422e-05 9.99972876e-01 -4.43369257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401858064 meters Centerline goodness [0,1] 0.9996788558705146 Centerline is valid? [True, True] Translation: X:15.46, Y:1.04, Z:-0.00 [[ 9.91682261e-01 -1.28555472e-01 -6.30740498e-03 1.54638673e+01] [ 1.28553132e-01 9.91702319e-01 -7.76764489e-04 1.04285602e+00] [ 6.35492547e-03 -4.05331008e-05 9.99979806e-01 -3.62361855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431858064 meters Centerline goodness [0,1] 0.9996995063318309 Centerline is valid? [True, True] Translation: X:15.49, Y:1.05, Z:-0.00 [[ 9.91681963e-01 -1.28569471e-01 -6.06422316e-03 1.54904272e+01] [ 1.28567304e-01 9.91700504e-01 -7.47425358e-04 1.04760350e+00] [ 6.10998925e-03 -3.84525795e-05 9.99981333e-01 -3.97993656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461858064 meters Centerline goodness [0,1] 0.9997861740115894 Centerline is valid? [True, True] Translation: X:15.52, Y:1.05, Z:-0.00 [[ 9.91620962e-01 -1.29048087e-01 -5.87022513e-03 1.55178149e+01] [ 1.29046059e-01 9.91638336e-01 -7.24611677e-04 1.05227543e+00] [ 5.91465003e-03 -3.89892891e-05 9.99982508e-01 -3.67143469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491858064 meters Centerline goodness [0,1] 0.9997009952586391 Centerline is valid? [True, True] Translation: X:15.55, Y:1.06, Z:-0.00 [[ 9.91498914e-01 -1.30004467e-01 -5.36118420e-03 1.55452012e+01] [ 1.30002781e-01 9.91513407e-01 -6.63209843e-04 1.05573587e+00] [ 5.40190625e-03 -3.93970170e-05 9.99985409e-01 -3.84478951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521858064 meters Centerline goodness [0,1] 0.9995916963940344 Centerline is valid? [True, True] Translation: X:15.57, Y:1.06, Z:-0.00 [[ 9.91121524e-01 -1.32818509e-01 -6.11303056e-03 1.55742168e+01] [ 1.32816360e-01 9.91140373e-01 -7.57990434e-04 1.05818122e+00] [ 6.15954655e-03 -6.06498335e-05 9.99981028e-01 -4.65845014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551858064 meters Centerline goodness [0,1] 0.9997214066819535 Centerline is valid? [True, True] Translation: X:15.60, Y:1.06, Z:-0.01 [[ 9.90967907e-01 -1.33934320e-01 -6.64869120e-03 1.56021159e+01] [ 1.33931795e-01 9.90990208e-01 -8.25614928e-04 1.06113711e+00] [ 6.69936605e-03 -7.23132471e-05 9.99977556e-01 -5.26856730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581858064 meters Centerline goodness [0,1] 0.9997209881312643 Centerline is valid? [True, True] Translation: X:15.63, Y:1.06, Z:-0.01 [[ 9.90897144e-01 -1.34443631e-01 -6.91088158e-03 1.56295486e+01] [ 1.34440911e-01 9.90921240e-01 -8.58790267e-04 1.06454497e+00] [ 6.96359822e-03 -7.81323937e-05 9.99975751e-01 -6.12680458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611858064 meters Centerline goodness [0,1] 0.999700233389718 Centerline is valid? [True, True] Translation: X:15.66, Y:1.07, Z:-0.01 [[ 9.90916371e-01 -1.34255460e-01 -7.75998512e-03 1.56570360e+01] [ 1.34252013e-01 9.90946751e-01 -9.65865257e-04 1.07062153e+00] [ 7.81940473e-03 -8.47019260e-05 9.99969424e-01 -8.03233179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641858064 meters Centerline goodness [0,1] 0.9995947358317514 Centerline is valid? [True, True] Translation: X:15.68, Y:1.08, Z:-0.01 [[ 9.91058982e-01 -1.33204723e-01 -7.65483929e-03 1.56843428e+01] [ 1.33201327e-01 9.91088541e-01 -9.54087499e-04 1.07508779e+00] [ 7.71371246e-03 -7.40777638e-05 9.99970246e-01 -8.52955179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671858064 meters Centerline goodness [0,1] 0.9996786081590675 Centerline is valid? [True, True] Translation: X:15.71, Y:1.08, Z:-0.01 [[ 9.91226980e-01 -1.31979420e-01 -7.10676786e-03 1.57130094e+01] [ 1.31976452e-01 9.91252455e-01 -8.86941702e-04 1.07969423e+00] [ 7.16165914e-03 -5.87654644e-05 9.99974353e-01 -7.87631207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701858064 meters Centerline goodness [0,1] 0.9997439289829713 Centerline is valid? [True, True] Translation: X:15.74, Y:1.09, Z:-0.01 [[ 9.91746671e-01 -1.28078403e-01 -5.87059582e-03 1.57410535e+01] [ 1.28076302e-01 9.91764046e-01 -7.33948859e-04 1.08647565e+00] [ 5.91624885e-03 -2.39928664e-05 9.99982499e-01 -5.87819323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731858064 meters Centerline goodness [0,1] 0.999636254707292 Centerline is valid? [True, True] Translation: X:15.77, Y:1.09, Z:-0.01 [[ 9.92015148e-01 -1.25964358e-01 -6.23920518e-03 1.57687721e+01] [ 1.25961932e-01 9.92034768e-01 -7.81727736e-04 1.09221421e+00] [ 6.28797830e-03 -1.04165858e-05 9.99980230e-01 -5.83216976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761858064 meters Centerline goodness [0,1] 0.9997216631696142 Centerline is valid? [True, True] Translation: X:15.79, Y:1.10, Z:-0.01 [[ 9.92347918e-01 -1.23282571e-01 -6.85687770e-03 1.57948364e+01] [ 1.23279568e-01 9.92371608e-01 -8.60592506e-04 1.09788394e+00] [ 6.91066681e-03 8.69426148e-06 9.99976121e-01 -6.25805269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791858064 meters Centerline goodness [0,1] 0.9996153352993974 Centerline is valid? [True, True] Translation: X:15.82, Y:1.10, Z:-0.01 [[ 9.92965949e-01 -1.17902150e-01 -1.08492856e-02 1.58217093e+01] [ 1.17894294e-01 9.93025215e-01 -1.36307547e-03 1.10431852e+00] [ 1.09343237e-02 7.44186633e-05 9.99940216e-01 -8.50840149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821858064 meters Centerline goodness [0,1] 0.9997646656112276 Centerline is valid? [True, True] Translation: X:15.85, Y:1.11, Z:-0.01 [[ 9.93180467e-01 -1.15910495e-01 -1.25425937e-02 1.58497878e+01] [ 1.15899822e-01 9.93259656e-01 -1.57696984e-03 1.10869253e+00] [ 1.26408397e-02 1.12531269e-04 9.99920095e-01 -9.27098270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851858063999998 meters Centerline goodness [0,1] 0.9997439399112324 Centerline is valid? [True, True] Translation: X:15.88, Y:1.11, Z:-0.01 [[ 9.93401704e-01 -1.13891060e-01 -1.34863368e-02 1.58787326e+01] [ 1.13878499e-01 9.93493233e-01 -1.69825779e-03 1.11322399e+00] [ 1.35920007e-02 1.51248398e-04 9.99907613e-01 -9.75982019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881858064 meters Centerline goodness [0,1] 0.9996375807448782 Centerline is valid? [True, True] Translation: X:15.91, Y:1.12, Z:-0.01 [[ 9.93811849e-01 -1.10190171e-01 -1.40048311e-02 1.59076822e+01] [ 1.10176210e-01 9.93910499e-01 -1.76688140e-03 1.11769904e+00] [ 1.41142416e-02 2.12948467e-04 9.99900366e-01 -8.57884262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911858064 meters Centerline goodness [0,1] 0.9996375807448782 Centerline is valid? [True, True] Translation: X:15.94, Y:1.12, Z:-0.01 [[ 9.93782349e-01 -1.10455962e-01 -1.40043724e-02 1.59350306e+01] [ 1.10441976e-01 9.93880996e-01 -1.77051246e-03 1.12124243e+00] [ 1.41142432e-02 2.12833475e-04 9.99900366e-01 -8.48500036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941858063999998 meters Centerline goodness [0,1] 0.9997006308136427 Centerline is valid? [True, True] Translation: X:15.96, Y:1.13, Z:-0.01 [[ 9.93957058e-01 -1.08924398e-01 -1.35956497e-02 1.59630346e+01] [ 1.08911050e-01 9.94050010e-01 -1.72059353e-03 1.12608898e+00] [ 1.37021704e-02 2.29479604e-04 9.99906095e-01 -7.87143690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971858064 meters Centerline goodness [0,1] 0.9996592772418492 Centerline is valid? [True, True] Translation: X:15.99, Y:1.13, Z:-0.01 [[ 9.94131320e-01 -1.07367709e-01 -1.32322741e-02 1.59919556e+01] [ 1.07354892e-01 9.94219349e-01 -1.67720370e-03 1.13128865e+00] [ 1.33358605e-02 2.46811379e-04 9.99911043e-01 -7.49916610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001858064 meters Centerline goodness [0,1] 0.9995733606382525 Centerline is valid? [True, True] Translation: X:16.02, Y:1.13, Z:-0.01 [[ 9.94311378e-01 -1.05733503e-01 -1.28573220e-02 1.60202291e+01] [ 1.05721245e-01 9.94394468e-01 -1.63128827e-03 1.13410178e+00] [ 1.29577317e-02 2.62716400e-04 9.99916011e-01 -6.71235261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031858063999998 meters Centerline goodness [0,1] 0.9997014543438393 Centerline is valid? [True, True] Translation: X:16.05, Y:1.14, Z:-0.01 [[ 9.94505621e-01 -1.03969339e-01 -1.22043371e-02 1.60478816e+01] [ 1.03958144e-01 9.94580465e-01 -1.54987896e-03 1.14086419e+00] [ 1.22993352e-02 2.72623107e-04 9.99924323e-01 -7.15433906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061858064 meters Centerline goodness [0,1] 0.9994469967670581 Centerline is valid? [True, True] Translation: X:16.08, Y:1.14, Z:-0.01 [[ 9.94528359e-01 -1.03831695e-01 -1.15031662e-02 1.60760492e+01] [ 1.03821708e-01 9.94594848e-01 -1.46357158e-03 1.14080604e+00] [ 1.15929549e-02 2.61285080e-04 9.99932765e-01 -6.12119450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091858064 meters Centerline goodness [0,1] 0.9997865254888566 Centerline is valid? [True, True] Translation: X:16.10, Y:1.15, Z:-0.01 [[ 9.94482057e-01 -1.04246937e-01 -1.17479354e-02 1.61036527e+01] [ 1.04236530e-01 9.94551410e-01 -1.49644165e-03 1.14680906e+00] [ 1.18399252e-02 2.63620350e-04 9.99929871e-01 -7.45429831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121858064 meters Centerline goodness [0,1] 0.9994858942227364 Centerline is valid? [True, True] Translation: X:16.13, Y:1.15, Z:-0.01 [[ 9.94448512e-01 -1.04516739e-01 -1.21822933e-02 1.61316835e+01] [ 1.04505533e-01 9.94523090e-01 -1.55461293e-03 1.14569250e+00] [ 1.22780551e-02 2.72865453e-04 9.99924585e-01 -6.47799010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151858064 meters Centerline goodness [0,1] 0.9996571232641865 Centerline is valid? [True, True] Translation: X:16.16, Y:1.15, Z:-0.01 [[ 9.94346555e-01 -1.05582975e-01 -1.12767069e-02 1.61599657e+01] [ 1.05573419e-01 9.94410467e-01 -1.44099413e-03 1.14693773e+00] [ 1.13658198e-02 2.42327047e-04 9.99935378e-01 -6.56842798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181858064 meters Centerline goodness [0,1] 0.9996573435559173 Centerline is valid? [True, True] Translation: X:16.19, Y:1.15, Z:-0.01 [[ 9.94300316e-01 -1.06073365e-01 -1.07388439e-02 1.61881582e+01] [ 1.06064700e-01 9.94358280e-01 -1.37482407e-03 1.14750619e+00] [ 1.08240906e-02 2.27975754e-04 9.99941392e-01 -5.39809267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211858064 meters Centerline goodness [0,1] 0.9996991123815255 Centerline is valid? [True, True] Translation: X:16.22, Y:1.15, Z:-0.00 [[ 9.94216682e-01 -1.06879667e-01 -1.04845095e-02 1.62162068e+01] [ 1.06871433e-01 9.94271940e-01 -1.34417735e-03 1.14974340e+00] [ 1.05681188e-02 2.15908988e-04 9.99944133e-01 -4.78615528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241858064 meters Centerline goodness [0,1] 0.9995906936665231 Centerline is valid? [True, True] Translation: X:16.25, Y:1.15, Z:-0.00 [[ 9.93979576e-01 -1.09055572e-01 -1.05586644e-02 1.62452345e+01] [ 1.09047319e-01 9.94035635e-01 -1.35592486e-03 1.14908860e+00] [ 1.06435598e-02 1.96367581e-04 9.99943336e-01 -4.48939815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271858064 meters Centerline goodness [0,1] 0.9995692161888556 Centerline is valid? [True, True] Translation: X:16.27, Y:1.15, Z:-0.01 [[ 9.93827239e-01 -1.10369556e-01 -1.12240457e-02 1.62737453e+01] [ 1.10360282e-01 9.93890599e-01 -1.44421703e-03 1.15029193e+00] [ 1.13148711e-02 1.96613379e-04 9.99935965e-01 -5.18907341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301858064 meters Centerline goodness [0,1] 0.9994598682078427 Centerline is valid? [True, True] Translation: X:16.30, Y:1.15, Z:-0.01 [[ 9.93640644e-01 -1.12002086e-01 -1.15673107e-02 1.63025971e+01] [ 1.11992313e-01 9.93707954e-01 -1.49128391e-03 1.15100267e+00] [ 1.16615556e-02 1.86350432e-04 9.99931984e-01 -5.77028398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331858064 meters Centerline goodness [0,1] 0.9996530337858351 Centerline is valid? [True, True] Translation: X:16.33, Y:1.15, Z:-0.01 [[ 9.93199680e-01 -1.15719628e-01 -1.27813390e-02 1.63310531e+01] [ 1.15707981e-01 9.93281905e-01 -1.64955144e-03 1.14682583e+00] [ 1.28863583e-02 1.59431037e-04 9.99916955e-01 -5.53681540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361858064 meters Centerline goodness [0,1] 0.999393006568536 Centerline is valid? [True, True] Translation: X:16.36, Y:1.15, Z:-0.01 [[ 9.92960234e-01 -1.17753114e-01 -1.28132144e-02 1.63594920e+01] [ 1.17741558e-01 9.93042892e-01 -1.65518508e-03 1.14687251e+00] [ 1.29189746e-02 1.34885149e-04 9.99916537e-01 -5.78436182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391858064 meters Centerline goodness [0,1] 0.9997380255861678 Centerline is valid? [True, True] Translation: X:16.39, Y:1.15, Z:-0.01 [[ 9.92666900e-01 -1.20212011e-01 -1.27081723e-02 1.63882551e+01] [ 1.20200811e-01 9.92748237e-01 -1.64427095e-03 1.14694704e+00] [ 1.28136768e-02 1.04680730e-04 9.99917896e-01 -5.44478093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421858064 meters Centerline goodness [0,1] 0.9997162563296665 Centerline is valid? [True, True] Translation: X:16.42, Y:1.15, Z:-0.00 [[ 9.92364466e-01 -1.22685175e-01 -1.26930965e-02 1.64176035e+01] [ 1.22674165e-01 9.92445637e-01 -1.64537564e-03 1.14694239e+00] [ 1.27990715e-02 7.56973098e-05 9.99918086e-01 -4.96621973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451858064 meters Centerline goodness [0,1] 0.9995404411764706 Centerline is valid? [True, True] Translation: X:16.45, Y:1.14, Z:-0.00 [[ 9.91876910e-01 -1.26535677e-01 -1.29968344e-02 1.64467046e+01] [ 1.26524422e-01 9.91962056e-01 -1.68794706e-03 1.14377843e+00] [ 1.31059521e-02 2.98187496e-05 9.99914113e-01 -4.28767980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481858064 meters Centerline goodness [0,1] 0.9996494687260379 Centerline is valid? [True, True] Translation: X:16.47, Y:1.14, Z:-0.00 [[ 9.91698498e-01 -1.27930324e-01 -1.29584502e-02 1.64738026e+01] [ 1.27919228e-01 9.91783158e-01 -1.68495421e-03 1.14407570e+00] [ 1.30675294e-02 1.33316037e-05 9.99914616e-01 -4.41276224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511858064 meters Centerline goodness [0,1] 0.9996050292936607 Centerline is valid? [True, True] Translation: X:16.50, Y:1.14, Z:-0.00 [[ 9.91557320e-01 -1.29093518e-01 -1.22042802e-02 1.65020975e+01] [ 1.29083730e-01 9.91632424e-01 -1.58966171e-03 1.14463476e+00] [ 1.23073750e-02 8.66691476e-07 9.99924261e-01 -4.03097270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541858064 meters Centerline goodness [0,1] 0.9996924496386284 Centerline is valid? [True, True] Translation: X:16.53, Y:1.14, Z:-0.00 [[ 9.91317516e-01 -1.31063867e-01 -1.05756867e-02 1.65311367e+01] [ 1.31056601e-01 9.91373927e-01 -1.38012745e-03 1.14230604e+00] [ 1.06653449e-02 -1.78690432e-05 9.99943123e-01 -1.95343370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571858064 meters Centerline goodness [0,1] 0.9997801376338412 Centerline is valid? [True, True] Translation: X:16.56, Y:1.14, Z:-0.00 [[ 9.91164264e-01 -1.32256908e-01 -1.00753163e-02 1.65578133e+01] [ 1.32250354e-01 9.91215471e-01 -1.31694292e-03 1.14343539e+00] [ 1.01609842e-02 -2.71573981e-05 9.99948375e-01 -1.79293136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601858063999998 meters Centerline goodness [0,1] 0.9998017926751382 Centerline is valid? [True, True] Translation: X:16.59, Y:1.14, Z:-0.00 [[ 9.91040083e-01 -1.33224496e-01 -9.52823958e-03 1.65856600e+01] [ 1.33218656e-01 9.91085886e-01 -1.24780853e-03 1.14351108e+00] [ 9.60954243e-03 -3.27110041e-05 9.99953827e-01 -1.60902284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631858064 meters Centerline goodness [0,1] 0.9999123326100774 Centerline is valid? [True, True] Translation: X:16.61, Y:1.15, Z:-0.00 [[ 9.91068668e-01 -1.33026995e-01 -9.31206270e-03 1.66122606e+01] [ 1.33021393e-01 9.91112414e-01 -1.22117093e-03 1.14571927e+00] [ 9.39174964e-03 -2.84393072e-05 9.99955896e-01 -1.30259296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661858064 meters Centerline goodness [0,1] 0.9997353738946347 Centerline is valid? [True, True] Translation: X:16.64, Y:1.15, Z:-0.00 [[ 9.91204376e-01 -1.32051010e-01 -8.74157245e-03 1.66401788e+01] [ 1.32046028e-01 9.91242922e-01 -1.14721647e-03 1.14813881e+00] [ 8.81651291e-03 -1.71639282e-05 9.99961134e-01 -9.86223134e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691858063999998 meters Centerline goodness [0,1] 0.9996477322765301 Centerline is valid? [True, True] Translation: X:16.67, Y:1.15, Z:-0.00 [[ 9.91318398e-01 -1.31187588e-01 -8.81198124e-03 1.66677311e+01] [ 1.31182475e-01 9.91357563e-01 -1.15827890e-03 1.15125809e+00] [ 8.88777606e-03 -7.75432370e-06 9.99960503e-01 -7.81973963e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721858064 meters Centerline goodness [0,1] 0.9997127452713452 Centerline is valid? [True, True] Translation: X:16.70, Y:1.16, Z:-0.00 [[ 9.91790886e-01 -1.27546975e-01 -9.08886771e-03 1.66951163e+01] [ 1.27541359e-01 9.91832530e-01 -1.19726601e-03 1.15515996e+00] [ 9.16734232e-03 2.82309823e-05 9.99957979e-01 -1.35053976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751858064 meters Centerline goodness [0,1] 0.9996689764752615 Centerline is valid? [True, True] Translation: X:16.72, Y:1.16, Z:-0.00 [[ 9.92028067e-01 -1.25672703e-01 -9.31054568e-03 1.67225051e+01] [ 1.25666713e-01 9.92071756e-01 -1.22796472e-03 1.15913431e+00] [ 9.39105105e-03 4.81497954e-05 9.99955902e-01 -1.56556830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781858063999998 meters Centerline goodness [0,1] 0.9996901352338372 Centerline is valid? [True, True] Translation: X:16.75, Y:1.16, Z:-0.00 [[ 9.92305720e-01 -1.23471003e-01 -9.17986919e-03 1.67508222e+01] [ 1.23465070e-01 9.92348178e-01 -1.21241889e-03 1.16254132e+00] [ 9.25932504e-03 6.96970119e-05 9.99957129e-01 -1.47391091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811858064 meters Centerline goodness [0,1] 0.9995573458456908 Centerline is valid? [True, True] Translation: X:16.78, Y:1.17, Z:-0.00 [[ 9.92343123e-01 -1.23109032e-01 -9.96455024e-03 1.67799528e+01] [ 1.23101998e-01 9.92393148e-01 -1.31853699e-03 1.16519756e+00] [ 1.00510752e-02 8.17850650e-05 9.99949483e-01 -1.87956551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841858064 meters Centerline goodness [0,1] 0.9996450124245652 Centerline is valid? [True, True] Translation: X:16.81, Y:1.17, Z:-0.00 [[ 9.92323940e-01 -1.23194725e-01 -1.07822626e-02 1.68081536e+01] [ 1.23186463e-01 9.92382513e-01 -1.42967163e-03 1.16765730e+00] [ 1.08762568e-02 9.04685974e-05 9.99940848e-01 -2.23415374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871858064 meters Centerline goodness [0,1] 0.9997110147827053 Centerline is valid? [True, True] Translation: X:16.84, Y:1.17, Z:-0.00 [[ 9.92287995e-01 -1.23447146e-01 -1.11954026e-02 1.68360065e+01] [ 1.23438219e-01 9.92351144e-01 -1.48761279e-03 1.16899255e+00] [ 1.12934121e-02 9.41997601e-05 9.99936223e-01 -2.15710080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901858064 meters Centerline goodness [0,1] 0.9996662290558732 Centerline is valid? [True, True] Translation: X:16.86, Y:1.17, Z:-0.00 [[ 9.92225212e-01 -1.23898728e-01 -1.17573161e-02 1.68634015e+01] [ 1.23888889e-01 9.92294864e-01 -1.56429285e-03 1.16865630e+00] [ 1.18605382e-02 9.55299839e-05 9.99929657e-01 -2.58260836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931858064 meters Centerline goodness [0,1] 0.9996216673343126 Centerline is valid? [True, True] Translation: X:16.89, Y:1.17, Z:-0.00 [[ 9.92130329e-01 -1.24672378e-01 -1.15848461e-02 1.68919803e+01] [ 1.24662847e-01 9.92197959e-01 -1.54408624e-03 1.16951489e+00] [ 1.16869655e-02 8.77349031e-05 9.99931701e-01 -1.23589439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961858064 meters Centerline goodness [0,1] 0.9998213687618622 Centerline is valid? [True, True] Translation: X:16.92, Y:1.17, Z:-0.00 [[ 9.92084937e-01 -1.25109949e-01 -1.07228291e-02 1.69200147e+01] [ 1.25101793e-01 9.92142880e-01 -1.43072775e-03 1.17185283e+00] [ 1.08175768e-02 7.79583068e-05 9.99941485e-01 -7.94902161e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991858064 meters Centerline goodness [0,1] 0.9997108155002892 Centerline is valid? [True, True] Translation: X:16.95, Y:1.17, Z:-0.00 [[ 9.91964184e-01 -1.26132100e-01 -9.88689997e-03 1.69488087e+01] [ 1.26125198e-01 9.92013452e-01 -1.32104660e-03 1.17444233e+00] [ 9.97456415e-03 6.34437002e-05 9.99950251e-01 -3.03367444e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021858064 meters Centerline goodness [0,1] 0.9996649916247906 Centerline is valid? [True, True] Translation: X:16.98, Y:1.18, Z:0.00 [[ 9.91688520e-01 -1.28350626e-01 -8.94408526e-03 1.69776749e+01] [ 1.28345048e-01 9.91728852e-01 -1.19718635e-03 1.17537629e+00] [ 9.02376702e-03 3.93069031e-05 9.99959284e-01 1.10325209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051858064 meters Centerline goodness [0,1] 0.9995976214959539 Centerline is valid? [True, True] Translation: X:17.01, Y:1.18, Z:0.00 [[ 9.91550978e-01 -1.29483818e-01 -7.78453989e-03 1.70052760e+01] [ 1.29479619e-01 9.91581535e-01 -1.04308658e-03 1.17734487e+00] [ 7.85406885e-03 2.63342573e-05 9.99969156e-01 2.01451148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081858064 meters Centerline goodness [0,1] 0.9997989006569246 Centerline is valid? [True, True] Translation: X:17.03, Y:1.18, Z:0.00 [[ 9.91158147e-01 -1.32514001e-01 -6.75038343e-03 1.70335653e+01] [ 1.32510905e-01 9.91181134e-01 -9.05735008e-04 1.17622703e+00] [ 6.81087527e-03 3.22721292e-06 9.99976806e-01 4.58664668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111858064 meters Centerline goodness [0,1] 0.9997979117547996 Centerline is valid? [True, True] Translation: X:17.06, Y:1.18, Z:0.01 [[ 9.90885759e-01 -1.34523919e-01 -6.98059550e-03 1.70619919e+01] [ 1.34520644e-01 9.90910347e-01 -9.38664175e-04 1.17700040e+00] [ 7.04341709e-03 -8.92523912e-06 9.99975195e-01 5.48464691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141858064 meters Centerline goodness [0,1] 0.999686723802278 Centerline is valid? [True, True] Translation: X:17.09, Y:1.18, Z:0.01 [[ 9.90615802e-01 -1.36454014e-01 -7.78680292e-03 1.70899552e+01] [ 1.36449981e-01 9.90646406e-01 -1.04942747e-03 1.17809590e+00] [ 7.85716692e-03 -2.29296678e-05 9.99969132e-01 5.49628867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171858064 meters Centerline goodness [0,1] 0.9997983870967742 Centerline is valid? [True, True] Translation: X:17.12, Y:1.18, Z:0.00 [[ 9.90063874e-01 -1.40272609e-01 -9.85494731e-03 1.71181455e+01] [ 1.40266319e-01 9.90112918e-01 -1.32995755e-03 1.17835597e+00] [ 9.94406725e-03 -6.55742541e-05 9.99950554e-01 3.97091972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201858064 meters Centerline goodness [0,1] 0.9997541679703214 Centerline is valid? [True, True] Translation: X:17.15, Y:1.18, Z:0.00 [[ 9.89811035e-01 -1.41968103e-01 -1.09166660e-02 1.71470226e+01] [ 1.41960464e-01 9.89871229e-01 -1.47542856e-03 1.18123233e+00] [ 1.10155574e-02 -8.93395050e-05 9.99939323e-01 3.27123776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.18, Y:1.18, Z:0.00 [[ 9.89590529e-01 -1.43451688e-01 -1.14977433e-02 1.71755840e+01] [ 1.43443280e-01 9.89657315e-01 -1.55683821e-03 1.18428496e+00] [ 1.16021568e-02 -1.08641670e-04 9.99932687e-01 3.13066905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261858064 meters Centerline goodness [0,1] 0.9999323684566482 Centerline is valid? [True, True] Translation: X:17.20, Y:1.19, Z:0.00 [[ 9.89221082e-01 -1.45863013e-01 -1.28698279e-02 1.72042692e+01] [ 1.45852641e-01 9.89304786e-01 -1.74591944e-03 1.18720594e+00] [ 1.29868474e-02 -1.49998077e-04 9.99915656e-01 2.96685187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291858064 meters Centerline goodness [0,1] 0.9998432636976333 Centerline is valid? [True, True] Translation: X:17.23, Y:1.19, Z:0.00 [[ 9.89095203e-01 -1.46680997e-01 -1.32425441e-02 1.72321450e+01] [ 1.46670065e-01 9.89183834e-01 -1.79821605e-03 1.19027829e+00] [ 1.33630747e-02 -1.63677937e-04 9.99910697e-01 2.58177009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321858064 meters Centerline goodness [0,1] 0.9997755431854911 Centerline is valid? [True, True] Translation: X:17.26, Y:1.19, Z:0.00 [[ 9.88927627e-01 -1.47736147e-01 -1.40063792e-02 1.72604370e+01] [ 1.47723983e-01 9.89026793e-01 -1.90481533e-03 1.19383445e+00] [ 1.41340943e-02 -1.85353620e-04 9.99900092e-01 2.51812394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351858063999998 meters Centerline goodness [0,1] 0.9998420613253312 Centerline is valid? [True, True] Translation: X:17.29, Y:1.20, Z:0.00 [[ 9.88730246e-01 -1.48986003e-01 -1.46857671e-02 1.72895608e+01] [ 1.48972715e-01 9.88839283e-01 -2.00077547e-03 1.19749432e+00] [ 1.48199509e-02 -2.09551371e-04 9.99890157e-01 2.21534619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381858064 meters Centerline goodness [0,1] 0.9997079570472212 Centerline is valid? [True, True] Translation: X:17.32, Y:1.20, Z:0.00 [[ 9.88389667e-01 -1.50939685e-01 -1.74091433e-02 1.73180433e+01] [ 1.50921236e-01 9.88542935e-01 -2.37626267e-03 1.20316322e+00] [ 1.75683579e-02 -2.78735953e-04 9.99845626e-01 1.65662370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411858064 meters Centerline goodness [0,1] 0.9998873924597991 Centerline is valid? [True, True] Translation: X:17.35, Y:1.21, Z:0.00 [[ 9.88261105e-01 -1.51682687e-01 -1.82304758e-02 1.73451977e+01] [ 1.51662538e-01 9.88429193e-01 -2.49082076e-03 1.20674900e+00] [ 1.83973489e-02 -3.03298940e-04 9.99830708e-01 7.11455512e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441858063999998 meters Centerline goodness [0,1] 0.9998198076446607 Centerline is valid? [True, True] Translation: X:17.37, Y:1.21, Z:0.00 [[ 9.88099665e-01 -1.52712546e-01 -1.83828948e-02 1.73734420e+01] [ 1.52692160e-01 9.88270598e-01 -2.51573456e-03 1.21168627e+00] [ 1.85514587e-02 -3.21127445e-04 9.99827855e-01 1.12729685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471858064 meters Centerline goodness [0,1] 0.9999327293927707 Centerline is valid? [True, True] Translation: X:17.40, Y:1.22, Z:0.00 [[ 9.87742697e-01 -1.55180652e-01 -1.68324230e-02 1.74015188e+01] [ 1.55163885e-01 9.87886053e-01 -2.30550673e-03 1.21556447e+00] [ 1.69862860e-02 -3.34536720e-04 9.99855667e-01 2.98879542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501858064 meters Centerline goodness [0,1] 0.9999330461758208 Centerline is valid? [True, True] Translation: X:17.43, Y:1.22, Z:0.00 [[ 9.87538883e-01 -1.56578863e-01 -1.58118206e-02 1.74294372e+01] [ 1.56564225e-01 9.87665402e-01 -2.16708610e-03 1.21706702e+00] [ 1.59561080e-02 -3.35483656e-04 9.99872637e-01 2.61131046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531858063999998 meters Centerline goodness [0,1] 0.9997762513145235 Centerline is valid? [True, True] Translation: X:17.46, Y:1.22, Z:0.01 [[ 9.87338549e-01 -1.57881582e-01 -1.53621654e-02 1.74575887e+01] [ 1.57867871e-01 9.87457993e-01 -2.10876369e-03 1.22485953e+00] [ 1.55024279e-02 -3.43128665e-04 9.99879771e-01 6.00763677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561858064 meters Centerline goodness [0,1] 0.9999104604570994 Centerline is valid? [True, True] Translation: X:17.48, Y:1.23, Z:0.01 [[ 9.87229836e-01 -1.58615617e-01 -1.47762558e-02 1.74847109e+01] [ 1.58602987e-01 9.87340352e-01 -2.03016972e-03 1.22921790e+00] [ 1.49112103e-02 -3.39314190e-04 9.99888764e-01 6.81091092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591858064 meters Centerline goodness [0,1] 0.9997766012108215 Centerline is valid? [True, True] Translation: X:17.51, Y:1.23, Z:0.01 [[ 9.87320601e-01 -1.58012363e-01 -1.51698513e-02 1.75129511e+01] [ 1.57998930e-01 9.87437077e-01 -2.08748354e-03 1.23367241e+00] [ 1.53091219e-02 -3.35804775e-04 9.99882752e-01 7.44027054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621858064 meters Centerline goodness [0,1] 0.9998213049208158 Centerline is valid? [True, True] Translation: X:17.54, Y:1.24, Z:0.01 [[ 9.87689521e-01 -1.55605820e-01 -1.60074410e-02 1.75411406e+01] [ 1.55590482e-01 9.87819180e-01 -2.20675323e-03 1.24010139e+00] [ 1.61558408e-02 -3.11018412e-04 9.99869438e-01 7.62537827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651858064 meters Centerline goodness [0,1] 0.9997350232958686 Centerline is valid? [True, True] Translation: X:17.57, Y:1.25, Z:0.01 [[ 9.87998138e-01 -1.53630567e-01 -1.60414277e-02 1.75683949e+01] [ 1.53614872e-01 9.88128318e-01 -2.21338609e-03 1.24611372e+00] [ 1.61910327e-02 -2.77380517e-04 9.99868878e-01 6.32834348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681858064 meters Centerline goodness [0,1] 0.9997995054467687 Centerline is valid? [True, True] Translation: X:17.60, Y:1.26, Z:0.01 [[ 9.88407126e-01 -1.50986633e-01 -1.59495825e-02 1.75968744e+01] [ 1.50970722e-01 9.88535778e-01 -2.20388337e-03 1.25500316e+00] [ 1.60994899e-02 -2.29585951e-04 9.99870368e-01 5.75534295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711858064 meters Centerline goodness [0,1] 0.999799389251722 Centerline is valid? [True, True] Translation: X:17.63, Y:1.27, Z:0.00 [[ 9.89255170e-01 -1.45291718e-01 -1.62642073e-02 1.76250391e+01] [ 1.45274342e-01 9.89388851e-01 -2.25107857e-03 1.26528363e+00] [ 1.64186885e-02 -1.35880913e-04 9.99865195e-01 4.63093134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741858064 meters Centerline goodness [0,1] 0.9997995545657016 Centerline is valid? [True, True] Translation: X:17.65, Y:1.27, Z:0.00 [[ 9.89726414e-01 -1.42011241e-01 -1.65660069e-02 1.76525002e+01] [ 1.41992722e-01 9.89865042e-01 -2.29477940e-03 1.27111947e+00] [ 1.67239955e-02 -8.10486167e-05 9.99860141e-01 3.31642544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771858064 meters Centerline goodness [0,1] 0.9996883348174532 Centerline is valid? [True, True] Translation: X:17.68, Y:1.28, Z:0.00 [[ 9.90127530e-01 -1.39139155e-01 -1.69637588e-02 1.76795542e+01] [ 1.39119243e-01 9.90272839e-01 -2.35406952e-03 1.27711624e+00] [ 1.71262928e-02 -2.91562328e-05 9.99853334e-01 4.89553832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801858064 meters Centerline goodness [0,1] 0.9998442228947837 Centerline is valid? [True, True] Translation: X:17.71, Y:1.28, Z:0.00 [[ 9.90518183e-01 -1.36298552e-01 -1.72172419e-02 1.77071936e+01] [ 1.36277572e-01 9.90667807e-01 -2.39145557e-03 1.28266643e+00] [ 1.73825192e-02 2.24563031e-05 9.99848912e-01 4.85504998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831858064 meters Centerline goodness [0,1] 0.9998442228947837 Centerline is valid? [True, True] Translation: X:17.73, Y:1.29, Z:0.00 [[ 9.90480480e-01 -1.36572341e-01 -1.72166693e-02 1.77345198e+01] [ 1.36551331e-01 9.90630100e-01 -2.39557396e-03 1.28653891e+00] [ 1.73825200e-02 2.18101275e-05 9.99848912e-01 4.94911189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861858064 meters Centerline goodness [0,1] 0.9997555175249483 Centerline is valid? [True, True] Translation: X:17.76, Y:1.29, Z:0.01 [[ 9.91178053e-01 -1.31327454e-01 -1.78652590e-02 1.77620432e+01] [ 1.31303938e-01 9.91339036e-01 -2.48809875e-03 1.29438819e+00] [ 1.80372843e-02 1.20370018e-04 9.99837308e-01 5.25504116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891858064 meters Centerline goodness [0,1] 0.999755783490964 Centerline is valid? [True, True] Translation: X:17.79, Y:1.30, Z:0.00 [[ 9.91419847e-01 -1.29560550e-01 -1.73421951e-02 1.77894701e+01] [ 1.29538094e-01 9.91571501e-01 -2.41678071e-03 1.30039780e+00] [ 1.75091459e-02 1.49569469e-04 9.99846692e-01 4.29817273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921858064 meters Centerline goodness [0,1] 0.9996678402976151 Centerline is valid? [True, True] Translation: X:17.82, Y:1.30, Z:0.01 [[ 9.91542777e-01 -1.28706296e-01 -1.66616545e-02 1.78176570e+01] [ 1.28685379e-01 9.91682743e-01 -2.32597970e-03 1.30462999e+00] [ 1.68224435e-02 1.62197046e-04 9.99858480e-01 5.46125329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951858064 meters Centerline goodness [0,1] 0.9997564431848375 Centerline is valid? [True, True] Translation: X:17.85, Y:1.31, Z:0.01 [[ 9.91640484e-01 -1.28190080e-01 -1.47123621e-02 1.78469065e+01] [ 1.28173663e-01 9.91749605e-01 -2.05729986e-03 1.30772407e+00] [ 1.48547047e-02 1.54364487e-04 9.99889651e-01 8.62281583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981858064 meters Centerline goodness [0,1] 0.9998226242738681 Centerline is valid? [True, True] Translation: X:17.88, Y:1.31, Z:0.01 [[ 9.91610009e-01 -1.28589808e-01 -1.32004405e-02 1.78757646e+01] [ 1.28576586e-01 9.91697859e-01 -1.84902066e-03 1.31100393e+00] [ 1.33286138e-02 1.36239828e-04 9.99911161e-01 1.00147563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011858064 meters Centerline goodness [0,1] 0.9997335287455865 Centerline is valid? [True, True] Translation: X:17.90, Y:1.32, Z:0.01 [[ 9.91570250e-01 -1.28976474e-01 -1.23898764e-02 1.79034976e+01] [ 1.28964836e-01 9.91647646e-01 -1.73706753e-03 1.31506074e+00] [ 1.25104326e-02 1.24566115e-04 9.99921734e-01 1.05265488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041858064 meters Centerline goodness [0,1] 0.999733824279662 Centerline is valid? [True, True] Translation: X:17.93, Y:1.32, Z:0.01 [[ 9.91434846e-01 -1.29949681e-01 -1.30394608e-02 1.79311606e+01] [ 1.29936836e-01 9.91520583e-01 -1.83111841e-03 1.31954199e+00] [ 1.31668470e-02 1.21128327e-04 9.99913306e-01 9.09698735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071858064 meters Centerline goodness [0,1] 0.9998225691980128 Centerline is valid? [True, True] Translation: X:17.96, Y:1.32, Z:0.01 [[ 9.91314421e-01 -1.30806683e-01 -1.36136117e-02 1.79593605e+01] [ 1.30792709e-01 9.91407887e-01 -1.91563369e-03 1.32301519e+00] [ 1.37472197e-02 1.18434158e-04 9.99905495e-01 8.42986708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101858063999998 meters Centerline goodness [0,1] 0.999777920895423 Centerline is valid? [True, True] Translation: X:17.99, Y:1.33, Z:0.01 [[ 9.91163502e-01 -1.31896362e-01 -1.40805283e-02 1.79865281e+01] [ 1.31881490e-01 9.91263506e-01 -1.98364612e-03 1.32645419e+00] [ 1.42191495e-02 1.09156598e-04 9.99898897e-01 7.30081785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131858064 meters Centerline goodness [0,1] 0.9997109055328234 Centerline is valid? [True, True] Translation: X:18.02, Y:1.33, Z:0.01 [[ 9.90598521e-01 -1.36052917e-01 -1.42889075e-02 1.80159767e+01] [ 1.36037991e-01 9.90701570e-01 -2.01601114e-03 1.32582357e+00] [ 1.44303273e-02 5.32233942e-05 9.99895876e-01 8.00234053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161858064 meters Centerline goodness [0,1] 0.9997987792608491 Centerline is valid? [True, True] Translation: X:18.04, Y:1.33, Z:0.01 [[ 9.90227822e-01 -1.38734292e-01 -1.42005671e-02 1.80442770e+01] [ 1.38719769e-01 9.90329640e-01 -2.00744444e-03 1.32643107e+00] [ 1.43417439e-02 1.79279507e-05 9.99897152e-01 1.00903569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191858063999998 meters Centerline goodness [0,1] 0.9998212849611294 Centerline is valid? [True, True] Translation: X:18.07, Y:1.33, Z:0.01 [[ 9.89746786e-01 -1.42107908e-01 -1.43750211e-02 1.80726037e+01] [ 1.42093353e-01 9.89851171e-01 -2.03405949e-03 1.32735934e+00] [ 1.45181874e-02 -2.93911007e-05 9.99894605e-01 9.81815000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221858064 meters Centerline goodness [0,1] 0.9997978300424557 Centerline is valid? [True, True] Translation: X:18.10, Y:1.33, Z:0.01 [[ 9.88726530e-01 -1.48913388e-01 -1.56413681e-02 1.81020735e+01] [ 1.48896954e-01 9.88850233e-01 -2.21655511e-03 1.32604872e+00] [ 1.57970453e-02 -1.37385230e-04 9.99875209e-01 9.58854172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251858064 meters Centerline goodness [0,1] 0.9999325296869378 Centerline is valid? [True, True] Translation: X:18.13, Y:1.33, Z:0.01 [[ 9.88206307e-01 -1.52288174e-01 -1.60189630e-02 1.81309931e+01] [ 1.52271317e-01 9.88336114e-01 -2.27398537e-03 1.32848014e+00] [ 1.61784207e-02 -1.92061905e-04 9.99869102e-01 9.00464709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281858063999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.16, Y:1.33, Z:0.01 [[ 9.87757602e-01 -1.55178894e-01 -1.59508467e-02 1.81591924e+01] [ 1.55162525e-01 9.87886357e-01 -2.26624223e-03 1.33148386e+00] [ 1.61092968e-02 -2.36475668e-04 9.99870209e-01 8.73365985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311858064 meters Centerline goodness [0,1] 0.9999097432194594 Centerline is valid? [True, True] Translation: X:18.19, Y:1.33, Z:0.01 [[ 9.86887775e-01 -1.60599049e-01 -1.61389234e-02 1.81890410e+01] [ 1.60583004e-01 9.87019674e-01 -2.29371922e-03 1.33332448e+00] [ 1.62978040e-02 -3.27993338e-04 9.99867128e-01 8.43599126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.22, Y:1.33, Z:0.01 [[ 9.86520185e-01 -1.62787695e-01 -1.66760696e-02 1.82171057e+01] [ 1.62770854e-01 9.86661049e-01 -2.37135758e-03 1.33350626e+00] [ 1.68396562e-02 -3.74985972e-04 9.99858133e-01 7.06719658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.25, Y:1.34, Z:0.01 [[ 9.85981547e-01 -1.65940938e-01 -1.74354162e-02 1.82465916e+01] [ 1.65923006e-01 9.86135592e-01 -2.48014157e-03 1.33736702e+00] [ 1.76052415e-02 -4.47562846e-04 9.99844916e-01 7.08819315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401858064 meters Centerline goodness [0,1] 0.9998876984929138 Centerline is valid? [True, True] Translation: X:18.27, Y:1.34, Z:0.01 [[ 9.85643439e-01 -1.68126410e-01 -1.55087359e-02 1.82741794e+01] [ 1.68112475e-01 9.85765349e-01 -2.20723496e-03 1.34064898e+00] [ 1.56590689e-02 -4.31665310e-04 9.99877296e-01 8.11523474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431858064 meters Centerline goodness [0,1] 0.9998202570324436 Centerline is valid? [True, True] Translation: X:18.30, Y:1.35, Z:0.01 [[ 9.85611038e-01 -1.68583175e-01 -1.22717336e-02 1.83022141e+01] [ 1.68574455e-01 9.85687371e-01 -1.74895038e-03 1.34822868e+00] [ 1.23909364e-02 -3.44915997e-04 9.99923170e-01 1.05585587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461858064 meters Centerline goodness [0,1] 0.9997757948074077 Centerline is valid? [True, True] Translation: X:18.33, Y:1.36, Z:0.01 [[ 9.85627432e-01 -1.68589492e-01 -1.07772084e-02 1.83299779e+01] [ 1.68582739e-01 9.85686306e-01 -1.53853236e-03 1.35505613e+00] [ 1.08823271e-02 -3.00431601e-04 9.99940741e-01 1.22043860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491858064 meters Centerline goodness [0,1] 0.9997757948074077 Centerline is valid? [True, True] Translation: X:18.36, Y:1.36, Z:0.01 [[ 9.85580178e-01 -1.68865548e-01 -1.07767937e-02 1.83573048e+01] [ 1.68858780e-01 9.85639050e-01 -1.54143340e-03 1.35902693e+00] [ 1.08823237e-02 -3.00550029e-04 9.99940741e-01 1.22982632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521858064 meters Centerline goodness [0,1] 0.9997092438102481 Centerline is valid? [True, True] Translation: X:18.38, Y:1.36, Z:0.01 [[ 9.85664391e-01 -1.68485031e-01 -8.86017267e-03 1.83846248e+01] [ 1.68480428e-01 9.85704183e-01 -1.26880849e-03 1.36439581e+00] [ 8.94728450e-03 -2.42146332e-04 9.99959943e-01 1.32818806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551858064 meters Centerline goodness [0,1] 0.9997546285969217 Centerline is valid? [True, True] Translation: X:18.41, Y:1.37, Z:0.01 [[ 9.85798808e-01 -1.67773446e-01 -7.26507730e-03 1.84124597e+01] [ 1.67770325e-01 9.85825560e-01 -1.04125193e-03 1.36944561e+00] [ 7.33679332e-03 -1.92399464e-04 9.99973067e-01 1.45657980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581858064 meters Centerline goodness [0,1] 0.9999555743130678 Centerline is valid? [True, True] Translation: X:18.44, Y:1.38, Z:0.02 [[ 9.86189882e-01 -1.65512675e-01 -5.92214430e-03 1.84401257e+01] [ 1.65510555e-01 9.86207653e-01 -8.49757332e-04 1.37973621e+00] [ 5.98110964e-03 -1.42155306e-04 9.99982103e-01 1.67060505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611858064 meters Centerline goodness [0,1] 0.9998667614141056 Centerline is valid? [True, True] Translation: X:18.47, Y:1.39, Z:0.02 [[ 9.86502375e-01 -1.63597867e-01 -6.98584742e-03 1.84676211e+01] [ 1.63594860e-01 9.86527098e-01 -1.00367406e-03 1.38638492e+00] [ 7.05592671e-03 -1.52721880e-04 9.99975095e-01 1.58265664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641858064 meters Centerline goodness [0,1] 0.9998445756916382 Centerline is valid? [True, True] Translation: X:18.50, Y:1.39, Z:0.01 [[ 9.86838922e-01 -1.61482603e-01 -8.50361036e-03 1.84955385e+01] [ 1.61478055e-01 9.86875545e-01 -1.22333551e-03 1.39392696e+00] [ 8.58955251e-03 -1.65911361e-04 9.99963095e-01 1.43252323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671858064 meters Centerline goodness [0,1] 0.9997337297801052 Centerline is valid? [True, True] Translation: X:18.52, Y:1.41, Z:0.01 [[ 9.87627558e-01 -1.56396948e-01 -1.14804554e-02 1.85225100e+01] [ 1.56388278e-01 9.87694269e-01 -1.65464444e-03 1.40550577e+00] [ 1.15979613e-02 -1.61236210e-04 9.99932728e-01 1.07525575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701858064 meters Centerline goodness [0,1] 0.9997341486109265 Centerline is valid? [True, True] Translation: X:18.55, Y:1.41, Z:0.01 [[ 9.88049417e-01 -1.53659400e-01 -1.21300678e-02 1.85508507e+01] [ 1.53649479e-01 9.88123864e-01 -1.75120568e-03 1.41370066e+00] [ 1.22550987e-02 -1.33500852e-04 9.99924895e-01 9.59715839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731858064 meters Centerline goodness [0,1] 0.9997365358860079 Centerline is valid? [True, True] Translation: X:18.58, Y:1.42, Z:0.01 [[ 9.88476767e-01 -1.50853675e-01 -1.25239526e-02 1.85793392e+01] [ 1.50842838e-01 9.88556098e-01 -1.81091325e-03 1.42210896e+00] [ 1.26538127e-02 -9.91028773e-05 9.99919932e-01 9.50169539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761858064 meters Centerline goodness [0,1] 0.9997142229061332 Centerline is valid? [True, True] Translation: X:18.61, Y:1.43, Z:0.01 [[ 9.89353447e-01 -1.45118602e-01 -1.09703049e-02 1.86062798e+01] [ 1.45109920e-01 9.89414267e-01 -1.58755252e-03 1.43274530e+00] [ 1.10845596e-02 -2.12495117e-05 9.99938564e-01 1.06185888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791858064 meters Centerline goodness [0,1] 0.9996936542669584 Centerline is valid? [True, True] Translation: X:18.63, Y:1.44, Z:0.01 [[ 9.89661593e-01 -1.43053458e-01 -1.02781290e-02 1.86333388e+01] [ 1.43045703e-01 9.89714963e-01 -1.48950049e-03 1.43918122e+00] [ 1.03854963e-02 3.85923243e-06 9.99946069e-01 1.20050867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821858064 meters Centerline goodness [0,1] 0.999780547752809 Centerline is valid? [True, True] Translation: X:18.66, Y:1.45, Z:0.01 [[ 9.89926139e-01 -1.41248584e-01 -9.75074568e-03 1.86611886e+01] [ 1.41241492e-01 9.89974160e-01 -1.41565372e-03 1.44538774e+00] [ 9.85294534e-03 2.41827590e-05 9.99951458e-01 1.31159555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.851858063999998 meters Centerline goodness [0,1] 0.9996941695611333 Centerline is valid? [True, True] Translation: X:18.69, Y:1.45, Z:0.01 [[ 9.90363243e-01 -1.38276052e-01 -7.77046374e-03 1.86875254e+01] [ 1.38271447e-01 9.90393725e-01 -1.12939072e-03 1.45452206e+00] [ 7.85198622e-03 4.40737954e-05 9.99969172e-01 1.34768583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881858064 meters Centerline goodness [0,1] 0.9996508303690287 Centerline is valid? [True, True] Translation: X:18.71, Y:1.46, Z:0.01 [[ 9.90488945e-01 -1.37431763e-01 -6.64538812e-03 1.87145848e+01] [ 1.37428368e-01 9.90511236e-01 -9.67059236e-04 1.46074460e+00] [ 6.71523625e-03 4.45966394e-05 9.99977452e-01 1.40199325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911858064 meters Centerline goodness [0,1] 0.9996274952341302 Centerline is valid? [True, True] Translation: X:18.74, Y:1.46, Z:0.01 [[ 9.90598617e-01 -1.36662626e-01 -6.14065714e-03 1.87420310e+01] [ 1.36659702e-01 9.90617648e-01 -8.95231534e-04 1.46456962e+00] [ 6.20538802e-03 4.76347444e-05 9.99980745e-01 1.45543234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941858063999998 meters Centerline goodness [0,1] 0.9996277480949461 Centerline is valid? [True, True] Translation: X:18.77, Y:1.47, Z:0.01 [[ 9.90931417e-01 -1.34202200e-01 -6.68554044e-03 1.87695865e+01] [ 1.34198668e-01 9.90953967e-01 -9.76043362e-04 1.47128227e+00] [ 6.75604999e-03 7.00014077e-05 9.99977175e-01 1.36423254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971858064 meters Centerline goodness [0,1] 0.999495436995437 Centerline is valid? [True, True] Translation: X:18.80, Y:1.48, Z:0.01 [[ 9.91114739e-01 -1.32812044e-01 -7.24815577e-03 1.87968721e+01] [ 1.32807851e-01 9.91141238e-01 -1.05884523e-03 1.47624860e+00] [ 7.32457348e-03 8.68251186e-05 9.99973171e-01 1.28821722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001858064 meters Centerline goodness [0,1] 0.9996067636649626 Centerline is valid? [True, True] Translation: X:18.83, Y:1.48, Z:0.01 [[ 9.91280813e-01 -1.31524592e-01 -7.97692598e-03 1.88253347e+01] [ 1.31519461e-01 9.91312902e-01 -1.16677341e-03 1.48047961e+00] [ 8.06108904e-03 1.07479095e-04 9.99967503e-01 1.22922298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.031858063999998 meters Centerline goodness [0,1] 0.9995849262697979 Centerline is valid? [True, True] Translation: X:18.85, Y:1.49, Z:0.01 [[ 9.91431970e-01 -1.30348777e-01 -8.47620229e-03 1.88519861e+01] [ 1.30342926e-01 9.91468194e-01 -1.24136927e-03 1.48893989e+00] [ 8.56569595e-03 1.25920169e-04 9.99963306e-01 1.06430804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061858064 meters Centerline goodness [0,1] 0.9996072698710536 Centerline is valid? [True, True] Translation: X:18.88, Y:1.49, Z:0.01 [[ 9.91818356e-01 -1.27284258e-01 -9.75022683e-03 1.88807379e+01] [ 1.27276348e-01 9.91866264e-01 -1.43003995e-03 1.49245338e+00] [ 9.85294264e-03 1.77366613e-04 9.99951443e-01 1.03851120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091858064 meters Centerline goodness [0,1] 0.9996939690034319 Centerline is valid? [True, True] Translation: X:18.91, Y:1.50, Z:0.01 [[ 9.91904984e-01 -1.26611863e-01 -9.69220354e-03 1.89098547e+01] [ 1.26603991e-01 9.91952318e-01 -1.42398545e-03 1.49592326e+00] [ 9.79449722e-03 1.85386613e-04 9.99952016e-01 1.07770060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121858063999998 meters Centerline goodness [0,1] 0.9997162749077894 Centerline is valid? [True, True] Translation: X:18.94, Y:1.50, Z:0.01 [[ 9.91925994e-01 -1.26424695e-01 -9.98089719e-03 1.89386372e+01] [ 1.26416311e-01 9.91976188e-01 -1.46899401e-03 1.50074509e+00] [ 1.00865295e-02 1.95385132e-04 9.99949111e-01 1.03309180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151858064 meters Centerline goodness [0,1] 0.9996291852982877 Centerline is valid? [True, True] Translation: X:18.97, Y:1.50, Z:0.01 [[ 9.91831184e-01 -1.26989973e-01 -1.20186686e-02 1.89664916e+01] [ 1.26977836e-01 9.91903974e-01 -1.77074547e-03 1.50392730e+00] [ 1.21462321e-02 2.30176047e-04 9.99926205e-01 8.85998713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181858064 meters Centerline goodness [0,1] 0.9995837897042716 Centerline is valid? [True, True] Translation: X:18.99, Y:1.51, Z:0.01 [[ 9.91675352e-01 -1.28167167e-01 -1.23763001e-02 1.89942970e+01] [ 1.28154373e-01 9.91752554e-01 -1.82456110e-03 1.50773898e+00] [ 1.25080761e-02 2.23295281e-04 9.99921746e-01 8.00189125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211858064 meters Centerline goodness [0,1] 0.9995414146266897 Centerline is valid? [True, True] Translation: X:19.02, Y:1.51, Z:0.01 [[ 9.91443234e-01 -1.29894917e-01 -1.29469498e-02 1.90234915e+01] [ 1.29881029e-01 9.91527743e-01 -1.91131643e-03 1.50998618e+00] [ 1.30855302e-02 2.13398572e-04 9.99914358e-01 7.82466688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241858064 meters Centerline goodness [0,1] 0.9996058163980378 Centerline is valid? [True, True] Translation: X:19.05, Y:1.51, Z:0.01 [[ 9.91013029e-01 -1.33093499e-01 -1.33901614e-02 1.90511632e+01] [ 1.33078913e-01 9.91103470e-01 -1.97844489e-03 1.51096288e+00] [ 1.35343536e-02 1.78716544e-04 9.99908390e-01 6.72616240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271858064 meters Centerline goodness [0,1] 0.9995834429536087 Centerline is valid? [True, True] Translation: X:19.08, Y:1.51, Z:0.01 [[ 9.90801998e-01 -1.34583145e-01 -1.40988731e-02 1.90797720e+01] [ 1.34567077e-01 9.90902290e-01 -2.08652595e-03 1.51239357e+00] [ 1.42514168e-02 1.70089939e-04 9.99898429e-01 7.28571954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301858064 meters Centerline goodness [0,1] 0.9995601398755196 Centerline is valid? [True, True] Translation: X:19.11, Y:1.51, Z:0.01 [[ 9.90670992e-01 -1.35515770e-01 -1.43687938e-02 1.91079879e+01] [ 1.35499118e-01 9.90775176e-01 -2.13068088e-03 1.51471521e+00] [ 1.45249850e-02 1.63844855e-04 9.99894493e-01 6.94462314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331858064 meters Centerline goodness [0,1] 0.9997139462218897 Centerline is valid? [True, True] Translation: X:19.14, Y:1.52, Z:0.01 [[ 9.90495899e-01 -1.36716381e-01 -1.50500845e-02 1.91353972e+01] [ 1.36698213e-01 9.90610219e-01 -2.23422790e-03 1.51643214e+00] [ 1.52142231e-02 1.55673917e-04 9.99884245e-01 6.61015152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361858064 meters Centerline goodness [0,1] 0.9996920775964457 Centerline is valid? [True, True] Translation: X:19.16, Y:1.52, Z:0.01 [[ 9.90352184e-01 -1.37817244e-01 -1.44553802e-02 1.91639500e+01] [ 1.37800554e-01 9.90457666e-01 -2.14914487e-03 1.51857877e+00] [ 1.46136314e-02 1.36450917e-04 9.99893206e-01 6.93352242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391858064 meters Centerline goodness [0,1] 0.9997138832643718 Centerline is valid? [True, True] Translation: X:19.19, Y:1.52, Z:0.01 [[ 9.89829458e-01 -1.41624472e-01 -1.34221441e-02 1.91926888e+01] [ 1.41610409e-01 9.89920453e-01 -1.99721203e-03 1.51746938e+00] [ 1.35697091e-02 7.61839889e-05 9.99907924e-01 7.31978277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421858064 meters Centerline goodness [0,1] 0.9997793225201368 Centerline is valid? [True, True] Translation: X:19.22, Y:1.52, Z:0.01 [[ 9.89514689e-01 -1.43853824e-01 -1.29134645e-02 1.92213570e+01] [ 1.43840962e-01 9.89598947e-01 -1.92416433e-03 1.51828601e+00] [ 1.30559493e-02 4.65037011e-05 9.99914766e-01 8.13165297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451858064 meters Centerline goodness [0,1] 0.9998002973350789 Centerline is valid? [True, True] Translation: X:19.25, Y:1.52, Z:0.01 [[ 9.89223588e-01 -1.45879369e-01 -1.24860815e-02 1.92493864e+01] [ 1.45867463e-01 9.89302385e-01 -1.86386988e-03 1.51917643e+00] [ 1.26244103e-02 2.24710249e-05 9.99920309e-01 8.49126457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481858064 meters Centerline goodness [0,1] 0.9997122811676958 Centerline is valid? [True, True] Translation: X:19.28, Y:1.52, Z:0.01 [[ 9.88971082e-01 -1.47574823e-01 -1.25646483e-02 1.92780927e+01] [ 1.47562858e-01 9.89050894e-01 -1.87918345e-03 1.51970233e+00] [ 1.27043968e-02 4.38267293e-06 9.99919296e-01 9.18036042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511858064 meters Centerline goodness [0,1] 0.9996879249236531 Centerline is valid? [True, True] Translation: X:19.31, Y:1.52, Z:0.01 [[ 9.88804231e-01 -1.48694181e-01 -1.24992987e-02 1.93058397e+01] [ 1.48682404e-01 9.88883229e-01 -1.87149510e-03 1.51740458e+00] [ 1.26386273e-02 -7.88349863e-06 9.99920129e-01 9.73642368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541858064 meters Centerline goodness [0,1] 0.9998665302309027 Centerline is valid? [True, True] Translation: X:19.33, Y:1.52, Z:0.01 [[ 9.88810610e-01 -1.48677324e-01 -1.21914434e-02 1.93341267e+01] [ 1.48666082e-01 9.88885764e-01 -1.82831275e-03 1.52022848e+00] [ 1.23277735e-02 -4.59908460e-06 9.99924010e-01 1.13696934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571858064 meters Centerline goodness [0,1] 0.9998661729937102 Centerline is valid? [True, True] Translation: X:19.36, Y:1.52, Z:0.01 [[ 9.88948379e-01 -1.47791530e-01 -1.17799538e-02 1.93618593e+01] [ 1.47780932e-01 9.89018535e-01 -1.76990704e-03 1.52395218e+00] [ 1.19121699e-02 9.49414364e-06 9.99929048e-01 1.14983302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601858063999998 meters Centerline goodness [0,1] 0.9997324951514747 Centerline is valid? [True, True] Translation: X:19.39, Y:1.53, Z:0.01 [[ 9.89602544e-01 -1.43310081e-01 -1.22076198e-02 1.93896976e+01] [ 1.43298336e-01 9.89677835e-01 -1.83592597e-03 1.52873897e+00] [ 1.23447174e-02 6.75054039e-05 9.99923799e-01 1.11838246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631858064 meters Centerline goodness [0,1] 0.9998216793348639 Centerline is valid? [True, True] Translation: X:19.42, Y:1.54, Z:0.01 [[ 9.89967208e-01 -1.40726834e-01 -1.26840549e-02 1.94168101e+01] [ 1.40713924e-01 9.90048457e-01 -1.90908343e-03 1.53500464e+00] [ 1.28264882e-02 1.05106852e-04 9.99917732e-01 9.23078395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661858064 meters Centerline goodness [0,1] 0.9997319813280325 Centerline is valid? [True, True] Translation: X:19.44, Y:1.54, Z:0.01 [[ 9.90696053e-01 -1.35518204e-01 -1.24959033e-02 1.94448189e+01] [ 1.35505238e-01 9.90774842e-01 -1.88241794e-03 1.53938180e+00] [ 1.26357286e-02 1.71643658e-04 9.99920151e-01 1.17186698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691858063999998 meters Centerline goodness [0,1] 0.9996197463484465 Centerline is valid? [True, True] Translation: X:19.47, Y:1.55, Z:0.01 [[ 9.90921435e-01 -1.33873987e-01 -1.23476522e-02 1.94724356e+01] [ 1.33861179e-01 9.90998344e-01 -1.86172570e-03 1.54545404e+00] [ 1.24857396e-02 1.91952617e-04 9.99922032e-01 1.04328364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721858064 meters Centerline goodness [0,1] 0.9996197463484465 Centerline is valid? [True, True] Translation: X:19.50, Y:1.55, Z:0.01 [[ 9.90885325e-01 -1.34141044e-01 -1.23472211e-02 1.94997106e+01] [ 1.34128221e-01 9.90962231e-01 -1.86458243e-03 1.54965805e+00] [ 1.24857468e-02 1.91476571e-04 9.99922032e-01 1.05268321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751858064 meters Centerline goodness [0,1] 0.9998210611076317 Centerline is valid? [True, True] Translation: X:19.53, Y:1.55, Z:0.01 [[ 9.91062173e-01 -1.32820334e-01 -1.24309332e-02 1.95282526e+01] [ 1.32807194e-01 9.91140108e-01 -1.88033755e-03 1.55374081e+00] [ 1.25705435e-02 2.12614070e-04 9.99920965e-01 1.06888176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781858063999998 meters Centerline goodness [0,1] 0.9997989590546608 Centerline is valid? [True, True] Translation: X:19.56, Y:1.55, Z:0.01 [[ 9.91197831e-01 -1.31762335e-01 -1.28665374e-02 1.95570388e+01] [ 1.31748127e-01 9.91281308e-01 -1.94939673e-03 1.55394607e+00] [ 1.30112150e-02 2.37095611e-04 9.99915322e-01 1.25003382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811858064 meters Centerline goodness [0,1] 0.9997982741230528 Centerline is valid? [True, True] Translation: X:19.59, Y:1.56, Z:0.01 [[ 9.91248641e-01 -1.31410512e-01 -1.25462438e-02 1.95856426e+01] [ 1.31396936e-01 9.91328008e-01 -1.90393348e-03 1.55703188e+00] [ 1.26876398e-02 2.38733483e-04 9.99919480e-01 1.32532376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841858064 meters Centerline goodness [0,1] 0.9997531972178596 Centerline is valid? [True, True] Translation: X:19.61, Y:1.56, Z:0.01 [[ 9.91345123e-01 -1.30720441e-01 -1.21249278e-02 1.96134490e+01] [ 1.30707691e-01 9.91419239e-01 -1.84156292e-03 1.56262656e+00] [ 1.22616166e-02 2.40803111e-04 9.99924795e-01 1.33598890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871858063999998 meters Centerline goodness [0,1] 0.9998880580307169 Centerline is valid? [True, True] Translation: X:19.64, Y:1.57, Z:0.01 [[ 9.91453680e-01 -1.29954695e-01 -1.14620437e-02 1.96407393e+01] [ 1.29943238e-01 9.91519904e-01 -1.74183730e-03 1.56780204e+00] [ 1.15912044e-02 2.37535924e-04 9.99932792e-01 1.37561864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901858064 meters Centerline goodness [0,1] 0.9997542009295673 Centerline is valid? [True, True] Translation: X:19.67, Y:1.57, Z:0.01 [[ 9.91649282e-01 -1.28487313e-01 -1.10775722e-02 1.96688988e+01] [ 1.28476497e-01 9.91711122e-01 -1.68548299e-03 1.57245288e+00] [ 1.12023147e-02 2.48200319e-04 9.99937221e-01 1.46422456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931858064 meters Centerline goodness [0,1] 0.9997095750860104 Centerline is valid? [True, True] Translation: X:19.70, Y:1.58, Z:0.01 [[ 9.91682977e-01 -1.28212934e-01 -1.12390516e-02 1.96965805e+01] [ 1.28201766e-01 9.91746630e-01 -1.71149904e-03 1.57815946e+00] [ 1.13657278e-02 2.56398201e-04 9.99935375e-01 1.38171121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961858064 meters Centerline goodness [0,1] 0.9998881131399928 Centerline is valid? [True, True] Translation: X:19.73, Y:1.58, Z:0.01 [[ 9.91686548e-01 -1.28137343e-01 -1.17733332e-02 1.97255001e+01] [ 1.28125056e-01 9.91756395e-01 -1.79516751e-03 1.58031622e+00] [ 1.19063065e-02 2.71784498e-04 9.99929080e-01 1.32757856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.991858064 meters Centerline goodness [0,1] 0.9997082192395744 Centerline is valid? [True, True] Translation: X:19.75, Y:1.59, Z:0.01 [[ 9.91683949e-01 -1.28107181e-01 -1.23083323e-02 1.97528258e+01] [ 1.28093730e-01 9.91760288e-01 -1.87834529e-03 1.58571652e+00] [ 1.24475447e-02 2.86104681e-04 9.99922485e-01 1.04934073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021858064 meters Centerline goodness [0,1] 0.9996185518432921 Centerline is valid? [True, True] Translation: X:19.78, Y:1.59, Z:0.01 [[ 9.91606328e-01 -1.28669531e-01 -1.26902255e-02 1.97813652e+01] [ 1.28655241e-01 9.91687485e-01 -1.93945607e-03 1.58636725e+00] [ 1.28342867e-02 2.90512888e-04 9.99917595e-01 1.15875103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051858064 meters Centerline goodness [0,1] 0.9997513337553124 Centerline is valid? [True, True] Translation: X:19.81, Y:1.59, Z:0.01 [[ 9.91557969e-01 -1.28998903e-01 -1.31178359e-02 1.98089976e+01] [ 1.28983615e-01 9.91644691e-01 -2.00839085e-03 1.58972528e+00] [ 1.32673125e-02 2.99450048e-04 9.99911940e-01 1.16450821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081858064 meters Centerline goodness [0,1] 0.9999323104693141 Centerline is valid? [True, True] Translation: X:19.84, Y:1.59, Z:0.01 [[ 9.91443226e-01 -1.29936675e-01 -1.25216008e-02 1.98368949e+01] [ 1.29922795e-01 9.91522256e-01 -1.91911173e-03 1.59251206e+00] [ 1.26648089e-02 2.75848940e-04 9.99919760e-01 1.25196745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111858064 meters Centerline goodness [0,1] 0.9999099220826014 Centerline is valid? [True, True] Translation: X:19.86, Y:1.60, Z:0.01 [[ 9.91362859e-01 -1.30580346e-01 -1.21842379e-02 1.98638731e+01] [ 1.30567239e-01 9.91437696e-01 -1.86854554e-03 1.59777027e+00] [ 1.23239081e-02 2.61544345e-04 9.99924024e-01 1.17445203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141858064 meters Centerline goodness [0,1] 0.9999098205428804 Centerline is valid? [True, True] Translation: X:19.89, Y:1.60, Z:0.01 [[ 9.91189790e-01 -1.31829423e-01 -1.27985859e-02 1.98939752e+01] [ 1.31815029e-01 9.91272382e-01 -1.96542337e-03 1.59527002e+00] [ 1.29459853e-02 2.61061600e-04 9.99916163e-01 1.36753312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171858064 meters Centerline goodness [0,1] 0.9997742510779511 Centerline is valid? [True, True] Translation: X:19.92, Y:1.60, Z:0.01 [[ 9.90925593e-01 -1.33718004e-01 -1.36369065e-02 1.99229668e+01] [ 1.33701794e-01 9.91019389e-01 -2.09764973e-03 1.59666546e+00] [ 1.37949323e-02 2.55335946e-04 9.99904813e-01 1.29427186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201858064 meters Centerline goodness [0,1] 0.9998640164993314 Centerline is valid? [True, True] Translation: X:19.95, Y:1.60, Z:0.01 [[ 9.90764924e-01 -1.34787035e-01 -1.47417979e-02 1.99504960e+01] [ 1.34768147e-01 9.90874556e-01 -2.27183934e-03 1.59944079e+00] [ 1.49134869e-02 2.64133946e-04 9.99888753e-01 1.25931594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231858064 meters Centerline goodness [0,1] 0.9998865750192822 Centerline is valid? [True, True] Translation: X:19.98, Y:1.60, Z:0.01 [[ 9.90559867e-01 -1.36101614e-01 -1.63554388e-02 1.99773083e+01] [ 1.36078463e-01 9.90694844e-01 -2.52537271e-03 1.60429773e+00] [ 1.65469562e-02 2.75909888e-04 9.99863052e-01 7.69226428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261858064 meters Centerline goodness [0,1] 0.9998862938621427 Centerline is valid? [True, True] Translation: X:20.00, Y:1.61, Z:0.01 [[ 9.90415311e-01 -1.37009785e-01 -1.74880248e-02 2.00043567e+01] [ 1.36983409e-01 9.90569654e-01 -2.70296223e-03 1.60880782e+00] [ 1.76934390e-02 2.81485913e-04 9.99843419e-01 5.44087568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291858064 meters Centerline goodness [0,1] 0.9998863042044706 Centerline is valid? [True, True] Translation: X:20.03, Y:1.61, Z:0.01 [[ 9.90249679e-01 -1.38209755e-01 -1.74252026e-02 2.00342065e+01] [ 1.38183688e-01 9.90402946e-01 -2.69698632e-03 1.60807860e+00] [ 1.76307218e-02 2.62811088e-04 9.99844532e-01 9.17548378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321858064 meters Centerline goodness [0,1] 0.9999314692982456 Centerline is valid? [True, True] Translation: X:20.06, Y:1.61, Z:0.01 [[ 9.90049592e-01 -1.39664308e-01 -1.71955216e-02 2.00630702e+01] [ 1.39639069e-01 9.90198881e-01 -2.66567465e-03 1.61214543e+00] [ 1.73992859e-02 2.37983464e-04 9.99848593e-01 9.45425845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351858063999998 meters Centerline goodness [0,1] 0.9999091487235395 Centerline is valid? [True, True] Translation: X:20.09, Y:1.62, Z:0.01 [[ 9.89656758e-01 -1.42724077e-01 -1.44685448e-02 2.00923181e+01] [ 1.42706488e-01 9.89762503e-01 -2.24624839e-03 1.61543872e+00] [ 1.46410168e-02 1.58259692e-04 9.99892802e-01 1.19623197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381858064 meters Centerline goodness [0,1] 0.999977207977208 Centerline is valid? [True, True] Translation: X:20.12, Y:1.62, Z:0.01 [[ 9.89420275e-01 -1.44422788e-01 -1.37687149e-02 2.01201832e+01] [ 1.44407000e-01 9.89516064e-01 -2.13928350e-03 1.61878967e+00] [ 1.39333259e-02 1.28351652e-04 9.99902918e-01 1.28949556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411858064 meters Centerline goodness [0,1] 0.9999084940406744 Centerline is valid? [True, True] Translation: X:20.15, Y:1.62, Z:0.01 [[ 9.89182383e-01 -1.46131582e-01 -1.27974234e-02 2.01477256e+01] [ 1.46118071e-01 9.89265157e-01 -1.98947753e-03 1.62140615e+00] [ 1.29507706e-02 9.80212946e-05 9.99916130e-01 1.47177724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441858063999998 meters Centerline goodness [0,1] 0.9999771407671558 Centerline is valid? [True, True] Translation: X:20.18, Y:1.62, Z:0.02 [[ 9.88483850e-01 -1.50719437e-01 -1.35399549e-02 2.01768105e+01] [ 1.50704704e-01 9.88576577e-01 -2.10777696e-03 1.62142110e+00] [ 1.37029653e-02 4.29685785e-05 9.99906109e-01 1.70364239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471858064 meters Centerline goodness [0,1] 0.9999543316436041 Centerline is valid? [True, True] Translation: X:20.20, Y:1.62, Z:0.02 [[ 9.88086694e-01 -1.53266659e-01 -1.39289945e-02 2.02035957e+01] [ 1.53251289e-01 9.88184867e-01 -2.17053291e-03 1.62380829e+00] [ 1.40970919e-02 1.00383269e-05 9.99900631e-01 1.63169416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.23, Y:1.63, Z:0.02 [[ 9.87566591e-01 -1.56467622e-01 -1.51693999e-02 2.02319934e+01] [ 1.56449718e-01 9.87683088e-01 -2.36722936e-03 1.62691482e+00] [ 1.53529545e-02 -3.54517099e-05 9.99882136e-01 1.62550152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531858063999998 meters Centerline goodness [0,1] 0.9999771355405158 Centerline is valid? [True, True] Translation: X:20.26, Y:1.63, Z:0.01 [[ 9.86597581e-01 -1.62407218e-01 -1.57832011e-02 2.02608243e+01] [ 1.62388532e-01 9.86723811e-01 -2.46697669e-03 1.62972891e+00] [ 1.59743152e-02 -1.29097626e-04 9.99872394e-01 1.42363843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561858064 meters Centerline goodness [0,1] 0.9999771266497404 Centerline is valid? [True, True] Translation: X:20.29, Y:1.63, Z:0.01 [[ 9.85981687e-01 -1.66072181e-01 -1.61289642e-02 2.02892422e+01] [ 1.66053091e-01 9.86113581e-01 -2.52503349e-03 1.63334481e+00] [ 1.63243285e-02 -1.88627581e-04 9.99866731e-01 1.37481200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591858064 meters Centerline goodness [0,1] 0.9999771391994148 Centerline is valid? [True, True] Translation: X:20.32, Y:1.64, Z:0.01 [[ 9.85437402e-01 -1.69262243e-01 -1.62302309e-02 2.03178153e+01] [ 1.69243279e-01 9.85571020e-01 -2.54488346e-03 1.63633186e+00] [ 1.64267979e-02 -2.39034163e-04 9.99865042e-01 1.38778699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621858063999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.35, Y:1.64, Z:0.01 [[ 9.84292574e-01 -1.75825242e-01 -1.59252332e-02 2.03470717e+01] [ 1.75807818e-01 9.84421337e-01 -2.49854178e-03 1.63940294e+00] [ 1.61164460e-02 -3.40484374e-04 9.99870064e-01 1.47711271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.38, Y:1.64, Z:0.02 [[ 9.83759743e-01 -1.78833958e-01 -1.53357286e-02 2.03760321e+01] [ 1.78818117e-01 9.83879198e-01 -2.40919196e-03 1.64305013e+00] [ 1.55193497e-02 -3.72240031e-04 9.99879498e-01 1.52589229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681858064 meters Centerline goodness [0,1] 0.9999771046546237 Centerline is valid? [True, True] Translation: X:20.40, Y:1.65, Z:0.02 [[ 9.83191075e-01 -1.81965454e-01 -1.49627089e-02 2.04048882e+01] [ 1.81950680e-01 9.83304839e-01 -2.35430596e-03 1.64728275e+00] [ 1.51413064e-02 -4.07742450e-04 9.99885281e-01 1.63587117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.43, Y:1.65, Z:0.02 [[ 9.82364185e-01 -1.86430639e-01 -1.42907369e-02 2.04338465e+01] [ 1.86417617e-01 9.82468020e-01 -2.24977362e-03 1.65276239e+00] [ 1.44596188e-02 -4.53948098e-04 9.99895351e-01 1.81938590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:1.66, Z:0.02 [[ 9.82086472e-01 -1.87971031e-01 -1.31549905e-02 2.04614588e+01] [ 1.87960121e-01 9.82174475e-01 -2.07196011e-03 1.65746257e+00] [ 1.33099644e-02 -4.37769609e-04 9.99911323e-01 1.84944849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:1.66, Z:0.02 [[ 9.81889194e-01 -1.89087521e-01 -1.18118853e-02 2.04887662e+01] [ 1.89078793e-01 9.81960154e-01 -1.86142506e-03 1.66355997e+00] [ 1.19507730e-02 -4.05663870e-04 9.99928505e-01 1.87529295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801858064 meters Centerline goodness [0,1] 0.9999325630535449 Centerline is valid? [True, True] Translation: X:20.52, Y:1.68, Z:0.02 [[ 9.81898729e-01 -1.89087122e-01 -1.09975488e-02 2.05157159e+01] [ 1.89079533e-01 9.81960243e-01 -1.73527630e-03 1.67541048e+00] [ 1.11272741e-02 -3.75545797e-04 9.99938019e-01 1.91423934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.54, Y:1.68, Z:0.02 [[ 9.82002288e-01 -1.88494315e-01 -1.18911209e-02 2.05438690e+01] [ 1.88485362e-01 9.82074201e-01 -1.87929758e-03 1.68331209e+00] [ 1.20321999e-02 -3.95827698e-04 9.99927532e-01 1.83200439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:1.69, Z:0.02 [[ 9.82257787e-01 -1.87136239e-01 -1.22338952e-02 2.05719677e+01] [ 1.87126619e-01 9.82333894e-01 -1.93655396e-03 1.69219475e+00] [ 1.23801693e-02 -3.87092235e-04 9.99923288e-01 1.82998744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891858064 meters Centerline goodness [0,1] 0.9999329908420818 Centerline is valid? [True, True] Translation: X:20.60, Y:1.70, Z:0.02 [[ 9.83055577e-01 -1.82929674e-01 -1.17671718e-02 2.05990299e+01] [ 1.82920458e-01 9.83125949e-01 -1.86393441e-03 1.70401690e+00] [ 1.19095808e-02 -3.20105330e-04 9.99929027e-01 1.89404606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921858064 meters Centerline goodness [0,1] 0.9999777950482958 Centerline is valid? [True, True] Translation: X:20.63, Y:1.71, Z:0.02 [[ 9.83515674e-01 -1.80485447e-01 -1.10418116e-02 2.06257056e+01] [ 1.80477169e-01 9.83577617e-01 -1.74987995e-03 1.71239581e+00] [ 1.11763067e-02 -2.71760546e-04 9.99937506e-01 2.00057002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951858064 meters Centerline goodness [0,1] 0.9998674706778875 Centerline is valid? [True, True] Translation: X:20.65, Y:1.73, Z:0.02 [[ 9.84496473e-01 -1.75146819e-01 -9.50193305e-03 2.06537788e+01] [ 1.75140436e-01 9.84542309e-01 -1.50620929e-03 1.72720676e+00] [ 9.61886288e-03 -1.81314969e-04 9.99953721e-01 2.18696368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981858064 meters Centerline goodness [0,1] 0.9998462079268828 Centerline is valid? [True, True] Translation: X:20.68, Y:1.73, Z:0.02 [[ 9.84839633e-01 -1.73255689e-01 -8.56529253e-03 2.06805189e+01] [ 1.73250426e-01 9.84876868e-01 -1.35825667e-03 1.73487543e+00] [ 8.67108417e-03 -1.46275577e-04 9.99962395e-01 2.15383814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011858064 meters Centerline goodness [0,1] 0.9997578852376027 Centerline is valid? [True, True] Translation: X:20.71, Y:1.74, Z:0.02 [[ 9.85101102e-01 -1.71799430e-01 -7.79587809e-03 2.07081970e+01] [ 1.71795014e-01 9.85131941e-01 -1.23764767e-03 1.74416285e+00] [ 7.89259568e-03 -1.20084899e-04 9.99968846e-01 2.26204292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041858064 meters Centerline goodness [0,1] 0.9998902064119456 Centerline is valid? [True, True] Translation: X:20.74, Y:1.75, Z:0.02 [[ 9.85410889e-01 -1.70045336e-01 -7.06855969e-03 2.07359555e+01] [ 1.70041648e-01 9.85436236e-01 -1.12391334e-03 1.75184367e+00] [ 7.15673108e-03 -9.44330885e-05 9.99974386e-01 2.35422753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071858064 meters Centerline goodness [0,1] 0.9998031022336957 Centerline is valid? [True, True] Translation: X:20.76, Y:1.76, Z:0.02 [[ 9.85979979e-01 -1.66703459e-01 -7.31014367e-03 2.07628715e+01] [ 1.66699413e-01 9.86007075e-01 -1.16358433e-03 1.76064571e+00] [ 7.40182691e-03 -7.13258103e-05 9.99972604e-01 2.36961306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101858063999998 meters Centerline goodness [0,1] 0.9998033130818654 Centerline is valid? [True, True] Translation: X:20.79, Y:1.77, Z:0.02 [[ 9.86173425e-01 -1.65557899e-01 -7.24969275e-03 2.07913289e+01] [ 1.65553880e-01 9.86200070e-01 -1.15522610e-03 1.76836563e+00] [ 7.34090430e-03 -6.09614796e-05 9.99973053e-01 2.32137648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131858064 meters Centerline goodness [0,1] 0.9997384709266847 Centerline is valid? [True, True] Translation: X:20.82, Y:1.78, Z:0.02 [[ 9.86423925e-01 -1.64035538e-01 -7.75770433e-03 2.08196922e+01] [ 1.64030874e-01 9.86454429e-01 -1.23815074e-03 1.77628867e+00] [ 7.85572252e-03 -5.11615031e-05 9.99969142e-01 2.26041156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161858064 meters Centerline goodness [0,1] 0.9997174957081079 Centerline is valid? [True, True] Translation: X:20.85, Y:1.79, Z:0.02 [[ 9.87032750e-01 -1.60280257e-01 -8.75159869e-03 2.08472169e+01] [ 1.60274152e-01 9.87071547e-01 -1.39908039e-03 1.78724576e+00] [ 8.86269902e-03 -2.17168940e-05 9.99960725e-01 2.13254065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191858063999998 meters Centerline goodness [0,1] 0.9997612329064467 Centerline is valid? [True, True] Translation: X:20.87, Y:1.79, Z:0.02 [[ 9.87319279e-01 -1.58487716e-01 -9.07115877e-03 2.08743549e+01] [ 1.58481058e-01 9.87360949e-01 -1.45270837e-03 1.79435345e+00] [ 9.18674436e-03 -3.31986166e-06 9.99957801e-01 2.08664777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221858064 meters Centerline goodness [0,1] 0.9996333520251909 Centerline is valid? [True, True] Translation: X:20.90, Y:1.80, Z:0.02 [[ 9.87628472e-01 -1.56548276e-01 -9.09054901e-03 2.09009197e+01] [ 1.56541491e-01 9.87670308e-01 -1.45751451e-03 1.80137496e+00] [ 9.20663672e-03 1.64347269e-05 9.99957618e-01 2.04040875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251858064 meters Centerline goodness [0,1] 0.9995248482754152 Centerline is valid? [True, True] Translation: X:20.93, Y:1.81, Z:0.02 [[ 9.88092442e-01 -1.53645074e-01 -8.15586227e-03 2.09276792e+01] [ 1.53639499e-01 9.88126100e-01 -1.30942870e-03 1.81012877e+00] [ 8.26020764e-03 4.07740029e-05 9.99965883e-01 2.11551590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281858063999998 meters Centerline goodness [0,1] 0.9996319310628532 Centerline is valid? [True, True] Translation: X:20.95, Y:1.82, Z:0.02 [[ 9.88208432e-01 -1.52925000e-01 -7.61836268e-03 2.09541320e+01] [ 1.52920101e-01 9.88237796e-01 -1.22489179e-03 1.81621670e+00] [ 7.71607052e-03 4.54476024e-05 9.99970230e-01 2.17390597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311858064 meters Centerline goodness [0,1] 0.9997405237096461 Centerline is valid? [True, True] Translation: X:20.98, Y:1.82, Z:0.02 [[ 9.88293169e-01 -1.52375151e-01 -7.64368115e-03 2.09817115e+01] [ 1.52370189e-01 9.88322726e-01 -1.23085225e-03 1.82138163e+00] [ 7.74197509e-03 5.17737293e-05 9.99970029e-01 2.24292582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341858064 meters Centerline goodness [0,1] 0.99982673857016 Centerline is valid? [True, True] Translation: X:21.01, Y:1.83, Z:0.02 [[ 9.88310265e-01 -1.52192253e-01 -8.96313288e-03 2.10097915e+01] [ 1.52185398e-01 9.88350906e-01 -1.44587720e-03 1.82637559e+00] [ 9.07877181e-03 6.49173321e-05 9.99958785e-01 2.18096751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371858063999998 meters Centerline goodness [0,1] 0.9997838538852264 Centerline is valid? [True, True] Translation: X:21.04, Y:1.83, Z:0.02 [[ 9.88275341e-01 -1.52377134e-01 -9.64671899e-03 2.10375700e+01] [ 1.52369188e-01 9.88322419e-01 -1.55764132e-03 1.83148699e+00] [ 9.77141757e-03 6.95157687e-05 9.99952256e-01 2.10038186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401858064 meters Centerline goodness [0,1] 0.9997624703087886 Centerline is valid? [True, True] Translation: X:21.07, Y:1.84, Z:0.02 [[ 9.88251099e-01 -1.52489710e-01 -1.03272796e-02 2.10653904e+01] [ 1.52480586e-01 9.88305055e-01 -1.66987551e-03 1.83651793e+00] [ 1.04611415e-02 7.55466676e-05 9.99945278e-01 2.06154289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431858064 meters Centerline goodness [0,1] 0.9998057246470664 Centerline is valid? [True, True] Translation: X:21.09, Y:1.84, Z:0.02 [[ 9.88217957e-01 -1.52733946e-01 -9.87980036e-03 2.10933474e+01] [ 1.52725578e-01 9.88267341e-01 -1.60035992e-03 1.84230894e+00] [ 1.00083133e-02 7.26061830e-05 9.99949913e-01 2.10875128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461858064 meters Centerline goodness [0,1] 0.99974173553719 Centerline is valid? [True, True] Translation: X:21.12, Y:1.85, Z:0.02 [[ 9.88171755e-01 -1.53068737e-01 -9.30287252e-03 2.11195204e+01] [ 1.53061318e-01 9.88215542e-01 -1.50858689e-03 1.84804880e+00] [ 9.42416070e-03 6.68330324e-05 9.99955589e-01 2.08075603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491858064 meters Centerline goodness [0,1] 0.9996772041576104 Centerline is valid? [True, True] Translation: X:21.15, Y:1.85, Z:0.02 [[ 9.88174849e-01 -1.53090843e-01 -8.58265766e-03 2.11469855e+01] [ 1.53084512e-01 9.88212118e-01 -1.39371048e-03 1.85329675e+00] [ 8.69485061e-03 6.33576803e-05 9.99962197e-01 2.14566660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521858064 meters Centerline goodness [0,1] 0.9996981327353487 Centerline is valid? [True, True] Translation: X:21.17, Y:1.86, Z:0.02 [[ 9.88085977e-01 -1.53725594e-01 -7.38540689e-03 2.11744245e+01] [ 1.53720915e-01 9.88113576e-01 -1.20050259e-03 1.85883731e+00] [ 7.48216878e-03 5.09082763e-05 9.99972007e-01 2.26422618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551858064 meters Centerline goodness [0,1] 0.9997195858498705 Centerline is valid? [True, True] Translation: X:21.20, Y:1.86, Z:0.02 [[ 9.87921086e-01 -1.54798902e-01 -7.01626568e-03 2.12023703e+01] [ 1.54794697e-01 9.87946000e-01 -1.14182792e-03 1.86313549e+00] [ 7.10844532e-03 4.19551573e-05 9.99974734e-01 2.31972233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581858064 meters Centerline goodness [0,1] 0.9997190100507943 Centerline is valid? [True, True] Translation: X:21.23, Y:1.87, Z:0.02 [[ 9.87698713e-01 -1.56220407e-01 -6.81441199e-03 2.12296899e+01] [ 1.56216460e-01 9.87722220e-01 -1.11089934e-03 1.86707363e+00] [ 6.90429128e-03 3.27105250e-05 9.99976165e-01 2.35248308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611858064 meters Centerline goodness [0,1] 0.9997202616629368 Centerline is valid? [True, True] Translation: X:21.26, Y:1.87, Z:0.02 [[ 9.87151130e-01 -1.59647262e-01 -6.73790132e-03 2.12571913e+01] [ 1.59643470e-01 9.87174124e-01 -1.10035720e-03 1.86997400e+00] [ 6.82715085e-03 1.05569040e-05 9.99976695e-01 2.43637088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641858064 meters Centerline goodness [0,1] 0.9997202616629368 Centerline is valid? [True, True] Translation: X:21.28, Y:1.87, Z:0.02 [[ 9.87106028e-01 -1.59925903e-01 -6.73759050e-03 2.12844056e+01] [ 1.59922105e-01 9.87129022e-01 -1.10225795e-03 1.87449208e+00] [ 6.82715072e-03 1.05558129e-05 9.99976695e-01 2.44574980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671858064 meters Centerline goodness [0,1] 0.999741373736503 Centerline is valid? [True, True] Translation: X:21.31, Y:1.88, Z:0.02 [[ 9.86763462e-01 -1.62021846e-01 -6.84043323e-03 2.13127459e+01] [ 1.62017967e-01 9.86787171e-01 -1.12108014e-03 1.87798826e+00] [ 6.93169123e-03 -2.03216693e-06 9.99975976e-01 2.49467206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701858064 meters Centerline goodness [0,1] 0.9999352023845522 Centerline is valid? [True, True] Translation: X:21.34, Y:1.88, Z:0.03 [[ 9.86219078e-01 -1.65338067e-01 -5.93750794e-03 2.13406620e+01] [ 1.65335199e-01 9.86236951e-01 -9.74176844e-04 1.88062646e+00] [ 6.01685825e-03 -2.09272669e-05 9.99981898e-01 2.65297082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731858064 meters Centerline goodness [0,1] 0.9997201894102453 Centerline is valid? [True, True] Translation: X:21.37, Y:1.89, Z:0.03 [[ 9.86019601e-01 -1.66536571e-01 -5.56023545e-03 2.13682292e+01] [ 1.66534069e-01 9.86035278e-01 -9.13202422e-04 1.88597184e+00] [ 5.63466991e-03 -2.55331454e-05 9.99984125e-01 2.68134737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761858064 meters Centerline goodness [0,1] 0.99980570787099 Centerline is valid? [True, True] Translation: X:21.40, Y:1.89, Z:0.03 [[ 9.85921143e-01 -1.67133971e-01 -5.07307784e-03 2.13951208e+01] [ 1.67131890e-01 9.85934194e-01 -8.34309195e-04 1.89159850e+00] [ 5.14116232e-03 -2.53100151e-05 9.99986784e-01 2.63974575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791858064 meters Centerline goodness [0,1] 0.9998062641265741 Centerline is valid? [True, True] Translation: X:21.42, Y:1.90, Z:0.03 [[ 9.85926916e-01 -1.67067723e-01 -6.04089564e-03 2.14228329e+01] [ 1.67064764e-01 9.85945422e-01 -9.94763851e-04 1.89786896e+00] [ 6.12218633e-03 -2.84563485e-05 9.99981259e-01 2.58737656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821858064 meters Centerline goodness [0,1] 0.9997414907367514 Centerline is valid? [True, True] Translation: X:21.45, Y:1.90, Z:0.03 [[ 9.85955155e-01 -1.66884846e-01 -6.47145906e-03 2.14490098e+01] [ 1.66881435e-01 9.85976393e-01 -1.06733528e-03 1.90241821e+00] [ 6.55882795e-03 -2.76216528e-05 9.99978490e-01 2.56849066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851858063999998 meters Centerline goodness [0,1] 0.9998279680880804 Centerline is valid? [True, True] Translation: X:21.48, Y:1.91, Z:0.03 [[ 9.86047989e-01 -1.66331101e-01 -6.58240369e-03 2.14767204e+01] [ 1.66327549e-01 9.86069959e-01 -1.08724758e-03 1.90950694e+00] [ 6.67155362e-03 -2.27567847e-05 9.99977745e-01 2.53744797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881858064 meters Centerline goodness [0,1] 0.9996334626994394 Centerline is valid? [True, True] Translation: X:21.50, Y:1.92, Z:0.03 [[ 9.86039945e-01 -1.66364902e-01 -6.92426379e-03 2.15040835e+01] [ 1.66360957e-01 9.86064257e-01 -1.14579938e-03 1.91556997e+00] [ 7.01838983e-03 -2.21231940e-05 9.99975371e-01 2.51107712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911858064 meters Centerline goodness [0,1] 0.9997630127542226 Centerline is valid? [True, True] Translation: X:21.53, Y:1.92, Z:0.02 [[ 9.86043290e-01 -1.66328375e-01 -7.31448847e-03 2.15307755e+01] [ 1.66323959e-01 9.86070419e-01 -1.21222216e-03 1.92109101e+00] [ 7.41422766e-03 -2.12711605e-05 9.99972514e-01 2.48352775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941858063999998 meters Centerline goodness [0,1] 0.9996558991784593 Centerline is valid? [True, True] Translation: X:21.56, Y:1.93, Z:0.02 [[ 9.86077312e-01 -1.66123557e-01 -7.38233239e-03 2.15569291e+01] [ 1.66119044e-01 9.86104945e-01 -1.22465275e-03 1.92652605e+00] [ 7.48319815e-03 -1.87437026e-05 9.99972000e-01 2.46685902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971858064 meters Centerline goodness [0,1] 0.999720351926345 Centerline is valid? [True, True] Translation: X:21.58, Y:1.93, Z:0.03 [[ 9.86234587e-01 -1.65205687e-01 -6.95850856e-03 2.15848231e+01] [ 1.65201644e-01 9.86259135e-01 -1.15578478e-03 1.93292094e+00] [ 7.05383485e-03 -9.68212843e-06 9.99975121e-01 2.69431234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001858064 meters Centerline goodness [0,1] 0.9996342670280969 Centerline is valid? [True, True] Translation: X:21.61, Y:1.94, Z:0.03 [[ 9.86355615e-01 -1.64494459e-01 -6.64632325e-03 2.16115843e+01] [ 1.64490746e-01 9.86378007e-01 -1.10527765e-03 1.93788488e+00] [ 6.73759913e-03 -3.06184748e-06 9.99977302e-01 2.83319694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031858063999998 meters Centerline goodness [0,1] 0.9996774956461912 Centerline is valid? [True, True] Translation: X:21.64, Y:1.94, Z:0.03 [[ 9.86486405e-01 -1.63716309e-01 -6.44532240e-03 2.16385913e+01] [ 1.63712795e-01 9.86507461e-01 -1.07264614e-03 1.94313314e+00] [ 6.53396830e-03 2.96908780e-06 9.99978653e-01 2.91158279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061858064 meters Centerline goodness [0,1] 0.9996347542110691 Centerline is valid? [True, True] Translation: X:21.67, Y:1.95, Z:0.03 [[ 9.86870826e-01 -1.61379111e-01 -6.53868803e-03 2.16658908e+01] [ 1.61375438e-01 9.86892488e-01 -1.08888131e-03 1.95172871e+00] [ 6.62870480e-03 1.94015536e-05 9.99978030e-01 2.83802205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091858064 meters Centerline goodness [0,1] 0.9997640295177621 Centerline is valid? [True, True] Translation: X:21.69, Y:1.96, Z:0.03 [[ 9.87015256e-01 -1.60488342e-01 -6.66154030e-03 2.16935707e+01] [ 1.60484502e-01 9.87037735e-01 -1.11058700e-03 1.95849875e+00] [ 6.75342792e-03 2.70923366e-05 9.99977195e-01 2.79646748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121858063999998 meters Centerline goodness [0,1] 0.9997638572839295 Centerline is valid? [True, True] Translation: X:21.72, Y:1.97, Z:0.03 [[ 9.87196215e-01 -1.59356234e-01 -7.01592571e-03 2.17208712e+01] [ 1.59351935e-01 9.87221145e-01 -1.17102275e-03 1.96543821e+00] [ 7.11287999e-03 3.80278826e-05 9.99974702e-01 2.69024396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151858064 meters Centerline goodness [0,1] 0.9997425058472631 Centerline is valid? [True, True] Translation: X:21.75, Y:1.97, Z:0.03 [[ 9.87441018e-01 -1.57773899e-01 -8.22388535e-03 2.17491204e+01] [ 1.57767925e-01 9.87475262e-01 -1.37425194e-03 1.97164904e+00] [ 8.33770443e-03 5.95274078e-05 9.99965239e-01 2.68966177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181858064 meters Centerline goodness [0,1] 0.9997206163632847 Centerline is valid? [True, True] Translation: X:21.78, Y:1.98, Z:0.03 [[ 9.87475787e-01 -1.57535470e-01 -8.61075983e-03 2.17758104e+01] [ 1.57528895e-01 9.87513327e-01 -1.44086452e-03 1.97729453e+00] [ 8.73022736e-03 6.63753499e-05 9.99961889e-01 2.68115976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211858064 meters Centerline goodness [0,1] 0.9996151132208608 Centerline is valid? [True, True] Translation: X:21.80, Y:1.98, Z:0.03 [[ 9.87396254e-01 -1.58017706e-01 -8.89057346e-03 2.18032520e+01] [ 1.58010696e-01 9.87436276e-01 -1.48998563e-03 1.98287740e+00] [ 9.01431886e-03 6.64005348e-05 9.99959368e-01 2.65993190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241858064 meters Centerline goodness [0,1] 0.9997007012142979 Centerline is valid? [True, True] Translation: X:21.83, Y:1.99, Z:0.03 [[ 9.87098310e-01 -1.59891693e-01 -8.46008499e-03 2.18317878e+01] [ 1.59885394e-01 9.87134562e-01 -1.42004863e-03 1.98769867e+00] [ 8.57829628e-03 4.90835844e-05 9.99963205e-01 2.70282111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271858064 meters Centerline goodness [0,1] 0.9996786632390745 Centerline is valid? [True, True] Translation: X:21.86, Y:1.99, Z:0.03 [[ 9.86797131e-01 -1.61719837e-01 -8.83833139e-03 2.18600162e+01] [ 1.61713014e-01 9.86836710e-01 -1.48602298e-03 1.99169362e+00] [ 8.96230927e-03 3.71300130e-05 9.99959837e-01 2.72922485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301858064 meters Centerline goodness [0,1] 0.9997425776557405 Centerline is valid? [True, True] Translation: X:21.89, Y:2.00, Z:0.03 [[ 9.86478780e-01 -1.63634233e-01 -9.13533813e-03 2.18882564e+01] [ 1.63627000e-01 9.86521078e-01 -1.53868242e-03 1.99567099e+00] [ 9.26398474e-03 2.30895792e-05 9.99957088e-01 2.72430754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331858064 meters Centerline goodness [0,1] 0.9997642015005359 Centerline is valid? [True, True] Translation: X:21.92, Y:2.00, Z:0.03 [[ 9.85690990e-01 -1.68273347e-01 -9.86672745e-03 2.19160661e+01] [ 1.68265125e-01 9.85740372e-01 -1.66354038e-03 1.99753659e+00] [ 1.00059611e-02 -2.04893602e-05 9.99949939e-01 2.68930582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361858064 meters Centerline goodness [0,1] 0.9997428865272541 Centerline is valid? [True, True] Translation: X:21.94, Y:2.00, Z:0.03 [[ 9.85255457e-01 -1.70799565e-01 -9.95959304e-03 2.19440463e+01] [ 1.70791294e-01 9.85305794e-01 -1.68142591e-03 2.00016767e+00] [ 1.01004315e-02 -4.43777279e-05 9.99948988e-01 2.71203742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391858064 meters Centerline goodness [0,1] 0.9997430021630651 Centerline is valid? [True, True] Translation: X:21.97, Y:2.00, Z:0.03 [[ 9.84813502e-01 -1.73331980e-01 -9.91924311e-03 2.19730151e+01] [ 1.73323878e-01 9.84863453e-01 -1.67724880e-03 2.00356986e+00] [ 1.00598209e-02 -6.74644193e-05 9.99949396e-01 2.73569679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421858064 meters Centerline goodness [0,1] 0.9997429416049013 Centerline is valid? [True, True] Translation: X:22.00, Y:2.01, Z:0.03 [[ 9.84124630e-01 -1.77168671e-01 -1.04868487e-02 2.20015248e+01] [ 1.77159804e-01 9.84180497e-01 -1.77594158e-03 2.00767160e+00] [ 1.06355931e-02 -1.10100206e-04 9.99943434e-01 2.67540253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451858064 meters Centerline goodness [0,1] 0.9997642873979472 Centerline is valid? [True, True] Translation: X:22.03, Y:2.01, Z:0.03 [[ 9.83869807e-01 -1.78538037e-01 -1.11522049e-02 2.20301373e+01] [ 1.78528064e-01 9.83933002e-01 -1.89155688e-03 2.01211756e+00] [ 1.13107373e-02 -1.29935842e-04 9.99936023e-01 2.66694824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481858064 meters Centerline goodness [0,1] 0.9997638978321528 Centerline is valid? [True, True] Translation: X:22.06, Y:2.02, Z:0.03 [[ 9.83640673e-01 -1.79746528e-01 -1.19253000e-02 2.20589946e+01] [ 1.79735174e-01 9.83712948e-01 -2.02584061e-03 2.01562734e+00] [ 1.20952099e-02 -1.50696656e-04 9.99926839e-01 2.66244749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511858064 meters Centerline goodness [0,1] 0.9997214962080637 Centerline is valid? [True, True] Translation: X:22.09, Y:2.02, Z:0.03 [[ 9.83483285e-01 -1.80604754e-01 -1.19394540e-02 2.20864307e+01] [ 1.80593417e-01 9.83555742e-01 -2.02990519e-03 2.01824739e+00] [ 1.21097291e-02 -1.59808971e-04 9.99926662e-01 2.58814112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541858064 meters Centerline goodness [0,1] 0.9996142884693681 Centerline is valid? [True, True] Translation: X:22.11, Y:2.02, Z:0.03 [[ 9.83429345e-01 -1.80907983e-01 -1.17909053e-02 2.21136341e+01] [ 1.80896915e-01 9.83500014e-01 -2.00738580e-03 2.02379168e+00] [ 1.19595076e-02 -1.58816289e-04 9.99928470e-01 2.57205389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571858064 meters Centerline goodness [0,1] 0.9996564533098576 Centerline is valid? [True, True] Translation: X:22.14, Y:2.03, Z:0.03 [[ 9.83413135e-01 -1.81023890e-01 -1.13559555e-02 2.21407442e+01] [ 1.81013593e-01 9.83478687e-01 -1.93663785e-03 2.02986250e+00] [ 1.15189179e-02 -1.51067218e-04 9.99933644e-01 2.57664750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601858063999998 meters Centerline goodness [0,1] 0.999743139689199 Centerline is valid? [True, True] Translation: X:22.17, Y:2.03, Z:0.03 [[ 9.83674401e-01 -1.79606321e-01 -1.12357980e-02 2.21684389e+01] [ 1.79596125e-01 9.83738559e-01 -1.91820760e-03 2.03357188e+00] [ 1.13976099e-02 -1.31014068e-04 9.99935037e-01 2.56937480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631858064 meters Centerline goodness [0,1] 0.9997639333004271 Centerline is valid? [True, True] Translation: X:22.20, Y:2.04, Z:0.03 [[ 9.83808327e-01 -1.78815552e-01 -1.20902718e-02 2.21962174e+01] [ 1.78803649e-01 9.83882606e-01 -2.06710881e-03 2.03844862e+00] [ 1.22650393e-02 -1.28145854e-04 9.99924773e-01 2.65812260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661858064 meters Centerline goodness [0,1] 0.9996131112305212 Centerline is valid? [True, True] Translation: X:22.22, Y:2.04, Z:0.03 [[ 9.83961970e-01 -1.77961959e-01 -1.21812795e-02 2.22234469e+01] [ 1.77949768e-01 9.84037361e-01 -2.08619533e-03 2.04317203e+00] [ 1.23580975e-02 -1.14918988e-04 9.99923629e-01 2.67824940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691858063999998 meters Centerline goodness [0,1] 0.9997637710726941 Centerline is valid? [True, True] Translation: X:22.25, Y:2.05, Z:0.03 [[ 9.84349257e-01 -1.75803981e-01 -1.22270397e-02 2.22512844e+01] [ 1.75791492e-01 9.84425189e-01 -2.09724787e-03 2.04977353e+00] [ 1.24053104e-02 -8.49851675e-05 9.99923048e-01 2.64817297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721858064 meters Centerline goodness [0,1] 0.9996780977724365 Centerline is valid? [True, True] Translation: X:22.28, Y:2.06, Z:0.03 [[ 9.84490731e-01 -1.75006691e-01 -1.22743471e-02 2.22791725e+01] [ 1.74994000e-01 9.84567241e-01 -2.10878694e-03 2.05577218e+00] [ 1.24539719e-02 -7.18559144e-05 9.99922444e-01 2.60203993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751858064 meters Centerline goodness [0,1] 0.9997003103928075 Centerline is valid? [True, True] Translation: X:22.31, Y:2.06, Z:0.03 [[ 9.84837052e-01 -1.73103097e-01 -1.14585736e-02 2.23061888e+01] [ 1.73091889e-01 9.84903709e-01 -1.97026204e-03 2.06160032e+00] [ 1.16266501e-02 -4.29990908e-05 9.99932407e-01 2.55071094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781858063999998 meters Centerline goodness [0,1] 0.9998069787891136 Centerline is valid? [True, True] Translation: X:22.33, Y:2.07, Z:0.03 [[ 9.84906160e-01 -1.72761157e-01 -1.06507304e-02 2.23338555e+01] [ 1.72751444e-01 9.84963746e-01 -1.83227966e-03 2.06551583e+00] [ 1.08071300e-02 -3.53055175e-05 9.99941601e-01 2.66084588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811858064 meters Centerline goodness [0,1] 0.9995712294994105 Centerline is valid? [True, True] Translation: X:22.36, Y:2.07, Z:0.03 [[ 9.84925712e-01 -1.72701976e-01 -9.76572283e-03 2.23612558e+01] [ 1.72693786e-01 9.84974125e-01 -1.68212999e-03 2.06905417e+00] [ 9.90949147e-03 -2.97065760e-05 9.99950899e-01 2.79762721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841858064 meters Centerline goodness [0,1] 0.9996994289149383 Centerline is valid? [True, True] Translation: X:22.39, Y:2.07, Z:0.03 [[ 9.84869394e-01 -1.73060021e-01 -9.08326492e-03 2.23892347e+01] [ 1.73052928e-01 9.84911279e-01 -1.56710762e-03 2.07240909e+00] [ 9.21741375e-03 -2.84892601e-05 9.99957518e-01 2.93927796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871858063999998 meters Centerline goodness [0,1] 0.9997640649464856 Centerline is valid? [True, True] Translation: X:22.42, Y:2.08, Z:0.03 [[ 9.84825239e-01 -1.73333345e-01 -8.64875444e-03 2.24173744e+01] [ 1.73326903e-01 9.84863214e-01 -1.49456679e-03 2.07624875e+00] [ 8.77689836e-03 -2.71747289e-05 9.99961482e-01 3.01406574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901858064 meters Centerline goodness [0,1] 0.9996561062631647 Centerline is valid? [True, True] Translation: X:22.44, Y:2.08, Z:0.03 [[ 9.84877329e-01 -1.73064331e-01 -8.08601295e-03 2.24446921e+01] [ 1.73058673e-01 9.84910522e-01 -1.39956170e-03 2.08021338e+00] [ 8.20621345e-03 -2.09580837e-05 9.99966328e-01 3.00155270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931858064 meters Centerline goodness [0,1] 0.9996352009613527 Centerline is valid? [True, True] Translation: X:22.47, Y:2.08, Z:0.03 [[ 9.84918178e-01 -1.72815452e-01 -8.42633918e-03 2.24721265e+01] [ 1.72809278e-01 9.84954222e-01 -1.46089338e-03 2.08450506e+00] [ 8.55202330e-03 -1.72891435e-05 9.99963431e-01 2.95080086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961858064 meters Centerline goodness [0,1] 0.9996786288162828 Centerline is valid? [True, True] Translation: X:22.50, Y:2.09, Z:0.03 [[ 9.85186349e-01 -1.71218616e-01 -9.59388570e-03 2.25003670e+01] [ 1.71210509e-01 9.85233062e-01 -1.66614643e-03 2.08708837e+00] [ 9.73748867e-03 -1.10933711e-06 9.99952590e-01 2.93966686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991858064 meters Centerline goodness [0,1] 0.9998707008016551 Centerline is valid? [True, True] Translation: X:22.53, Y:2.09, Z:0.03 [[ 9.85326766e-01 -1.70411549e-01 -9.54299576e-03 2.25270232e+01] [ 1.70403474e-01 9.85372977e-01 -1.65900257e-03 2.09060982e+00] [ 9.68612334e-03 8.50000278e-06 9.99953088e-01 3.01195653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021858064 meters Centerline goodness [0,1] 0.999913976644659 Centerline is valid? [True, True] Translation: X:22.56, Y:2.09, Z:0.03 [[ 9.85537026e-01 -1.69286279e-01 -7.67636509e-03 2.25550740e+01] [ 1.69281014e-01 9.85566921e-01 -1.33519811e-03 2.09390917e+00] [ 7.79160222e-03 1.64243032e-05 9.99969645e-01 3.24682169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051858064 meters Centerline goodness [0,1] 0.9998497144574692 Centerline is valid? [True, True] Translation: X:22.58, Y:2.10, Z:0.03 [[ 9.85491079e-01 -1.69575017e-01 -7.18662662e-03 2.25825206e+01] [ 1.69570401e-01 9.85517282e-01 -1.25133717e-03 2.09862558e+00] [ 7.29474025e-03 1.45424585e-05 9.99973393e-01 3.31778151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081858064 meters Centerline goodness [0,1] 0.9997844223597129 Centerline is valid? [True, True] Translation: X:22.61, Y:2.10, Z:0.03 [[ 9.85476707e-01 -1.69659495e-01 -7.16346959e-03 2.26103533e+01] [ 1.69654897e-01 9.85502742e-01 -1.24926613e-03 2.10367505e+00] [ 7.27156879e-03 1.58049813e-05 9.99973562e-01 3.28181418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111858064 meters Centerline goodness [0,1] 0.9995913363302003 Centerline is valid? [True, True] Translation: X:22.64, Y:2.11, Z:0.03 [[ 9.85416939e-01 -1.69979074e-01 -7.78276191e-03 2.26369463e+01] [ 1.69973641e-01 9.85447672e-01 -1.35908701e-03 2.10836881e+00] [ 7.90052096e-03 1.64029781e-05 9.99968790e-01 3.12759276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141858064 meters Centerline goodness [0,1] 0.9996557733267356 Centerline is valid? [True, True] Translation: X:22.67, Y:2.11, Z:0.03 [[ 9.85361868e-01 -1.70245088e-01 -8.86560812e-03 2.26653597e+01] [ 1.70238029e-01 9.85401750e-01 -1.55042801e-03 2.11148174e+00] [ 9.00013851e-03 1.84689915e-05 9.99959498e-01 2.99937119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171858064 meters Centerline goodness [0,1] 0.9996982758620689 Centerline is valid? [True, True] Translation: X:22.69, Y:2.12, Z:0.03 [[ 9.85281427e-01 -1.70740445e-01 -8.25890944e-03 2.26932869e+01] [ 1.70734317e-01 9.85316041e-01 -1.44664731e-03 2.11537566e+00] [ 8.38463716e-03 1.52754725e-05 9.99964848e-01 3.05998600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201858064 meters Centerline goodness [0,1] 0.9997622238554321 Centerline is valid? [True, True] Translation: X:22.72, Y:2.12, Z:0.03 [[ 9.85233727e-01 -1.71017104e-01 -8.22521717e-03 2.27203119e+01] [ 1.71011019e-01 9.85268060e-01 -1.44270983e-03 2.11977810e+00] [ 8.35077182e-03 1.48036161e-05 9.99965132e-01 2.96046995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231858064 meters Centerline goodness [0,1] 0.9997627571927705 Centerline is valid? [True, True] Translation: X:22.75, Y:2.12, Z:0.03 [[ 9.85162564e-01 -1.71377817e-01 -9.18516102e-03 2.27478289e+01] [ 1.71370222e-01 9.85205381e-01 -1.61351988e-03 2.12343861e+00] [ 9.32579159e-03 1.55163033e-05 9.99956514e-01 2.96448878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261858064 meters Centerline goodness [0,1] 0.9996332887527504 Centerline is valid? [True, True] Translation: X:22.78, Y:2.13, Z:0.03 [[ 9.85062422e-01 -1.71941163e-01 -9.39474514e-03 2.27760217e+01] [ 1.71933217e-01 9.85107221e-01 -1.65306882e-03 2.12807894e+00] [ 9.53906185e-03 1.31072230e-05 9.99954502e-01 2.92524308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291858064 meters Centerline goodness [0,1] 0.9997840825668265 Centerline is valid? [True, True] Translation: X:22.80, Y:2.13, Z:0.03 [[ 9.85048502e-01 -1.72010498e-01 -9.58317127e-03 2.28026628e+01] [ 1.72002216e-01 9.85095116e-01 -1.68798923e-03 2.13202274e+00] [ 9.73068709e-03 1.44245734e-05 9.99952656e-01 2.92053499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321858064 meters Centerline goodness [0,1] 0.9998916529427061 Centerline is valid? [True, True] Translation: X:22.83, Y:2.13, Z:0.03 [[ 9.84959510e-01 -1.72517655e-01 -9.61369593e-03 2.28311186e+01] [ 1.72509322e-01 9.85006426e-01 -1.69556499e-03 2.13401903e+00] [ 9.76206716e-03 1.16106857e-05 9.99952350e-01 2.97319025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351858063999998 meters Centerline goodness [0,1] 0.9998048484322825 Centerline is valid? [True, True] Translation: X:22.86, Y:2.14, Z:0.03 [[ 9.84912845e-01 -1.72758010e-01 -1.00676204e-02 2.28590903e+01] [ 1.72748855e-01 9.84964299e-01 -1.77854742e-03 2.13755179e+00] [ 1.02235050e-02 1.25442966e-05 9.99947739e-01 2.99082209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381858064 meters Centerline goodness [0,1] 0.9998912641628428 Centerline is valid? [True, True] Translation: X:22.89, Y:2.14, Z:0.03 [[ 9.84876618e-01 -1.72931880e-01 -1.06119186e-02 2.28868256e+01] [ 1.72921685e-01 9.84933787e-01 -1.87786298e-03 2.14161706e+00] [ 1.07767795e-02 1.44324958e-05 9.99941929e-01 3.02288034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411858064 meters Centerline goodness [0,1] 0.9997838211768775 Centerline is valid? [True, True] Translation: X:22.91, Y:2.15, Z:0.03 [[ 9.84881236e-01 -1.72860689e-01 -1.13196271e-02 2.29142872e+01] [ 1.72849063e-01 9.84946284e-01 -2.00488537e-03 2.14609384e+00] [ 1.14957905e-02 1.79870400e-05 9.99933921e-01 2.78925227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441858063999998 meters Centerline goodness [0,1] 0.9996535596743461 Centerline is valid? [True, True] Translation: X:22.94, Y:2.15, Z:0.03 [[ 9.84752427e-01 -1.73580448e-01 -1.15102530e-02 2.29422163e+01] [ 1.73568445e-01 9.84819693e-01 -2.04132143e-03 2.14981425e+00] [ 1.16898573e-02 1.23795154e-05 9.99931671e-01 2.87198223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471858064 meters Centerline goodness [0,1] 0.9996529284164859 Centerline is valid? [True, True] Translation: X:22.97, Y:2.15, Z:0.03 [[ 9.84613233e-01 -1.74347771e-01 -1.18167992e-02 2.29702090e+01] [ 1.74335135e-01 9.84684140e-01 -2.09911443e-03 2.15297279e+00] [ 1.20017907e-02 6.73257439e-06 9.99927976e-01 2.92034557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501858064 meters Centerline goodness [0,1] 0.9997392494730667 Centerline is valid? [True, True] Translation: X:23.00, Y:2.15, Z:0.03 [[ 9.84180058e-01 -1.76832250e-01 -1.09530028e-02 2.29984883e+01] [ 1.76821512e-01 9.84241005e-01 -1.94880743e-03 2.15343778e+00] [ 1.11250064e-02 -1.87491012e-05 9.99938115e-01 3.14629720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531858063999998 meters Centerline goodness [0,1] 0.9997392494730667 Centerline is valid? [True, True] Translation: X:23.03, Y:2.16, Z:0.03 [[ 9.84129494e-01 -1.77113474e-01 -1.09524451e-02 2.30256437e+01] [ 1.77102719e-01 9.84190437e-01 -1.95193852e-03 2.15833599e+00] [ 1.11250063e-02 -1.87475242e-05 9.99938115e-01 3.15567623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561858064 meters Centerline goodness [0,1] 0.9998260491411176 Centerline is valid? [True, True] Translation: X:23.05, Y:2.16, Z:0.03 [[ 9.83812461e-01 -1.78846476e-01 -1.12685223e-02 2.30529358e+01] [ 1.78835184e-01 9.83876993e-01 -2.01001029e-03 2.16124724e+00] [ 1.14463231e-02 -3.77350919e-05 9.99934488e-01 3.13265689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591858064 meters Centerline goodness [0,1] 0.9999347797730336 Centerline is valid? [True, True] Translation: X:23.08, Y:2.16, Z:0.03 [[ 9.83436706e-01 -1.80920064e-01 -1.09624947e-02 2.30811635e+01] [ 1.80909479e-01 9.83497802e-01 -1.95791501e-03 2.16463884e+00] [ 1.11358156e-02 -5.77337316e-05 9.99937993e-01 3.17220551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621858063999998 meters Centerline goodness [0,1] 0.9998266559771186 Centerline is valid? [True, True] Translation: X:23.11, Y:2.17, Z:0.03 [[ 9.83076741e-01 -1.82892623e-01 -1.05075716e-02 2.31087228e+01] [ 1.82882979e-01 9.83132892e-01 -1.87968064e-03 2.16767541e+00] [ 1.06741190e-02 -7.37856761e-05 9.99943027e-01 3.23625156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.14, Y:2.17, Z:0.03 [[ 9.82451641e-01 -1.86231028e-01 -1.03333074e-02 2.31367233e+01] [ 1.86221868e-01 9.82505976e-01 -1.85010213e-03 2.16864223e+00] [ 1.04970827e-02 -1.06651929e-04 9.99944898e-01 3.30563383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681858064 meters Centerline goodness [0,1] 0.9998469644301611 Centerline is valid? [True, True] Translation: X:23.16, Y:2.17, Z:0.03 [[ 9.81965340e-01 -1.88779697e-01 -1.03100625e-02 2.31641715e+01] [ 1.88770709e-01 9.82019454e-01 -1.84686220e-03 2.17148410e+00] [ 1.04733321e-02 -1.32683150e-04 9.99945144e-01 3.17053279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711858063999998 meters Centerline goodness [0,1] 0.9997596311430632 Centerline is valid? [True, True] Translation: X:23.19, Y:2.18, Z:0.03 [[ 9.81728699e-01 -1.90021783e-01 -1.00241467e-02 2.31923364e+01] [ 1.90013331e-01 9.81779865e-01 -1.79764041e-03 2.17726578e+00] [ 1.01830962e-02 -1.39926326e-04 9.99948141e-01 3.13877267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741858064 meters Centerline goodness [0,1] 0.9999129355941058 Centerline is valid? [True, True] Translation: X:23.22, Y:2.18, Z:0.03 [[ 9.81589664e-01 -1.90771957e-01 -9.36978960e-03 2.32189995e+01] [ 1.90764588e-01 9.81634373e-01 -1.68229194e-03 2.18152211e+00] [ 9.51864167e-03 -1.36103674e-04 9.99954687e-01 3.09700153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771858064 meters Centerline goodness [0,1] 0.9999345292654184 Centerline is valid? [True, True] Translation: X:23.25, Y:2.19, Z:0.03 [[ 9.81437968e-01 -1.91553440e-01 -9.31634331e-03 2.32462920e+01] [ 1.91546168e-01 9.81482175e-01 -1.67507211e-03 2.18638482e+00] [ 9.46469072e-03 -1.40530495e-04 9.99955199e-01 3.10137505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801858064 meters Centerline goodness [0,1] 0.9999781864188644 Centerline is valid? [True, True] Translation: X:23.27, Y:2.19, Z:0.03 [[ 9.81321843e-01 -1.92062189e-01 -1.09341743e-02 2.32741286e+01] [ 1.92052182e-01 9.81382742e-01 -1.96776331e-03 2.18902548e+00] [ 1.11085429e-02 -1.68922927e-04 9.99938284e-01 3.04093928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831858064 meters Centerline goodness [0,1] 0.9998907915428971 Centerline is valid? [True, True] Translation: X:23.30, Y:2.20, Z:0.03 [[ 9.81273730e-01 -1.92275023e-01 -1.14970361e-02 2.33018364e+01] [ 1.92263944e-01 9.81341064e-01 -2.07171948e-03 2.19516492e+00] [ 1.16808536e-02 -1.77541596e-04 9.99931761e-01 3.08067244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861858064 meters Centerline goodness [0,1] 0.9999780773868245 Centerline is valid? [True, True] Translation: X:23.33, Y:2.20, Z:0.03 [[ 9.81074687e-01 -1.93234110e-01 -1.23708394e-02 2.33303330e+01] [ 1.93221317e-01 9.81152658e-01 -2.23248701e-03 2.20041638e+00] [ 1.25690746e-02 -2.00073378e-04 9.99920986e-01 3.08397569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.891858064 meters Centerline goodness [0,1] 0.9999780672895556 Centerline is valid? [True, True] Translation: X:23.36, Y:2.21, Z:0.03 [[ 9.80771063e-01 -1.94742583e-01 -1.27847139e-02 2.33578922e+01] [ 1.94729026e-01 9.80854360e-01 -2.30889142e-03 2.20583107e+00] [ 1.29895819e-02 -2.25060999e-04 9.99915606e-01 2.95654074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921858064 meters Centerline goodness [0,1] 0.9998466291273197 Centerline is valid? [True, True] Translation: X:23.39, Y:2.21, Z:0.03 [[ 9.80499417e-01 -1.96080751e-01 -1.31617924e-02 2.33861103e+01] [ 1.96066465e-01 9.80587721e-01 -2.37973290e-03 2.21076715e+00] [ 1.33729118e-02 -2.47259382e-04 9.99910548e-01 2.90129621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951858064 meters Centerline goodness [0,1] 0.9999122441368113 Centerline is valid? [True, True] Translation: X:23.41, Y:2.21, Z:0.03 [[ 9.80102344e-01 -1.98024341e-01 -1.36292037e-02 2.34141348e+01] [ 1.98009186e-01 9.80197062e-01 -2.46600962e-03 2.21288288e+00] [ 1.38476354e-02 -2.81765734e-04 9.99904077e-01 2.87217410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981858064 meters Centerline goodness [0,1] 0.9999781559230215 Centerline is valid? [True, True] Translation: X:23.44, Y:2.22, Z:0.03 [[ 9.79806218e-01 -1.99486352e-01 -1.36003523e-02 2.34429030e+01] [ 1.99471363e-01 9.79900559e-01 -2.46358930e-03 2.21748713e+00] [ 1.38184453e-02 -2.99040704e-04 9.99904476e-01 2.97478255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011858064 meters Centerline goodness [0,1] 0.9998904301711481 Centerline is valid? [True, True] Translation: X:23.47, Y:2.22, Z:0.03 [[ 9.79664622e-01 -2.00193804e-01 -1.34040650e-02 2.34703076e+01] [ 2.00179260e-01 9.79756271e-01 -2.43173868e-03 2.22339268e+00] [ 1.36195358e-02 -3.00927467e-04 9.99907205e-01 3.13476925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041858064 meters Centerline goodness [0,1] 0.9999347073802425 Centerline is valid? [True, True] Translation: X:23.50, Y:2.23, Z:0.03 [[ 9.79817250e-01 -1.99486669e-01 -1.27759443e-02 2.34973493e+01] [ 1.99473373e-01 9.79900502e-01 -2.31954869e-03 2.22803875e+00] [ 1.29818733e-02 -2.75726898e-04 9.99915694e-01 3.08311705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.53, Y:2.24, Z:0.03 [[ 9.80006856e-01 -1.98565848e-01 -1.25764588e-02 2.35257720e+01] [ 1.98552856e-01 9.80087516e-01 -2.28588170e-03 2.23526504e+00] [ 1.27799283e-02 -2.56912064e-04 9.99918300e-01 3.16335824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101858063999998 meters Centerline goodness [0,1] 0.9998695878977569 Centerline is valid? [True, True] Translation: X:23.55, Y:2.24, Z:0.03 [[ 9.80280786e-01 -1.97241768e-01 -1.20525872e-02 2.35535883e+01] [ 1.97229699e-01 9.80354851e-01 -2.19366130e-03 2.24361321e+00] [ 1.22484939e-02 -2.26724119e-04 9.99924959e-01 3.26445610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.58, Y:2.25, Z:0.03 [[ 9.81011448e-01 -1.93638562e-01 -1.09839426e-02 2.35814022e+01] [ 1.93628283e-01 9.81072923e-01 -2.00183460e-03 2.25280878e+00] [ 1.11636811e-02 -1.62979293e-04 9.99937671e-01 3.38069002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161858064 meters Centerline goodness [0,1] 0.9999347811908954 Centerline is valid? [True, True] Translation: X:23.61, Y:2.26, Z:0.03 [[ 9.81384198e-01 -1.91777454e-01 -1.03181933e-02 2.36093805e+01] [ 1.91768253e-01 9.81438430e-01 -1.88308356e-03 2.25995340e+00] [ 1.04878044e-02 -1.30673448e-04 9.99944993e-01 3.48036885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191858063999998 meters Centerline goodness [0,1] 0.9999131925606024 Centerline is valid? [True, True] Translation: X:23.64, Y:2.27, Z:0.04 [[ 9.81726885e-01 -1.90011055e-01 -1.03981442e-02 2.36372091e+01] [ 1.90001583e-01 9.81781945e-01 -1.90035643e-03 2.26560246e+00] [ 1.05697989e-02 -1.10032855e-04 9.99944132e-01 3.50492375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221858064 meters Centerline goodness [0,1] 0.9998050513364813 Centerline is valid? [True, True] Translation: X:23.66, Y:2.27, Z:0.04 [[ 9.82117983e-01 -1.88002166e-01 -9.97261613e-03 2.36645791e+01] [ 1.87993325e-01 9.82168610e-01 -1.82508363e-03 2.27422657e+00] [ 1.01379102e-02 -8.23378108e-05 9.99948607e-01 3.54734924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251858064 meters Centerline goodness [0,1] 0.9999131887926731 Centerline is valid? [True, True] Translation: X:23.69, Y:2.28, Z:0.04 [[ 9.82169429e-01 -1.87734328e-01 -9.95166629e-03 2.36919314e+01] [ 1.87725482e-01 9.82219841e-01 -1.82404490e-03 2.28129765e+00] [ 1.01171599e-02 -7.66602069e-05 9.99948817e-01 3.58079552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281858063999998 meters Centerline goodness [0,1] 0.9997181877303274 Centerline is valid? [True, True] Translation: X:23.72, Y:2.29, Z:0.04 [[ 9.82132179e-01 -1.87925725e-01 -1.00152283e-02 2.37196544e+01] [ 1.87916746e-01 9.82183240e-01 -1.83865051e-03 2.28711178e+00] [ 1.01823192e-02 -7.62312830e-05 9.99948156e-01 3.56225512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311858064 meters Centerline goodness [0,1] 0.9997611655123 Centerline is valid? [True, True] Translation: X:23.75, Y:2.29, Z:0.03 [[ 9.82094883e-01 -1.88119336e-01 -1.00377705e-02 2.37463410e+01] [ 1.88110303e-01 9.82146175e-01 -1.84511119e-03 2.28999072e+00] [ 1.02056590e-02 -7.61337887e-05 9.99947918e-01 3.42674769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341858064 meters Centerline goodness [0,1] 0.9997182182724612 Centerline is valid? [True, True] Translation: X:23.77, Y:2.30, Z:0.04 [[ 9.81982083e-01 -1.88705567e-01 -1.00696349e-02 2.37740889e+01] [ 1.88696480e-01 9.82033708e-01 -1.85353630e-03 2.29644538e+00] [ 1.02384935e-02 -7.99652223e-05 9.99947582e-01 3.58135819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371858063999998 meters Centerline goodness [0,1] 0.9999351729800982 Centerline is valid? [True, True] Translation: X:23.80, Y:2.30, Z:0.04 [[ 9.81675910e-01 -1.90296994e-01 -9.97310513e-03 2.38023858e+01] [ 1.90288137e-01 9.81726564e-01 -1.83834248e-03 2.30181264e+00] [ 1.01406933e-02 -9.31070655e-05 9.99948578e-01 3.61125524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401858064 meters Centerline goodness [0,1] 0.9999783521669481 Centerline is valid? [True, True] Translation: X:23.83, Y:2.31, Z:0.04 [[ 9.81409834e-01 -1.91662313e-01 -1.00147817e-02 2.38304471e+01] [ 1.91653427e-01 9.81460925e-01 -1.84853574e-03 2.30744706e+00] [ 1.01834116e-02 -1.05196095e-04 9.99948142e-01 3.63485801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431858064 meters Centerline goodness [0,1] 0.9998700314090762 Centerline is valid? [True, True] Translation: X:23.86, Y:2.31, Z:0.04 [[ 9.81017802e-01 -1.93642843e-01 -1.03208880e-02 2.38577152e+01] [ 1.93633496e-01 9.81072084e-01 -1.90683644e-03 2.31115905e+00] [ 1.04947804e-02 -1.27829140e-04 9.99944920e-01 3.62835255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461858063999998 meters Centerline goodness [0,1] 0.9999783638763279 Centerline is valid? [True, True] Translation: X:23.89, Y:2.32, Z:0.04 [[ 9.80723506e-01 -1.95107605e-01 -1.06970867e-02 2.38860076e+01] [ 1.95097626e-01 9.80781832e-01 -1.97865327e-03 2.31630403e+00] [ 1.08775586e-02 -1.46464459e-04 9.99940827e-01 3.63814852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491858064 meters Centerline goodness [0,1] 0.9999565245744843 Centerline is valid? [True, True] Translation: X:23.91, Y:2.32, Z:0.04 [[ 9.80436828e-01 -1.96515443e-01 -1.11940478e-02 2.39131847e+01] [ 1.96504588e-01 9.80500715e-01 -2.07229955e-03 2.31999310e+00] [ 1.13830107e-02 -1.67922947e-04 9.99935197e-01 3.59980732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521858064 meters Centerline goodness [0,1] 0.9999348463459659 Centerline is valid? [True, True] Translation: X:23.94, Y:2.32, Z:0.04 [[ 9.80064488e-01 -1.98371258e-01 -1.10653700e-02 2.39418947e+01] [ 1.98360744e-01 9.80126935e-01 -2.05077863e-03 2.32427779e+00] [ 1.12522827e-02 -1.85039715e-04 9.99936674e-01 3.67364191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.97, Y:2.33, Z:0.04 [[ 9.79396585e-01 -2.01672267e-01 -1.05179016e-02 2.39700298e+01] [ 2.01662942e-01 9.79453037e-01 -1.95078008e-03 2.32786852e+00] [ 1.06952089e-02 -2.10483622e-04 9.99942782e-01 3.79264025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581858064 meters Centerline goodness [0,1] 0.999956611346133 Centerline is valid? [True, True] Translation: X:24.00, Y:2.33, Z:0.04 [[ 9.79089695e-01 -2.03157187e-01 -1.05131812e-02 2.39976494e+01] [ 2.03147945e-01 9.79146111e-01 -1.95086750e-03 2.33230555e+00] [ 1.06902732e-02 -2.25656896e-04 9.99942832e-01 3.71941981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611858064 meters Centerline goodness [0,1] 0.9999782637047342 Centerline is valid? [True, True] Translation: X:24.02, Y:2.34, Z:0.04 [[ 9.78846089e-01 -2.04304323e-01 -1.09579834e-02 2.40247342e+01] [ 2.04294344e-01 9.78907392e-01 -2.03440902e-03 2.33731826e+00] [ 1.11424895e-02 -2.47280709e-04 9.99937890e-01 3.63894491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641858064 meters Centerline goodness [0,1] 0.9999781926029309 Centerline is valid? [True, True] Translation: X:24.05, Y:2.34, Z:0.04 [[ 9.78507704e-01 -2.05857009e-01 -1.20649931e-02 2.40531545e+01] [ 2.05844998e-01 9.78582040e-01 -2.24247450e-03 2.34251457e+00] [ 1.22682147e-02 -2.89239910e-04 9.99924701e-01 3.54504076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.08, Y:2.35, Z:0.04 [[ 9.78356788e-01 -2.06547595e-01 -1.24934297e-02 2.40814275e+01] [ 2.06534731e-01 9.78436507e-01 -2.32530562e-03 2.34713718e+00] [ 1.27043140e-02 -3.05348597e-04 9.99919250e-01 3.59056551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701858064 meters Centerline goodness [0,1] 0.9999782712615706 Centerline is valid? [True, True] Translation: X:24.11, Y:2.35, Z:0.04 [[ 9.78273855e-01 -2.06946918e-01 -1.23789282e-02 2.41090008e+01] [ 2.06934278e-01 9.78352125e-01 -2.30744416e-03 2.35148615e+00] [ 1.25884692e-02 -3.04312266e-04 9.99920716e-01 3.66262789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731858064 meters Centerline goodness [0,1] 0.9996958505322616 Centerline is valid? [True, True] Translation: X:24.14, Y:2.35, Z:0.04 [[ 9.78288144e-01 -2.06956436e-01 -1.10155164e-02 2.41364475e+01] [ 2.06946410e-01 9.78350122e-01 -2.05485001e-03 2.35488219e+00] [ 1.12022963e-02 -2.69386179e-04 9.99937216e-01 3.78714913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761858064 meters Centerline goodness [0,1] 0.9998479054406396 Centerline is valid? [True, True] Translation: X:24.16, Y:2.36, Z:0.04 [[ 9.78338168e-01 -2.06755367e-01 -1.03270053e-02 2.41649891e+01] [ 2.06746523e-01 9.78392639e-01 -1.92839980e-03 2.36099908e+00] [ 1.05025730e-02 -2.48445306e-04 9.99944816e-01 3.87652243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791858064 meters Centerline goodness [0,1] 0.9998255598438761 Centerline is valid? [True, True] Translation: X:24.19, Y:2.37, Z:0.04 [[ 9.78436313e-01 -2.06299674e-01 -1.01402837e-02 2.41933477e+01] [ 2.06291097e-01 9.78488829e-01 -1.89600516e-03 2.36812564e+00] [ 1.03132996e-02 -2.36729956e-04 9.99946788e-01 3.94249126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.22, Y:2.38, Z:0.04 [[ 9.79040145e-01 -2.03423103e-01 -9.97172699e-03 2.42207921e+01] [ 2.03414635e-01 9.79090905e-01 -1.86691148e-03 2.37571684e+00] [ 1.01430001e-02 -2.00613924e-04 9.99948538e-01 3.93785114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851858063999998 meters Centerline goodness [0,1] 0.9999128919860627 Centerline is valid? [True, True] Translation: X:24.25, Y:2.38, Z:0.04 [[ 9.79341127e-01 -2.01950921e-01 -1.03336037e-02 2.42489506e+01] [ 2.01941718e-01 9.79395625e-01 -1.93727652e-03 2.38374367e+00] [ 1.05119211e-02 -1.89531120e-04 9.99944730e-01 3.98780023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881858064 meters Centerline goodness [0,1] 0.999825228295539 Centerline is valid? [True, True] Translation: X:24.28, Y:2.39, Z:0.04 [[ 9.79688356e-01 -2.00258241e-01 -1.03615496e-02 2.42767184e+01] [ 2.00248865e-01 9.79743134e-01 -1.94518494e-03 2.39084698e+00] [ 1.05411964e-02 -1.69213516e-04 9.99944426e-01 4.02111965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911858064 meters Centerline goodness [0,1] 0.9998050302203159 Centerline is valid? [True, True] Translation: X:24.30, Y:2.40, Z:0.04 [[ 9.80431093e-01 -1.96603078e-01 -1.01045420e-02 2.43033816e+01] [ 1.96593952e-01 9.80483153e-01 -1.89840561e-03 2.39858704e+00] [ 1.02805656e-02 -1.25235961e-04 9.99947146e-01 3.93411003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941858063999998 meters Centerline goodness [0,1] 0.999804619659604 Centerline is valid? [True, True] Translation: X:24.33, Y:2.41, Z:0.04 [[ 9.80848456e-01 -1.94503133e-01 -1.02389868e-02 2.43306247e+01] [ 1.94493635e-01 9.80901891e-01 -1.92489702e-03 2.40574367e+00] [ 1.04178400e-02 -1.03385485e-04 9.99945727e-01 3.87439577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971858064 meters Centerline goodness [0,1] 0.9997828588799861 Centerline is valid? [True, True] Translation: X:24.36, Y:2.41, Z:0.04 [[ 9.81318835e-01 -1.92108537e-01 -1.03756733e-02 2.43583923e+01] [ 1.92098627e-01 9.81373682e-01 -1.95280226e-03 2.41426009e+00] [ 1.05575627e-02 -7.68309565e-05 9.99944264e-01 3.78540740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001858064 meters Centerline goodness [0,1] 0.999804279749478 Centerline is valid? [True, True] Translation: X:24.39, Y:2.42, Z:0.04 [[ 9.82401451e-01 -1.86391458e-01 -1.20670262e-02 2.43855430e+01] [ 1.86377582e-01 9.82475559e-01 -2.27433754e-03 2.42471474e+00] [ 1.22794754e-02 -1.47106677e-05 9.99924604e-01 3.63193389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031858063999998 meters Centerline goodness [0,1] 0.9996528229831185 Centerline is valid? [True, True] Translation: X:24.41, Y:2.43, Z:0.04 [[ 9.82817819e-01 -1.84157316e-01 -1.24586509e-02 2.44129439e+01] [ 1.84142301e-01 9.82896781e-01 -2.35168621e-03 2.43072567e+00] [ 1.26786481e-02 1.71144783e-05 9.99919623e-01 3.59086888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061858064 meters Centerline goodness [0,1] 0.9997613002625697 Centerline is valid? [True, True] Translation: X:24.44, Y:2.44, Z:0.04 [[ 9.83342479e-01 -1.81366590e-01 -1.19887289e-02 2.44399098e+01] [ 1.81352458e-01 9.83415557e-01 -2.26470125e-03 2.43664008e+00] [ 1.22006436e-02 5.27914967e-05 9.99925568e-01 3.64875420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091858064 meters Centerline goodness [0,1] 0.9997831884309347 Centerline is valid? [True, True] Translation: X:24.47, Y:2.44, Z:0.04 [[ 9.83415956e-01 -1.80988491e-01 -1.16714654e-02 2.44676416e+01] [ 1.80975038e-01 9.83485212e-01 -2.20745238e-03 2.44231993e+00] [ 1.18782371e-02 5.85999970e-05 9.99929450e-01 3.67337649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121858063999998 meters Centerline goodness [0,1] 0.9996092562844614 Centerline is valid? [True, True] Translation: X:24.50, Y:2.45, Z:0.04 [[ 9.83408813e-01 -1.81043235e-01 -1.14215882e-02 2.44952173e+01] [ 1.81030318e-01 9.83475136e-01 -2.16344978e-03 2.44788348e+00] [ 1.16245260e-02 5.99018318e-05 9.99932431e-01 3.64921105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151858064 meters Centerline goodness [0,1] 0.9997390964038788 Centerline is valid? [True, True] Translation: X:24.52, Y:2.45, Z:0.04 [[ 9.83329790e-01 -1.81486717e-01 -1.11846565e-02 2.45226331e+01] [ 1.81474322e-01 9.83393395e-01 -2.12174872e-03 2.45282674e+00] [ 1.13839866e-02 5.66507612e-05 9.99935199e-01 3.66300982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181858064 meters Centerline goodness [0,1] 0.9997604842572835 Centerline is valid? [True, True] Translation: X:24.55, Y:2.46, Z:0.04 [[ 9.83216311e-01 -1.82072153e-01 -1.16368586e-02 2.45507421e+01] [ 1.82058736e-01 9.83285171e-01 -2.21096340e-03 2.45536344e+00] [ 1.18449053e-02 5.52635120e-05 9.99929845e-01 3.82306260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211858063999998 meters Centerline goodness [0,1] 0.9997598672720922 Centerline is valid? [True, True] Translation: X:24.58, Y:2.46, Z:0.04 [[ 9.83118160e-01 -1.82610570e-01 -1.14918995e-02 2.45789134e+01] [ 1.82597483e-01 9.83185322e-01 -2.18678084e-03 2.45939674e+00] [ 1.16979962e-02 5.14720336e-05 9.99931575e-01 3.83093456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241858064 meters Centerline goodness [0,1] 0.9996729247072677 Centerline is valid? [True, True] Translation: X:24.61, Y:2.46, Z:0.04 [[ 9.83020893e-01 -1.83146449e-01 -1.12828033e-02 2.46067395e+01] [ 1.83133832e-01 9.83085640e-01 -2.15026628e-03 2.46370242e+00] [ 1.14857755e-02 4.74936785e-05 9.99934035e-01 3.85064810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271858064 meters Centerline goodness [0,1] 0.9996302016488656 Centerline is valid? [True, True] Translation: X:24.63, Y:2.47, Z:0.04 [[ 9.82839955e-01 -1.84129960e-01 -1.10354075e-02 2.46347238e+01] [ 1.84117934e-01 9.82901906e-01 -2.10476455e-03 2.46746692e+00] [ 1.12342732e-02 3.68302679e-05 9.99936893e-01 3.80574910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301858064 meters Centerline goodness [0,1] 0.9998036991798988 Centerline is valid? [True, True] Translation: X:24.66, Y:2.47, Z:0.04 [[ 9.82648669e-01 -1.85125262e-01 -1.14118879e-02 2.46626718e+01] [ 1.85112437e-01 9.82714932e-01 -2.17921504e-03 2.47196303e+00] [ 1.16180604e-02 2.89203810e-05 9.99932508e-01 3.72360391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331858064 meters Centerline goodness [0,1] 0.9997606093579978 Centerline is valid? [True, True] Translation: X:24.69, Y:2.47, Z:0.04 [[ 9.82514311e-01 -1.85774180e-01 -1.23928256e-02 2.46904189e+01] [ 1.85759061e-01 9.82592466e-01 -2.37020928e-03 2.47392218e+00] [ 1.26174207e-02 2.66849001e-05 9.99920397e-01 3.63534744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361858064 meters Centerline goodness [0,1] 0.9995637378937265 Centerline is valid? [True, True] Translation: X:24.72, Y:2.48, Z:0.04 [[ 9.82469977e-01 -1.86020313e-01 -1.22142196e-02 2.47174991e+01] [ 1.86005620e-01 9.82545898e-01 -2.33811931e-03 2.47652363e+00] [ 1.24359690e-02 2.52185384e-05 9.99922670e-01 3.67844019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391858064 meters Centerline goodness [0,1] 0.9996065573770492 Centerline is valid? [True, True] Translation: X:24.75, Y:2.48, Z:0.04 [[ 9.82443003e-01 -1.86235075e-01 -1.10563484e-02 2.47451952e+01] [ 1.86223020e-01 9.82505214e-01 -2.11909946e-03 2.47905348e+00] [ 1.12575706e-02 2.29478560e-05 9.99936631e-01 3.80907731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421858064 meters Centerline goodness [0,1] 0.9996932515337423 Centerline is valid? [True, True] Translation: X:24.77, Y:2.48, Z:0.04 [[ 9.82410946e-01 -1.86446470e-01 -1.03173275e-02 2.47731005e+01] [ 1.86435954e-01 9.82465121e-01 -1.98040699e-03 2.48110463e+00] [ 1.05056543e-02 2.20527115e-05 9.99944814e-01 3.89985853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451858064 meters Centerline goodness [0,1] 0.9996932515337423 Centerline is valid? [True, True] Translation: X:24.80, Y:2.49, Z:0.04 [[ 9.82358308e-01 -1.86723645e-01 -1.03167681e-02 2.48001853e+01] [ 1.86713112e-01 9.82412480e-01 -1.98331840e-03 2.48637606e+00] [ 1.05056542e-02 2.20534250e-05 9.99944814e-01 3.90923748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481858064 meters Centerline goodness [0,1] 0.9996932515337423 Centerline is valid? [True, True] Translation: X:24.83, Y:2.49, Z:0.04 [[ 9.82305592e-01 -1.87000804e-01 -1.03162080e-02 2.48272686e+01] [ 1.86990256e-01 9.82359760e-01 -1.98622895e-03 2.49165512e+00] [ 1.05056540e-02 2.20534247e-05 9.99944814e-01 3.91861644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511858064 meters Centerline goodness [0,1] 0.9997145680096607 Centerline is valid? [True, True] Translation: X:24.86, Y:2.49, Z:0.04 [[ 9.82442632e-01 -1.86207209e-01 -1.15477159e-02 2.48559220e+01] [ 1.86193900e-01 9.82510496e-01 -2.22652275e-03 2.49477717e+00] [ 1.17603467e-02 3.73166116e-05 9.99930844e-01 3.71200255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541858064 meters Centerline goodness [0,1] 0.9997577892766707 Centerline is valid? [True, True] Translation: X:24.88, Y:2.50, Z:0.04 [[ 9.82539973e-01 -1.85620053e-01 -1.26648062e-02 2.48847208e+01] [ 1.85603954e-01 9.82621592e-01 -2.44520367e-03 2.49850542e+00] [ 1.28985909e-02 5.18722341e-05 9.99916808e-01 3.60624221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571858064 meters Centerline goodness [0,1] 0.9998233020430701 Centerline is valid? [True, True] Translation: X:24.91, Y:2.50, Z:0.04 [[ 9.82756606e-01 -1.84423258e-01 -1.33234733e-02 2.49126643e+01] [ 1.84405301e-01 9.82846914e-01 -2.57460399e-03 2.49931699e+00] [ 1.35697514e-02 7.32899855e-05 9.99907924e-01 3.54120224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601858063999998 meters Centerline goodness [0,1] 0.9997782459252689 Centerline is valid? [True, True] Translation: X:24.94, Y:2.50, Z:0.04 [[ 9.82708883e-01 -1.84687743e-01 -1.31790748e-02 2.49406045e+01] [ 1.84670152e-01 9.82797249e-01 -2.55003608e-03 2.50150090e+00] [ 1.34233188e-02 7.21613661e-05 9.99909901e-01 3.64012104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631858064 meters Centerline goodness [0,1] 0.9996681489347581 Centerline is valid? [True, True] Translation: X:24.97, Y:2.50, Z:0.04 [[ 9.82712342e-01 -1.84705883e-01 -1.26565631e-02 2.49674710e+01] [ 1.84689625e-01 9.82793840e-01 -2.45173859e-03 2.50461757e+00] [ 1.28916428e-02 7.18178863e-05 9.99916897e-01 3.63082366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661858064 meters Centerline goodness [0,1] 0.9998223840500877 Centerline is valid? [True, True] Translation: X:25.00, Y:2.50, Z:0.04 [[ 9.82522347e-01 -1.85740739e-01 -1.22562652e-02 2.49965452e+01] [ 1.85725533e-01 9.82598786e-01 -2.37739491e-03 2.50436541e+00] [ 1.24845704e-02 5.95422466e-05 9.99922063e-01 3.70687593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691858063999998 meters Centerline goodness [0,1] 0.9998219095745865 Centerline is valid? [True, True] Translation: X:25.02, Y:2.51, Z:0.04 [[ 9.82307488e-01 -1.86885453e-01 -1.20758702e-02 2.50242838e+01] [ 1.86870757e-01 9.82381711e-01 -2.34412187e-03 2.50718790e+00] [ 1.23011963e-02 4.60214574e-05 9.99924336e-01 3.50875026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721858064 meters Centerline goodness [0,1] 0.9999554317548747 Centerline is valid? [True, True] Translation: X:25.05, Y:2.51, Z:0.04 [[ 9.82091856e-01 -1.88052928e-01 -1.14752876e-02 2.50522989e+01] [ 1.88039706e-01 9.82158895e-01 -2.23016282e-03 2.50792004e+00] [ 1.16899444e-02 3.24150378e-05 9.99931670e-01 3.79782548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751858064 meters Centerline goodness [0,1] 0.9999100314889788 Centerline is valid? [True, True] Translation: X:25.08, Y:2.51, Z:0.04 [[ 9.81676509e-01 -1.90289645e-01 -1.00540187e-02 2.50807672e+01] [ 1.90279595e-01 9.81727992e-01 -1.95568881e-03 2.50558006e+00] [ 1.02424589e-02 6.77915787e-06 9.99947545e-01 4.02531878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781858063999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.11, Y:2.51, Z:0.04 [[ 9.81444574e-01 -1.91506046e-01 -9.59077269e-03 2.51090949e+01] [ 1.91496937e-01 9.81491434e-01 -1.86780092e-03 2.50768573e+00] [ 9.77095640e-03 -3.46052474e-06 9.99952263e-01 4.09170127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811858064 meters Centerline goodness [0,1] 0.999820740342386 Centerline is valid? [True, True] Translation: X:25.14, Y:2.51, Z:0.04 [[ 9.81278910e-01 -1.92338508e-01 -9.87919035e-03 2.51358057e+01] [ 1.92328867e-01 9.81328639e-01 -1.92577266e-03 2.51017814e+00] [ 1.00651327e-02 -1.03333852e-05 9.99949345e-01 4.07523538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.16, Y:2.51, Z:0.04 [[ 9.81093587e-01 -1.93260618e-01 -1.02814078e-02 2.51638973e+01] [ 1.93250202e-01 9.81147457e-01 -2.00662041e-03 2.51219919e+00] [ 1.04753778e-02 -1.82017073e-05 9.99945132e-01 4.05483588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871858063999998 meters Centerline goodness [0,1] 0.9999548685546654 Centerline is valid? [True, True] Translation: X:25.19, Y:2.52, Z:0.04 [[ 9.81156822e-01 -1.92944779e-01 -1.01785517e-02 2.51906921e+01] [ 1.92934534e-01 9.81209617e-01 -1.98836941e-03 2.51584049e+00] [ 1.03709383e-02 -1.28919171e-05 9.99946220e-01 4.00854421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901858064 meters Centerline goodness [0,1] 0.9999320082496657 Centerline is valid? [True, True] Translation: X:25.22, Y:2.52, Z:0.04 [[ 9.81198236e-01 -1.92716032e-01 -1.05144027e-02 2.52187384e+01] [ 1.92705060e-01 9.81254570e-01 -2.05641128e-03 2.52011337e+00] [ 1.07136091e-02 -8.43148431e-06 9.99942608e-01 4.01226927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931858064 meters Centerline goodness [0,1] 0.9999545846768699 Centerline is valid? [True, True] Translation: X:25.25, Y:2.52, Z:0.04 [[ 9.81263109e-01 -1.92377990e-01 -1.06498786e-02 2.52462374e+01] [ 1.92366681e-01 9.81320900e-01 -2.08593141e-03 2.52434617e+00] [ 1.08522357e-02 -1.83425950e-06 9.99941113e-01 4.03258537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961858063999998 meters Centerline goodness [0,1] 0.9999091569767442 Centerline is valid? [True, True] Translation: X:25.27, Y:2.53, Z:0.04 [[ 9.81410970e-01 -1.91604663e-01 -1.09618381e-02 2.52727667e+01] [ 1.91592606e-01 9.81472187e-01 -2.14948367e-03 2.52748036e+00] [ 1.11705903e-02 9.31971269e-06 9.99937607e-01 4.05321465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991858064 meters Centerline goodness [0,1] 0.9999772670440338 Centerline is valid? [True, True] Translation: X:25.30, Y:2.53, Z:0.04 [[ 9.81463240e-01 -1.91309072e-01 -1.14344956e-02 2.53005388e+01] [ 1.91295898e-01 9.81529846e-01 -2.24511096e-03 2.53246574e+00] [ 1.16528088e-02 1.61217662e-05 9.99932104e-01 4.04825785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021858064 meters Centerline goodness [0,1] 0.9998861903352833 Centerline is valid? [True, True] Translation: X:25.33, Y:2.54, Z:0.04 [[ 9.81533250e-01 -1.90934295e-01 -1.16865036e-02 2.53282249e+01] [ 1.90920467e-01 9.81602819e-01 -2.29799122e-03 2.53767391e+00] [ 1.19102703e-02 2.43620585e-05 9.99929070e-01 4.06994303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.36, Y:2.54, Z:0.04 [[ 9.81910450e-01 -1.88914325e-01 -1.27767580e-02 2.53557258e+01] [ 1.88897600e-01 9.81993572e-01 -2.51430349e-03 2.54283851e+00] [ 1.30216821e-02 5.53219531e-05 9.99915213e-01 3.94771128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081858064 meters Centerline goodness [0,1] 0.9999545454545454 Centerline is valid? [True, True] Translation: X:25.38, Y:2.55, Z:0.04 [[ 9.82044738e-01 -1.88197515e-01 -1.30318187e-02 2.53831181e+01] [ 1.88180032e-01 9.82131198e-01 -2.56606325e-03 2.54784385e+00] [ 1.32818825e-02 6.76608508e-05 9.99911790e-01 3.98920366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111858064 meters Centerline goodness [0,1] 0.9999089211712737 Centerline is valid? [True, True] Translation: X:25.41, Y:2.55, Z:0.04 [[ 9.82099868e-01 -1.87974097e-01 -1.20659634e-02 2.54109931e+01] [ 1.87959058e-01 9.82173984e-01 -2.37870006e-03 2.55295073e+00] [ 1.22980093e-02 6.82139054e-05 9.99924374e-01 4.07328325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141858064 meters Centerline goodness [0,1] 0.9999317763172856 Centerline is valid? [True, True] Translation: X:25.44, Y:2.56, Z:0.04 [[ 9.82271192e-01 -1.87100773e-01 -1.16878900e-02 2.54377554e+01] [ 1.87086577e-01 9.82340722e-01 -2.30607479e-03 2.55794284e+00] [ 1.19129587e-02 7.85434948e-05 9.99929035e-01 4.23943532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171858064 meters Centerline goodness [0,1] 0.9999088298308794 Centerline is valid? [True, True] Translation: X:25.47, Y:2.56, Z:0.04 [[ 9.82346042e-01 -1.86727264e-01 -1.13658198e-02 2.54654245e+01] [ 1.86713784e-01 9.82411788e-01 -2.24524651e-03 2.56272157e+00] [ 1.15851641e-02 8.34538095e-05 9.99932886e-01 4.41071307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201858064 meters Centerline goodness [0,1] 0.9998863067897585 Centerline is valid? [True, True] Translation: X:25.49, Y:2.57, Z:0.04 [[ 9.82391485e-01 -1.86491839e-01 -1.13033048e-02 2.54915223e+01] [ 1.86478468e-01 9.82456506e-01 -2.23485736e-03 2.56960029e+00] [ 1.15217880e-02 8.76818874e-05 9.99933618e-01 4.31364068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.52, Y:2.58, Z:0.04 [[ 9.82709251e-01 -1.84821664e-01 -1.11121481e-02 2.55192133e+01] [ 1.84808622e-01 9.82772070e-01 -2.19819026e-03 2.57580729e+00] [ 1.13269820e-02 1.06561112e-04 9.99935842e-01 4.45339913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261858064 meters Centerline goodness [0,1] 0.9998640288258889 Centerline is valid? [True, True] Translation: X:25.55, Y:2.58, Z:0.04 [[ 9.82853651e-01 -1.84057254e-01 -1.10284835e-02 2.55459732e+01] [ 1.84044349e-01 9.82915517e-01 -2.18264742e-03 2.58234269e+00] [ 1.12417997e-02 1.15492913e-04 9.99936802e-01 4.44260770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291858064 meters Centerline goodness [0,1] 0.9999772804725662 Centerline is valid? [True, True] Translation: X:25.57, Y:2.59, Z:0.05 [[ 9.82918123e-01 -1.83708694e-01 -1.10941382e-02 2.55735607e+01] [ 1.83695583e-01 9.82980722e-01 -2.19822405e-03 2.58855504e+00] [ 1.13091569e-02 1.22730073e-04 9.99936042e-01 4.52530018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:2.59, Z:0.05 [[ 9.82988625e-01 -1.83324589e-01 -1.12008495e-02 2.56007243e+01] [ 1.83311180e-01 9.83052429e-01 -2.22107276e-03 2.59454819e+00] [ 1.14181996e-02 1.30048309e-04 9.99934802e-01 4.59920944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351858063999998 meters Centerline goodness [0,1] 0.9999547869334238 Centerline is valid? [True, True] Translation: X:25.63, Y:2.60, Z:0.05 [[ 9.82922183e-01 -1.83644290e-01 -1.17795175e-02 2.56275983e+01] [ 1.83629449e-01 9.82992755e-01 -2.33860822e-03 2.60144349e+00] [ 1.20086524e-02 1.35603577e-04 9.99927884e-01 4.68113415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381858064 meters Centerline goodness [0,1] 0.9999773345421578 Centerline is valid? [True, True] Translation: X:25.65, Y:2.61, Z:0.05 [[ 9.82822024e-01 -1.84131933e-01 -1.25020350e-02 2.56547983e+01] [ 1.84115208e-01 9.82901527e-01 -2.48576373e-03 2.60782035e+00] [ 1.27459778e-02 1.41248569e-04 9.99918757e-01 4.65735496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411858064 meters Centerline goodness [0,1] 0.9999549975248638 Centerline is valid? [True, True] Translation: X:25.68, Y:2.61, Z:0.05 [[ 9.82775840e-01 -1.84166734e-01 -1.53056597e-02 2.56823689e+01] [ 1.84141634e-01 9.82895001e-01 -3.04550789e-03 2.61482301e+00] [ 1.56047376e-02 1.74642392e-04 9.99878223e-01 4.55908412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441858063999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:2.62, Z:0.04 [[ 9.82661018e-01 -1.84683953e-01 -1.64061164e-02 2.57095039e+01] [ 1.84655149e-01 9.82797947e-01 -3.26660747e-03 2.62160606e+00] [ 1.67271875e-02 1.80493959e-04 9.99860075e-01 4.37744532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.74, Y:2.63, Z:0.04 [[ 9.82464356e-01 -1.85601620e-01 -1.77715323e-02 2.57363598e+01] [ 1.85567940e-01 9.82625059e-01 -3.54028529e-03 2.62800833e+00] [ 1.81198357e-02 1.80377477e-04 9.99835806e-01 4.21189999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501858064 meters Centerline goodness [0,1] 0.9999774713886636 Centerline is valid? [True, True] Translation: X:25.76, Y:2.63, Z:0.04 [[ 9.82236247e-01 -1.86760189e-01 -1.82369772e-02 2.57629073e+01] [ 1.86724880e-01 9.82405519e-01 -3.63517848e-03 2.63289003e+00] [ 1.85950137e-02 1.65306683e-04 9.99827084e-01 4.17444751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531858063999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:2.64, Z:0.04 [[ 9.81912871e-01 -1.88412879e-01 -1.86467285e-02 2.57905452e+01] [ 1.88376171e-01 9.82089898e-01 -3.72172913e-03 2.63710430e+00] [ 1.90139854e-02 1.41814407e-04 9.99819208e-01 4.32325583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.82, Y:2.64, Z:0.04 [[ 9.81264837e-01 -1.91827936e-01 -1.79265838e-02 2.58188942e+01] [ 1.91794494e-01 9.81428570e-01 -3.58260209e-03 2.64180067e+00] [ 1.82809046e-02 7.72613914e-05 9.99832887e-01 4.47026815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591858064 meters Centerline goodness [0,1] 0.999932650862069 Centerline is valid? [True, True] Translation: X:25.85, Y:2.65, Z:0.05 [[ 9.80963724e-01 -1.93391132e-01 -1.76080324e-02 2.58466853e+01] [ 1.93359082e-01 9.81121740e-01 -3.52104000e-03 2.64686616e+00] [ 1.79565613e-02 4.93395303e-05 9.99838767e-01 4.51919497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621858063999998 meters Centerline goodness [0,1] 0.9999775638868322 Centerline is valid? [True, True] Translation: X:25.87, Y:2.65, Z:0.05 [[ 9.80562510e-01 -1.95457094e-01 -1.71373526e-02 2.58743473e+01] [ 1.95426976e-01 9.80712254e-01 -3.43113044e-03 2.65055441e+00] [ 1.74774505e-02 1.53368735e-05 9.99847258e-01 4.67691833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651858064 meters Centerline goodness [0,1] 0.9999774133803135 Centerline is valid? [True, True] Translation: X:25.90, Y:2.66, Z:0.05 [[ 9.80599725e-01 -1.95224412e-01 -1.76524027e-02 2.59028198e+01] [ 1.95192338e-01 9.80758598e-01 -3.53876011e-03 2.65505037e+00] [ 1.80035981e-02 2.44934363e-05 9.99837922e-01 4.61076104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681858064 meters Centerline goodness [0,1] 0.9999322141130217 Centerline is valid? [True, True] Translation: X:25.93, Y:2.66, Z:0.05 [[ 9.80399804e-01 -1.96216096e-01 -1.77614423e-02 2.59304152e+01] [ 1.96183699e-01 9.80560678e-01 -3.56549821e-03 2.66072302e+00] [ 1.81157800e-02 1.11082954e-05 9.99835896e-01 4.61084172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711858063999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.96, Y:2.67, Z:0.05 [[ 9.80270560e-01 -1.96873343e-01 -1.76214725e-02 2.59576788e+01] [ 1.96841472e-01 9.80428930e-01 -3.54233814e-03 2.66647687e+00] [ 1.79739934e-02 3.81320514e-06 9.99838455e-01 4.55808744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741858064 meters Centerline goodness [0,1] 0.9998421895078567 Centerline is valid? [True, True] Translation: X:25.99, Y:2.67, Z:0.05 [[ 9.80130854e-01 -1.97626242e-01 -1.69522026e-02 2.59851755e+01] [ 1.97596777e-01 9.80277445e-01 -3.41250929e-03 2.67270578e+00] [ 1.72922632e-02 -4.99495180e-06 9.99850478e-01 4.52510066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771858064 meters Centerline goodness [0,1] 0.9998424168749015 Centerline is valid? [True, True] Translation: X:26.01, Y:2.68, Z:0.04 [[ 9.80059960e-01 -1.98029448e-01 -1.63343789e-02 2.60119105e+01] [ 1.98002114e-01 9.80196071e-01 -3.29016901e-03 2.68121187e+00] [ 1.66624443e-02 -9.67862334e-06 9.99861172e-01 4.39127016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801858063999997 meters Centerline goodness [0,1] 0.9997075760302322 Centerline is valid? [True, True] Translation: X:26.04, Y:2.69, Z:0.04 [[ 9.80092795e-01 -1.97891283e-01 -1.60359918e-02 2.60390345e+01] [ 1.97864858e-01 9.80223974e-01 -3.23383385e-03 2.68884997e+00] [ 1.63588112e-02 -3.50199168e-06 9.99866186e-01 4.27460746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.831858064 meters Centerline goodness [0,1] 0.9999099119389203 Centerline is valid? [True, True] Translation: X:26.07, Y:2.70, Z:0.04 [[ 9.80089133e-01 -1.97930657e-01 -1.57716692e-02 2.60651377e+01] [ 1.97905063e-01 9.80216025e-01 -3.18291183e-03 2.69560936e+00] [ 1.60896387e-02 -1.75588517e-06 9.99870553e-01 4.19411151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861858064 meters Centerline goodness [0,1] 0.9999775462547152 Centerline is valid? [True, True] Translation: X:26.09, Y:2.70, Z:0.04 [[ 9.80111472e-01 -1.97824483e-01 -1.57154791e-02 2.60929821e+01] [ 1.97798998e-01 9.80237458e-01 -3.17530373e-03 2.70161614e+00] [ 1.60330541e-02 3.64560485e-06 9.99871462e-01 4.26878137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891858064 meters Centerline goodness [0,1] 0.999910289764062 Centerline is valid? [True, True] Translation: X:26.12, Y:2.71, Z:0.05 [[ 9.80097464e-01 -1.97916208e-01 -1.54316205e-02 2.61201119e+01] [ 1.97891578e-01 9.80218942e-01 -3.12231043e-03 2.70724880e+00] [ 1.57443226e-02 6.38079596e-06 9.99876050e-01 4.51250133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921858064 meters Centerline goodness [0,1] 0.9999776790696636 Centerline is valid? [True, True] Translation: X:26.15, Y:2.71, Z:0.05 [[ 9.80120108e-01 -1.97890372e-01 -1.42819709e-02 2.61466456e+01] [ 1.97869246e-01 9.80224158e-01 -2.89156550e-03 2.71456113e+00] [ 1.45717459e-02 8.11868344e-06 9.99893826e-01 4.61218842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951858064 meters Centerline goodness [0,1] 0.9998661849324234 Centerline is valid? [True, True] Translation: X:26.17, Y:2.72, Z:0.05 [[ 9.80084699e-01 -1.98111401e-01 -1.36328732e-02 2.61737189e+01] [ 1.98092127e-01 9.80179510e-01 -2.76343950e-03 2.72193156e+00] [ 1.39101318e-02 7.83992354e-06 9.99903249e-01 4.65530028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:2.73, Z:0.05 [[ 9.80080648e-01 -1.98142851e-01 -1.34660199e-02 2.62000308e+01] [ 1.98124018e-01 9.80173153e-01 -2.73186711e-03 2.72953970e+00] [ 1.37403311e-02 9.50811878e-06 9.99905597e-01 4.55120935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011858064 meters Centerline goodness [0,1] 0.9998886835719215 Centerline is valid? [True, True] Translation: X:26.23, Y:2.74, Z:0.05 [[ 9.80019868e-01 -1.98434035e-01 -1.36011817e-02 2.62269751e+01] [ 1.98414803e-01 9.80114245e-01 -2.76268656e-03 2.73680515e+00] [ 1.38789230e-02 8.81193054e-06 9.99903683e-01 4.52984476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041858064 meters Centerline goodness [0,1] 0.9999107879652965 Centerline is valid? [True, True] Translation: X:26.25, Y:2.74, Z:0.05 [[ 9.79943365e-01 -1.98778368e-01 -1.40769764e-02 2.62539987e+01] [ 1.98757743e-01 9.80044468e-01 -2.86348540e-03 2.74332681e+00] [ 1.43652618e-02 8.14545767e-06 9.99896814e-01 4.50059253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071858064 meters Centerline goodness [0,1] 0.9999552692789407 Centerline is valid? [True, True] Translation: X:26.28, Y:2.75, Z:0.05 [[ 9.79576743e-01 -2.00577979e-01 -1.40669703e-02 2.62818135e+01] [ 2.00557509e-01 9.79677740e-01 -2.86558572e-03 2.74861367e+00] [ 1.43558710e-02 -1.41753953e-05 9.99896949e-01 4.54112751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101858063999998 meters Centerline goodness [0,1] 0.9998657898268689 Centerline is valid? [True, True] Translation: X:26.31, Y:2.75, Z:0.05 [[ 9.79228072e-01 -2.02319225e-01 -1.33908195e-02 2.63095150e+01] [ 2.02300784e-01 9.79319626e-01 -2.73174838e-03 2.75377085e+00] [ 1.36665775e-02 -3.39685778e-05 9.99906607e-01 4.57834799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.34, Y:2.76, Z:0.05 [[ 9.78452268e-01 -2.06112876e-01 -1.21918775e-02 2.63366967e+01] [ 2.06097863e-01 9.78528219e-01 -2.48886937e-03 2.75840264e+00] [ 1.24430842e-02 -7.74800321e-05 9.99922579e-01 4.59854788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161858064 meters Centerline goodness [0,1] 0.9999775985663082 Centerline is valid? [True, True] Translation: X:26.36, Y:2.76, Z:0.05 [[ 9.78000453e-01 -2.08304033e-01 -1.11598795e-02 2.63638288e+01] [ 2.08291586e-01 9.78064119e-01 -2.27918076e-03 2.76314595e+00] [ 1.13898402e-02 -9.54691692e-05 9.99935129e-01 4.61294961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191858063999998 meters Centerline goodness [0,1] 0.9999775704288534 Centerline is valid? [True, True] Translation: X:26.39, Y:2.77, Z:0.05 [[ 9.77450595e-01 -2.10921084e-01 -1.01306927e-02 2.63919911e+01] [ 2.10910946e-01 9.77503086e-01 -2.07100663e-03 2.76888062e+00] [ 1.03396023e-02 -1.12367314e-04 9.99946539e-01 4.71443305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221858064 meters Centerline goodness [0,1] 0.9998653742595585 Centerline is valid? [True, True] Translation: X:26.42, Y:2.77, Z:0.05 [[ 9.76777190e-01 -2.14100447e-01 -8.20487800e-03 2.64195931e+01] [ 2.14093898e-01 9.76811643e-01 -1.67866795e-03 2.77351427e+00] [ 8.37402392e-03 -1.16929746e-04 9.99964930e-01 4.78006320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251858064 meters Centerline goodness [0,1] 0.9997983328851842 Centerline is valid? [True, True] Translation: X:26.45, Y:2.78, Z:0.05 [[ 9.76526753e-01 -2.15252788e-01 -7.85737842e-03 2.64476556e+01] [ 2.15246807e-01 9.76558356e-01 -1.60913675e-03 2.77885957e+00] [ 8.01955973e-03 -1.19910531e-04 9.99967836e-01 4.83586047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281858063999998 meters Centerline goodness [0,1] 0.9998201641002585 Centerline is valid? [True, True] Translation: X:26.48, Y:2.78, Z:0.05 [[ 9.76290052e-01 -2.16327797e-01 -7.74714013e-03 2.64761889e+01] [ 2.16322001e-01 9.76320782e-01 -1.58848479e-03 2.78463428e+00] [ 7.90732732e-03 -1.25054955e-04 9.99968729e-01 4.81405289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311858064 meters Centerline goodness [0,1] 0.9999104604570994 Centerline is valid? [True, True] Translation: X:26.50, Y:2.79, Z:0.05 [[ 9.76101535e-01 -2.17170430e-01 -7.92446316e-03 2.65038347e+01] [ 2.17164378e-01 9.76133693e-01 -1.62684543e-03 2.79343529e+00] [ 8.08863822e-03 -1.32944791e-04 9.99967278e-01 4.60631988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341858064 meters Centerline goodness [0,1] 0.9999104604570994 Centerline is valid? [True, True] Translation: X:26.53, Y:2.80, Z:0.05 [[ 9.76041680e-01 -2.17439297e-01 -7.92403845e-03 2.65308584e+01] [ 2.17433236e-01 9.76073837e-01 -1.62891227e-03 2.79906269e+00] [ 8.08863615e-03 -1.33063057e-04 9.99967278e-01 4.61570491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371858063999998 meters Centerline goodness [0,1] 0.9999326054724357 Centerline is valid? [True, True] Translation: X:26.56, Y:2.81, Z:0.04 [[ 9.75988761e-01 -2.17676649e-01 -7.92555670e-03 2.65571392e+01] [ 2.17670581e-01 9.76020931e-01 -1.63075436e-03 2.80527759e+00] [ 8.09048638e-03 -1.33562610e-04 9.99967263e-01 4.47699576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401858064 meters Centerline goodness [0,1] 0.9999102213044845 Centerline is valid? [True, True] Translation: X:26.58, Y:2.81, Z:0.04 [[ 9.75952510e-01 -2.17825811e-01 -8.28337782e-03 2.65839967e+01] [ 2.17819173e-01 9.75987652e-01 -1.70623633e-03 2.81282414e+00] [ 8.45613678e-03 -1.39072878e-04 9.99964237e-01 4.46694431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431858064 meters Centerline goodness [0,1] 0.9999326569094011 Centerline is valid? [True, True] Translation: X:26.61, Y:2.82, Z:0.04 [[ 9.76041242e-01 -2.17464515e-01 -7.25793971e-03 2.66112840e+01] [ 2.17459400e-01 9.76068220e-01 -1.49620506e-03 2.81891561e+00] [ 7.40961580e-03 -1.17949367e-04 9.99972541e-01 4.49584958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461858063999998 meters Centerline goodness [0,1] 0.9998880730659025 Centerline is valid? [True, True] Translation: X:26.64, Y:2.83, Z:0.05 [[ 9.76056160e-01 -2.17425084e-01 -6.38009981e-03 2.66385340e+01] [ 2.17421123e-01 9.76077006e-01 -1.31638726e-03 2.82685616e+00] [ 6.51368433e-03 -1.02300576e-04 9.99978781e-01 4.59470806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491858064 meters Centerline goodness [0,1] 0.9997987567640088 Centerline is valid? [True, True] Translation: X:26.67, Y:2.83, Z:0.05 [[ 9.76166233e-01 -2.16938966e-01 -6.08034687e-03 2.66660262e+01] [ 2.16935351e-01 9.76185165e-01 -1.25571495e-03 2.83264627e+00] [ 6.20795792e-03 -9.32556497e-05 9.99980726e-01 4.59571512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521858064 meters Centerline goodness [0,1] 0.9999776206248322 Centerline is valid? [True, True] Translation: X:26.69, Y:2.84, Z:0.05 [[ 9.76184157e-01 -2.16871012e-01 -5.60848269e-03 2.66928953e+01] [ 2.16867931e-01 9.76200265e-01 -1.15919715e-03 2.84128883e+00] [ 5.72639854e-03 -8.47101398e-05 9.99983600e-01 4.59069884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551858063999997 meters Centerline goodness [0,1] 0.9999555979841485 Centerline is valid? [True, True] Translation: X:26.72, Y:2.85, Z:0.05 [[ 9.76614785e-01 -2.14917418e-01 -5.83650845e-03 2.67189653e+01] [ 2.14914039e-01 9.76632222e-01 -1.20755263e-03 2.85090063e+00] [ 5.95964631e-03 -7.50338500e-05 9.99982238e-01 4.50179132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:2.86, Z:0.04 [[ 9.76745456e-01 -2.14329853e-01 -5.57035756e-03 2.67472810e+01] [ 2.14326761e-01 9.76761337e-01 -1.15332508e-03 2.85909228e+00] [ 5.68810189e-03 -6.73716584e-05 9.99983820e-01 4.45457766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611858064 meters Centerline goodness [0,1] 0.999888497390839 Centerline is valid? [True, True] Translation: X:26.77, Y:2.87, Z:0.04 [[ 9.76894892e-01 -2.13635544e-01 -6.01858318e-03 2.67744527e+01] [ 2.13631911e-01 9.76913430e-01 -1.24778179e-03 2.86637674e+00] [ 6.14620528e-03 -6.68097629e-05 9.99981110e-01 4.39340934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641858064 meters Centerline goodness [0,1] 0.9999777535538698 Centerline is valid? [True, True] Translation: X:26.80, Y:2.87, Z:0.04 [[ 9.77034086e-01 -2.12981968e-01 -6.56328597e-03 2.68008123e+01] [ 2.12977623e-01 9.77056128e-01 -1.36202176e-03 2.87474735e+00] [ 6.70278485e-03 -6.70913597e-05 9.99977534e-01 4.30549276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671858064 meters Centerline goodness [0,1] 0.9999554991878602 Centerline is valid? [True, True] Translation: X:26.83, Y:2.88, Z:0.04 [[ 9.77099687e-01 -2.12668456e-01 -6.95189374e-03 2.68279584e+01] [ 2.12663565e-01 9.77124415e-01 -1.44399079e-03 2.88209108e+00] [ 7.09995640e-03 -6.74915561e-05 9.99974793e-01 4.27402452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701858064 meters Centerline goodness [0,1] 0.9998005274939604 Centerline is valid? [True, True] Translation: X:26.86, Y:2.89, Z:0.04 [[ 9.76906667e-01 -2.13541975e-01 -7.29302343e-03 2.68557146e+01] [ 2.13536601e-01 9.76933887e-01 -1.51680013e-03 2.88927347e+00] [ 7.44870223e-03 -7.55552786e-05 9.99972255e-01 4.16278353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731858064 meters Centerline goodness [0,1] 0.9999558606077994 Centerline is valid? [True, True] Translation: X:26.88, Y:2.90, Z:0.04 [[ 9.76852012e-01 -2.13785090e-01 -7.48878421e-03 2.68813468e+01] [ 2.13779421e-01 9.76880714e-01 -1.55885706e-03 2.89811628e+00] [ 7.64890927e-03 -7.81752934e-05 9.99970744e-01 4.03090748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761858064 meters Centerline goodness [0,1] 0.9998670124343374 Centerline is valid? [True, True] Translation: X:26.91, Y:2.91, Z:0.04 [[ 9.76709193e-01 -2.14440259e-01 -7.38425000e-03 2.69083436e+01] [ 2.14434754e-01 9.76737103e-01 -1.53861014e-03 2.90523150e+00] [ 7.54241091e-03 -8.06651623e-05 9.99971552e-01 3.98382773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791858064 meters Centerline goodness [0,1] 0.9997570134747074 Centerline is valid? [True, True] Translation: X:26.94, Y:2.91, Z:0.04 [[ 9.76422637e-01 -2.15727613e-01 -7.77373529e-03 2.69350380e+01] [ 2.15721541e-01 9.76453577e-01 -1.62129957e-03 2.91151474e+00] [ 7.94045072e-03 -9.38885556e-05 9.99968470e-01 3.96763184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821858064 meters Centerline goodness [0,1] 0.999933981778971 Centerline is valid? [True, True] Translation: X:26.96, Y:2.92, Z:0.04 [[ 9.76699209e-01 -2.14516104e-01 -6.44173193e-03 2.69629855e+01] [ 2.14511901e-01 9.76720450e-01 -1.34458227e-03 2.91896733e+00] [ 6.58020586e-03 -6.85757246e-05 9.99978348e-01 4.23551365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851858063999998 meters Centerline goodness [0,1] 0.9998457130262288 Centerline is valid? [True, True] Translation: X:26.99, Y:2.93, Z:0.04 [[ 9.76576487e-01 -2.15089007e-01 -5.92315488e-03 2.69903644e+01] [ 2.15085456e-01 9.76594447e-01 -1.23775977e-03 2.92584980e+00] [ 6.05074869e-03 -6.52173761e-05 9.99981692e-01 4.26017753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881858064 meters Centerline goodness [0,1] 0.9999340166278098 Centerline is valid? [True, True] Translation: X:27.02, Y:2.93, Z:0.04 [[ 9.76475803e-01 -2.15544105e-01 -5.97875804e-03 2.70172138e+01] [ 2.15540485e-01 9.76494104e-01 -1.25099049e-03 2.93307306e+00] [ 6.10786560e-03 -6.71024613e-05 9.99981345e-01 4.23072426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911858064 meters Centerline goodness [0,1] 0.9998903123903123 Centerline is valid? [True, True] Translation: X:27.04, Y:2.94, Z:0.04 [[ 9.76298533e-01 -2.16350923e-01 -5.78376720e-03 2.70435484e+01] [ 2.16347540e-01 9.76315663e-01 -1.21174996e-03 2.94348050e+00] [ 5.90894573e-03 -6.82741019e-05 9.99982540e-01 4.23623547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941858063999998 meters Centerline goodness [0,1] 0.9998464541885104 Centerline is valid? [True, True] Translation: X:27.07, Y:2.95, Z:0.04 [[ 9.76172217e-01 -2.16908396e-01 -6.20886514e-03 2.70702854e+01] [ 2.16904498e-01 9.76191960e-01 -1.30265162e-03 2.95053388e+00] [ 6.34360030e-03 -7.51184522e-05 9.99979876e-01 4.24563923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971858064 meters Centerline goodness [0,1] 0.9999780961142507 Centerline is valid? [True, True] Translation: X:27.10, Y:2.96, Z:0.04 [[ 9.76067364e-01 -2.17370793e-01 -6.51458017e-03 2.70974103e+01] [ 2.17366498e-01 9.76089100e-01 -1.36873166e-03 2.95811116e+00] [ 6.65633299e-03 -8.00771783e-05 9.99977843e-01 4.28423738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001858064 meters Centerline goodness [0,1] 0.999934560684059 Centerline is valid? [True, True] Translation: X:27.12, Y:2.96, Z:0.04 [[ 9.75952866e-01 -2.17861417e-01 -7.23916413e-03 2.71248921e+01] [ 2.17856116e-01 9.75979710e-01 -1.52260392e-03 2.96337022e+00] [ 7.39699396e-03 -9.11065164e-05 9.99972638e-01 4.18193393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031858063999998 meters Centerline goodness [0,1] 0.9999128483343138 Centerline is valid? [True, True] Translation: X:27.15, Y:2.97, Z:0.04 [[ 9.75939108e-01 -2.17927214e-01 -7.11244365e-03 2.71516629e+01] [ 2.17922088e-01 9.75965021e-01 -1.49737398e-03 2.97076861e+00] [ 7.26781475e-03 -8.86127473e-05 9.99973585e-01 4.20567643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061858064 meters Centerline goodness [0,1] 0.9997378252605361 Centerline is valid? [True, True] Translation: X:27.18, Y:2.98, Z:0.04 [[ 9.75892042e-01 -2.18143878e-01 -6.92609322e-03 2.71781966e+01] [ 2.18139009e-01 9.75916616e-01 -1.46005480e-03 2.98234815e+00] [ 7.07779147e-03 -8.59952475e-05 9.99974948e-01 4.34048471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091858064 meters Centerline goodness [0,1] 0.9997160269992792 Centerline is valid? [True, True] Translation: X:27.21, Y:2.99, Z:0.04 [[ 9.75835644e-01 -2.18377158e-01 -7.49752592e-03 2.72053919e+01] [ 2.18371441e-01 9.75864442e-01 -1.58283933e-03 2.98965222e+00] [ 7.66222490e-03 -9.26544964e-05 9.99970640e-01 4.30391417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121858063999998 meters Centerline goodness [0,1] 0.9997823105557612 Centerline is valid? [True, True] Translation: X:27.23, Y:3.00, Z:0.04 [[ 9.75654571e-01 -2.19107649e-01 -9.48661180e-03 2.72319684e+01] [ 2.19098511e-01 9.75700683e-01 -2.00486996e-03 2.99673542e+00] [ 9.69537596e-03 -1.22441978e-04 9.99952991e-01 4.13822307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151858064 meters Centerline goodness [0,1] 0.9996532668761513 Centerline is valid? [True, True] Translation: X:27.26, Y:3.00, Z:0.04 [[ 9.75191654e-01 -2.21072288e-01 -1.13261239e-02 2.72604103e+01] [ 2.21059364e-01 9.75257410e-01 -2.39622205e-03 3.00313278e+00] [ 1.15756245e-02 -1.66970003e-04 9.99932986e-01 4.02421205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181858064 meters Centerline goodness [0,1] 0.9997170468396308 Centerline is valid? [True, True] Translation: X:27.29, Y:3.01, Z:0.04 [[ 9.75011775e-01 -2.21958945e-01 -9.28787879e-03 2.72869891e+01] [ 2.21950281e-01 9.75056001e-01 -1.96645512e-03 3.00977904e+00] [ 9.49267426e-03 -1.44130408e-04 9.99954933e-01 4.26279888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211858063999998 meters Centerline goodness [0,1] 0.9999130963761189 Centerline is valid? [True, True] Translation: X:27.32, Y:3.02, Z:0.04 [[ 9.74809839e-01 -2.22838463e-01 -9.42322587e-03 2.73150434e+01] [ 2.22829566e-01 9.74855372e-01 -1.99709890e-03 3.01659696e+00] [ 9.63131280e-03 -1.52981679e-04 9.99953606e-01 4.33351153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241858064 meters Centerline goodness [0,1] 0.9997827031725337 Centerline is valid? [True, True] Translation: X:27.34, Y:3.02, Z:0.04 [[ 9.74652516e-01 -2.23519250e-01 -9.57173863e-03 2.73426049e+01] [ 2.23510079e-01 9.74699502e-01 -2.03104736e-03 3.02418506e+00] [ 9.78354706e-03 -1.59814633e-04 9.99952127e-01 4.33561550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271858064 meters Centerline goodness [0,1] 0.99989154954017 Centerline is valid? [True, True] Translation: X:27.37, Y:3.03, Z:0.04 [[ 9.74711300e-01 -2.23248909e-01 -9.88973082e-03 2.73692482e+01] [ 2.23239076e-01 9.74761458e-01 -2.10134959e-03 3.03339542e+00] [ 1.01092524e-02 -1.59565177e-04 9.99948887e-01 4.39760710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301858063999997 meters Centerline goodness [0,1] 0.9998699835312473 Centerline is valid? [True, True] Translation: X:27.40, Y:3.04, Z:0.04 [[ 9.74759157e-01 -2.23020274e-01 -1.03219327e-02 2.73962001e+01] [ 2.23009518e-01 9.74813793e-01 -2.19627210e-03 3.03990597e+00] [ 1.05517756e-02 -1.61052894e-04 9.99944315e-01 4.44172862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331858064 meters Centerline goodness [0,1] 0.9999566264015094 Centerline is valid? [True, True] Translation: X:27.42, Y:3.05, Z:0.04 [[ 9.74916190e-01 -2.22272695e-01 -1.15442954e-02 2.74238147e+01] [ 2.22259146e-01 9.74984523e-01 -2.45987128e-03 3.04618267e+00] [ 1.18022716e-02 -1.67656913e-04 9.99930337e-01 4.49852541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361858064 meters Centerline goodness [0,1] 0.999675331702777 Centerline is valid? [True, True] Translation: X:27.45, Y:3.05, Z:0.05 [[ 9.75147503e-01 -2.21231913e-01 -1.19911417e-02 2.74521781e+01] [ 2.21217177e-01 9.75221214e-01 -2.55831149e-03 3.05353814e+00] [ 1.22599959e-02 -1.57915450e-04 9.99924831e-01 4.54697715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391858064 meters Centerline goodness [0,1] 0.9997200990418775 Centerline is valid? [True, True] Translation: X:27.48, Y:3.07, Z:0.05 [[ 9.75843799e-01 -2.18182288e-01 -1.11968824e-02 2.74778429e+01] [ 2.18169217e-01 9.75908027e-01 -2.39069896e-03 3.06505415e+00] [ 1.14487356e-02 -1.09866313e-04 9.99934455e-01 4.63382958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421858064 meters Centerline goodness [0,1] 0.9997205322785219 Centerline is valid? [True, True] Translation: X:27.50, Y:3.07, Z:0.05 [[ 9.76077683e-01 -2.17086960e-01 -1.20668717e-02 2.75048742e+01] [ 2.17071658e-01 9.76152264e-01 -2.57945151e-03 3.07400681e+00] [ 1.23390694e-02 -1.01630797e-04 9.99923866e-01 4.59497562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451858064 meters Centerline goodness [0,1] 0.9998930870057947 Centerline is valid? [True, True] Translation: X:27.53, Y:3.09, Z:0.05 [[ 9.77033024e-01 -2.12733327e-01 -1.22882858e-02 2.75318068e+01] [ 2.12717073e-01 9.77110296e-01 -2.63003977e-03 3.08618469e+00] [ 1.25665077e-02 -4.42924738e-05 9.99921037e-01 4.63310132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481858064 meters Centerline goodness [0,1] 0.9998076388740462 Centerline is valid? [True, True] Translation: X:27.56, Y:3.09, Z:0.05 [[ 9.77376227e-01 -2.11095265e-01 -1.32098514e-02 2.75585786e+01] [ 2.11076281e-01 9.77465492e-01 -2.83111420e-03 3.09481076e+00] [ 1.35098087e-02 -2.12225903e-05 9.99908738e-01 4.64351160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511858064 meters Centerline goodness [0,1] 0.9997646303626833 Centerline is valid? [True, True] Translation: X:27.59, Y:3.10, Z:0.05 [[ 9.77630104e-01 -2.09901510e-01 -1.34438251e-02 2.75853153e+01] [ 2.09881679e-01 9.77722535e-01 -2.88525039e-03 3.10265148e+00] [ 1.37499491e-02 -9.04944334e-07 9.99905465e-01 4.59809792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541858064 meters Centerline goodness [0,1] 0.9998717345760828 Centerline is valid? [True, True] Translation: X:27.61, Y:3.11, Z:0.05 [[ 9.77770875e-01 -2.09224915e-01 -1.37495500e-02 2.76111068e+01] [ 2.09204062e-01 9.77867545e-01 -2.95396547e-03 3.10952757e+00] [ 1.40632819e-02 1.18396950e-05 9.99901107e-01 4.57611886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571858064 meters Centerline goodness [0,1] 0.999657944244912 Centerline is valid? [True, True] Translation: X:27.64, Y:3.12, Z:0.05 [[ 9.77827229e-01 -2.08969365e-01 -1.36277550e-02 2.76381285e+01] [ 2.08948802e-01 9.77922187e-01 -2.93154299e-03 3.11714369e+00] [ 1.39394866e-02 1.90394807e-05 9.99902840e-01 4.68771683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601858063999998 meters Centerline goodness [0,1] 0.9998291948673058 Centerline is valid? [True, True] Translation: X:27.66, Y:3.12, Z:0.05 [[ 9.77787884e-01 -2.09153171e-01 -1.36310516e-02 2.76645226e+01] [ 2.09132573e-01 9.77882892e-01 -2.93534097e-03 3.12411278e+00] [ 1.39435080e-02 1.94439438e-05 9.99902784e-01 4.67335490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631858064 meters Centerline goodness [0,1] 0.9997869439236406 Centerline is valid? [True, True] Translation: X:27.69, Y:3.13, Z:0.05 [[ 9.77756659e-01 -2.09290050e-01 -1.37691785e-02 2.76916749e+01] [ 2.09268994e-01 9.77853606e-01 -2.96883429e-03 3.13030149e+00] [ 1.40855883e-02 2.13353711e-05 9.99900793e-01 4.68905690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661858064 meters Centerline goodness [0,1] 0.99966082292837 Centerline is valid? [True, True] Translation: X:27.72, Y:3.14, Z:0.05 [[ 9.77684270e-01 -2.09597812e-01 -1.42206043e-02 2.77192552e+01] [ 2.09575323e-01 9.77787685e-01 -3.07038477e-03 3.13523604e+00] [ 1.45482777e-02 2.15791573e-05 9.99894168e-01 4.74643909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691858063999998 meters Centerline goodness [0,1] 0.9998070780905018 Centerline is valid? [True, True] Translation: X:27.75, Y:3.14, Z:0.05 [[ 9.77832927e-01 -2.08802408e-01 -1.56307894e-02 2.77473660e+01] [ 2.08775067e-01 9.77957848e-01 -3.37913045e-03 3.14054402e+00] [ 1.59918237e-02 4.09059189e-05 9.99872122e-01 4.79848243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721858064 meters Centerline goodness [0,1] 0.9997432001540799 Centerline is valid? [True, True] Translation: X:27.77, Y:3.15, Z:0.05 [[ 9.78030819e-01 -2.07871715e-01 -1.56546000e-02 2.77746511e+01] [ 2.07844139e-01 9.78156095e-01 -3.38627840e-03 3.14744010e+00] [ 1.60165539e-02 5.81677658e-05 9.99871725e-01 4.72549567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751858064 meters Centerline goodness [0,1] 0.9998505933578076 Centerline is valid? [True, True] Translation: X:27.80, Y:3.15, Z:0.05 [[ 9.78375301e-01 -2.06212056e-01 -1.60735276e-02 2.78015185e+01] [ 2.06182737e-01 9.78507322e-01 -3.47836736e-03 3.15470406e+00] [ 1.64453458e-02 8.90647878e-05 9.99864762e-01 4.65162764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781858063999998 meters Centerline goodness [0,1] 0.9996569983064292 Centerline is valid? [True, True] Translation: X:27.83, Y:3.16, Z:0.05 [[ 9.79113493e-01 -2.02529904e-01 -1.78439286e-02 2.78296357e+01] [ 2.02493083e-01 9.79276064e-01 -3.86557500e-03 3.16272252e+00] [ 1.82570267e-02 1.71564536e-04 9.99833312e-01 4.53960994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811858064 meters Centerline goodness [0,1] 0.9998069042459611 Centerline is valid? [True, True] Translation: X:27.86, Y:3.17, Z:0.04 [[ 9.79503751e-01 -2.00684547e-01 -1.72660157e-02 2.78564028e+01] [ 2.00649748e-01 9.79655895e-01 -3.74248953e-03 3.16934398e+00] [ 1.76658139e-02 2.01360823e-04 9.99843927e-01 4.49187462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841858064 meters Centerline goodness [0,1] 0.99969942246173 Centerline is valid? [True, True] Translation: X:27.88, Y:3.17, Z:0.05 [[ 9.79846077e-01 -1.98968750e-01 -1.76946875e-02 2.78846845e+01] [ 1.98931850e-01 9.80005805e-01 -3.83941372e-03 3.17489832e+00] [ 1.81048198e-02 2.41997557e-04 9.99836065e-01 4.59327985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871858063999998 meters Centerline goodness [0,1] 0.9997210420153642 Centerline is valid? [True, True] Translation: X:27.91, Y:3.18, Z:0.05 [[ 9.80110693e-01 -1.97630728e-01 -1.80312434e-02 2.79127563e+01] [ 1.97592099e-01 9.80276501e-01 -3.91708188e-03 3.18082723e+00] [ 1.84497399e-02 2.76342608e-04 9.99829751e-01 4.62623418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901858064 meters Centerline goodness [0,1] 0.999743123193835 Centerline is valid? [True, True] Translation: X:27.94, Y:3.19, Z:0.05 [[ 9.80814565e-01 -1.94075517e-01 -1.83706806e-02 2.79402104e+01] [ 1.94034754e-01 9.80986529e-01 -3.99305716e-03 3.18686772e+00] [ 1.87963449e-02 3.51898129e-04 9.99823271e-01 4.61170760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931858064 meters Centerline goodness [0,1] 0.9996986395729293 Centerline is valid? [True, True] Translation: X:27.97, Y:3.19, Z:0.05 [[ 9.81141870e-01 -1.92391192e-01 -1.86080638e-02 2.79675685e+01] [ 1.92349020e-01 9.81318234e-01 -4.04702061e-03 3.19367206e+00] [ 1.90390434e-02 3.91458531e-04 9.99818664e-01 4.56609746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961858063999998 meters Centerline goodness [0,1] 0.9998281528580327 Centerline is valid? [True, True] Translation: X:28.00, Y:3.20, Z:0.05 [[ 9.81413274e-01 -1.91004963e-01 -1.85765970e-02 2.79960982e+01] [ 1.90962604e-01 9.81588980e-01 -4.04448071e-03 3.19974049e+00] [ 1.90070988e-02 4.21871717e-04 9.99819260e-01 4.61926231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991858064 meters Centerline goodness [0,1] 0.9997212214788128 Centerline is valid? [True, True] Translation: X:28.02, Y:3.21, Z:0.05 [[ 9.81948688e-01 -1.88330564e-01 -1.75605277e-02 2.80229208e+01] [ 1.88292248e-01 9.82105593e-01 -3.82533324e-03 3.20587910e+00] [ 1.79667197e-02 4.49769724e-04 9.99838484e-01 4.66228673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021858064 meters Centerline goodness [0,1] 0.9996340071906823 Centerline is valid? [True, True] Translation: X:28.05, Y:3.21, Z:0.05 [[ 9.82150384e-01 -1.87317058e-01 -1.71155910e-02 2.80504112e+01] [ 1.87280478e-01 9.82299399e-01 -3.72991783e-03 3.21175847e+00] [ 1.75113120e-02 4.57924172e-04 9.99846560e-01 4.70594405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051858063999997 meters Centerline goodness [0,1] 0.9998493781469209 Centerline is valid? [True, True] Translation: X:28.08, Y:3.22, Z:0.05 [[ 9.82215467e-01 -1.87052535e-01 -1.62519125e-02 2.80782749e+01] [ 1.87019452e-01 9.82349812e-01 -3.54566500e-03 3.21691908e+00] [ 1.66282888e-02 4.43183222e-04 9.99861642e-01 4.79507023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081858064 meters Centerline goodness [0,1] 0.9997417077423104 Centerline is valid? [True, True] Translation: X:28.11, Y:3.22, Z:0.05 [[ 9.82265426e-01 -1.86828379e-01 -1.58047447e-02 2.81055276e+01] [ 1.86797008e-01 9.82392470e-01 -3.45151527e-03 3.22124218e+00] [ 1.61713032e-02 4.38025091e-04 9.99869140e-01 4.89420419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111858064 meters Centerline goodness [0,1] 0.9996545321069223 Centerline is valid? [True, True] Translation: X:28.13, Y:3.22, Z:0.05 [[ 9.82185612e-01 -1.87248859e-01 -1.57888420e-02 2.81331799e+01] [ 1.87217536e-01 9.82312412e-01 -3.45232323e-03 3.22399054e+00] [ 1.61560191e-02 4.34874107e-04 9.99869388e-01 4.86554680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141858064 meters Centerline goodness [0,1] 0.9997189553787617 Centerline is valid? [True, True] Translation: X:28.16, Y:3.23, Z:0.05 [[ 9.82090985e-01 -1.87725960e-01 -1.60081421e-02 2.81615417e+01] [ 1.87693748e-01 9.82221346e-01 -3.50492036e-03 3.22796793e+00] [ 1.63815034e-02 4.37522500e-04 9.99865718e-01 4.92314087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171858064 meters Centerline goodness [0,1] 0.9996753387299251 Centerline is valid? [True, True] Translation: X:28.19, Y:3.23, Z:0.05 [[ 9.82078901e-01 -1.87784752e-01 -1.60598911e-02 2.81880646e+01] [ 1.87752297e-01 9.82210106e-01 -3.51881279e-03 3.23300469e+00] [ 1.64349668e-02 4.40470350e-04 9.99864840e-01 4.92189074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201858064 meters Centerline goodness [0,1] 0.9998051146575432 Centerline is valid? [True, True] Translation: X:28.22, Y:3.24, Z:0.05 [[ 9.82025235e-01 -1.88188367e-01 -1.45456794e-02 2.82158246e+01] [ 1.88161768e-01 9.82132875e-01 -3.18838618e-03 3.23547323e+00] [ 1.48858071e-02 3.94134940e-04 9.99889123e-01 5.01458338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231858064 meters Centerline goodness [0,1] 0.9998483108327735 Centerline is valid? [True, True] Translation: X:28.24, Y:3.24, Z:0.05 [[ 9.81995842e-01 -1.88406186e-01 -1.36848598e-02 2.82439485e+01] [ 1.88382618e-01 9.82091122e-01 -3.00298847e-03 3.23767934e+00] [ 1.40055609e-02 3.70932485e-04 9.99901849e-01 5.20434522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261858064 meters Centerline goodness [0,1] 0.9998483108327735 Centerline is valid? [True, True] Translation: X:28.27, Y:3.24, Z:0.05 [[ 9.81943292e-01 -1.88679936e-01 -1.36840222e-02 2.82708828e+01] [ 1.88656341e-01 9.82038566e-01 -3.00680218e-03 3.24367202e+00] [ 1.40055608e-02 3.70931680e-04 9.99901849e-01 5.21372776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291858064 meters Centerline goodness [0,1] 0.9998052453908076 Centerline is valid? [True, True] Translation: X:28.30, Y:3.25, Z:0.05 [[ 9.81948570e-01 -1.88711148e-01 -1.28494257e-02 2.82974066e+01] [ 1.88690322e-01 9.82032576e-01 -2.82519064e-03 3.25184827e+00] [ 1.31516996e-02 3.49629635e-04 9.99913452e-01 5.09875506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321858064 meters Centerline goodness [0,1] 0.9997392947924135 Centerline is valid? [True, True] Translation: X:28.33, Y:3.25, Z:0.05 [[ 9.81851564e-01 -1.89190164e-01 -1.32131892e-02 2.83257641e+01] [ 1.89168144e-01 9.81940403e-01 -2.90833424e-03 3.25383209e+00] [ 1.35247926e-02 3.56038038e-04 9.99908472e-01 5.15040835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351858063999998 meters Centerline goodness [0,1] 0.9997604946873367 Centerline is valid? [True, True] Translation: X:28.35, Y:3.26, Z:0.05 [[ 9.81462157e-01 -1.91113399e-01 -1.44118978e-02 2.83544461e+01] [ 1.91087352e-01 9.81567897e-01 -3.17600763e-03 3.25544086e+00] [ 1.47532339e-02 3.63199904e-04 9.99891099e-01 5.03557917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381858064 meters Centerline goodness [0,1] 0.999956377595533 Centerline is valid? [True, True] Translation: X:28.38, Y:3.26, Z:0.05 [[ 9.81150011e-01 -1.92722721e-01 -1.42340631e-02 2.83839436e+01] [ 1.92697434e-01 9.81253198e-01 -3.14014589e-03 3.25811883e+00] [ 1.45723974e-02 3.38086733e-04 9.99893760e-01 5.09016719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411858064 meters Centerline goodness [0,1] 0.9998030979259648 Centerline is valid? [True, True] Translation: X:28.41, Y:3.26, Z:0.05 [[ 9.80719374e-01 -1.94899540e-01 -1.42716076e-02 2.84129227e+01] [ 1.94874298e-01 9.80823161e-01 -3.15189432e-03 3.26035495e+00] [ 1.46122260e-02 3.09954303e-04 9.99893188e-01 5.17919562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441858063999998 meters Centerline goodness [0,1] 0.9998464979606158 Centerline is valid? [True, True] Translation: X:28.44, Y:3.26, Z:0.05 [[ 9.79656302e-01 -2.00204771e-01 -1.38412412e-02 2.84430594e+01] [ 2.00181536e-01 9.79754050e-01 -3.05842558e-03 3.25887336e+00] [ 1.41733235e-02 2.25444975e-04 9.99899528e-01 5.27814481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471858064 meters Centerline goodness [0,1] 0.9999123767798467 Centerline is valid? [True, True] Translation: X:28.47, Y:3.26, Z:0.05 [[ 9.79079717e-01 -2.02978700e-01 -1.42321735e-02 2.84702616e+01] [ 2.02954401e-01 9.79183134e-01 -3.14654677e-03 3.26471320e+00] [ 1.45745862e-02 1.92237876e-04 9.99893767e-01 5.05425697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501858064 meters Centerline goodness [0,1] 0.9999560632688927 Centerline is valid? [True, True] Translation: X:28.50, Y:3.26, Z:0.05 [[ 9.78046467e-01 -2.07958302e-01 -1.33585962e-02 2.85004847e+01] [ 2.07937320e-01 9.78137685e-01 -2.95622843e-03 3.26437549e+00] [ 1.36813186e-02 1.13578080e-04 9.99906400e-01 5.19174524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531858063999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.53, Y:3.27, Z:0.05 [[ 9.77548021e-01 -2.10338105e-01 -1.25597420e-02 2.85292472e+01] [ 2.10319714e-01 9.77628700e-01 -2.78254584e-03 3.26690595e+00] [ 1.28640397e-02 7.85108180e-05 9.99917252e-01 5.32452937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561858064 meters Centerline goodness [0,1] 0.9999122691582226 Centerline is valid? [True, True] Translation: X:28.56, Y:3.27, Z:0.05 [[ 9.77018863e-01 -2.12839355e-01 -1.15564090e-02 2.85576406e+01] [ 2.12823942e-01 9.77087206e-01 -2.56178789e-03 3.26943631e+00] [ 1.18368687e-02 4.34345726e-05 9.99929941e-01 5.49108261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591858064 meters Centerline goodness [0,1] 0.9999780016718729 Centerline is valid? [True, True] Translation: X:28.59, Y:3.27, Z:0.06 [[ 9.76527156e-01 -2.15109290e-01 -1.10773177e-02 2.85859172e+01] [ 2.15095245e-01 9.76589982e-01 -2.45814745e-03 3.27266271e+00] [ 1.13467678e-02 1.77693743e-05 9.99935623e-01 5.63649524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621858063999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.61, Y:3.28, Z:0.06 [[ 9.75942779e-01 -2.17758183e-01 -1.08197169e-02 2.86124812e+01] [ 2.17744925e-01 9.76002753e-01 -2.40289024e-03 3.27660636e+00] [ 1.10833225e-02 -1.08550654e-05 9.99938578e-01 5.55271803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.64, Y:3.28, Z:0.06 [[ 9.75714611e-01 -2.18772521e-01 -1.09353713e-02 2.86395800e+01] [ 2.18759012e-01 9.75775888e-01 -2.43128183e-03 3.28284594e+00] [ 1.12023693e-02 -1.99738082e-05 9.99937251e-01 5.55507431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681858064 meters Centerline goodness [0,1] 0.9999558742415885 Centerline is valid? [True, True] Translation: X:28.67, Y:3.29, Z:0.05 [[ 9.75636376e-01 -2.19121647e-01 -1.09254964e-02 2.86655640e+01] [ 2.19108162e-01 9.75697547e-01 -2.43106927e-03 3.28865002e+00] [ 1.11926799e-02 -2.20258208e-05 9.99937360e-01 5.37568826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711858063999998 meters Centerline goodness [0,1] 0.999977892246811 Centerline is valid? [True, True] Translation: X:28.69, Y:3.29, Z:0.05 [[ 9.75619513e-01 -2.19175475e-01 -1.13435445e-02 2.86934899e+01] [ 2.19160929e-01 9.75685457e-01 -2.52523772e-03 3.29271099e+00] [ 1.16212015e-02 -2.23905394e-05 9.99932471e-01 5.36256233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741858064 meters Centerline goodness [0,1] 0.999911343587925 Centerline is valid? [True, True] Translation: X:28.72, Y:3.30, Z:0.05 [[ 9.75666855e-01 -2.18942254e-01 -1.17676300e-02 2.87214474e+01] [ 2.18926549e-01 9.75737818e-01 -2.62241110e-03 3.29762670e+00] [ 1.20562782e-02 -1.76470403e-05 9.99927320e-01 5.49725323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771858064 meters Centerline goodness [0,1] 0.9998892015866333 Centerline is valid? [True, True] Translation: X:28.75, Y:3.30, Z:0.06 [[ 9.75617814e-01 -2.19144694e-01 -1.20616666e-02 2.87493808e+01] [ 2.19128165e-01 9.75692371e-01 -2.69152306e-03 3.30265311e+00] [ 1.23583091e-02 -1.71530207e-05 9.99923633e-01 5.56886091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801858063999997 meters Centerline goodness [0,1] 0.9999555456768171 Centerline is valid? [True, True] Translation: X:28.78, Y:3.31, Z:0.06 [[ 9.75700610e-01 -2.18800274e-01 -1.16086246e-02 2.87763457e+01] [ 2.18784908e-01 9.75769665e-01 -2.59304470e-03 3.30828865e+00] [ 1.18947027e-02 -9.75657782e-06 9.99929255e-01 5.54338249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831858064 meters Centerline goodness [0,1] 0.9999778309834175 Centerline is valid? [True, True] Translation: X:28.80, Y:3.32, Z:0.05 [[ 9.75929474e-01 -2.17780160e-01 -1.15526260e-02 2.88035360e+01] [ 2.17764834e-01 9.75997849e-01 -2.58364491e-03 3.31547978e+00] [ 1.18380047e-02 5.69954736e-06 9.99929928e-01 5.45052008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861858064 meters Centerline goodness [0,1] 0.9998891155859132 Centerline is valid? [True, True] Translation: X:28.83, Y:3.32, Z:0.05 [[ 9.76147875e-01 -2.16791643e-01 -1.16922673e-02 2.88293580e+01] [ 2.16775849e-01 9.76217897e-01 -2.61695437e-03 3.32210828e+00] [ 1.19815345e-02 1.99332771e-05 9.99928219e-01 5.32767769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891858064 meters Centerline goodness [0,1] 0.9999557629780363 Centerline is valid? [True, True] Translation: X:28.86, Y:3.33, Z:0.05 [[ 9.76311704e-01 -2.16041093e-01 -1.19038687e-02 2.88569482e+01] [ 2.16024629e-01 9.76384271e-01 -2.66730984e-03 3.32874678e+00] [ 1.21989987e-02 3.25969993e-05 9.99925589e-01 5.30002364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921858064 meters Centerline goodness [0,1] 0.9999334723023019 Centerline is valid? [True, True] Translation: X:28.88, Y:3.33, Z:0.05 [[ 9.76529454e-01 -2.15047438e-01 -1.20343600e-02 2.88839417e+01] [ 2.15030513e-01 9.76603603e-01 -2.69835034e-03 3.33488787e+00] [ 1.23330726e-02 4.72639850e-05 9.99923944e-01 5.25898448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951858064 meters Centerline goodness [0,1] 0.9999555011680943 Centerline is valid? [True, True] Translation: X:28.91, Y:3.34, Z:0.05 [[ 9.76796673e-01 -2.13834619e-01 -1.19589199e-02 2.89111726e+01] [ 2.13817780e-01 9.76869874e-01 -2.68431101e-03 3.33995414e+00] [ 1.22563072e-02 6.49963658e-05 9.99924887e-01 5.30930505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.94, Y:3.35, Z:0.05 [[ 9.76925721e-01 -2.13241974e-01 -1.19998497e-02 2.89370571e+01] [ 2.13224941e-01 9.76999414e-01 -2.69625101e-03 3.34621972e+00] [ 1.22988000e-02 7.53697135e-05 9.99924364e-01 5.28235163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011858063999995 meters Centerline goodness [0,1] 0.9999334693515479 Centerline is valid? [True, True] Translation: X:28.96, Y:3.35, Z:0.05 [[ 9.77141782e-01 -2.12301875e-01 -1.10386781e-02 2.89646088e+01] [ 2.12287369e-01 9.77204128e-01 -2.48314474e-03 3.35288368e+00] [ 1.13142181e-02 8.30125391e-05 9.99935989e-01 5.30083019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.99, Y:3.36, Z:0.05 [[ 9.77273502e-01 -2.11728495e-01 -1.03704902e-02 2.89914157e+01] [ 2.11715629e-01 9.77328520e-01 -2.33577993e-03 3.35971950e+00] [ 1.06299270e-02 8.71009716e-05 9.99943497e-01 5.26009154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.071858064 meters Centerline goodness [0,1] 0.9999778334404718 Centerline is valid? [True, True] Translation: X:29.02, Y:3.37, Z:0.05 [[ 9.77479452e-01 -2.10789674e-01 -1.00813688e-02 2.90199499e+01] [ 2.10777438e-01 9.77531434e-01 -2.27328999e-03 3.36679257e+00] [ 1.03340409e-02 9.71691721e-05 9.99946598e-01 5.27676942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101858064 meters Centerline goodness [0,1] 0.999977794555225 Centerline is valid? [True, True] Translation: X:29.05, Y:3.37, Z:0.05 [[ 9.77612596e-01 -2.10176188e-01 -9.97909489e-03 2.90482307e+01] [ 2.10164142e-01 9.77663520e-01 -2.25271648e-03 3.37333205e+00] [ 1.02296644e-02 1.05036088e-04 9.99947670e-01 5.29798790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.08, Y:3.38, Z:0.05 [[ 9.77901514e-01 -2.08838976e-01 -9.74228122e-03 2.90767832e+01] [ 2.08827403e-01 9.77950034e-01 -2.20168264e-03 3.37933399e+00] [ 9.98726139e-03 1.18573500e-04 9.99950119e-01 5.34986376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.11, Y:3.39, Z:0.05 [[ 9.78010189e-01 -2.08328342e-01 -9.76581635e-03 2.91055376e+01] [ 2.08316664e-01 9.78058938e-01 -2.20949505e-03 3.38539194e+00] [ 1.00118444e-02 1.26526389e-04 9.99949872e-01 5.36927382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.13, Y:3.39, Z:0.05 [[ 9.78113018e-01 -2.07809096e-01 -1.05025953e-02 2.91341414e+01] [ 2.07795529e-01 9.78169392e-01 -2.37896347e-03 3.39145314e+00] [ 1.07676875e-02 1.44502783e-04 9.99942016e-01 5.32310414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221858063999996 meters Centerline goodness [0,1] 0.9999114299632434 Centerline is valid? [True, True] Translation: X:29.16, Y:3.40, Z:0.05 [[ 9.78123666e-01 -2.07708557e-01 -1.14564151e-02 2.91618229e+01] [ 2.07692387e-01 9.78190743e-01 -2.59669720e-03 3.39756879e+00] [ 1.17459154e-02 1.60480787e-04 9.99931001e-01 5.22657660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.19, Y:3.40, Z:0.05 [[ 9.78109433e-01 -2.07630126e-01 -1.38444238e-02 2.91904696e+01] [ 2.07606461e-01 9.78207387e-01 -3.14101278e-03 3.40141918e+00] [ 1.41948865e-02 1.98062397e-04 9.99899228e-01 5.13413538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281858064 meters Centerline goodness [0,1] 0.9999553969669938 Centerline is valid? [True, True] Translation: X:29.22, Y:3.41, Z:0.05 [[ 9.78045430e-01 -2.07855855e-01 -1.49359027e-02 2.92177941e+01] [ 2.07828307e-01 9.78159444e-01 -3.39061422e-03 3.40776315e+00] [ 1.53144533e-02 2.12071357e-04 9.99882704e-01 4.95993192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.25, Y:3.41, Z:0.05 [[ 9.77907479e-01 -2.08448693e-01 -1.56877467e-02 2.92457132e+01] [ 2.08418317e-01 9.78033279e-01 -3.56510140e-03 3.41330189e+00] [ 1.60862791e-02 2.16725563e-04 9.99870584e-01 4.87396511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34185806399999 meters Centerline goodness [0,1] 0.9999775311193996 Centerline is valid? [True, True] Translation: X:29.27, Y:3.42, Z:0.05 [[ 9.77657325e-01 -2.09532139e-01 -1.68058670e-02 2.92731202e+01] [ 2.09497392e-01 9.77801737e-01 -3.82185097e-03 3.41692787e+00] [ 1.72336065e-02 2.15675291e-04 9.99851467e-01 4.76850990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371858063999994 meters Centerline goodness [0,1] 0.9999326674896196 Centerline is valid? [True, True] Translation: X:29.30, Y:3.42, Z:0.05 [[ 9.77358608e-01 -2.10949537e-01 -1.64451652e-02 2.93024229e+01] [ 2.10916408e-01 9.77496934e-01 -3.74328618e-03 3.42061554e+00] [ 1.68647430e-02 1.89977800e-04 9.99857762e-01 4.93977927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:3.42, Z:0.05 [[ 9.77020837e-01 -2.12567418e-01 -1.56644798e-02 2.93308262e+01] [ 2.12537506e-01 9.77146390e-01 -3.56944006e-03 3.42499056e+00] [ 1.60652366e-02 1.58127837e-04 9.99870933e-01 5.00403624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.36, Y:3.43, Z:0.05 [[ 9.76014434e-01 -2.17203188e-01 -1.47850843e-02 2.93597679e+01] [ 2.17177016e-01 9.76126410e-01 -3.37271305e-03 3.42579269e+00] [ 1.51646753e-02 8.08361143e-05 9.99885006e-01 5.10801711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461858064 meters Centerline goodness [0,1] 0.9999774688506861 Centerline is valid? [True, True] Translation: X:29.39, Y:3.43, Z:0.05 [[ 9.75380122e-01 -2.20091428e-01 -1.39061795e-02 2.93883168e+01] [ 2.20068519e-01 9.75479247e-01 -3.17567452e-03 3.42882508e+00] [ 1.42641282e-02 3.71774671e-05 9.99898261e-01 5.23559799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.42, Y:3.43, Z:0.05 [[ 9.74749399e-01 -2.22930568e-01 -1.28674278e-02 2.94169063e+01] [ 2.22911159e-01 9.74834325e-01 -2.94162897e-03 3.43238421e+00] [ 1.31993893e-02 -9.42176614e-07 9.99912884e-01 5.35257582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52185806399999 meters Centerline goodness [0,1] 0.9999773627617431 Centerline is valid? [True, True] Translation: X:29.45, Y:3.43, Z:0.05 [[ 9.73900663e-01 -2.26683670e-01 -1.14897045e-02 2.94452451e+01] [ 2.26668439e-01 9.73968435e-01 -2.62813591e-03 3.43432621e+00] [ 1.17863650e-02 -4.48100866e-05 9.99930537e-01 5.48988306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:3.44, Z:0.06 [[ 9.73636602e-01 -2.27823302e-01 -1.13273916e-02 2.94732850e+01] [ 2.27808544e-01 9.73702491e-01 -2.59364633e-03 3.43970697e+00] [ 1.16204025e-02 -5.52076006e-05 9.99932479e-01 5.66762734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.50, Y:3.44, Z:0.06 [[ 9.73512670e-01 -2.28321287e-01 -1.19361094e-02 2.95010856e+01] [ 2.28304916e-01 9.73585839e-01 -2.73483519e-03 3.44495073e+00] [ 1.22452482e-02 -6.26757573e-05 9.99925022e-01 5.64526147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:3.45, Z:0.06 [[ 9.73787177e-01 -2.27087243e-01 -1.30352775e-02 2.95276242e+01] [ 2.27067565e-01 9.73874418e-01 -2.98989287e-03 3.45318007e+00] [ 1.33736898e-02 -4.83693792e-05 9.99910567e-01 5.58242800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.56, Y:3.46, Z:0.05 [[ 9.74016025e-01 -2.26066518e-01 -1.36642996e-02 2.95550192e+01] [ 2.26044736e-01 9.74111867e-01 -3.13829191e-03 3.46136642e+00] [ 1.40200191e-02 -3.19963769e-05 9.99901714e-01 5.46920974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:3.47, Z:0.05 [[ 9.74304441e-01 -2.24775525e-01 -1.43811939e-02 2.95815825e+01] [ 2.24751193e-01 9.74410572e-01 -3.30728072e-03 3.46913510e+00] [ 1.47565832e-02 -9.89219134e-06 9.99891116e-01 5.42637454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:3.48, Z:0.05 [[ 9.74537555e-01 -2.23726689e-01 -1.49305742e-02 2.96082849e+01] [ 2.23700270e-01 9.74651922e-01 -3.43813419e-03 3.47650425e+00] [ 1.53213152e-02 1.06174191e-05 9.99882622e-01 5.43420807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:3.49, Z:0.06 [[ 9.74990561e-01 -2.21793815e-01 -1.41742308e-02 2.96356334e+01] [ 2.21769740e-01 9.75093586e-01 -3.26815797e-03 3.48507123e+00] [ 1.45460587e-02 4.30077058e-05 9.99894200e-01 5.51690564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761858063999995 meters Centerline goodness [0,1] 0.9999549792904736 Centerline is valid? [True, True] Translation: X:29.66, Y:3.49, Z:0.06 [[ 9.75151811e-01 -2.21126214e-01 -1.34960237e-02 2.96613668e+01] [ 2.21104282e-01 9.75245197e-01 -3.11479614e-03 3.49206314e+00] [ 1.38506954e-02 5.33704787e-05 9.99904073e-01 5.57676863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791858063999996 meters Centerline goodness [0,1] 0.9999551146819875 Centerline is valid? [True, True] Translation: X:29.69, Y:3.50, Z:0.06 [[ 9.75385688e-01 -2.20174323e-01 -1.20841816e-02 2.96885751e+01] [ 2.20156626e-01 9.75460539e-01 -2.79217465e-03 3.49967789e+00] [ 1.24024075e-02 6.30345293e-05 9.99923085e-01 5.79067842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:3.51, Z:0.06 [[ 9.75467194e-01 -2.19828478e-01 -1.17980676e-02 2.97146980e+01] [ 2.19811559e-01 9.75538536e-01 -2.72813104e-03 3.50684472e+00] [ 1.21091905e-02 6.78507024e-05 9.99926679e-01 5.82951106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:3.51, Z:0.06 [[ 9.75527623e-01 -2.19556319e-01 -1.18692356e-02 2.97421669e+01] [ 2.19539140e-01 9.75599824e-01 -2.74751294e-03 3.51384910e+00] [ 1.21828580e-02 7.45129956e-05 9.99925783e-01 5.83578032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:3.52, Z:0.06 [[ 9.75538375e-01 -2.19498597e-01 -1.20517862e-02 2.97697004e+01] [ 2.19480837e-01 9.75612812e-01 -2.79329250e-03 3.52065581e+00] [ 1.23710008e-02 7.98279045e-05 9.99923473e-01 5.84987385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91185806399999 meters Centerline goodness [0,1] 0.9999776436396155 Centerline is valid? [True, True] Translation: X:29.80, Y:3.53, Z:0.06 [[ 9.75483547e-01 -2.19752005e-01 -1.18703915e-02 2.97969977e+01] [ 2.19734753e-01 9.75555765e-01 -2.75468598e-03 3.52710820e+00] [ 1.21855766e-02 7.88133021e-05 9.99925750e-01 5.95466918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941858063999994 meters Centerline goodness [0,1] 0.9999776216264602 Centerline is valid? [True, True] Translation: X:29.82, Y:3.53, Z:0.06 [[ 9.75419598e-01 -2.20091807e-01 -1.07797931e-02 2.98238735e+01] [ 2.20077567e-01 9.75479160e-01 -2.50466618e-03 3.53355737e+00] [ 1.10667201e-02 7.07098327e-05 9.99938759e-01 6.05206482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971858063999996 meters Centerline goodness [0,1] 0.9999553730810424 Centerline is valid? [True, True] Translation: X:29.85, Y:3.54, Z:0.06 [[ 9.75238013e-01 -2.20999317e-01 -8.37372018e-03 2.98516394e+01] [ 2.20990740e-01 9.75273961e-01 -1.94769557e-03 3.54140448e+00] [ 8.59711064e-03 4.89521416e-05 9.99963043e-01 6.22087759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.88, Y:3.55, Z:0.06 [[ 9.75202724e-01 -2.21167476e-01 -8.03704462e-03 2.98780337e+01] [ 2.21159569e-01 9.75235841e-01 -1.87082870e-03 3.54779282e+00] [ 8.25178043e-03 4.69679277e-05 9.99965952e-01 6.29041792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.91, Y:3.55, Z:0.06 [[ 9.75163759e-01 -2.21332917e-01 -8.20876808e-03 2.99054301e+01] [ 2.21324657e-01 9.75198307e-01 -1.91268429e-03 3.55430758e+00] [ 8.42851672e-03 4.83776164e-05 9.99964478e-01 6.32539324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.93, Y:3.56, Z:0.06 [[ 9.75143713e-01 -2.21411011e-01 -8.47957958e-03 2.99324752e+01] [ 2.21402178e-01 9.75180579e-01 -1.97834483e-03 3.56100642e+00] [ 8.70714865e-03 5.17731308e-05 9.99962091e-01 6.34692881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.96, Y:3.57, Z:0.06 [[ 9.75459609e-01 -2.19962859e-01 -9.74122209e-03 2.99592998e+01] [ 2.19951113e-01 9.75508244e-01 -2.27443213e-03 3.56915884e+00] [ 1.00029331e-02 7.60240362e-05 9.99949967e-01 6.27933252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121858063999994 meters Centerline goodness [0,1] 0.9999331595481585 Centerline is valid? [True, True] Translation: X:29.99, Y:3.58, Z:0.06 [[ 9.75537500e-01 -2.19584451e-01 -1.04524984e-02 2.99877138e+01] [ 2.19570882e-01 9.75593492e-01 -2.44270416e-03 3.57637784e+00] [ 1.07337693e-02 8.78852079e-05 9.99942388e-01 6.25034655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151858063999995 meters Centerline goodness [0,1] 0.9999331595481585 Centerline is valid? [True, True] Translation: X:30.01, Y:3.58, Z:0.06 [[ 9.75475047e-01 -2.19861758e-01 -1.04518312e-02 3.00145760e+01] [ 2.19848174e-01 9.75531035e-01 -2.44555720e-03 3.58272659e+00] [ 1.07337702e-02 8.77640203e-05 9.99942388e-01 6.25973088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.04, Y:3.59, Z:0.06 [[ 9.75456960e-01 -2.19894645e-01 -1.14045918e-02 3.00413641e+01] [ 2.19878448e-01 9.75523621e-01 -2.67070552e-03 3.58937702e+00] [ 1.17127225e-02 9.75343597e-05 9.99931399e-01 6.20809527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211858064 meters Centerline goodness [0,1] 0.9999776984834968 Centerline is valid? [True, True] Translation: X:30.07, Y:3.60, Z:0.06 [[ 9.75217745e-01 -2.20910990e-01 -1.21936216e-02 3.00689222e+01] [ 2.20892514e-01 9.75293969e-01 -2.85860708e-03 3.59572205e+00] [ 1.25238633e-02 9.42846278e-05 9.99921569e-01 6.16855504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.09, Y:3.60, Z:0.06 [[ 9.75013584e-01 -2.21806133e-01 -1.22699305e-02 3.00947425e+01] [ 2.21787469e-01 9.75090781e-01 -2.87863418e-03 3.60227120e+00] [ 1.26027949e-02 8.53905966e-05 9.99920578e-01 6.08068848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.12, Y:3.61, Z:0.06 [[ 9.74623890e-01 -2.23525756e-01 -1.20211938e-02 3.01233453e+01] [ 2.23507939e-01 9.74698021e-01 -2.82297575e-03 3.60873590e+00] [ 1.23480416e-02 6.45073668e-05 9.99923758e-01 6.07472710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.15, Y:3.61, Z:0.06 [[ 9.74205127e-01 -2.25345326e-01 -1.19939347e-02 3.01507312e+01] [ 2.25327685e-01 9.74278955e-01 -2.82002359e-03 3.61437090e+00] [ 1.23209173e-02 4.47158938e-05 9.99924094e-01 6.04979821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331858063999995 meters Centerline goodness [0,1] 0.9999776621171845 Centerline is valid? [True, True] Translation: X:30.18, Y:3.62, Z:0.06 [[ 9.73506750e-01 -2.28387197e-01 -1.11308188e-02 3.01787908e+01] [ 2.28372179e-01 9.73570382e-01 -2.61908503e-03 3.61695972e+00] [ 1.14348010e-02 7.72760772e-06 9.99934620e-01 6.15968544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361858063999996 meters Centerline goodness [0,1] 0.9999776236294473 Centerline is valid? [True, True] Translation: X:30.21, Y:3.62, Z:0.06 [[ 9.73107879e-01 -2.30112739e-01 -1.04490596e-02 3.02062210e+01] [ 2.30099576e-01 9.73163978e-01 -2.46122755e-03 3.62191198e+00] [ 1.07350082e-02 -9.28425198e-06 9.99942378e-01 6.32918485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.23, Y:3.63, Z:0.07 [[ 9.72512415e-01 -2.32694986e-01 -8.52329262e-03 3.02337630e+01] [ 2.32686316e-01 9.72549763e-01 -2.00891079e-03 3.62738419e+00] [ 8.75678969e-03 -2.95628813e-05 9.99961658e-01 6.52091986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421858064 meters Centerline goodness [0,1] 0.9999776466380543 Centerline is valid? [True, True] Translation: X:30.26, Y:3.63, Z:0.07 [[ 9.72267009e-01 -2.33737512e-01 -7.97739082e-03 3.02601604e+01] [ 2.33729945e-01 9.72299735e-01 -1.88112232e-03 3.63329559e+00] [ 8.19610382e-03 -3.56019466e-05 9.99966411e-01 6.56111291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45185806399999 meters Centerline goodness [0,1] 0.9999777520690576 Centerline is valid? [True, True] Translation: X:30.29, Y:3.64, Z:0.07 [[ 9.72027051e-01 -2.34732072e-01 -8.01659326e-03 3.02878040e+01] [ 2.34724450e-01 9.72060107e-01 -1.89215562e-03 3.63919897e+00] [ 8.23676012e-03 -4.24639946e-05 9.99966076e-01 6.62906474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481858063999994 meters Centerline goodness [0,1] 0.9999552532665116 Centerline is valid? [True, True] Translation: X:30.32, Y:3.64, Z:0.07 [[ 9.71865626e-01 -2.35385255e-01 -8.42539492e-03 3.03151822e+01] [ 2.35376838e-01 9.71902145e-01 -1.99113921e-03 3.64495785e+00] [ 8.65734421e-03 -4.80230695e-05 9.99962523e-01 6.68553310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511858063999995 meters Centerline goodness [0,1] 0.9999776221272406 Centerline is valid? [True, True] Translation: X:30.34, Y:3.65, Z:0.07 [[ 9.71843567e-01 -2.35452993e-01 -9.05371875e-03 3.03431362e+01] [ 2.35443252e-01 9.71885737e-01 -2.14234052e-03 3.65006049e+00] [ 9.30360061e-03 -4.96171390e-05 9.99956719e-01 6.83488440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.37, Y:3.66, Z:0.07 [[ 9.71836228e-01 -2.35486973e-01 -8.95718128e-03 3.03701489e+01] [ 2.35477416e-01 9.71877504e-01 -2.12209956e-03 3.65617611e+00] [ 9.20500979e-03 -4.68806690e-05 9.99957632e-01 6.86424026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.40, Y:3.66, Z:0.07 [[ 9.71910818e-01 -2.35175022e-01 -9.05927864e-03 3.03970671e+01] [ 2.35165207e-01 9.71953038e-01 -2.14898839e-03 3.66358503e+00] [ 9.31058178e-03 -4.18020664e-05 9.99956655e-01 6.88298946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.42, Y:3.67, Z:0.07 [[ 9.72101934e-01 -2.34375518e-01 -9.27071072e-03 3.04226268e+01] [ 2.34365186e-01 9.72146139e-01 -2.20093507e-03 3.67099074e+00] [ 9.52833093e-03 -3.31986039e-05 9.99954604e-01 6.78889445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.45, Y:3.68, Z:0.07 [[ 9.72278708e-01 -2.33646075e-01 -9.14473299e-03 3.04498357e+01] [ 2.33635970e-01 9.72321712e-01 -2.17318611e-03 3.67897497e+00] [ 9.39937884e-03 -2.35959740e-05 9.99955825e-01 6.75878089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.48, Y:3.69, Z:0.07 [[ 9.72681786e-01 -2.31983288e-01 -8.59634079e-03 3.04769774e+01] [ 2.31974281e-01 9.72719772e-01 -2.04427674e-03 3.68648526e+00] [ 8.83606869e-03 -5.69921957e-06 9.99960961e-01 6.78932090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:3.69, Z:0.07 [[ 9.72838148e-01 -2.31327535e-01 -8.57379860e-03 3.05038371e+01] [ 2.31318538e-01 9.72875928e-01 -2.04026206e-03 3.69248944e+00] [ 8.81321106e-03 1.56621371e-06 9.99961163e-01 6.86468947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.53, Y:3.70, Z:0.07 [[ 9.73291876e-01 -2.29369536e-01 -9.61977964e-03 3.05311560e+01] [ 2.29358097e-01 9.73339414e-01 -2.29075602e-03 3.69895454e+00] [ 9.88874032e-03 2.31998681e-05 9.99951105e-01 6.97877361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.56, Y:3.71, Z:0.07 [[ 9.73608388e-01 -2.28000389e-01 -1.01256828e-02 3.05591128e+01] [ 2.27987619e-01 9.73661040e-01 -2.41339248e-03 3.70726844e+00] [ 1.04092373e-02 4.11688349e-05 9.99945822e-01 7.03218688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.59, Y:3.72, Z:0.07 [[ 9.73901310e-01 -2.26751780e-01 -9.99342960e-03 3.05860229e+01] [ 2.26739248e-01 9.73952580e-01 -2.38457811e-03 3.71590435e+00] [ 1.02738339e-02 5.64410369e-05 9.99947221e-01 7.06335781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811858064 meters Centerline goodness [0,1] 0.9999776040850149 Centerline is valid? [True, True] Translation: X:30.61, Y:3.72, Z:0.07 [[ 9.74120162e-01 -2.25821527e-01 -9.72360676e-03 3.06127033e+01] [ 2.25809589e-01 9.74168688e-01 -2.32302172e-03 3.72346253e+00] [ 9.99702156e-03 6.72186527e-05 9.99950026e-01 7.15660618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.64, Y:3.73, Z:0.07 [[ 9.74474624e-01 -2.24285088e-01 -9.76760538e-03 3.06390795e+01] [ 2.24272948e-01 9.74523572e-01 -2.33512353e-03 3.73194437e+00] [ 1.00424951e-02 8.49089731e-05 9.99949569e-01 7.20098510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871858063999994 meters Centerline goodness [0,1] 0.9999553810458682 Centerline is valid? [True, True] Translation: X:30.67, Y:3.74, Z:0.07 [[ 9.74503279e-01 -2.24185410e-01 -9.17935141e-03 3.06654802e+01] [ 2.24174674e-01 9.74546507e-01 -2.19552346e-03 3.73933271e+00] [ 9.43790919e-03 8.17667023e-05 9.99955459e-01 7.24749697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:3.75, Z:0.07 [[ 9.74366039e-01 -2.24795643e-01 -8.81713137e-03 3.06923301e+01] [ 2.24785744e-01 9.74405928e-01 -2.11091829e-03 3.74577028e+00] [ 9.06599031e-03 7.48416568e-05 9.99958900e-01 7.37095435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931858064 meters Centerline goodness [0,1] 0.9999776361399978 Centerline is valid? [True, True] Translation: X:30.72, Y:3.75, Z:0.07 [[ 9.74090797e-01 -2.25921934e-01 -1.03149662e-02 3.07201416e+01] [ 2.25908415e-01 9.74145407e-01 -2.47275879e-03 3.75200755e+00] [ 1.06069274e-02 7.84539315e-05 9.99943742e-01 7.40408384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961858064 meters Centerline goodness [0,1] 0.9999776686020545 Centerline is valid? [True, True] Translation: X:30.75, Y:3.76, Z:0.07 [[ 9.73799861e-01 -2.27129705e-01 -1.12217687e-02 3.07477528e+01] [ 2.27113745e-01 9.73864514e-01 -2.69359148e-03 3.75910892e+00] [ 1.15402770e-02 7.44011004e-05 9.99933406e-01 7.33918355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991858064 meters Centerline goodness [0,1] 0.9998659187914813 Centerline is valid? [True, True] Translation: X:30.77, Y:3.77, Z:0.07 [[ 9.73455428e-01 -2.28570930e-01 -1.18261986e-02 3.07746378e+01] [ 2.28553266e-01 9.73527260e-01 -2.84229090e-03 3.76579900e+00] [ 1.21627918e-02 6.39271941e-05 9.99926028e-01 7.25958876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:3.77, Z:0.07 [[ 9.72925818e-01 -2.30758177e-01 -1.28847176e-02 3.08004420e+01] [ 2.30737371e-01 9.73011131e-01 -3.09903757e-03 3.77232948e+00] [ 1.32521019e-02 4.21478079e-05 9.99912186e-01 7.17775857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051858063999994 meters Centerline goodness [0,1] 0.999888347996963 Centerline is valid? [True, True] Translation: X:30.83, Y:3.78, Z:0.07 [[ 9.72547705e-01 -2.32325876e-01 -1.32532414e-02 3.08277009e+01] [ 2.32303961e-01 9.72638004e-01 -3.19110161e-03 3.77902707e+00] [ 1.36319817e-02 2.47180782e-05 9.99907080e-01 7.17753817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.86, Y:3.79, Z:0.07 [[ 9.72222239e-01 -2.33667057e-01 -1.35508117e-02 3.08553263e+01] [ 2.33644219e-01 9.72316670e-01 -3.26685495e-03 3.78592460e+00] [ 1.39390365e-02 1.00402101e-05 9.99902847e-01 7.15545923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.88, Y:3.79, Z:0.07 [[ 9.71496095e-01 -2.36582410e-01 -1.49699940e-02 3.08835190e+01] [ 2.36554819e-01 9.71611426e-01 -3.61316631e-03 3.79309561e+00] [ 1.53998288e-02 -3.10472656e-05 9.99881415e-01 7.11335952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141858064 meters Centerline goodness [0,1] 0.9999776830547434 Centerline is valid? [True, True] Translation: X:30.91, Y:3.80, Z:0.07 [[ 9.71140497e-01 -2.38024820e-01 -1.51762916e-02 3.09104839e+01] [ 2.37996570e-01 9.71259071e-01 -3.66740941e-03 3.80007681e+00] [ 1.56130453e-02 -5.03355518e-05 9.99878108e-01 7.11012424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171858064 meters Centerline goodness [0,1] 0.9998886637422343 Centerline is valid? [True, True] Translation: X:30.94, Y:3.81, Z:0.07 [[ 9.70930697e-01 -2.38886950e-01 -1.50534419e-02 3.09365062e+01] [ 2.38859221e-01 9.71047384e-01 -3.64024013e-03 3.80686023e+00] [ 1.54872113e-02 -6.12325151e-05 9.99880064e-01 7.12385580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.96, Y:3.81, Z:0.07 [[ 9.70481308e-01 -2.40772979e-01 -1.39428460e-02 3.09635182e+01] [ 2.40749334e-01 9.70581458e-01 -3.37523464e-03 3.81485318e+00] [ 1.43453331e-02 -8.11287609e-05 9.99897097e-01 7.23924977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231858063999994 meters Centerline goodness [0,1] 0.9999777960343718 Centerline is valid? [True, True] Translation: X:30.99, Y:3.82, Z:0.07 [[ 9.70367027e-01 -2.41246600e-01 -1.37080537e-02 3.09895418e+01] [ 2.41223749e-01 9.70463843e-01 -3.32146297e-03 3.82138605e+00] [ 1.41044621e-02 -8.36699529e-05 9.99900524e-01 7.33802662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261858063999995 meters Centerline goodness [0,1] 0.9999558001281796 Centerline is valid? [True, True] Translation: X:31.02, Y:3.83, Z:0.07 [[ 9.70167178e-01 -2.42100480e-01 -1.27673435e-02 3.10165652e+01] [ 2.42080687e-01 9.70251179e-01 -3.09692584e-03 3.82868334e+00] [ 1.31372973e-02 -8.61914775e-05 9.99913698e-01 7.45500563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291858063999996 meters Centerline goodness [0,1] 0.9999779341997838 Centerline is valid? [True, True] Translation: X:31.04, Y:3.84, Z:0.08 [[ 9.70044766e-01 -2.42618109e-01 -1.22313132e-02 3.10425995e+01] [ 2.42599939e-01 9.70121872e-01 -2.97044469e-03 3.83873247e+00] [ 1.25865481e-02 -8.58515042e-05 9.99920783e-01 7.58212954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321858064 meters Centerline goodness [0,1] 0.9999778951789385 Centerline is valid? [True, True] Translation: X:31.07, Y:3.85, Z:0.08 [[ 9.70054689e-01 -2.42590642e-01 -1.19866777e-02 3.10691368e+01] [ 2.42573146e-01 9.70128741e-01 -2.91459017e-03 3.84830416e+00] [ 1.23356728e-02 -8.03342517e-05 9.99923909e-01 7.58990135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.10, Y:3.86, Z:0.08 [[ 9.70175688e-01 -2.42131422e-01 -1.14676955e-02 3.10953827e+01] [ 2.42115336e-01 9.70243459e-01 -2.79178184e-03 3.85720879e+00] [ 1.18024346e-02 -6.79860687e-05 9.99930347e-01 7.52417149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.12, Y:3.87, Z:0.07 [[ 9.70686352e-01 -2.40044150e-01 -1.21165737e-02 3.11211681e+01] [ 2.40026003e-01 9.70761971e-01 -2.95192943e-03 3.86768634e+00] [ 1.24709024e-02 -4.28951398e-05 9.99922234e-01 7.43153784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41185806399999 meters Centerline goodness [0,1] 0.9999120666534766 Centerline is valid? [True, True] Translation: X:31.15, Y:3.88, Z:0.07 [[ 9.70950347e-01 -2.38969534e-01 -1.22059917e-02 3.11483283e+01] [ 2.38950994e-01 9.71027065e-01 -2.97674759e-03 3.87669796e+00] [ 1.25637003e-02 -2.63597510e-05 9.99921073e-01 7.40975586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441858063999994 meters Centerline goodness [0,1] 0.9999781066643314 Centerline is valid? [True, True] Translation: X:31.17, Y:3.89, Z:0.07 [[ 9.71215690e-01 -2.37888245e-01 -1.22174405e-02 3.11749387e+01] [ 2.37869540e-01 9.71292532e-01 -2.98311621e-03 3.88594161e+00] [ 1.25763570e-02 -8.90769387e-06 9.99920914e-01 7.42916116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471858063999996 meters Centerline goodness [0,1] 0.9998685910773342 Centerline is valid? [True, True] Translation: X:31.20, Y:3.90, Z:0.07 [[ 9.71497121e-01 -2.36734876e-01 -1.22450892e-02 3.12011068e+01] [ 2.36715950e-01 9.71574289e-01 -2.99342303e-03 3.89516244e+00] [ 1.26056615e-02 9.49392525e-06 9.99920545e-01 7.42986270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501858064 meters Centerline goodness [0,1] 0.9999346732574091 Centerline is valid? [True, True] Translation: X:31.23, Y:3.91, Z:0.07 [[ 9.71961895e-01 -2.34831546e-01 -1.20091284e-02 3.12270620e+01] [ 2.34813153e-01 9.72036082e-01 -2.93926797e-03 3.90747003e+00] [ 1.23635390e-02 3.69551559e-05 9.99923568e-01 7.40094839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531858064 meters Centerline goodness [0,1] 0.9999564070707732 Centerline is valid? [True, True] Translation: X:31.25, Y:3.92, Z:0.07 [[ 9.72119807e-01 -2.34186995e-01 -1.18123650e-02 3.12539935e+01] [ 2.34169110e-01 9.72191570e-01 -2.89458525e-03 3.91699780e+00] [ 1.21617559e-02 4.77926422e-05 9.99926042e-01 7.36655024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561858064 meters Centerline goodness [0,1] 0.9998911268372346 Centerline is valid? [True, True] Translation: X:31.28, Y:3.93, Z:0.07 [[ 9.72190542e-01 -2.33925208e-01 -1.11600527e-02 3.12806534e+01] [ 2.33909190e-01 9.72254593e-01 -2.73798102e-03 3.92593092e+00] [ 1.14908953e-02 5.14003593e-05 9.99933976e-01 7.38865241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59185806399999 meters Centerline goodness [0,1] 0.9999782068604803 Centerline is valid? [True, True] Translation: X:31.31, Y:3.93, Z:0.07 [[ 9.72292512e-01 -2.33509761e-01 -1.09755226e-02 3.13064939e+01] [ 2.33494219e-01 9.72354456e-01 -2.69465398e-03 3.93417935e+00] [ 1.13013263e-02 5.72707980e-05 9.99936136e-01 7.38637910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621858063999994 meters Centerline goodness [0,1] 0.9998257004662513 Centerline is valid? [True, True] Translation: X:31.33, Y:3.94, Z:0.07 [[ 9.72075618e-01 -2.34392973e-01 -1.13546071e-02 3.13334030e+01] [ 2.34376366e-01 9.72141930e-01 -2.79057454e-03 3.94325420e+00] [ 1.16923807e-02 5.13979167e-05 9.99931640e-01 7.35054981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651858063999995 meters Centerline goodness [0,1] 0.9998914105766098 Centerline is valid? [True, True] Translation: X:31.36, Y:3.95, Z:0.07 [[ 9.71884744e-01 -2.35167544e-01 -1.16735280e-02 3.13591798e+01] [ 2.35150022e-01 9.71954847e-01 -2.87106076e-03 3.95122803e+00] [ 1.20213225e-02 4.53097717e-05 9.99927740e-01 7.29681474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681858064 meters Centerline goodness [0,1] 0.9998041178775083 Centerline is valid? [True, True] Translation: X:31.39, Y:3.96, Z:0.07 [[ 9.71658728e-01 -2.36101359e-01 -1.16389575e-02 3.13859057e+01] [ 2.36083973e-01 9.71728433e-01 -2.86546090e-03 3.95902178e+00] [ 1.19864451e-02 3.64787715e-05 9.99928159e-01 7.29461052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711858064 meters Centerline goodness [0,1] 0.9999565151218663 Centerline is valid? [True, True] Translation: X:31.41, Y:3.97, Z:0.07 [[ 9.71334905e-01 -2.37442532e-01 -1.13818688e-02 3.14124879e+01] [ 2.37425958e-01 9.71401587e-01 -2.80551073e-03 3.96677248e+00] [ 1.17225130e-02 2.27393834e-05 9.99931289e-01 7.29176934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741858064 meters Centerline goodness [0,1] 0.9998480968707956 Centerline is valid? [True, True] Translation: X:31.44, Y:3.97, Z:0.07 [[ 9.70771573e-01 -2.39748061e-01 -1.11094748e-02 3.14387850e+01] [ 2.39732400e-01 9.70835139e-01 -2.74031948e-03 3.97435166e+00] [ 1.14424548e-02 -3.07679795e-06 9.99934533e-01 7.24119948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77185806399999 meters Centerline goodness [0,1] 0.9996955727581108 Centerline is valid? [True, True] Translation: X:31.47, Y:3.98, Z:0.07 [[ 9.70447328e-01 -2.41055028e-01 -1.11560536e-02 3.14662026e+01] [ 2.41039290e-01 9.70511449e-01 -2.75459067e-03 3.98181415e+00] [ 1.14910857e-02 -1.58620850e-05 9.99933975e-01 7.29043983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801858063999994 meters Centerline goodness [0,1] 0.9998480243161094 Centerline is valid? [True, True] Translation: X:31.49, Y:3.99, Z:0.07 [[ 9.70160952e-01 -2.42187176e-01 -1.15368439e-02 3.14933161e+01] [ 2.42170383e-01 9.70229546e-01 -2.85210649e-03 3.98910084e+00] [ 1.18841304e-02 -2.68795449e-05 9.99929381e-01 7.27784982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.831858063999995 meters Centerline goodness [0,1] 0.9996099759485169 Centerline is valid? [True, True] Translation: X:31.52, Y:4.00, Z:0.07 [[ 9.69768685e-01 -2.43765518e-01 -1.12725316e-02 3.15204986e+01] [ 2.43749553e-01 9.69834197e-01 -2.79015337e-03 3.99685631e+00] [ 1.16126298e-02 -4.18711681e-05 9.99932570e-01 7.21906907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861858063999996 meters Centerline goodness [0,1] 0.9996535146606609 Centerline is valid? [True, True] Translation: X:31.55, Y:4.00, Z:0.07 [[ 9.69685690e-01 -2.44109461e-01 -1.09651125e-02 3.15467644e+01] [ 2.44094354e-01 9.69747683e-01 -2.71604999e-03 4.00351695e+00] [ 1.12964059e-02 -4.28072416e-05 9.99936193e-01 7.20981815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891858064 meters Centerline goodness [0,1] 0.9997837978077098 Centerline is valid? [True, True] Translation: X:31.57, Y:4.01, Z:0.07 [[ 9.69674700e-01 -2.44135933e-01 -1.13411895e-02 3.15737646e+01] [ 2.44119741e-01 9.69741019e-01 -2.81204189e-03 4.01139598e+00] [ 1.16845371e-02 -4.18423636e-05 9.99931733e-01 7.20970535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921858064 meters Centerline goodness [0,1] 0.9997841198566556 Centerline is valid? [True, True] Translation: X:31.60, Y:4.02, Z:0.07 [[ 9.69732993e-01 -2.43899058e-01 -1.14530589e-02 3.15999476e+01] [ 2.43882504e-01 9.69800623e-01 -2.84182143e-03 4.01976658e+00] [ 1.18003012e-02 -3.73926874e-05 9.99930373e-01 7.14285245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95185806399999 meters Centerline goodness [0,1] 0.9996760329150558 Centerline is valid? [True, True] Translation: X:31.63, Y:4.03, Z:0.07 [[ 9.69839450e-01 -2.43478272e-01 -1.13917226e-02 3.16264223e+01] [ 2.43461833e-01 9.69906351e-01 -2.82942151e-03 4.02859522e+00] [ 1.17378068e-02 -2.93650682e-05 9.99931109e-01 7.10496381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981858063999994 meters Centerline goodness [0,1] 0.9996762776243094 Centerline is valid? [True, True] Translation: X:31.65, Y:4.04, Z:0.07 [[ 9.70000732e-01 -2.42844051e-01 -1.11958484e-02 3.16535625e+01] [ 2.42828092e-01 9.70065341e-01 -2.78406918e-03 4.03720447e+00] [ 1.15367991e-02 -1.81173531e-05 9.99933449e-01 7.09516739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011858063999995 meters Centerline goodness [0,1] 0.9996550162789193 Centerline is valid? [True, True] Translation: X:31.68, Y:4.05, Z:0.07 [[ 9.70177826e-01 -2.42143877e-01 -1.10149331e-02 3.16805676e+01] [ 2.42128348e-01 9.70240353e-01 -2.74230554e-03 4.04517379e+00] [ 1.13511650e-02 -6.50351632e-06 9.99935573e-01 7.11973285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041858063999996 meters Centerline goodness [0,1] 0.999762516461927 Centerline is valid? [True, True] Translation: X:31.71, Y:4.05, Z:0.07 [[ 9.70493278e-01 -2.40900040e-01 -1.04865783e-02 3.17073545e+01] [ 2.40885859e-01 9.70549932e-01 -2.61386009e-03 4.05378791e+00] [ 1.08074269e-02 1.06652163e-05 9.99941598e-01 7.25570706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071858064 meters Centerline goodness [0,1] 0.999762516461927 Centerline is valid? [True, True] Translation: X:31.73, Y:4.06, Z:0.07 [[ 9.70424503e-01 -2.41176971e-01 -1.04858324e-02 3.17341045e+01] [ 2.41162774e-01 9.70481153e-01 -2.61685025e-03 4.06052677e+00] [ 1.08074267e-02 1.06631644e-05 9.99941598e-01 7.26508613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101858064 meters Centerline goodness [0,1] 0.9997193800457627 Centerline is valid? [True, True] Translation: X:31.76, Y:4.07, Z:0.07 [[ 9.70567476e-01 -2.40607287e-01 -1.03396360e-02 3.17598718e+01] [ 2.40593430e-01 9.70622549e-01 -2.58227825e-03 4.06860949e+00] [ 1.06571989e-02 1.86267833e-05 9.99943210e-01 7.26165063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13185806399999 meters Centerline goodness [0,1] 0.9997197611502727 Centerline is valid? [True, True] Translation: X:31.79, Y:4.08, Z:0.07 [[ 9.70629565e-01 -2.40367566e-01 -1.00836979e-02 3.17870350e+01] [ 2.40354349e-01 9.70681942e-01 -2.52073384e-03 4.07646432e+00] [ 1.03939661e-02 2.30381501e-05 9.99945981e-01 7.25201067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16185806399999 meters Centerline goodness [0,1] 0.9995462304717042 Centerline is valid? [True, True] Translation: X:31.81, Y:4.09, Z:0.07 [[ 9.70446985e-01 -2.41096232e-01 -1.02594168e-02 3.18138313e+01] [ 2.41082559e-01 9.70501214e-01 -2.56769426e-03 4.08537445e+00] [ 1.05758378e-02 1.84447027e-05 9.99944074e-01 7.21529617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.191858063999994 meters Centerline goodness [0,1] 0.999721071941983 Centerline is valid? [True, True] Translation: X:31.84, Y:4.09, Z:0.07 [[ 9.70280577e-01 -2.41768024e-01 -1.01894534e-02 3.18392232e+01] [ 2.41754550e-01 9.70334078e-01 -2.55254860e-03 4.09357537e+00] [ 1.05042985e-02 1.33416107e-05 9.99944828e-01 7.13152969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221858063999996 meters Centerline goodness [0,1] 0.9997425831778106 Centerline is valid? [True, True] Translation: X:31.87, Y:4.10, Z:0.07 [[ 9.69898764e-01 -2.43297196e-01 -1.01421075e-02 3.18656296e+01] [ 2.43283902e-01 9.69951790e-01 -2.54335041e-03 4.10252898e+00] [ 1.04561454e-02 -6.19067401e-07 9.99945333e-01 7.02985301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.251858064 meters Centerline goodness [0,1] 0.9996985941570324 Centerline is valid? [True, True] Translation: X:31.89, Y:4.11, Z:0.07 [[ 9.69667713e-01 -2.44231352e-01 -9.77615696e-03 3.18929107e+01] [ 2.44219018e-01 9.69716993e-01 -2.45443756e-03 4.10929601e+00] [ 1.00795561e-02 -7.53460016e-06 9.99949200e-01 7.07143917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281858064 meters Centerline goodness [0,1] 0.9998921739880529 Centerline is valid? [True, True] Translation: X:31.92, Y:4.12, Z:0.07 [[ 9.69425261e-01 -2.45192363e-01 -9.76563865e-03 3.19201783e+01] [ 2.45180075e-01 9.69474448e-01 -2.45475585e-03 4.11589817e+00] [ 1.00694245e-02 -1.46376883e-05 9.99949302e-01 7.13678161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31185806399999 meters Centerline goodness [0,1] 0.9996564828134058 Centerline is valid? [True, True] Translation: X:31.95, Y:4.12, Z:0.07 [[ 9.69292412e-01 -2.45721497e-01 -9.65225778e-03 3.19462550e+01] [ 2.45709500e-01 9.69340470e-01 -2.42809723e-03 4.12266921e+00] [ 9.95295978e-03 -1.81152134e-05 9.99950468e-01 7.14327273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34185806399999 meters Centerline goodness [0,1] 0.9996781875522945 Centerline is valid? [True, True] Translation: X:31.97, Y:4.13, Z:0.07 [[ 9.69038016e-01 -2.46742468e-01 -9.13668056e-03 3.19734728e+01] [ 2.46731744e-01 9.69081087e-01 -2.30056818e-03 4.13016452e+00] [ 9.42183220e-03 -2.49711063e-05 9.99955613e-01 7.21272653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371858063999994 meters Centerline goodness [0,1] 0.9997426604619245 Centerline is valid? [True, True] Translation: X:32.00, Y:4.14, Z:0.07 [[ 9.68916160e-01 -2.47229230e-01 -8.89849214e-03 3.19998029e+01] [ 2.47219063e-01 9.68957020e-01 -2.24229062e-03 4.13746905e+00] [ 9.17661621e-03 -2.72852732e-05 9.99957894e-01 7.20692727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401858063999995 meters Centerline goodness [0,1] 0.9997004578715393 Centerline is valid? [True, True] Translation: X:32.03, Y:4.15, Z:0.07 [[ 9.68717466e-01 -2.47999406e-01 -9.09752264e-03 3.20267799e+01] [ 2.47988793e-01 9.68760184e-01 -2.29459888e-03 4.14612855e+00] [ 9.38237686e-03 -3.32656462e-05 9.99955984e-01 7.14783732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.431858064 meters Centerline goodness [0,1] 0.9996348875668478 Centerline is valid? [True, True] Translation: X:32.05, Y:4.15, Z:0.07 [[ 9.68671016e-01 -2.48171584e-01 -9.34496730e-03 3.20540359e+01] [ 2.48160366e-01 9.68716090e-01 -2.35983241e-03 4.15420606e+00] [ 9.63826353e-03 -3.31492456e-05 9.99953550e-01 7.11111602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461858064 meters Centerline goodness [0,1] 0.9997436664245738 Centerline is valid? [True, True] Translation: X:32.08, Y:4.16, Z:0.07 [[ 9.68701342e-01 -2.48026784e-01 -1.00211871e-02 3.20810838e+01] [ 2.48013859e-01 9.68753175e-01 -2.53228599e-03 4.16102443e+00] [ 1.03361316e-02 -3.23644443e-05 9.99946580e-01 6.94273024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491858064 meters Centerline goodness [0,1] 0.9997426439049498 Centerline is valid? [True, True] Translation: X:32.11, Y:4.17, Z:0.07 [[ 9.68640366e-01 -2.48253186e-01 -1.03052129e-02 3.21083502e+01] [ 2.48239505e-01 9.68695181e-01 -2.60645731e-03 4.16853407e+00] [ 1.06296714e-02 -3.34411912e-05 9.99943503e-01 7.02812594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52185806399999 meters Centerline goodness [0,1] 0.999657988115087 Centerline is valid? [True, True] Translation: X:32.13, Y:4.17, Z:0.07 [[ 9.68682878e-01 -2.48076099e-01 -1.05702695e-02 3.21348783e+01] [ 2.48061674e-01 9.68740547e-01 -2.67544517e-03 4.17452864e+00] [ 1.09035626e-02 -3.04208040e-05 9.99940554e-01 6.90565738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551858063999994 meters Centerline goodness [0,1] 0.9995935568057843 Centerline is valid? [True, True] Translation: X:32.16, Y:4.18, Z:0.07 [[ 9.68668055e-01 -2.48152736e-01 -1.01201836e-02 3.21619352e+01] [ 2.48139492e-01 9.68720919e-01 -2.56392524e-03 4.18219181e+00] [ 1.04398787e-02 -2.76247501e-05 9.99945503e-01 7.06558757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581858063999995 meters Centerline goodness [0,1] 0.999550878993969 Centerline is valid? [True, True] Translation: X:32.19, Y:4.19, Z:0.07 [[ 9.68661565e-01 -2.48194630e-01 -9.70558641e-03 3.21890306e+01] [ 2.48182423e-01 9.68710186e-01 -2.46168459e-03 4.18983828e+00] [ 1.00128773e-02 -2.42167017e-05 9.99949870e-01 7.07955923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611858063999996 meters Centerline goodness [0,1] 0.9996133439305738 Centerline is valid? [True, True] Translation: X:32.22, Y:4.20, Z:0.07 [[ 9.68862660e-01 -2.47454782e-01 -8.44255323e-03 3.22155902e+01] [ 2.47445497e-01 9.68899443e-01 -2.14368282e-03 4.19822737e+00] [ 8.71044969e-03 -1.21375388e-05 9.99962063e-01 7.14763321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641858064 meters Centerline goodness [0,1] 0.9996566891964381 Centerline is valid? [True, True] Translation: X:32.24, Y:4.21, Z:0.07 [[ 9.69124538e-01 -2.46441551e-01 -8.01191163e-03 3.22425261e+01] [ 2.46433135e-01 9.69157656e-01 -2.03669476e-03 4.20631049e+00] [ 8.26673171e-03 -5.89631901e-07 9.99965830e-01 7.19913123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671858064 meters Centerline goodness [0,1] 0.9996572040707017 Centerline is valid? [True, True] Translation: X:32.27, Y:4.21, Z:0.07 [[ 9.69431539e-01 -2.45243702e-01 -7.61692684e-03 3.22689283e+01] [ 2.45236040e-01 9.69461462e-01 -1.93857687e-03 4.21445468e+00] [ 7.85974080e-03 1.13725873e-05 9.99969112e-01 7.21228320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70185806399999 meters Centerline goodness [0,1] 0.9996784910513342 Centerline is valid? [True, True] Translation: X:32.30, Y:4.22, Z:0.07 [[ 9.69822101e-01 -2.43691272e-01 -7.72381737e-03 3.22951327e+01] [ 2.43683332e-01 9.69852857e-01 -1.96723890e-03 4.22248978e+00] [ 7.97036529e-03 2.57062060e-05 9.99968236e-01 7.17380650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731858063999994 meters Centerline goodness [0,1] 0.999636254707292 Centerline is valid? [True, True] Translation: X:32.32, Y:4.23, Z:0.07 [[ 9.70568892e-01 -2.40665172e-01 -8.73507899e-03 3.23210852e+01] [ 2.40654887e-01 9.70608197e-01 -2.22565883e-03 4.23168302e+00] [ 9.01397783e-03 5.80157667e-05 9.99959372e-01 7.01735519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761858063999995 meters Centerline goodness [0,1] 0.9996139575782272 Centerline is valid? [True, True] Translation: X:32.35, Y:4.24, Z:0.07 [[ 9.70741131e-01 -2.39953112e-01 -9.17394129e-03 3.23494576e+01] [ 2.39941719e-01 9.70784476e-01 -2.33935525e-03 4.23908075e+00] [ 9.46725536e-03 6.96971150e-05 9.99955182e-01 6.99980055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791858063999996 meters Centerline goodness [0,1] 0.9997003745318352 Centerline is valid? [True, True] Translation: X:32.38, Y:4.25, Z:0.07 [[ 9.71011123e-01 -2.38840619e-01 -9.62072164e-03 3.23768424e+01] [ 2.38828008e-01 9.71058778e-01 -2.45587339e-03 4.24723183e+00] [ 9.92884852e-03 8.69825920e-05 9.99950704e-01 6.92076051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821858064 meters Centerline goodness [0,1] 0.9996791100652476 Centerline is valid? [True, True] Translation: X:32.40, Y:4.25, Z:0.07 [[ 9.71117817e-01 -2.38393896e-01 -9.92648373e-03 3.24042608e+01] [ 2.38380420e-01 9.71168544e-01 -2.53657648e-03 4.25477971e+00] [ 1.02449931e-02 9.70352530e-05 9.99947514e-01 6.87646431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851858064 meters Centerline goodness [0,1] 0.9997015625333078 Centerline is valid? [True, True] Translation: X:32.43, Y:4.26, Z:0.07 [[ 9.71204723e-01 -2.38071947e-01 -9.11776460e-03 3.24317190e+01] [ 2.38060539e-01 9.71247517e-01 -2.33247114e-03 4.26099691e+00] [ 9.41090218e-03 9.47270365e-05 9.99955712e-01 6.95900615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88185806399999 meters Centerline goodness [0,1] 0.9996584626550259 Centerline is valid? [True, True] Translation: X:32.46, Y:4.27, Z:0.07 [[ 9.71175017e-01 -2.38209189e-01 -8.68728680e-03 3.24581374e+01] [ 2.38198821e-01 9.71213866e-01 -2.22439514e-03 4.26728021e+00] [ 8.96708476e-03 9.09755138e-05 9.99959791e-01 6.99672217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91185806399999 meters Centerline goodness [0,1] 0.9996360911912662 Centerline is valid? [True, True] Translation: X:32.49, Y:4.27, Z:0.07 [[ 9.71013871e-01 -2.38875988e-01 -8.38594396e-03 3.24856562e+01] [ 2.38866333e-01 9.71050079e-01 -2.14943803e-03 4.27294346e+00] [ 8.65662067e-03 8.40144617e-05 9.99962527e-01 7.08981418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941858063999994 meters Centerline goodness [0,1] 0.9998071111682634 Centerline is valid? [True, True] Translation: X:32.51, Y:4.28, Z:0.07 [[ 9.70632720e-01 -2.40402798e-01 -8.86664039e-03 3.25132430e+01] [ 2.40392042e-01 9.70673214e-01 -2.27539585e-03 4.27739723e+00] [ 9.15362186e-03 7.71038753e-05 9.99958102e-01 7.10622635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971858063999996 meters Centerline goodness [0,1] 0.9999571651924354 Centerline is valid? [True, True] Translation: X:32.54, Y:4.28, Z:0.07 [[ 9.70362840e-01 -2.41473541e-01 -9.29984642e-03 3.25406854e+01] [ 2.41461730e-01 9.70407401e-01 -2.38942903e-03 4.28300381e+00] [ 9.60162368e-03 7.30561353e-05 9.99953901e-01 7.06325801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001858064 meters Centerline goodness [0,1] 0.9998282340311326 Centerline is valid? [True, True] Translation: X:32.57, Y:4.29, Z:0.07 [[ 9.69915762e-01 -2.43244124e-01 -9.78316593e-03 3.25679517e+01] [ 2.43231113e-01 9.69965099e-01 -2.51662035e-03 4.28848706e+00] [ 1.01014826e-02 6.13394076e-05 9.99948977e-01 7.01793830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031858064 meters Centerline goodness [0,1] 0.9999141722991095 Centerline is valid? [True, True] Translation: X:32.59, Y:4.29, Z:0.07 [[ 9.69484043e-01 -2.44956930e-01 -9.83830781e-03 3.25949277e+01] [ 2.44943843e-01 9.69533960e-01 -2.53242075e-03 4.29429132e+00] [ 1.01589076e-02 4.53085792e-05 9.99948396e-01 6.89488895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06185806399999 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:32.62, Y:4.30, Z:0.07 [[ 9.68471430e-01 -2.48979575e-01 -8.50062428e-03 3.26238415e+01] [ 2.48969945e-01 9.68508736e-01 -2.18971455e-03 4.29640442e+00] [ 8.77812307e-03 4.27602231e-06 9.99961472e-01 7.04193873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09185806399999 meters Centerline goodness [0,1] 0.9999569290405944 Centerline is valid? [True, True] Translation: X:32.65, Y:4.30, Z:0.07 [[ 9.67999020e-01 -2.50820663e-01 -8.17872280e-03 3.26519788e+01] [ 2.50811796e-01 9.68033571e-01 -2.10906397e-03 4.30144045e+00] [ 8.44627507e-03 -9.74830077e-06 9.99964330e-01 7.09575485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121858063999994 meters Centerline goodness [0,1] 0.9999138710649843 Centerline is valid? [True, True] Translation: X:32.68, Y:4.31, Z:0.07 [[ 9.67589692e-01 -2.52413735e-01 -7.58254989e-03 3.26799832e+01] [ 2.52406145e-01 9.67619402e-01 -1.95749160e-03 4.30715120e+00] [ 7.83112015e-03 -1.98334970e-05 9.99969336e-01 7.12051648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.71, Y:4.31, Z:0.07 [[ 9.67184651e-01 -2.53978081e-01 -6.99896567e-03 3.27066589e+01] [ 2.53971646e-01 9.67209974e-01 -1.80820195e-03 4.31182774e+00] [ 7.22871306e-03 -2.86736594e-05 9.99973872e-01 7.07845234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181858064 meters Centerline goodness [0,1] 0.9999784268887258 Centerline is valid? [True, True] Translation: X:32.73, Y:4.32, Z:0.07 [[ 9.67012934e-01 -2.54631502e-01 -6.98445700e-03 3.27338296e+01] [ 2.54625100e-01 9.67038157e-01 -1.80594005e-03 4.31864168e+00] [ 7.21408565e-03 -3.20506708e-05 9.99973978e-01 7.02837025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211858064 meters Centerline goodness [0,1] 0.9999784886097188 Centerline is valid? [True, True] Translation: X:32.76, Y:4.33, Z:0.07 [[ 9.66906213e-01 -2.55050383e-01 -6.45577006e-03 3.27596246e+01] [ 2.55044914e-01 9.66927764e-01 -1.67052043e-03 4.32549242e+00] [ 6.66833018e-03 -3.12747360e-05 9.99977766e-01 6.97299767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241858064 meters Centerline goodness [0,1] 0.9999140671994501 Centerline is valid? [True, True] Translation: X:32.79, Y:4.33, Z:0.07 [[ 9.66773902e-01 -2.55579544e-01 -5.22673564e-03 3.27870802e+01] [ 2.55575962e-01 9.66788031e-01 -1.35339321e-03 4.33260938e+00] [ 5.39904507e-03 -2.74027544e-05 9.99985425e-01 6.99047087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.81, Y:4.34, Z:0.07 [[ 9.66718506e-01 -2.55800143e-01 -4.64934661e-03 3.28140539e+01] [ 2.55797306e-01 9.66729686e-01 -1.20515557e-03 4.33931423e+00] [ 4.80294035e-03 -2.42441422e-05 9.99988466e-01 7.04405220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301858063999994 meters Centerline goodness [0,1] 0.9999355628584315 Centerline is valid? [True, True] Translation: X:32.84, Y:4.35, Z:0.07 [[ 9.66723661e-01 -2.55790069e-01 -4.09926984e-03 3.28399203e+01] [ 2.55787859e-01 9.66732352e-01 -1.06360515e-03 4.34580080e+00] [ 4.23495641e-03 -2.03311907e-05 9.99991032e-01 7.12788396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.87, Y:4.35, Z:0.07 [[ 9.66871791e-01 -2.55231074e-01 -4.00481221e-03 3.28655663e+01] [ 2.55228956e-01 9.66880085e-01 -1.03989600e-03 4.35287103e+00] [ 4.13758694e-03 -1.66979345e-05 9.99991440e-01 7.14473847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.89, Y:4.36, Z:0.07 [[ 9.67380336e-01 -2.53307511e-01 -3.25434866e-03 3.28923100e+01] [ 2.53306100e-01 9.67385810e-01 -8.45557970e-04 4.36195068e+00] [ 3.36239690e-03 -6.37021379e-06 9.99994347e-01 7.16268892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391858064 meters Centerline goodness [0,1] 0.9999570252906165 Centerline is valid? [True, True] Translation: X:32.92, Y:4.37, Z:0.07 [[ 9.67677061e-01 -2.52172477e-01 -3.18535328e-03 3.29192863e+01] [ 2.52171116e-01 9.67682304e-01 -8.28539993e-04 4.37009522e+00] [ 3.29134499e-03 -1.49494713e-06 9.99994584e-01 7.16623706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421858064 meters Centerline goodness [0,1] 0.9999142716303393 Centerline is valid? [True, True] Translation: X:32.94, Y:4.38, Z:0.07 [[ 9.68032747e-01 -2.50807963e-01 -2.82235426e-03 3.29449929e+01] [ 2.50806886e-01 9.68036862e-01 -7.34916063e-04 4.37820378e+00] [ 2.91646576e-03 3.55693320e-06 9.99995747e-01 7.14558800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.97, Y:4.39, Z:0.07 [[ 9.68774336e-01 -2.47920814e-01 -3.39932800e-03 3.29710361e+01] [ 2.47919232e-01 9.68780300e-01 -8.85667749e-04 4.38838780e+00] [ 3.51277746e-03 1.52533995e-05 9.99993830e-01 7.04766522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481858063999994 meters Centerline goodness [0,1] 0.9999142293507162 Centerline is valid? [True, True] Translation: X:33.00, Y:4.40, Z:0.07 [[ 9.68995954e-01 -2.47058139e-01 -3.01948961e-03 3.29976689e+01] [ 2.47056886e-01 9.69000658e-01 -7.86886540e-04 4.39627956e+00] [ 3.12029414e-03 1.65041737e-05 9.99995132e-01 7.05957044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511858063999995 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:33.02, Y:4.40, Z:0.07 [[ 9.69163372e-01 -2.46399336e-01 -3.11857769e-03 3.30237104e+01] [ 2.46397993e-01 9.69168389e-01 -8.13651510e-04 4.40361978e+00] [ 3.22291011e-03 2.01499552e-05 9.99994806e-01 7.08997202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541858063999996 meters Centerline goodness [0,1] 0.9999139081399854 Centerline is valid? [True, True] Translation: X:33.05, Y:4.41, Z:0.07 [[ 9.69179486e-01 -2.46341753e-01 -2.62005146e-03 3.30507631e+01] [ 2.46340804e-01 9.69183027e-01 -6.83931652e-04 4.41068901e+00] [ 2.70779033e-03 1.74269429e-05 9.99996334e-01 7.16171523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571858064 meters Centerline goodness [0,1] 0.9999568816833391 Centerline is valid? [True, True] Translation: X:33.08, Y:4.42, Z:0.07 [[ 9.68997490e-01 -2.47062000e-01 -2.05746668e-03 3.30783885e+01] [ 2.47061416e-01 9.68999674e-01 -5.37424358e-04 4.41562447e+00] [ 2.12646168e-03 1.24422211e-05 9.99997739e-01 7.19943249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601858064 meters Centerline goodness [0,1] 0.9999784268887258 Centerline is valid? [True, True] Translation: X:33.10, Y:4.42, Z:0.07 [[ 9.68798446e-01 -2.47845423e-01 -1.48883367e-03 3.31043731e+01] [ 2.47845118e-01 9.68799590e-01 -3.89249758e-04 4.42244213e+00] [ 1.53885522e-03 8.10440481e-06 9.99998816e-01 7.30402609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63185806399999 meters Centerline goodness [0,1] 0.999978467302599 Centerline is valid? [True, True] Translation: X:33.13, Y:4.43, Z:0.07 [[ 9.68608369e-01 -2.48589516e-01 -1.03879203e-03 3.31310567e+01] [ 2.48589368e-01 9.68608926e-01 -2.71794675e-04 4.42880444e+00] [ 1.07374854e-03 5.02994459e-06 9.99999424e-01 7.35768725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66185806399999 meters Centerline goodness [0,1] 0.9999354324946732 Centerline is valid? [True, True] Translation: X:33.16, Y:4.44, Z:0.07 [[ 9.68381716e-01 -2.49472588e-01 -5.29484539e-04 3.31583004e+01] [ 2.49472549e-01 9.68381861e-01 -1.37979683e-04 4.43563837e+00] [ 5.47165371e-04 1.52514453e-06 9.99999850e-01 7.39091472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.19, Y:4.44, Z:0.07 [[ 9.67982120e-01 -2.51018398e-01 -6.15481029e-04 3.31860712e+01] [ 2.51018347e-01 9.67982316e-01 -1.60637405e-04 4.44100399e+00] [ 6.36097696e-04 9.97105925e-07 9.99999798e-01 7.26356493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721858063999996 meters Centerline goodness [0,1] 0.9999138042494505 Centerline is valid? [True, True] Translation: X:33.21, Y:4.45, Z:0.07 [[ 9.67854087e-01 -2.51510971e-01 -8.35888342e-04 3.32139717e+01] [ 2.51510876e-01 9.67854447e-01 -2.18747033e-04 4.44722059e+00] [ 8.64035529e-04 1.48020090e-06 9.99999627e-01 7.23102540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751858064 meters Centerline goodness [0,1] 0.9999783563837846 Centerline is valid? [True, True] Translation: X:33.24, Y:4.45, Z:0.07 [[ 9.67993950e-01 -2.50966593e-01 -1.86568805e-03 3.32404077e+01] [ 2.50966115e-01 9.67995748e-01 -4.90314048e-04 4.45283452e+00] [ 1.92903055e-03 6.39655106e-06 9.99998139e-01 7.26068441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781858064 meters Centerline goodness [0,1] 0.9999783310580944 Centerline is valid? [True, True] Translation: X:33.27, Y:4.46, Z:0.07 [[ 9.68201751e-01 -2.50156790e-01 -2.63640521e-03 3.32678147e+01] [ 2.50155829e-01 9.68205340e-01 -6.93282483e-04 4.46011022e+00] [ 2.72601093e-03 1.17251818e-05 9.99996284e-01 7.25823315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81185806399999 meters Centerline goodness [0,1] 0.9999352149782971 Centerline is valid? [True, True] Translation: X:33.29, Y:4.47, Z:0.07 [[ 9.68338482e-01 -2.49623293e-01 -2.96567016e-03 3.32944472e+01] [ 2.49622073e-01 9.68343023e-01 -7.80897317e-04 4.46781056e+00] [ 3.06671617e-03 1.58761911e-05 9.99995297e-01 7.20715971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84185806399999 meters Centerline goodness [0,1] 0.999913606911447 Centerline is valid? [True, True] Translation: X:33.32, Y:4.48, Z:0.07 [[ 9.68452565e-01 -2.49169389e-01 -3.77417012e-03 3.33214928e+01] [ 2.49167403e-01 9.68459919e-01 -9.95201728e-04 4.47530261e+00] [ 3.90310629e-03 2.34055014e-05 9.99992383e-01 7.12966711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871858063999994 meters Centerline goodness [0,1] 0.9999134255351384 Centerline is valid? [True, True] Translation: X:33.35, Y:4.48, Z:0.07 [[ 9.68856312e-01 -2.47571218e-01 -5.09296223e-03 3.33490008e+01] [ 2.47567569e-01 9.68869697e-01 -1.34479400e-03 4.48266797e+00] [ 5.26734906e-03 4.20598770e-05 9.99986127e-01 7.00454679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901858063999995 meters Centerline goodness [0,1] 0.9998922413793103 Centerline is valid? [True, True] Translation: X:33.38, Y:4.49, Z:0.07 [[ 9.68975744e-01 -2.47098353e-01 -5.33025932e-03 3.33758393e+01] [ 2.47094343e-01 9.68990403e-01 -1.40857419e-03 4.48984802e+00] [ 5.51302649e-03 4.77973023e-05 9.99984802e-01 6.99264630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931858064 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:33.40, Y:4.50, Z:0.07 [[ 9.69073453e-01 -2.46701392e-01 -5.92163320e-03 3.34024679e+01] [ 2.46696431e-01 9.69091544e-01 -1.56557265e-03 4.49693152e+00] [ 6.12483361e-03 5.63091138e-05 9.99981241e-01 6.97101922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961858064 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:33.43, Y:4.50, Z:0.07 [[ 9.69004723e-01 -2.46971221e-01 -5.92132394e-03 3.34291144e+01] [ 2.46966258e-01 9.69022813e-01 -1.56674162e-03 4.50405757e+00] [ 6.12483807e-03 5.58128168e-05 9.99981241e-01 6.98041579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991858064 meters Centerline goodness [0,1] 0.9999351365375884 Centerline is valid? [True, True] Translation: X:33.46, Y:4.51, Z:0.07 [[ 9.69148994e-01 -2.46386924e-01 -6.61143532e-03 3.34568613e+01] [ 2.46380709e-01 9.69171543e-01 -1.75130666e-03 4.51148210e+00] [ 6.83911403e-03 6.83469673e-05 9.99976611e-01 6.91625886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02185806399999 meters Centerline goodness [0,1] 0.9999783699602007 Centerline is valid? [True, True] Translation: X:33.48, Y:4.52, Z:0.07 [[ 9.69134461e-01 -2.46438421e-01 -6.81911342e-03 3.34832877e+01] [ 2.46431802e-01 9.69158449e-01 -1.80766865e-03 4.51870894e+00] [ 7.05428039e-03 7.14275807e-05 9.99975116e-01 6.86931105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:4.52, Z:0.07 [[ 9.68942349e-01 -2.47184414e-01 -7.11265549e-03 3.35103396e+01] [ 2.47177221e-01 9.68968452e-01 -1.88707677e-03 4.52440179e+00] [ 7.35839474e-03 7.03821750e-05 9.99972924e-01 6.85222497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081858063999995 meters Centerline goodness [0,1] 0.999891457722783 Centerline is valid? [True, True] Translation: X:33.54, Y:4.53, Z:0.07 [[ 9.68409486e-01 -2.49265190e-01 -7.06631917e-03 3.35391147e+01] [ 2.49258131e-01 9.68435265e-01 -1.87675635e-03 4.52799093e+00] [ 7.31108271e-03 5.61311387e-05 9.99973272e-01 6.90211965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:4.53, Z:0.07 [[ 9.68203358e-01 -2.50081898e-01 -6.42671860e-03 3.35668270e+01] [ 2.50076066e-01 9.68224686e-01 -1.70862640e-03 4.53336897e+00] [ 6.64980413e-03 4.71293099e-05 9.99977889e-01 6.99111549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.59, Y:4.54, Z:0.07 [[ 9.67964426e-01 -2.51024175e-01 -5.63328858e-03 3.35939523e+01] [ 2.51019701e-01 9.67980817e-01 -1.49927536e-03 4.53968871e+00] [ 5.82926964e-03 3.71788037e-05 9.99983009e-01 7.07821542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:4.54, Z:0.07 [[ 9.67947247e-01 -2.51082267e-01 -5.98518309e-03 3.36212063e+01] [ 2.51077206e-01 9.67965750e-01 -1.59482278e-03 4.54482218e+00] [ 6.19388396e-03 4.09612706e-05 9.99980817e-01 7.03610071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20185806399999 meters Centerline goodness [0,1] 0.9999782229965157 Centerline is valid? [True, True] Translation: X:33.65, Y:4.55, Z:0.07 [[ 9.68081094e-01 -2.50534323e-01 -7.17964560e-03 3.36497660e+01] [ 2.50527008e-01 9.68107716e-01 -1.91536717e-03 4.55146800e+00] [ 7.43053552e-03 5.55356182e-05 9.99972392e-01 6.94433410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231858063999994 meters Centerline goodness [0,1] 0.9999782509406469 Centerline is valid? [True, True] Translation: X:33.68, Y:4.56, Z:0.07 [[ 9.68169299e-01 -2.50158505e-01 -8.30251856e-03 3.36780972e+01] [ 2.50148688e-01 9.68204894e-01 -2.21729605e-03 4.55799072e+00] [ 8.59321457e-03 6.98538402e-05 9.99963075e-01 6.85497823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.71, Y:4.56, Z:0.07 [[ 9.68263193e-01 -2.49796457e-01 -8.25345543e-03 3.37054966e+01] [ 2.49786731e-01 9.68298366e-01 -2.20554252e-03 4.56218204e+00] [ 8.54274411e-03 7.39419919e-05 9.99963507e-01 6.89078867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291858063999996 meters Centerline goodness [0,1] 0.9999781501955558 Centerline is valid? [True, True] Translation: X:33.73, Y:4.57, Z:0.07 [[ 9.68219595e-01 -2.49978829e-01 -7.83582676e-03 3.37329331e+01] [ 2.49970054e-01 9.68251300e-01 -2.09560877e-03 4.56785822e+00] [ 8.11090727e-03 7.02874362e-05 9.99967104e-01 6.93417724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321858064 meters Centerline goodness [0,1] 0.9999562545112535 Centerline is valid? [True, True] Translation: X:33.76, Y:4.57, Z:0.07 [[ 9.68079362e-01 -2.50534287e-01 -7.41072780e-03 3.37599456e+01] [ 2.50526439e-01 9.68107725e-01 -1.98409762e-03 4.57361191e+00] [ 7.67146731e-03 6.41807132e-05 9.99970572e-01 6.96794160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351858064 meters Centerline goodness [0,1] 0.9999564089710338 Centerline is valid? [True, True] Translation: X:33.79, Y:4.58, Z:0.07 [[ 9.67852518e-01 -2.51427311e-01 -6.76830385e-03 3.37876155e+01] [ 2.51420773e-01 9.67876182e-01 -1.81403389e-03 4.57973870e+00] [ 7.00697775e-03 5.40250899e-05 9.99975449e-01 6.99203046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38185806399999 meters Centerline goodness [0,1] 0.9999782215737091 Centerline is valid? [True, True] Translation: X:33.82, Y:4.58, Z:0.07 [[ 9.67377889e-01 -2.53264658e-01 -6.08556324e-03 3.38153287e+01] [ 2.53259400e-01 9.67397029e-01 -1.63230999e-03 4.58366136e+00] [ 6.30056223e-03 3.78344937e-05 9.99980151e-01 6.97926411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.84, Y:4.59, Z:0.07 [[ 9.67144391e-01 -2.54165549e-01 -5.62139358e-03 3.38431613e+01] [ 2.54161072e-01 9.67160728e-01 -1.50890801e-03 4.58925128e+00] [ 5.82030354e-03 3.05925037e-05 9.99983061e-01 6.98901642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441858063999994 meters Centerline goodness [0,1] 0.9999562468552428 Centerline is valid? [True, True] Translation: X:33.87, Y:4.59, Z:0.07 [[ 9.66898287e-01 -2.55093796e-01 -5.90402594e-03 3.38711374e+01] [ 2.55088864e-01 9.66916312e-01 -1.58655009e-03 4.59476685e+00] [ 6.11341807e-03 2.79812915e-05 9.99981312e-01 7.00990887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.90, Y:4.60, Z:0.07 [[ 9.66406438e-01 -2.56981420e-01 -4.37556918e-03 3.38992597e+01] [ 2.56978725e-01 9.66416344e-01 -1.17685596e-03 4.59846230e+00] [ 4.53105169e-03 1.28929805e-05 9.99989735e-01 7.06569500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.93, Y:4.60, Z:0.07 [[ 9.66312790e-01 -2.57334816e-01 -4.28777586e-03 3.39270974e+01] [ 2.57332227e-01 9.66322302e-01 -1.15451517e-03 4.60429531e+00] [ 4.44047039e-03 1.22398608e-05 9.99990141e-01 7.07677233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.95, Y:4.61, Z:0.07 [[ 9.66304229e-01 -2.57359208e-01 -4.73022831e-03 3.39530342e+01] [ 2.57356050e-01 9.66315807e-01 -1.27495046e-03 4.61007070e+00] [ 4.89901462e-03 1.46371489e-05 9.99988000e-01 7.09759911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56185806399999 meters Centerline goodness [0,1] 0.9999340470903775 Centerline is valid? [True, True] Translation: X:33.98, Y:4.62, Z:0.07 [[ 9.66517203e-01 -2.56545762e-01 -5.36357614e-03 3.39806546e+01] [ 2.56541684e-01 9.66532085e-01 -1.44677992e-03 4.61505721e+00] [ 5.55523368e-03 2.23568309e-05 9.99984569e-01 7.06680420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.01, Y:4.62, Z:0.07 [[ 9.66655209e-01 -2.56028318e-01 -5.21597499e-03 3.40082622e+01] [ 2.56024445e-01 9.66669281e-01 -1.40851859e-03 4.62195412e+00] [ 5.40274344e-03 2.61347348e-05 9.99985405e-01 7.08588982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.04, Y:4.63, Z:0.07 [[ 9.66886014e-01 -2.55153152e-01 -5.32024665e-03 3.40357176e+01] [ 2.55149101e-01 9.66900650e-01 -1.43830673e-03 4.62915049e+00] [ 5.51113844e-03 3.32225165e-05 9.99984813e-01 7.05486314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651858063999995 meters Centerline goodness [0,1] 0.9999560835291276 Centerline is valid? [True, True] Translation: X:34.06, Y:4.64, Z:0.07 [[ 9.67417790e-01 -2.53125057e-01 -5.52500202e-03 3.40621733e+01] [ 2.53120647e-01 9.67433565e-01 -1.49490564e-03 4.63633354e+00] [ 5.72347048e-03 4.77062282e-05 9.99983620e-01 6.97946145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.09, Y:4.64, Z:0.07 [[ 9.67731380e-01 -2.51913399e-01 -5.96782637e-03 3.40901029e+01] [ 2.51908225e-01 9.67749780e-01 -1.61575285e-03 4.64389601e+00] [ 6.18239244e-03 6.02701921e-05 9.99980887e-01 6.94840704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711858064 meters Centerline goodness [0,1] 0.9999780605528741 Centerline is valid? [True, True] Translation: X:34.12, Y:4.65, Z:0.07 [[ 9.68054568e-01 -2.50656924e-01 -6.43895463e-03 3.41176761e+01] [ 2.50650861e-01 9.68075979e-01 -1.74505591e-03 4.65158027e+00] [ 6.67080765e-03 7.53798264e-05 9.99977747e-01 6.93601238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741858064 meters Centerline goodness [0,1] 0.9999120357135003 Centerline is valid? [True, True] Translation: X:34.14, Y:4.66, Z:0.07 [[ 9.68733456e-01 -2.48005200e-01 -6.99371354e-03 3.41438475e+01] [ 2.47997969e-01 9.68758696e-01 -1.89667668e-03 4.66126961e+00] [ 7.24560648e-03 1.02947405e-04 9.99973745e-01 6.83440368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77185806399999 meters Centerline goodness [0,1] 0.9999341108255914 Centerline is valid? [True, True] Translation: X:34.17, Y:4.67, Z:0.07 [[ 9.68912424e-01 -2.47311100e-01 -6.77744147e-03 3.41726740e+01] [ 2.47304283e-01 9.68936122e-01 -1.83922957e-03 4.66565537e+00] [ 7.02176975e-03 1.05962079e-04 9.99975341e-01 6.93310831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.20, Y:4.67, Z:0.07 [[ 9.68980190e-01 -2.47052326e-01 -6.52223288e-03 3.42003247e+01] [ 2.47045995e-01 9.69002135e-01 -1.77178971e-03 4.67131523e+00] [ 6.75778236e-03 1.05537619e-04 9.99977160e-01 7.04874173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831858063999995 meters Centerline goodness [0,1] 0.9999558157516846 Centerline is valid? [True, True] Translation: X:34.23, Y:4.68, Z:0.07 [[ 9.68886314e-01 -2.47450683e-01 -5.24119623e-03 3.42278655e+01] [ 2.47446593e-01 9.68900486e-01 -1.42519332e-03 4.67574599e+00] [ 5.43086264e-03 8.39341488e-05 9.99985249e-01 7.23065743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861858063999996 meters Centerline goodness [0,1] 0.9999779458791875 Centerline is valid? [True, True] Translation: X:34.26, Y:4.68, Z:0.07 [[ 9.68750506e-01 -2.47992377e-01 -4.71577797e-03 3.42556348e+01] [ 2.47989066e-01 9.68761981e-01 -1.28365142e-03 4.68202328e+00] [ 4.88680218e-03 7.40765935e-05 9.99988057e-01 7.32792378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.28, Y:4.69, Z:0.07 [[ 9.68624502e-01 -2.48484905e-01 -4.67189742e-03 3.42833924e+01] [ 2.48481654e-01 9.68635766e-01 -1.27311236e-03 4.68843384e+00] [ 4.84171614e-03 7.22870270e-05 9.99988276e-01 7.34318343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.31, Y:4.69, Z:0.07 [[ 9.68507626e-01 -2.48939820e-01 -4.68440710e-03 3.43102686e+01] [ 2.48936552e-01 9.68518952e-01 -1.27765411e-03 4.69488106e+00] [ 4.85499604e-03 7.12976015e-05 9.99988212e-01 7.33806924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95185806399999 meters Centerline goodness [0,1] 0.9999334973731462 Centerline is valid? [True, True] Translation: X:34.34, Y:4.70, Z:0.07 [[ 9.68274257e-01 -2.49817066e-01 -6.03298359e-03 3.43381359e+01] [ 2.49811654e-01 9.68293048e-01 -1.64669306e-03 4.69856429e+00] [ 6.25306810e-03 8.73408914e-05 9.99980446e-01 7.28966258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:4.70, Z:0.07 [[ 9.68074851e-01 -2.50580607e-01 -6.35943718e-03 3.43655162e+01] [ 2.50574597e-01 9.68095735e-01 -1.73778337e-03 4.70353735e+00] [ 6.59199882e-03 8.87909660e-05 9.99978269e-01 7.23584153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.39, Y:4.71, Z:0.07 [[ 9.67717880e-01 -2.51933333e-01 -7.19030077e-03 3.43934810e+01] [ 2.51925671e-01 9.67744588e-01 -1.96701210e-03 4.70895491e+00] [ 7.45393057e-03 9.20914382e-05 9.99972215e-01 7.14883546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.42, Y:4.72, Z:0.07 [[ 9.67462414e-01 -2.52918769e-01 -6.96952317e-03 3.44207596e+01] [ 2.52911587e-01 9.67487514e-01 -1.90780844e-03 4.71527674e+00] [ 7.22544721e-03 8.30597882e-05 9.99973893e-01 7.12442484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.45, Y:4.72, Z:0.07 [[ 9.67170082e-01 -2.54037387e-01 -6.85838449e-03 3.44489201e+01] [ 2.54030451e-01 9.67194396e-01 -1.87874725e-03 4.72058379e+00] [ 7.11066309e-03 7.48296269e-05 9.99974716e-01 7.14894902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101858064 meters Centerline goodness [0,1] 0.99997771935297 Centerline is valid? [True, True] Translation: X:34.48, Y:4.72, Z:0.07 [[ 9.66390757e-01 -2.56982235e-01 -7.00255478e-03 3.44782922e+01] [ 2.56975066e-01 9.66416126e-01 -1.92022897e-03 4.72431785e+00] [ 7.26084659e-03 5.62095539e-05 9.99973638e-01 7.11307191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:4.73, Z:0.07 [[ 9.65937619e-01 -2.58662762e-01 -7.62181768e-03 3.45057622e+01] [ 2.58654310e-01 9.65967687e-01 -2.09161609e-03 4.72964718e+00] [ 7.90345280e-03 4.89546735e-05 9.99968766e-01 7.06955285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.53, Y:4.73, Z:0.07 [[ 9.65361298e-01 -2.60811302e-01 -7.41822281e-03 3.45341420e+01] [ 2.60803347e-01 9.65389799e-01 -2.03729039e-03 4.73388344e+00] [ 7.69282498e-03 3.20239625e-05 9.99970409e-01 7.07590335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.56, Y:4.74, Z:0.07 [[ 9.64705312e-01 -2.63226908e-01 -7.43338855e-03 3.45614774e+01] [ 2.63218979e-01 9.64733950e-01 -2.04317478e-03 4.73802794e+00] [ 7.70906088e-03 1.44526192e-05 9.99970285e-01 7.12437234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:4.74, Z:0.07 [[ 9.63735114e-01 -2.66769001e-01 -6.99501296e-03 3.45900622e+01] [ 2.66762060e-01 9.63760499e-01 -1.92443032e-03 4.74153886e+00] [ 7.25489554e-03 -1.13629909e-05 9.99973683e-01 7.16086047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251858064 meters Centerline goodness [0,1] 0.9999774713886636 Centerline is valid? [True, True] Translation: X:34.62, Y:4.75, Z:0.07 [[ 9.63333298e-01 -2.68221129e-01 -6.81052863e-03 3.46170401e+01] [ 2.68214571e-01 9.63357372e-01 -1.87568977e-03 4.74780636e+00] [ 7.06407259e-03 -1.97686054e-05 9.99975049e-01 7.11070103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.64, Y:4.75, Z:0.07 [[ 9.62829599e-01 -2.70019034e-01 -6.99172997e-03 3.46443857e+01] [ 2.70012160e-01 9.62854984e-01 -1.92694601e-03 4.75232866e+00] [ 7.25233415e-03 -3.25314563e-05 9.99973701e-01 7.12193393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.67, Y:4.76, Z:0.07 [[ 9.62619630e-01 -2.70767553e-01 -6.95553146e-03 3.46717531e+01] [ 2.70760760e-01 9.62644758e-01 -1.91835086e-03 4.75909482e+00] [ 7.21513307e-03 -3.66427934e-05 9.99973970e-01 7.12190710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.70, Y:4.77, Z:0.07 [[ 9.62571500e-01 -2.70949648e-01 -6.51116288e-03 3.46987975e+01] [ 2.70943687e-01 9.62593521e-01 -1.79763901e-03 4.76615747e+00] [ 6.75467286e-03 -3.38023975e-05 9.99977186e-01 7.14332771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.73, Y:4.77, Z:0.07 [[ 9.62816131e-01 -2.70099543e-01 -5.59768580e-03 3.47254775e+01] [ 2.70095116e-01 9.62832403e-01 -1.54647551e-03 4.77370770e+00] [ 5.80733560e-03 -2.29360303e-05 9.99983137e-01 7.18509934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401858063999995 meters Centerline goodness [0,1] 0.9999774378412527 Centerline is valid? [True, True] Translation: X:34.75, Y:4.78, Z:0.07 [[ 9.62966333e-01 -2.69566061e-01 -5.47547140e-03 3.47525765e+01] [ 2.69561812e-01 9.62981899e-01 -1.51363182e-03 4.78210132e+00] [ 5.68080362e-03 -1.84015135e-05 9.99983864e-01 7.17944153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:4.79, Z:0.07 [[ 9.63652234e-01 -2.67087717e-01 -6.20671286e-03 3.47783520e+01] [ 2.67082193e-01 9.63672222e-01 -1.71771868e-03 4.79262087e+00] [ 6.44001834e-03 -2.41903490e-06 9.99979263e-01 7.11145975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.81, Y:4.80, Z:0.07 [[ 9.63952388e-01 -2.65986250e-01 -6.86357703e-03 3.48053629e+01] [ 2.65979453e-01 9.63976823e-01 -1.90165702e-03 4.80213192e+00] [ 7.12214380e-03 7.53636235e-06 9.99974637e-01 7.03767215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:4.81, Z:0.07 [[ 9.64269858e-01 -2.64814413e-01 -7.54763858e-03 3.48319377e+01] [ 2.64806138e-01 9.64299397e-01 -2.09352775e-03 4.81119915e+00] [ 7.83257965e-03 2.00646761e-05 9.99969325e-01 6.97246556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:4.82, Z:0.07 [[ 9.64451878e-01 -2.64153512e-01 -7.44969282e-03 3.48590762e+01] [ 2.64145414e-01 9.64480649e-01 -2.06855082e-03 4.81996941e+00] [ 7.73149952e-03 2.72155287e-05 9.99970111e-01 6.98231028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551858063999994 meters Centerline goodness [0,1] 0.9999549944868247 Centerline is valid? [True, True] Translation: X:34.89, Y:4.83, Z:0.07 [[ 9.64690719e-01 -2.63267278e-01 -7.88393044e-03 3.48860150e+01] [ 2.63258165e-01 9.64722934e-01 -2.19079055e-03 4.82859702e+00] [ 8.18257197e-03 3.79262511e-05 9.99966521e-01 6.97959978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581858063999995 meters Centerline goodness [0,1] 0.999977416440831 Centerline is valid? [True, True] Translation: X:34.91, Y:4.84, Z:0.07 [[ 9.64798486e-01 -2.62883896e-01 -7.47918783e-03 3.49127098e+01] [ 2.62875670e-01 9.64827475e-01 -2.08000564e-03 4.83609984e+00] [ 7.76292589e-03 4.06897825e-05 9.99969867e-01 7.12746144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.94, Y:4.84, Z:0.07 [[ 9.64641646e-01 -2.63461453e-01 -7.38633970e-03 3.49391844e+01] [ 2.63453430e-01 9.64669924e-01 -2.05636563e-03 4.84411223e+00] [ 7.66715283e-03 3.76993942e-05 9.99970606e-01 7.09463601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.97, Y:4.85, Z:0.07 [[ 9.64499943e-01 -2.63971457e-01 -7.67662244e-03 3.49660324e+01] [ 2.63962789e-01 9.64530491e-01 -2.13948220e-03 4.85239407e+00] [ 7.96909864e-03 3.71877856e-05 9.99968246e-01 7.06127786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.99, Y:4.86, Z:0.07 [[ 9.64243977e-01 -2.64933511e-01 -6.61718615e-03 3.49929319e+01] [ 2.64927081e-01 9.64266682e-01 -1.84602827e-03 4.86065502e+00] [ 6.86980688e-03 2.69498293e-05 9.99976402e-01 7.04318613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.02, Y:4.87, Z:0.07 [[ 9.63975298e-01 -2.65916682e-01 -6.32013201e-03 3.50203567e+01] [ 2.65910825e-01 9.63996015e-01 -1.76497227e-03 4.86809834e+00] [ 6.56191764e-03 2.07981490e-05 9.99978470e-01 7.04084335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.05, Y:4.88, Z:0.07 [[ 9.63682938e-01 -2.66976316e-01 -6.23238309e-03 3.50470834e+01] [ 2.66970631e-01 9.63703090e-01 -1.74228110e-03 4.87544217e+00] [ 6.47131463e-03 1.51433189e-05 9.99979061e-01 7.05227280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.07, Y:4.88, Z:0.07 [[ 9.63009086e-01 -2.69391032e-01 -6.47865717e-03 3.50736461e+01] [ 2.69384931e-01 9.63030878e-01 -1.81307850e-03 4.88304005e+00] [ 6.72757399e-03 7.58458506e-07 9.99977370e-01 6.99595767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791858063999996 meters Centerline goodness [0,1] 0.9999775729439997 Centerline is valid? [True, True] Translation: X:35.10, Y:4.89, Z:0.07 [[ 9.62685759e-01 -2.70522081e-01 -7.34392878e-03 3.50998679e+01] [ 2.70514259e-01 9.62713771e-01 -2.05716459e-03 4.89012933e+00] [ 7.62660981e-03 -6.23439605e-06 9.99970917e-01 6.93121316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.13, Y:4.90, Z:0.07 [[ 9.62307674e-01 -2.71844336e-01 -8.03730875e-03 3.51274837e+01] [ 2.71834996e-01 9.62341237e-01 -2.25349546e-03 4.89709033e+00] [ 8.34723363e-03 -1.62658204e-05 9.99965161e-01 6.85970933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851858064 meters Centerline goodness [0,1] 0.99997737965979 Centerline is valid? [True, True] Translation: X:35.16, Y:4.90, Z:0.07 [[ 9.61502603e-01 -2.74612963e-01 -1.00232222e-02 3.51552768e+01] [ 2.74598569e-01 9.61554844e-01 -2.81209246e-03 4.90272679e+00] [ 1.04101149e-02 -4.85282649e-05 9.99945812e-01 6.71978748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88185806399999 meters Centerline goodness [0,1] 0.99997737965979 Centerline is valid? [True, True] Translation: X:35.18, Y:4.91, Z:0.07 [[ 9.61430226e-01 -2.74866272e-01 -1.00226473e-02 3.51818224e+01] [ 2.74851870e-01 9.61482465e-01 -2.81414050e-03 4.91027079e+00] [ 1.04101120e-02 -4.91436254e-05 9.99945812e-01 6.72919268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91185806399999 meters Centerline goodness [0,1] 0.9999549092548754 Centerline is valid? [True, True] Translation: X:35.21, Y:4.92, Z:0.07 [[ 9.60895406e-01 -2.76712612e-01 -1.04951527e-02 3.52093495e+01] [ 2.76696900e-01 9.60952717e-01 -2.94962955e-03 4.91756660e+00] [ 1.09015452e-02 -6.96907242e-05 9.99940574e-01 6.71471155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.24, Y:4.92, Z:0.07 [[ 9.60081640e-01 -2.79487321e-01 -1.14053751e-02 3.52371553e+01] [ 2.79468925e-01 9.60149377e-01 -3.20842867e-03 4.92458069e+00] [ 1.18475789e-02 -1.07094452e-04 9.99929809e-01 6.59006359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.26, Y:4.93, Z:0.07 [[ 9.59658747e-01 -2.80934390e-01 -1.14436908e-02 3.52643413e+01] [ 2.80915954e-01 9.59726968e-01 -3.22078688e-03 4.93204141e+00] [ 1.18876485e-02 -1.23859019e-04 9.99929332e-01 6.57456444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.29, Y:4.94, Z:0.07 [[ 9.59208326e-01 -2.82492231e-01 -1.08409445e-02 3.52919454e+01] [ 2.82475762e-01 9.59269577e-01 -3.05332462e-03 4.93989389e+00] [ 1.12619287e-02 -1.33529659e-04 9.99936574e-01 6.60151409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.32, Y:4.95, Z:0.07 [[ 9.58210652e-01 -2.85853498e-01 -1.09601141e-02 3.53197128e+01] [ 2.85836862e-01 9.58273316e-01 -3.08874472e-03 4.94556814e+00] [ 1.13857133e-02 -1.73136521e-04 9.99935166e-01 6.62168716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.35, Y:4.95, Z:0.07 [[ 9.57594685e-01 -2.87933358e-01 -1.03344502e-02 3.53479917e+01] [ 2.87918666e-01 9.57650431e-01 -2.91456963e-03 4.95197828e+00] [ 1.07359925e-02 -1.84504719e-04 9.99942351e-01 6.69152295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.38, Y:4.96, Z:0.07 [[ 9.56950723e-01 -2.90096062e-01 -9.46507663e-03 3.53755069e+01] [ 2.90083820e-01 9.56997513e-01 -2.67173687e-03 4.96051561e+00] [ 9.83311514e-03 -1.88945061e-04 9.99951636e-01 6.86445502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121858063999994 meters Centerline goodness [0,1] 0.9999548185966656 Centerline is valid? [True, True] Translation: X:35.40, Y:4.97, Z:0.07 [[ 9.56359504e-01 -2.92059988e-01 -8.80124072e-03 3.54034909e+01] [ 2.92049466e-01 9.56399983e-01 -2.48659066e-03 4.96759659e+00] [ 9.14374010e-03 -1.92323039e-04 9.99958177e-01 6.95787862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.43, Y:4.98, Z:0.07 [[ 9.55395514e-01 -2.95224090e-01 -7.88340228e-03 3.54313354e+01] [ 2.95215739e-01 9.55428018e-01 -2.22925170e-03 4.97616813e+00] [ 8.19015222e-03 -1.97487359e-04 9.99966441e-01 7.02751434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.46, Y:4.99, Z:0.07 [[ 9.55174358e-01 -2.95948376e-01 -7.51690553e-03 3.54591987e+01] [ 2.95940791e-01 9.55203916e-01 -2.12755435e-03 4.98541890e+00] [ 7.80982386e-03 -1.92373611e-04 9.99969484e-01 6.98748009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.49, Y:4.99, Z:0.07 [[ 9.55251001e-01 -2.95703226e-01 -7.42471680e-03 3.54858191e+01] [ 2.95695807e-01 9.55279837e-01 -2.10290154e-03 4.99413376e+00] [ 7.71451703e-03 -1.86658828e-04 9.99970225e-01 6.96001149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.51, Y:5.00, Z:0.07 [[ 9.55731626e-01 -2.94142244e-01 -7.57626908e-03 3.55116627e+01] [ 2.94134464e-01 9.55761638e-01 -2.14669394e-03 5.00428678e+00] [ 7.87254072e-03 -1.76778559e-04 9.99968995e-01 6.92145070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27185806399999 meters Centerline goodness [0,1] 0.999977611104892 Centerline is valid? [True, True] Translation: X:35.54, Y:5.01, Z:0.07 [[ 9.55949232e-01 -2.93426563e-01 -7.86873850e-03 3.55386635e+01] [ 2.93418134e-01 9.55981601e-01 -2.23105265e-03 5.01370206e+00] [ 8.17701934e-03 -1.76057503e-04 9.99966552e-01 6.90594492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:5.02, Z:0.07 [[ 9.56161337e-01 -2.92731112e-01 -7.99955782e-03 3.55656792e+01] [ 2.92722359e-01 9.56194785e-01 -2.27023550e-03 5.02460654e+00] [ 8.31370403e-03 -1.70938024e-04 9.99965426e-01 6.86078703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331858063999995 meters Centerline goodness [0,1] 0.999910654456109 Centerline is valid? [True, True] Translation: X:35.59, Y:5.04, Z:0.07 [[ 9.56596474e-01 -2.91263055e-01 -9.43502562e-03 3.55928704e+01] [ 2.91250782e-01 9.56642984e-01 -2.68012350e-03 5.03640941e+00] [ 9.80657202e-03 -1.84161898e-04 9.99951897e-01 6.60621772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361858063999996 meters Centerline goodness [0,1] 0.9999109290104213 Centerline is valid? [True, True] Translation: X:35.62, Y:5.05, Z:0.07 [[ 9.56796814e-01 -2.90599616e-01 -9.57704924e-03 3.56205973e+01] [ 2.90586914e-01 9.56844727e-01 -2.72291324e-03 5.04629459e+00] [ 9.95502661e-03 -1.77690470e-04 9.99950432e-01 6.57127342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.65, Y:5.06, Z:0.07 [[ 9.57142684e-01 -2.89470893e-01 -9.19151879e-03 3.56479583e+01] [ 2.89459118e-01 9.57186804e-01 -2.61566506e-03 5.05677034e+00] [ 9.55515939e-03 -1.57004252e-04 9.99954336e-01 6.72902473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:5.07, Z:0.07 [[ 9.57649134e-01 -2.87784676e-01 -9.38698913e-03 3.56750587e+01] [ 2.87772290e-01 9.57695129e-01 -2.67365489e-03 5.06887377e+00] [ 9.75931067e-03 -1.40892069e-04 9.99952367e-01 6.79765411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45185806399999 meters Centerline goodness [0,1] 0.9998665569468229 Centerline is valid? [True, True] Translation: X:35.70, Y:5.08, Z:0.07 [[ 9.57874252e-01 -2.87024128e-01 -9.69883778e-03 3.57023061e+01] [ 2.87010842e-01 9.57923343e-01 -2.76501175e-03 5.07878519e+00] [ 1.00843682e-02 -1.35138030e-04 9.99949142e-01 6.74550978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.73, Y:5.09, Z:0.07 [[ 9.58231414e-01 -2.85843236e-01 -9.28452135e-03 3.57289003e+01] [ 2.85830992e-01 9.58276385e-01 -2.64829846e-03 5.08834131e+00] [ 9.65413576e-03 -1.16121171e-04 9.99953391e-01 6.81954294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.76, Y:5.10, Z:0.07 [[ 9.58839870e-01 -2.83812558e-01 -8.74844348e-03 3.57555597e+01] [ 2.83801586e-01 9.58879776e-01 -2.49713375e-03 5.10079283e+00] [ 9.09742344e-03 -8.84707338e-05 9.99958614e-01 6.91133214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.78, Y:5.11, Z:0.07 [[ 9.59235399e-01 -2.82499171e-01 -7.85291419e-03 3.57812449e+01] [ 2.82490275e-01 9.59267540e-01 -2.24294231e-03 5.11076283e+00] [ 8.16667503e-03 -6.68622297e-05 9.99966650e-01 6.90918076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.81, Y:5.12, Z:0.07 [[ 9.59701200e-01 -2.80917801e-01 -7.66783883e-03 3.58083457e+01] [ 2.80909256e-01 9.59731830e-01 -2.19170068e-03 5.12250114e+00] [ 7.97475673e-03 -5.05891239e-05 9.99968200e-01 6.92670951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.83, Y:5.13, Z:0.07 [[ 9.60180441e-01 -2.79291369e-01 -7.06054138e-03 3.58342204e+01] [ 2.79284071e-01 9.60206400e-01 -2.01927864e-03 5.13266316e+00] [ 7.34354411e-03 -3.30248824e-05 9.99973035e-01 6.89554159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.86, Y:5.14, Z:0.07 [[ 9.60653711e-01 -2.77670671e-01 -6.59139025e-03 3.58604991e+01] [ 2.77664263e-01 9.60676323e-01 -1.88639608e-03 5.14412340e+00] [ 6.85598942e-03 -1.80201198e-05 9.99976497e-01 7.00733141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66185806399999 meters Centerline goodness [0,1] 0.9999560304269446 Centerline is valid? [True, True] Translation: X:35.89, Y:5.15, Z:0.07 [[ 9.60761482e-01 -2.77295423e-01 -6.67999523e-03 3.58871146e+01] [ 2.77288819e-01 9.60784704e-01 -1.91380637e-03 5.15329848e+00] [ 6.94872699e-03 -1.35765459e-05 9.99975857e-01 7.04646064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.91, Y:5.16, Z:0.07 [[ 9.60811945e-01 -2.77093442e-01 -7.72212444e-03 3.59126601e+01] [ 2.77084598e-01 9.60842976e-01 -2.21396321e-03 5.16388266e+00] [ 8.03322371e-03 -1.24794451e-05 9.99967733e-01 6.95241758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721858063999996 meters Centerline goodness [0,1] 0.9998462653460127 Centerline is valid? [True, True] Translation: X:35.94, Y:5.17, Z:0.07 [[ 9.60624213e-01 -2.77692846e-01 -9.37041253e-03 3.59401704e+01] [ 2.77679832e-01 9.60669913e-01 -2.68853324e-03 5.17201892e+00] [ 9.74845984e-03 -1.93044450e-05 9.99952482e-01 6.71465402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:5.18, Z:0.07 [[ 9.60465307e-01 -2.78238523e-01 -9.47202904e-03 3.59662929e+01] [ 2.78225224e-01 9.60512011e-01 -2.72045078e-03 5.18122055e+00] [ 9.85493188e-03 -2.24588037e-05 9.99951439e-01 6.87662597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781858064 meters Centerline goodness [0,1] 0.9999779745385666 Centerline is valid? [True, True] Translation: X:35.99, Y:5.19, Z:0.07 [[ 9.60009608e-01 -2.79771533e-01 -1.04614276e-02 3.59936869e+01] [ 2.79755368e-01 9.60066606e-01 -3.00763376e-03 5.19026660e+00] [ 1.08851176e-02 -3.92832179e-05 9.99940755e-01 6.79701888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.02, Y:5.20, Z:0.07 [[ 9.59650425e-01 -2.81007746e-01 -1.02814198e-02 3.60204940e+01] [ 2.80992172e-01 9.59705499e-01 -2.95890567e-03 5.19887222e+00] [ 1.06986105e-02 -4.94834070e-05 9.99942767e-01 6.80165422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84185806399999 meters Centerline goodness [0,1] 0.9999781439874109 Centerline is valid? [True, True] Translation: X:36.05, Y:5.21, Z:0.07 [[ 9.59244887e-01 -2.82409234e-01 -9.70937336e-03 3.60469239e+01] [ 2.82395398e-01 9.59294022e-01 -2.79609182e-03 5.20657774e+00] [ 1.01037860e-02 -5.97455747e-05 9.99948954e-01 6.76747585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.07, Y:5.22, Z:0.07 [[ 9.58659603e-01 -2.84403242e-01 -9.30382717e-03 3.60742946e+01] [ 2.84390612e-01 9.58704746e-01 -2.68134385e-03 5.21504813e+00] [ 9.68220615e-03 -7.54250667e-05 9.99953123e-01 6.82610993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.10, Y:5.22, Z:0.07 [[ 9.57483224e-01 -2.88388617e-01 -7.60801104e-03 3.61016522e+01] [ 2.88380286e-01 9.57513445e-01 -2.19395032e-03 5.22135756e+00] [ 7.91748316e-03 -9.33297765e-05 9.99968652e-01 6.89955762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.13, Y:5.23, Z:0.07 [[ 9.56903296e-01 -2.90311646e-01 -7.43166214e-03 3.61291239e+01] [ 2.90303748e-01 9.56932149e-01 -2.14394522e-03 5.22853394e+00] [ 7.73400869e-03 -1.05891129e-04 9.99970087e-01 7.00862003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:5.24, Z:0.07 [[ 9.55948773e-01 -2.93439352e-01 -7.43573217e-03 3.61568411e+01] [ 2.93431530e-01 9.55977683e-01 -2.14653004e-03 5.23585046e+00] [ 7.73827039e-03 -1.29905511e-04 9.99970051e-01 7.04014686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.18, Y:5.24, Z:0.07 [[ 9.55686585e-01 -2.94279558e-01 -7.91785721e-03 3.61837643e+01] [ 2.94270706e-01 9.55719374e-01 -2.28706694e-03 5.24436981e+00] [ 8.24028658e-03 -1.44274234e-04 9.99966038e-01 6.99873208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.21, Y:5.25, Z:0.07 [[ 9.55508281e-01 -2.94866159e-01 -7.60739495e-03 3.62101549e+01] [ 2.94857994e-01 9.55538554e-01 -2.19898954e-03 5.25420192e+00] [ 7.91756677e-03 -1.41948496e-04 9.99968646e-01 6.96346155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051858063999994 meters Centerline goodness [0,1] 0.9999127970350992 Centerline is valid? [True, True] Translation: X:36.24, Y:5.26, Z:0.07 [[ 9.55354520e-01 -2.95350599e-01 -8.10954331e-03 3.62372190e+01] [ 2.95341316e-01 9.55388926e-01 -2.34665156e-03 5.26311651e+00] [ 8.44085282e-03 -1.53199018e-04 9.99964364e-01 6.81050504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.26, Y:5.27, Z:0.07 [[ 9.55970467e-01 -2.93340364e-01 -8.47924456e-03 3.62636492e+01] [ 2.93330115e-01 9.56008060e-01 -2.45602849e-03 5.27463338e+00] [ 8.82667844e-03 -1.39327084e-04 9.99961034e-01 6.99169142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111858063999996 meters Centerline goodness [0,1] 0.9999130944880179 Centerline is valid? [True, True] Translation: X:36.29, Y:5.28, Z:0.07 [[ 9.56229906e-01 -2.92468945e-01 -9.28884043e-03 3.62908916e+01] [ 2.92456580e-01 9.56275011e-01 -2.69303580e-03 5.28400615e+00] [ 9.67031532e-03 -1.41421143e-04 9.99953231e-01 6.84896641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141858064 meters Centerline goodness [0,1] 0.9998697379561885 Centerline is valid? [True, True] Translation: X:36.32, Y:5.29, Z:0.07 [[ 9.56577562e-01 -2.91296084e-01 -1.02936662e-02 3.63171531e+01] [ 2.91280811e-01 9.56632934e-01 -2.98627508e-03 5.29380286e+00] [ 1.07171504e-02 -1.41743715e-04 9.99942560e-01 6.75623405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171858064 meters Centerline goodness [0,1] 0.9999350255566144 Centerline is valid? [True, True] Translation: X:36.34, Y:5.30, Z:0.07 [[ 9.57246265e-01 -2.89090865e-01 -1.02985402e-02 3.63434483e+01] [ 2.89075438e-01 9.57301655e-01 -2.98878384e-03 5.30467175e+00] [ 1.07228397e-02 -1.16052857e-04 9.99942502e-01 6.91410443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.37, Y:5.32, Z:0.07 [[ 9.58179425e-01 -2.85953412e-01 -1.10831415e-02 3.63697241e+01] [ 2.85935307e-01 9.58243518e-01 -3.21886685e-03 5.31870690e+00] [ 1.15407945e-02 -8.48094953e-05 9.99933399e-01 7.02339437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.40, Y:5.33, Z:0.07 [[ 9.58607878e-01 -2.84515066e-01 -1.10504809e-02 3.63962775e+01] [ 2.84496939e-01 9.58671567e-01 -3.21229494e-03 5.32930962e+00] [ 1.15077282e-02 -6.44967566e-05 9.99933782e-01 7.01371225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.42, Y:5.34, Z:0.07 [[ 9.58922604e-01 -2.83436648e-01 -1.14501896e-02 3.64221774e+01] [ 2.83417067e-01 9.58990962e-01 -3.33189895e-03 5.33954240e+00] [ 1.19250106e-02 -5.01459352e-05 9.99928893e-01 7.08854891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.45, Y:5.35, Z:0.07 [[ 9.58934088e-01 -2.83437229e-01 -1.04284625e-02 3.64480815e+01] [ 2.83420953e-01 9.58990790e-01 -3.03768890e-03 5.35053213e+00] [ 1.08617936e-02 -4.27013462e-05 9.99941008e-01 7.22426804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321858064 meters Centerline goodness [0,1] 0.9999353504008275 Centerline is valid? [True, True] Translation: X:36.47, Y:5.36, Z:0.07 [[ 9.58560387e-01 -2.84721067e-01 -9.79276969e-03 3.64737260e+01] [ 2.84706759e-01 9.58610407e-01 -2.85481098e-03 5.35866507e+00] [ 1.02002758e-02 -5.15590050e-05 9.99947975e-01 7.13714973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.50, Y:5.37, Z:0.07 [[ 9.57693364e-01 -2.87677703e-01 -8.05975475e-03 3.65001856e+01] [ 2.87668099e-01 9.57727276e-01 -2.35160400e-03 5.36783830e+00] [ 8.39555099e-03 -6.64187744e-05 9.99964755e-01 7.41446384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.53, Y:5.38, Z:0.07 [[ 9.57152288e-01 -2.89471817e-01 -8.09718179e-03 3.65279593e+01] [ 2.89462168e-01 9.57186534e-01 -2.36481038e-03 5.37582212e+00] [ 8.43505933e-03 -8.03441329e-05 9.99964421e-01 7.49401804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.55, Y:5.38, Z:0.08 [[ 9.56678203e-01 -2.91044523e-01 -7.73956537e-03 3.65549372e+01] [ 2.91035749e-01 9.56709506e-01 -2.26162899e-03 5.38286476e+00] [ 8.06275048e-03 -8.88390448e-05 9.99967492e-01 7.59367212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:5.39, Z:0.08 [[ 9.56068655e-01 -2.93062920e-01 -6.84480466e-03 3.65822973e+01] [ 2.93056101e-01 9.56093153e-01 -2.00138213e-03 5.39121845e+00] [ 7.13080176e-03 -9.24530432e-05 9.99974571e-01 7.72502004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.61, Y:5.40, Z:0.08 [[ 9.55962181e-01 -2.93403964e-01 -7.10082892e-03 3.66091330e+01] [ 2.93396619e-01 9.55988548e-01 -2.07831040e-03 5.40114965e+00] [ 7.39809564e-03 -9.65730534e-05 9.99972629e-01 7.73533804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:5.41, Z:0.08 [[ 9.56156068e-01 -2.92770094e-01 -7.15858828e-03 3.66358483e+01] [ 2.92762595e-01 9.56182861e-01 -2.09727160e-03 5.41165710e+00] [ 7.45893783e-03 -9.04479165e-05 9.99972178e-01 7.69439630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.66, Y:5.42, Z:0.08 [[ 9.57036639e-01 -2.89861202e-01 -7.83300852e-03 3.66624836e+01] [ 2.89852109e-01 9.57068691e-01 -2.29704111e-03 5.42451546e+00] [ 8.16255030e-03 -7.20615359e-05 9.99966683e-01 7.59320834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:5.43, Z:0.08 [[ 9.57604504e-01 -2.87972981e-01 -8.07318992e-03 3.66888556e+01] [ 2.87963244e-01 9.57638533e-01 -2.36883132e-03 5.43402034e+00] [ 8.41335717e-03 -5.63784119e-05 9.99964605e-01 7.56131731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.72, Y:5.44, Z:0.08 [[ 9.57949523e-01 -2.86806237e-01 -8.65418891e-03 3.67157839e+01] [ 2.86794982e-01 9.57988612e-01 -2.54126132e-03 5.44365905e+00] [ 9.01946402e-03 -4.75778881e-05 9.99959323e-01 7.57380681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.74, Y:5.45, Z:0.08 [[ 9.58289613e-01 -2.85658820e-01 -8.94746270e-03 3.67418542e+01] [ 2.85646713e-01 9.58331382e-01 -2.63016775e-03 5.45336616e+00] [ 9.32596491e-03 -3.53508851e-05 9.99956512e-01 7.56976470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.77, Y:5.47, Z:0.07 [[ 9.58880306e-01 -2.83647063e-01 -9.63863418e-03 3.67666611e+01] [ 2.83632892e-01 9.58928748e-01 -2.83530151e-03 5.46529200e+00] [ 1.00469884e-02 -1.51189113e-05 9.99949528e-01 7.35560239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.79, Y:5.48, Z:0.07 [[ 9.58936404e-01 -2.83443301e-01 -1.00433334e-02 3.67928532e+01] [ 2.83427878e-01 9.58988996e-01 -2.95687745e-03 5.47524070e+00] [ 1.04695534e-02 -1.11032477e-05 9.99945193e-01 7.28636290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711858064 meters Centerline goodness [0,1] 0.9999571972777469 Centerline is valid? [True, True] Translation: X:36.82, Y:5.48, Z:0.07 [[ 9.59109206e-01 -2.82845992e-01 -1.03766647e-02 3.68193004e+01] [ 2.82829459e-01 9.59165337e-01 -3.05821856e-03 5.48478171e+00] [ 1.08179420e-02 -1.66088288e-06 9.99941484e-01 7.25132799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.85, Y:5.49, Z:0.07 [[ 9.59137133e-01 -2.82776051e-01 -9.67810283e-03 3.68458866e+01] [ 2.82761635e-01 9.59185960e-01 -2.85525487e-03 5.49239094e+00] [ 1.00904980e-02 1.98478542e-06 9.99949090e-01 7.38561595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.87, Y:5.50, Z:0.07 [[ 9.59056470e-01 -2.83049533e-01 -9.67728835e-03 3.68723183e+01] [ 2.83035103e-01 9.59105292e-01 -2.85801367e-03 5.50025896e+00] [ 1.00904979e-02 1.98418945e-06 9.99949090e-01 7.39499475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.90, Y:5.51, Z:0.07 [[ 9.59146040e-01 -2.82753812e-01 -9.44226574e-03 3.68984838e+01] [ 2.82740042e-01 9.59192516e-01 -2.79042227e-03 5.50779791e+00] [ 9.84595316e-03 6.71585681e-06 9.99951527e-01 7.49129095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.93, Y:5.52, Z:0.08 [[ 9.59482080e-01 -2.81643470e-01 -8.43175131e-03 3.69254441e+01] [ 2.81632430e-01 9.59519127e-01 -2.49376214e-03 5.51702566e+00] [ 8.79277848e-03 1.80654709e-05 9.99961343e-01 7.62507948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.95, Y:5.53, Z:0.08 [[ 9.59734191e-01 -2.80775094e-01 -8.69651295e-03 3.69515577e+01] [ 2.80763290e-01 9.59773591e-01 -2.57477790e-03 5.52628094e+00] [ 9.06961697e-03 2.94407995e-05 9.99958870e-01 7.60446603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891858064 meters Centerline goodness [0,1] 0.9998285506097169 Centerline is valid? [True, True] Translation: X:36.98, Y:5.53, Z:0.07 [[ 9.59789098e-01 -2.80539754e-01 -1.01160451e-02 3.69780961e+01] [ 2.80523746e-01 9.59842406e-01 -2.99721991e-03 5.53494818e+00] [ 1.05506484e-02 3.89081165e-05 9.99944340e-01 7.28587612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.01, Y:5.54, Z:0.08 [[ 9.60471433e-01 -2.78210058e-01 -9.68450257e-03 3.70053348e+01] [ 2.78195246e-01 9.60520255e-01 -2.87155524e-03 5.54397901e+00] [ 1.01010564e-02 6.38641991e-05 9.99948981e-01 7.50908814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.03, Y:5.55, Z:0.08 [[ 9.61380005e-01 -2.75040296e-01 -1.00658093e-02 3.70320034e+01] [ 2.75024104e-01 9.61432694e-01 -2.98619547e-03 5.55164042e+00] [ 1.04989222e-02 1.02528437e-04 9.99944880e-01 7.54343795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.06, Y:5.56, Z:0.08 [[ 9.61763530e-01 -2.73695802e-01 -1.00757252e-02 3.70597052e+01] [ 2.73679482e-01 9.61816299e-01 -2.99128083e-03 5.55887896e+00] [ 1.05096977e-02 1.19385558e-04 9.99944764e-01 7.62744766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011858063999995 meters Centerline goodness [0,1] 0.999935608499678 Centerline is valid? [True, True] Translation: X:37.09, Y:5.57, Z:0.08 [[ 9.62126334e-01 -2.72405349e-01 -1.04040078e-02 3.70869334e+01] [ 2.72387855e-01 9.62182574e-01 -3.09032966e-03 5.56686609e+00] [ 1.08523773e-02 1.39362184e-04 9.99941102e-01 7.63100136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.11, Y:5.57, Z:0.08 [[ 9.62734644e-01 -2.70239436e-01 -1.06137980e-02 3.71138282e+01] [ 2.70221087e-01 9.62793134e-01 -3.15365801e-03 5.57487625e+00] [ 1.10711346e-02 1.68063780e-04 9.99938699e-01 7.57661856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.14, Y:5.58, Z:0.08 [[ 9.62906444e-01 -2.69610971e-01 -1.10047728e-02 3.71416034e+01] [ 2.69591176e-01 9.62969309e-01 -3.27218989e-03 5.58276523e+00] [ 1.14794768e-02 1.84023072e-04 9.99934092e-01 7.58517628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:5.59, Z:0.08 [[ 9.63133420e-01 -2.68806809e-01 -1.08126821e-02 3.71691206e+01] [ 2.68787616e-01 9.63194094e-01 -3.21790329e-03 5.59041068e+00] [ 1.12797059e-02 1.92955149e-04 9.99936363e-01 7.59400883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13185806399999 meters Centerline goodness [0,1] 0.9999569095531521 Centerline is valid? [True, True] Translation: X:37.20, Y:5.60, Z:0.08 [[ 9.63228100e-01 -2.68475423e-01 -1.06101620e-02 3.71979842e+01] [ 2.68456891e-01 9.63286514e-01 -3.16048890e-03 5.59577054e+00] [ 1.10691395e-02 1.95900623e-04 9.99938716e-01 7.66343769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.22, Y:5.60, Z:0.08 [[ 9.63346542e-01 -2.68084222e-01 -9.71027781e-03 3.72242586e+01] [ 2.68068659e-01 9.63395462e-01 -2.89462877e-03 5.60234262e+00] [ 1.01308419e-02 1.85509468e-04 9.99948664e-01 7.70392181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191858063999994 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:37.25, Y:5.60, Z:0.08 [[ 9.63164468e-01 -2.68751300e-01 -9.32446331e-03 3.72528553e+01] [ 2.68736955e-01 9.63209587e-01 -2.78218770e-03 5.60469347e+00] [ 9.72912901e-03 1.73876466e-04 9.99952656e-01 7.89757427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221858063999996 meters Centerline goodness [0,1] 0.9999784603454961 Centerline is valid? [True, True] Translation: X:37.28, Y:5.61, Z:0.08 [[ 9.63070210e-01 -2.69106241e-01 -8.80920845e-03 3.72798109e+01] [ 2.69093439e-01 9.63110484e-01 -2.62995720e-03 5.61096822e+00] [ 9.19197891e-03 1.62333234e-04 9.99957740e-01 7.92416749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:5.62, Z:0.08 [[ 9.62858114e-01 -2.69867186e-01 -8.71517736e-03 3.73073476e+01] [ 2.69854668e-01 9.62897543e-01 -2.60388457e-03 5.61717103e+00] [ 9.09452586e-03 1.55340092e-04 9.99958632e-01 7.94954764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281858064 meters Centerline goodness [0,1] 0.9999783755730474 Centerline is valid? [True, True] Translation: X:37.34, Y:5.62, Z:0.08 [[ 9.62546821e-01 -2.70984257e-01 -8.43505488e-03 3.73358573e+01] [ 2.70972561e-01 9.62583769e-01 -2.52166421e-03 5.62043582e+00] [ 8.80277822e-03 1.41551441e-04 9.99961245e-01 8.00567480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31185806399999 meters Centerline goodness [0,1] 0.9999568127834161 Centerline is valid? [True, True] Translation: X:37.36, Y:5.63, Z:0.08 [[ 9.62212484e-01 -2.72163185e-01 -8.62190013e-03 3.73646730e+01] [ 2.72150996e-01 9.62251102e-01 -2.57926625e-03 5.62554588e+00] [ 8.99841421e-03 1.35343473e-04 9.99959504e-01 8.00060010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34185806399999 meters Centerline goodness [0,1] 0.9999567155780634 Centerline is valid? [True, True] Translation: X:37.39, Y:5.63, Z:0.08 [[ 9.61782351e-01 -2.73650962e-01 -9.47945402e-03 3.73936296e+01] [ 2.73636275e-01 9.61829056e-01 -2.83842587e-03 5.62884933e+00] [ 9.89435228e-03 1.36025425e-04 9.99951040e-01 7.96631358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.42, Y:5.63, Z:0.08 [[ 9.61429157e-01 -2.74880052e-01 -9.74334321e-03 3.74219107e+01] [ 2.74864572e-01 9.61478518e-01 -2.92009244e-03 5.63459770e+00] [ 1.01706904e-02 1.29362155e-04 9.99948269e-01 7.92649991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401858063999995 meters Centerline goodness [0,1] 0.9998910176769328 Centerline is valid? [True, True] Translation: X:37.45, Y:5.64, Z:0.08 [[ 9.61109352e-01 -2.75982386e-01 -1.01259763e-02 3.74499896e+01] [ 2.75965695e-01 9.61162685e-01 -3.03779981e-03 5.64028734e+00] [ 1.05710898e-02 1.25235728e-04 9.99944117e-01 7.88051868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.48, Y:5.64, Z:0.08 [[ 9.60618775e-01 -2.77615403e-01 -1.18852000e-02 3.74778020e+01] [ 2.77592504e-01 9.60692288e-01 -3.56790091e-03 5.64283950e+00] [ 1.24085243e-02 1.28150155e-04 9.99923003e-01 7.77785674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461858064 meters Centerline goodness [0,1] 0.9999561864703821 Centerline is valid? [True, True] Translation: X:37.51, Y:5.65, Z:0.08 [[ 9.60218164e-01 -2.78990942e-01 -1.20470319e-02 3.75054991e+01] [ 2.78967484e-01 9.60293727e-01 -3.61960978e-03 5.64800785e+00] [ 1.25785275e-02 1.14884882e-04 9.99920881e-01 7.78664668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491858064 meters Centerline goodness [0,1] 0.9999563137546144 Centerline is valid? [True, True] Translation: X:37.53, Y:5.65, Z:0.08 [[ 9.59860275e-01 -2.80224532e-01 -1.19358340e-02 3.75331521e+01] [ 2.80201556e-01 9.59934478e-01 -3.58982531e-03 5.65370627e+00] [ 1.24635757e-02 1.01291449e-04 9.99922321e-01 7.80282462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52185806399999 meters Centerline goodness [0,1] 0.99989034606781 Centerline is valid? [True, True] Translation: X:37.56, Y:5.66, Z:0.08 [[ 9.59176261e-01 -2.82585177e-01 -1.12480258e-02 3.75621825e+01] [ 2.82564898e-01 9.59242208e-01 -3.38608429e-03 5.65676059e+00] [ 1.17464383e-02 6.95544164e-05 9.99931006e-01 7.93415280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.59, Y:5.66, Z:0.08 [[ 9.58772658e-01 -2.83960231e-01 -1.10261958e-02 3.75895619e+01] [ 2.83940816e-01 9.58836057e-01 -3.32093580e-03 5.66254810e+00] [ 1.15153278e-02 5.32354066e-05 9.99933695e-01 7.94248193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.62, Y:5.67, Z:0.08 [[ 9.58336996e-01 -2.85445986e-01 -1.05256877e-02 3.76176279e+01] [ 2.85428356e-01 9.58394797e-01 -3.17272168e-03 5.66795559e+00] [ 1.09934050e-02 3.62068414e-05 9.99939570e-01 8.00116042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611858063999996 meters Centerline goodness [0,1] 0.9999559645955348 Centerline is valid? [True, True] Translation: X:37.64, Y:5.67, Z:0.08 [[ 9.57980656e-01 -2.86652872e-01 -1.01584212e-02 3.76448042e+01] [ 2.86636501e-01 9.58034514e-01 -3.06364067e-03 5.67323460e+00] [ 1.06103196e-02 2.31341777e-05 9.99943709e-01 8.02364543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.67, Y:5.68, Z:0.08 [[ 9.57534262e-01 -2.88176848e-01 -9.06866289e-03 3.76732831e+01] [ 2.88163859e-01 9.57577205e-01 -2.73608333e-03 5.67660951e+00] [ 9.47242074e-03 6.63263583e-06 9.99955136e-01 7.99669574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.70, Y:5.68, Z:0.08 [[ 9.57438698e-01 -2.88513864e-01 -8.41962487e-03 3.77009388e+01] [ 2.88502664e-01 9.57475718e-01 -2.54220154e-03 5.68291469e+00] [ 8.79504676e-03 4.91793094e-06 9.99961323e-01 8.11453044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70185806399999 meters Centerline goodness [0,1] 0.9999779132432194 Centerline is valid? [True, True] Translation: X:37.73, Y:5.69, Z:0.08 [[ 9.57488692e-01 -2.88379385e-01 -7.26184956e-03 3.77283927e+01] [ 2.88371034e-01 9.57516230e-01 -2.19465156e-03 5.68984663e+00] [ 7.58623108e-03 7.24699386e-06 9.99971224e-01 8.21880303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:5.70, Z:0.08 [[ 9.57846121e-01 -2.87202817e-01 -6.73422189e-03 3.77553351e+01] [ 2.87195592e-01 9.57869794e-01 -2.03717444e-03 5.69676882e+00] [ 7.03558997e-03 1.72607900e-05 9.99975250e-01 8.20422998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.78, Y:5.70, Z:0.08 [[ 9.58009115e-01 -2.86651814e-01 -7.01951146e-03 3.77823289e+01] [ 2.86643933e-01 9.58034831e-01 -2.12567689e-03 5.70407610e+00] [ 7.33426561e-03 2.43174585e-05 9.99973104e-01 8.17060421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.81, Y:5.71, Z:0.08 [[ 9.58109432e-01 -2.86310168e-01 -7.26667495e-03 3.78094080e+01] [ 2.86301696e-01 9.58136987e-01 -2.20277715e-03 5.71105352e+00] [ 7.59314754e-03 3.00402023e-05 9.99971171e-01 8.15366542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821858064 meters Centerline goodness [0,1] 0.9999333096211986 Centerline is valid? [True, True] Translation: X:37.84, Y:5.72, Z:0.08 [[ 9.58378031e-01 -2.85381662e-01 -8.29796797e-03 3.78381319e+01] [ 2.85370558e-01 9.58413953e-01 -2.51788640e-03 5.71673035e+00] [ 8.67144689e-03 4.50912562e-05 9.99962401e-01 8.06567338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851858064 meters Centerline goodness [0,1] 0.9999333836656749 Centerline is valid? [True, True] Translation: X:37.87, Y:5.72, Z:0.08 [[ 9.58430022e-01 -2.85198966e-01 -8.56987565e-03 3.78654254e+01] [ 2.85187092e-01 9.58468334e-01 -2.60294870e-03 5.72420473e+00] [ 8.95631271e-03 5.07262589e-05 9.99959890e-01 8.00317126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.89, Y:5.73, Z:0.08 [[ 9.58646818e-01 -2.84461395e-01 -8.83140226e-03 3.78920089e+01] [ 2.84448739e-01 9.58687494e-01 -2.68396546e-03 5.73207816e+00] [ 9.23003946e-03 6.08937147e-05 9.99957400e-01 7.90283670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.92, Y:5.74, Z:0.08 [[ 9.58727663e-01 -2.84177828e-01 -9.17768152e-03 3.79187848e+01] [ 2.84164127e-01 9.58771588e-01 -2.79134191e-03 5.73968757e+00] [ 9.59253776e-03 6.81688570e-05 9.99953988e-01 7.85176727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941858063999994 meters Centerline goodness [0,1] 0.9999554595461327 Centerline is valid? [True, True] Translation: X:37.95, Y:5.75, Z:0.08 [[ 9.59172850e-01 -2.82656931e-01 -9.61781211e-03 3.79467003e+01] [ 2.82641788e-01 9.59221065e-01 -2.92716840e-03 5.74537068e+00] [ 1.00529924e-02 8.92648434e-05 9.99949463e-01 7.83524584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.97, Y:5.75, Z:0.08 [[ 9.59353877e-01 -2.82050943e-01 -9.34900645e-03 3.79738261e+01] [ 2.82036596e-01 9.59399425e-01 -2.84639650e-03 5.75247238e+00] [ 9.77226023e-03 9.39395697e-05 9.99952246e-01 7.86693973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001858064 meters Centerline goodness [0,1] 0.9999551961289456 Centerline is valid? [True, True] Translation: X:38.00, Y:5.76, Z:0.08 [[ 9.59386327e-01 -2.81953491e-01 -8.95008001e-03 3.80008521e+01] [ 2.81940318e-01 9.59428069e-01 -2.72699309e-03 5.75914371e+00] [ 9.35584321e-03 9.28514802e-05 9.99956229e-01 7.92868220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031858064 meters Centerline goodness [0,1] 0.9999553222383558 Centerline is valid? [True, True] Translation: X:38.03, Y:5.77, Z:0.08 [[ 9.59522284e-01 -2.81504150e-01 -8.50884355e-03 3.80278853e+01] [ 2.81492204e-01 9.59560006e-01 -2.59512176e-03 5.76652268e+00] [ 8.89528351e-03 9.49040399e-05 9.99960432e-01 7.95498973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:5.77, Z:0.08 [[ 9.59889747e-01 -2.80264166e-01 -7.97943883e-03 3.80559366e+01] [ 2.80253599e-01 9.59922907e-01 -2.43585759e-03 5.77431857e+00] [ 8.34232971e-03 1.01888277e-04 9.99965197e-01 7.99785458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09185806399999 meters Centerline goodness [0,1] 0.9999327640691186 Centerline is valid? [True, True] Translation: X:38.08, Y:5.78, Z:0.08 [[ 9.60198820e-01 -2.79220008e-01 -7.37654414e-03 3.80818583e+01] [ 2.79210937e-01 9.60227148e-01 -2.25300844e-03 5.78453246e+00] [ 7.71224298e-03 1.03724242e-04 9.99970255e-01 7.88273854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121858063999994 meters Centerline goodness [0,1] 0.9999775669067008 Centerline is valid? [True, True] Translation: X:38.11, Y:5.79, Z:0.08 [[ 9.60323777e-01 -2.78786813e-01 -7.49376868e-03 3.81101053e+01] [ 2.78777427e-01 9.60353009e-01 -2.29024958e-03 5.79091937e+00] [ 7.83515468e-03 1.10287574e-04 9.99969299e-01 7.92668398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151858063999995 meters Centerline goodness [0,1] 0.9999775245544243 Centerline is valid? [True, True] Translation: X:38.14, Y:5.80, Z:0.08 [[ 9.60611469e-01 -2.77789705e-01 -7.64761575e-03 3.81370566e+01] [ 2.77779887e-01 9.60641902e-01 -2.33876945e-03 5.79770032e+00] [ 7.99630622e-03 1.22294920e-04 9.99968022e-01 7.87665306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.16, Y:5.80, Z:0.08 [[ 9.60572428e-01 -2.77939125e-01 -7.10302389e-03 3.81641326e+01] [ 2.77930647e-01 9.60598683e-01 -2.17380673e-03 5.80485173e+00] [ 7.42734133e-03 1.13950782e-04 9.99972410e-01 7.87963720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:5.81, Z:0.08 [[ 9.60408792e-01 -2.78508034e-01 -6.94451613e-03 3.81913084e+01] [ 2.78499930e-01 9.60433893e-01 -2.12740855e-03 5.81056806e+00] [ 7.26224904e-03 1.09134620e-04 9.99973624e-01 7.89256581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.22, Y:5.82, Z:0.08 [[ 9.59911364e-01 -2.80196432e-01 -7.75456430e-03 3.82184033e+01] [ 2.80186363e-01 9.59942679e-01 -2.37792061e-03 5.81704911e+00] [ 8.11022210e-03 1.09869846e-04 9.99967106e-01 7.77117522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27185806399999 meters Centerline goodness [0,1] 0.9998872044757264 Centerline is valid? [True, True] Translation: X:38.25, Y:5.82, Z:0.08 [[ 9.59650579e-01 -2.81066010e-01 -8.52430088e-03 3.82461045e+01] [ 2.81053853e-01 9.59688431e-01 -2.61657297e-03 5.82325425e+00] [ 8.91610266e-03 1.15208162e-04 9.99960244e-01 7.69971658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.27, Y:5.83, Z:0.08 [[ 9.59412161e-01 -2.81846952e-01 -9.51845825e-03 3.82734084e+01] [ 2.81831803e-01 9.59459369e-01 -2.92480513e-03 5.83045135e+00] [ 9.95692136e-03 1.23489362e-04 9.99950421e-01 7.63060500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.30, Y:5.84, Z:0.08 [[ 9.59191147e-01 -2.82568905e-01 -1.03516836e-02 3.83011316e+01] [ 2.82550994e-01 9.59246995e-01 -3.18410979e-03 5.83760056e+00] [ 1.08295518e-02 1.29291438e-04 9.99941350e-01 7.55368060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.33, Y:5.84, Z:0.08 [[ 9.58546731e-01 -2.84736530e-01 -1.06429600e-02 3.83295910e+01] [ 2.84717697e-01 9.58605808e-01 -3.27671770e-03 5.84292034e+00] [ 1.11354045e-02 1.10647982e-04 9.99937993e-01 7.51694709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.36, Y:5.85, Z:0.08 [[ 9.58124953e-01 -2.86152865e-01 -1.06354750e-02 3.83564842e+01] [ 2.86134128e-01 9.58183974e-01 -3.27599341e-03 5.84973028e+00] [ 1.11281766e-02 9.56386807e-05 9.99938075e-01 7.50224809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.39, Y:5.86, Z:0.08 [[ 9.57556978e-01 -2.88064533e-01 -1.01715093e-02 3.83850711e+01] [ 2.88047480e-01 9.57610996e-01 -3.13522848e-03 5.85655496e+00] [ 1.06434972e-02 7.22822964e-05 9.99943354e-01 7.51470574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.41, Y:5.86, Z:0.08 [[ 9.56842263e-01 -2.90419219e-01 -1.04671918e-02 3.84125042e+01] [ 2.90401267e-01 9.56899511e-01 -3.22945831e-03 5.86328780e+00] [ 1.09539475e-02 5.03964355e-05 9.99940002e-01 7.50426584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481858063999994 meters Centerline goodness [0,1] 0.9999090268143465 Centerline is valid? [True, True] Translation: X:38.44, Y:5.87, Z:0.07 [[ 9.55629130e-01 -2.94383170e-01 -1.05600309e-02 3.84397346e+01] [ 2.94365122e-01 9.55687475e-01 -3.25979050e-03 5.86801176e+00] [ 1.10517167e-02 6.64598656e-06 9.99938928e-01 7.46062104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.47, Y:5.87, Z:0.08 [[ 9.54964979e-01 -2.96542240e-01 -1.02268236e-02 3.84663658e+01] [ 2.96525423e-01 9.55019738e-01 -3.15814226e-03 5.87448055e+00] [ 1.07033410e-02 -1.65979381e-05 9.99942717e-01 7.50162823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.49, Y:5.88, Z:0.08 [[ 9.54408477e-01 -2.98338911e-01 -9.91734794e-03 3.84930401e+01] [ 2.98323180e-01 9.54460001e-01 -3.06388171e-03 5.88145544e+00] [ 1.03797871e-02 -3.43800944e-05 9.99946128e-01 7.62281426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571858064 meters Centerline goodness [0,1] 0.9999772178429853 Centerline is valid? [True, True] Translation: X:38.52, Y:5.89, Z:0.08 [[ 9.53369100e-01 -3.01671892e-01 -9.02382653e-03 3.85201102e+01] [ 3.01659008e-01 9.53411803e-01 -2.78878307e-03 5.88747097e+00] [ 9.44472018e-03 -6.33789540e-05 9.99955396e-01 7.61345164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.55, Y:5.90, Z:0.08 [[ 9.52820737e-01 -3.03404109e-01 -8.86509858e-03 3.85479762e+01] [ 3.03391734e-01 9.52861973e-01 -2.74146799e-03 5.89619834e+00] [ 9.27898798e-03 -7.74700724e-05 9.99956946e-01 7.58744414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.58, Y:5.90, Z:0.08 [[ 9.52269326e-01 -3.05133309e-01 -8.76320543e-03 3.85753126e+01] [ 3.05121269e-01 9.52309643e-01 -2.71218110e-03 5.90456185e+00] [ 9.17286182e-03 -9.11134926e-05 9.99957924e-01 7.55172227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.60, Y:5.91, Z:0.08 [[ 9.51343385e-01 -3.08006609e-01 -8.81434658e-03 3.86024876e+01] [ 3.07994530e-01 9.51384210e-01 -2.73032087e-03 5.91322102e+00] [ 9.22678704e-03 -1.17297829e-04 9.99957425e-01 7.52074332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:5.92, Z:0.08 [[ 9.51257836e-01 -3.08270740e-01 -8.81362318e-03 3.86288370e+01] [ 3.08258650e-01 9.51298658e-01 -2.73265477e-03 5.92146168e+00] [ 9.22678541e-03 -1.17416320e-04 9.99957425e-01 7.53012801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721858063999996 meters Centerline goodness [0,1] 0.9999772969782278 Centerline is valid? [True, True] Translation: X:38.66, Y:5.93, Z:0.07 [[ 9.50969489e-01 -3.09142279e-01 -9.38526038e-03 3.86563078e+01] [ 3.09128586e-01 9.51015791e-01 -2.91259950e-03 5.93043281e+00] [ 9.82593846e-03 -1.31459015e-04 9.99951716e-01 7.48915145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.68, Y:5.94, Z:0.07 [[ 9.50947705e-01 -3.09192646e-01 -9.91820263e-03 3.86822987e+01] [ 3.09177338e-01 9.50999416e-01 -3.07981168e-03 5.93856251e+00] [ 1.03844600e-02 -1.37743637e-04 9.99946071e-01 7.40734362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.71, Y:5.95, Z:0.07 [[ 9.51004605e-01 -3.09007975e-01 -1.02133633e-02 3.87087412e+01] [ 3.08991703e-01 9.51059437e-01 -3.17401909e-03 5.94807286e+00] [ 1.06943127e-02 -1.37337748e-04 9.99942805e-01 7.41255330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.74, Y:5.96, Z:0.07 [[ 9.51550857e-01 -3.07296512e-01 -1.09462172e-02 3.87354421e+01] [ 3.07277673e-01 9.51613807e-01 -3.40485353e-03 5.95960092e+00] [ 1.14628710e-02 -1.23636852e-04 9.99934291e-01 7.40530834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:5.97, Z:0.07 [[ 9.51752229e-01 -3.06674440e-01 -1.08849838e-02 3.87612514e+01] [ 3.06655734e-01 9.51814465e-01 -3.38900569e-03 5.97028374e+00] [ 1.13998065e-02 -1.12448989e-04 9.99935014e-01 7.40151262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.79, Y:5.98, Z:0.07 [[ 9.51934094e-01 -3.06097295e-01 -1.12217532e-02 3.87865867e+01] [ 3.06077349e-01 9.52000228e-01 -3.49595486e-03 5.98031488e+00] [ 1.17532139e-02 -1.06805852e-04 9.99930923e-01 7.34554104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901858063999995 meters Centerline goodness [0,1] 0.9999774174608193 Centerline is valid? [True, True] Translation: X:38.81, Y:5.99, Z:0.07 [[ 9.52051076e-01 -3.05752553e-01 -1.06829670e-02 3.88125587e+01] [ 3.05734425e-01 9.52111006e-01 -3.33079380e-03 5.99080391e+00] [ 1.11897692e-02 -9.50649610e-05 9.99937388e-01 7.33498402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.84, Y:6.00, Z:0.07 [[ 9.52060254e-01 -3.05734452e-01 -1.03787524e-02 3.88391984e+01] [ 3.05717306e-01 9.52116819e-01 -3.23908848e-03 5.99935923e+00] [ 1.08720856e-02 -8.91568139e-05 9.99940893e-01 7.44587044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.87, Y:6.01, Z:0.08 [[ 9.52159796e-01 -3.05443656e-01 -9.79260325e-03 3.88660793e+01] [ 3.05428347e-01 9.52210149e-01 -3.05909240e-03 6.00818882e+00] [ 1.02589966e-02 -7.81938261e-05 9.99947372e-01 7.56854981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.89, Y:6.02, Z:0.08 [[ 9.52383332e-01 -3.04807136e-01 -7.65491671e-03 3.88931869e+01] [ 3.04797745e-01 9.52414094e-01 -2.39327033e-03 6.01920198e+00] [ 8.02013644e-03 -5.38905773e-05 9.99967837e-01 7.77379530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.92, Y:6.03, Z:0.08 [[ 9.52633783e-01 -3.04044628e-01 -6.76307599e-03 3.89196111e+01] [ 3.04037270e-01 9.52657789e-01 -2.11572584e-03 6.02877256e+00] [ 7.08617210e-03 -4.07152482e-05 9.99974892e-01 7.81607097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.95, Y:6.04, Z:0.08 [[ 9.52783692e-01 -3.03578130e-01 -6.59957166e-03 3.89458712e+01] [ 3.03571102e-01 9.52806548e-01 -2.06606733e-03 6.03911423e+00] [ 6.91532795e-03 -3.49239773e-05 9.99976088e-01 7.83380759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.97, Y:6.05, Z:0.08 [[ 9.53302210e-01 -3.01938690e-01 -6.92265211e-03 3.89715434e+01] [ 3.01930903e-01 9.53327345e-01 -2.16861457e-03 6.05098117e+00] [ 7.25434220e-03 -2.28175418e-05 9.99973687e-01 7.60710429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.00, Y:6.06, Z:0.08 [[ 9.53516153e-01 -3.01257709e-01 -7.12306654e-03 3.89981257e+01] [ 3.01249435e-01 9.53542759e-01 -2.23288801e-03 6.06094229e+00] [ 7.46482324e-03 -1.67249775e-05 9.99972138e-01 7.53586981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.02, Y:6.07, Z:0.08 [[ 9.53759870e-01 -3.00488398e-01 -6.98799172e-03 3.90237291e+01] [ 3.00480403e-01 9.53785470e-01 -2.19200436e-03 6.06987678e+00] [ 7.32371685e-03 -9.10876979e-06 9.99973181e-01 7.53233073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.05, Y:6.08, Z:0.08 [[ 9.54004452e-01 -2.99695427e-01 -7.62604290e-03 3.90503352e+01] [ 2.99685866e-01 9.54034932e-01 -2.39392032e-03 6.07940372e+00] [ 7.99295829e-03 -1.60663083e-06 9.99968056e-01 7.55723814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.08, Y:6.09, Z:0.08 [[ 9.53973549e-01 -2.99792368e-01 -7.68136889e-03 3.90768348e+01] [ 2.99782652e-01 9.54004474e-01 -2.41364482e-03 6.08948437e+00] [ 8.05165258e-03 -1.87813903e-07 9.99967585e-01 7.57178098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.10, Y:6.10, Z:0.08 [[ 9.54027847e-01 -2.99616200e-01 -7.81017994e-03 3.91034088e+01] [ 2.99606130e-01 9.54059816e-01 -2.45656277e-03 6.09981667e+00] [ 8.18740483e-03 3.65150577e-06 9.99966483e-01 7.50858951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.13, Y:6.11, Z:0.07 [[ 9.53796885e-01 -3.00348652e-01 -7.88601824e-03 3.91298299e+01] [ 3.00338389e-01 9.53829485e-01 -2.48290329e-03 6.10979586e+00] [ 8.26765337e-03 -2.88588092e-07 9.99965822e-01 7.46998058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.16, Y:6.12, Z:0.07 [[ 9.53324739e-01 -3.01834990e-01 -8.22075283e-03 3.91558420e+01] [ 3.01823877e-01 9.53360183e-01 -2.59004749e-03 6.11733505e+00] [ 8.61910538e-03 -1.20631425e-05 9.99962855e-01 7.41995888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.18, Y:6.13, Z:0.07 [[ 9.52803741e-01 -3.03468808e-01 -8.46844750e-03 3.91832227e+01] [ 3.03457061e-01 9.52841373e-01 -2.67018927e-03 6.12505817e+00] [ 8.87940630e-03 -2.56438614e-05 9.99960577e-01 7.47076923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.21, Y:6.13, Z:0.07 [[ 9.52279732e-01 -3.05117140e-01 -8.17573458e-03 3.92105325e+01] [ 3.05106239e-01 9.52314827e-01 -2.57936699e-03 6.13231998e+00] [ 8.57288234e-03 -3.81887220e-05 9.99963251e-01 7.41534923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.24, Y:6.14, Z:0.07 [[ 9.51181924e-01 -3.08530638e-01 -7.86084017e-03 3.92382731e+01] [ 3.08520664e-01 9.51214403e-01 -2.48157693e-03 6.14076495e+00] [ 8.24298690e-03 -6.48005127e-05 9.99966024e-01 7.49330724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.27, Y:6.15, Z:0.08 [[ 9.50713831e-01 -3.09978815e-01 -7.50642337e-03 3.92658774e+01] [ 3.09969750e-01 9.50743461e-01 -2.37168506e-03 6.14881164e+00] [ 7.87185506e-03 -7.19703913e-05 9.99969014e-01 7.55455780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.29, Y:6.16, Z:0.08 [[ 9.50387640e-01 -3.10967674e-01 -7.90189266e-03 3.92934452e+01] [ 3.10957645e-01 9.50420485e-01 -2.49881711e-03 6.15672573e+00] [ 8.28717200e-03 -8.23090413e-05 9.99965657e-01 7.60673118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.32, Y:6.16, Z:0.08 [[ 9.49826704e-01 -3.12680692e-01 -7.74704571e-03 3.93208245e+01] [ 3.12671097e-01 9.49858293e-01 -2.45135497e-03 6.16382624e+00] [ 8.12508698e-03 -9.39148611e-05 9.99966987e-01 7.66048825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.35, Y:6.17, Z:0.08 [[ 9.49657443e-01 -3.13186798e-01 -8.04798497e-03 3.93476862e+01] [ 3.13176445e-01 9.49691539e-01 -2.54850571e-03 6.17216713e+00] [ 8.44126158e-03 -1.00231904e-04 9.99964367e-01 7.68785252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.37, Y:6.18, Z:0.08 [[ 9.49587118e-01 -3.13410143e-01 -7.64118754e-03 3.93740316e+01] [ 3.13400799e-01 9.49617856e-01 -2.42192585e-03 6.18038387e+00] [ 8.01526426e-03 -9.49246994e-05 9.99967873e-01 7.68556789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.40, Y:6.19, Z:0.08 [[ 9.49786384e-01 -3.12806206e-01 -7.62241919e-03 3.94000140e+01] [ 3.12796870e-01 9.49816966e-01 -2.41831045e-03 6.19153065e+00] [ 7.99636560e-03 -8.73905260e-05 9.99968025e-01 7.73467085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:6.20, Z:0.08 [[ 9.49929896e-01 -3.12363335e-01 -7.89555677e-03 3.94253721e+01] [ 3.12353289e-01 9.49962704e-01 -2.50664701e-03 6.20095934e+00] [ 8.28346908e-03 -8.50641891e-05 9.99965688e-01 7.66123651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.45, Y:6.21, Z:0.08 [[ 9.49990451e-01 -3.12171769e-01 -8.18101466e-03 3.94515381e+01] [ 3.12160959e-01 9.50025673e-01 -2.59924288e-03 6.21037112e+00] [ 8.58358421e-03 -8.45374622e-05 9.99963157e-01 7.59948929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:6.22, Z:0.08 [[ 9.50247266e-01 -3.11357540e-01 -9.30679931e-03 3.94774485e+01] [ 3.11343487e-01 9.50292837e-01 -2.95932441e-03 6.21842801e+00] [ 9.76559268e-03 -8.55214242e-05 9.99952312e-01 7.51787356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:6.23, Z:0.08 [[ 9.50258487e-01 -3.11321295e-01 -9.37337719e-03 3.95044605e+01] [ 3.11307015e-01 9.50304711e-01 -2.98295356e-03 6.22703195e+00] [ 9.83622147e-03 -8.34211371e-05 9.99951620e-01 7.52208555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:6.24, Z:0.08 [[ 9.50199675e-01 -3.11504407e-01 -9.25112198e-03 3.95306015e+01] [ 3.11490479e-01 9.50244704e-01 -2.94678926e-03 6.23670524e+00] [ 9.70876751e-03 -8.15982213e-05 9.99952865e-01 7.59032509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:6.25, Z:0.08 [[ 9.50457946e-01 -3.10737454e-01 -8.48102801e-03 3.95569821e+01] [ 3.10725697e-01 9.50495781e-01 -2.70381009e-03 6.24840179e+00] [ 8.90135640e-03 -6.54155574e-05 9.99960380e-01 7.66716513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:6.26, Z:0.08 [[ 9.50784708e-01 -3.09730360e-01 -8.69158737e-03 3.95825375e+01] [ 3.09717957e-01 9.50824432e-01 -2.77236769e-03 6.25851499e+00] [ 9.12286007e-03 -5.60158742e-05 9.99958384e-01 7.60505866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.61, Y:6.27, Z:0.08 [[ 9.51040535e-01 -3.08935630e-01 -8.98199127e-03 3.96086208e+01] [ 3.08922330e-01 9.51082948e-01 -2.86710591e-03 6.26984519e+00] [ 9.42836990e-03 -4.80037226e-05 9.99955551e-01 7.57521449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:6.28, Z:0.08 [[ 9.51321085e-01 -3.08064751e-01 -9.18161016e-03 3.96344136e+01] [ 3.08050784e-01 9.51365391e-01 -2.93370696e-03 6.28000629e+00] [ 9.63883785e-03 -3.75049175e-05 9.99953545e-01 7.54370072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.66, Y:6.29, Z:0.08 [[ 9.51840716e-01 -3.06461525e-01 -8.97693857e-03 3.96606182e+01] [ 3.06448077e-01 9.51883046e-01 -2.87107332e-03 6.29022376e+00] [ 9.42486914e-03 -1.81610771e-05 9.99955585e-01 7.64454760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.69, Y:6.30, Z:0.08 [[ 9.51982590e-01 -3.06030034e-01 -8.64681209e-03 3.96856507e+01] [ 3.06017523e-01 9.52021858e-01 -2.76718374e-03 6.29911104e+00] [ 9.07879545e-03 -1.17652780e-05 9.99958787e-01 7.68671041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.71, Y:6.31, Z:0.08 [[ 9.51899874e-01 -3.06300792e-01 -8.15197974e-03 3.97117673e+01] [ 3.06289666e-01 9.51934780e-01 -2.61075133e-03 6.30867413e+00] [ 8.55982824e-03 -1.16932882e-05 9.99963364e-01 7.71309279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:6.32, Z:0.08 [[ 9.51903130e-01 -3.06288938e-01 -8.21688485e-03 3.97381605e+01] [ 3.06277611e-01 9.51938594e-01 -2.63409683e-03 6.31920759e+00] [ 8.62876453e-03 -9.24284656e-06 9.99962771e-01 7.75646452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:6.33, Z:0.08 [[ 9.51891840e-01 -3.06329415e-01 -8.01344288e-03 3.97643758e+01] [ 3.06318623e-01 9.51925569e-01 -2.57133790e-03 6.32870795e+00] [ 8.41587761e-03 -7.03121935e-06 9.99964586e-01 7.81845380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011858063999995 meters Centerline goodness [0,1] 0.9999558167277869 Centerline is valid? [True, True] Translation: X:39.79, Y:6.34, Z:0.08 [[ 9.51862774e-01 -3.06432868e-01 -7.49378515e-03 3.97911655e+01] [ 3.06423416e-01 9.51892272e-01 -2.40684203e-03 6.33862483e+00] [ 7.87081168e-03 -5.28791634e-06 9.99969025e-01 7.87314910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:6.35, Z:0.08 [[ 9.52009812e-01 -3.05977974e-01 -7.40247842e-03 3.98157051e+01] [ 3.05968725e-01 9.52038591e-01 -2.37906459e-03 6.34920708e+00] [ 7.77538649e-03 -3.40483345e-08 9.99969771e-01 7.93347349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.84, Y:6.36, Z:0.08 [[ 9.51980225e-01 -3.06065373e-01 -7.59204375e-03 3.98419429e+01] [ 3.06055632e-01 9.52010498e-01 -2.44182263e-03 6.35883282e+00] [ 7.97506270e-03 9.79101973e-07 9.99968199e-01 7.97339496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.87, Y:6.37, Z:0.08 [[ 9.51924520e-01 -3.06227424e-01 -8.02953137e-03 3.98674967e+01] [ 3.06216516e-01 9.51958384e-01 -2.58466731e-03 6.36801868e+00] [ 8.43527572e-03 1.63306709e-06 9.99964422e-01 7.95007996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.89, Y:6.38, Z:0.08 [[ 9.51905379e-01 -3.06278424e-01 -8.34730985e-03 3.98930471e+01] [ 3.06266625e-01 9.51941977e-01 -2.68837840e-03 6.37720621e+00] [ 8.76954694e-03 2.57944472e-06 9.99961547e-01 7.90058457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.92, Y:6.39, Z:0.08 [[ 9.51732760e-01 -3.06800461e-01 -8.84486173e-03 3.99196099e+01] [ 3.06787216e-01 9.51773858e-01 -2.85077308e-03 6.38653247e+00] [ 9.29292667e-03 -3.16378126e-07 9.99956820e-01 7.84903139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191858063999994 meters Centerline goodness [0,1] 0.9999341310791525 Centerline is valid? [True, True] Translation: X:39.95, Y:6.40, Z:0.08 [[ 9.51591969e-01 -3.07208347e-01 -9.78551491e-03 3.99460167e+01] [ 3.07192140e-01 9.51642281e-01 -3.15564688e-03 6.39608307e+00] [ 1.02817508e-02 -3.14503867e-06 9.99947141e-01 7.78991998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221858063999996 meters Centerline goodness [0,1] 0.9999559752580951 Centerline is valid? [True, True] Translation: X:39.97, Y:6.41, Z:0.08 [[ 9.51466525e-01 -3.07587050e-01 -1.00825918e-02 3.99725980e+01] [ 3.07569840e-01 9.51519945e-01 -3.25376633e-03 6.40513448e+00] [ 1.05946036e-02 -5.25141352e-06 9.99943876e-01 7.80430792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251858064 meters Centerline goodness [0,1] 0.9999779784188505 Centerline is valid? [True, True] Translation: X:40.00, Y:6.42, Z:0.08 [[ 9.51328372e-01 -3.08016274e-01 -1.00151715e-02 3.99987097e+01] [ 3.07999285e-01 9.51381088e-01 -3.23504660e-03 6.41510965e+00] [ 1.05246917e-02 -7.07402331e-06 9.99944614e-01 7.88176751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.03, Y:6.42, Z:0.08 [[ 9.51150180e-01 -3.08565331e-01 -1.00384852e-02 4.00256256e+01] [ 3.08548261e-01 9.51203152e-01 -3.24568387e-03 6.42443356e+00] [ 1.05501443e-02 -1.02243640e-05 9.99944346e-01 7.88727602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31185806399999 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:40.05, Y:6.43, Z:0.08 [[ 9.51004850e-01 -3.09020702e-01 -9.79695980e-03 4.00516630e+01] [ 3.09004443e-01 9.51055312e-01 -3.16995030e-03 6.43298979e+00] [ 1.02970309e-02 -1.26659953e-05 9.99946984e-01 7.79863434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.08, Y:6.44, Z:0.08 [[ 9.50737723e-01 -3.09829445e-01 -1.01734020e-02 4.00788509e+01] [ 3.09811928e-01 9.50792151e-01 -3.29457995e-03 6.44148897e+00] [ 1.06935487e-02 -1.95598562e-05 9.99942822e-01 7.95249893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.11, Y:6.45, Z:0.08 [[ 9.50488725e-01 -3.10595771e-01 -1.00722353e-02 4.01051129e+01] [ 3.10578612e-01 9.50542091e-01 -3.26488684e-03 6.45012268e+00] [ 1.05881436e-02 -2.49827284e-05 9.99943944e-01 7.98025988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.13, Y:6.46, Z:0.08 [[ 9.50432082e-01 -3.10762708e-01 -1.02663103e-02 4.01304881e+01] [ 3.10744870e-01 9.50487527e-01 -3.32973713e-03 6.45909981e+00] [ 1.07927580e-02 -2.55142655e-05 9.99941756e-01 7.96805011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.16, Y:6.47, Z:0.08 [[ 9.50419811e-01 -3.10775414e-01 -1.09920757e-02 4.01568737e+01] [ 3.10754933e-01 9.50483372e-01 -3.56794297e-03 6.46911255e+00] [ 1.15566141e-02 -2.47980495e-05 9.99933220e-01 7.89518557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461858064 meters Centerline goodness [0,1] 0.9999338566011112 Centerline is valid? [True, True] Translation: X:40.18, Y:6.48, Z:0.08 [[ 9.50417969e-01 -3.10760231e-01 -1.15656068e-02 4.01832204e+01] [ 3.10737513e-01 9.50488337e-01 -3.75765419e-03 6.47850366e+00] [ 1.21607039e-02 -2.25258364e-05 9.99926056e-01 7.84293108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.21, Y:6.49, Z:0.08 [[ 9.50383549e-01 -3.10846579e-01 -1.20629008e-02 4.02095222e+01] [ 3.10821824e-01 9.50460101e-01 -3.92295457e-03 6.48787072e+00] [ 1.26847429e-02 -2.11013290e-05 9.99919545e-01 7.84508854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.24, Y:6.50, Z:0.08 [[ 9.50343739e-01 -3.10977717e-01 -1.18168351e-02 4.02365397e+01] [ 3.10953928e-01 9.50417203e-01 -3.84653998e-03 6.49717420e+00] [ 1.24271116e-02 -1.89561071e-05 9.99922780e-01 7.82091710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.26, Y:6.51, Z:0.08 [[ 9.50220759e-01 -3.11346754e-01 -1.19877889e-02 4.02635402e+01] [ 3.11322253e-01 9.50296374e-01 -3.90593712e-03 6.50574948e+00] [ 1.26080532e-02 -2.05629288e-05 9.99920515e-01 7.90044885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.29, Y:6.51, Z:0.08 [[ 9.50132705e-01 -3.11615409e-01 -1.19866835e-02 4.02897536e+01] [ 3.11590886e-01 9.50208312e-01 -3.90932767e-03 6.51436453e+00] [ 1.26080531e-02 -2.05612757e-05 9.99920515e-01 7.90982787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611858063999996 meters Centerline goodness [0,1] 0.9999559014839151 Centerline is valid? [True, True] Translation: X:40.32, Y:6.52, Z:0.08 [[ 9.49916397e-01 -3.12291736e-01 -1.15199666e-02 4.03168780e+01] [ 3.12269093e-01 9.49986248e-01 -3.76066076e-03 6.52272482e+00] [ 1.21182331e-02 -2.50161863e-05 9.99926571e-01 7.95509501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:6.53, Z:0.08 [[ 9.49705504e-01 -3.12940545e-01 -1.12991276e-02 4.03437967e+01] [ 3.12918767e-01 9.49772717e-01 -3.69205199e-03 6.53104930e+00] [ 1.18869959e-02 -2.93469621e-05 9.99929347e-01 8.03819501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:6.54, Z:0.08 [[ 9.49538525e-01 -3.13468990e-01 -1.06668179e-02 4.03704040e+01] [ 3.13449578e-01 9.49598437e-01 -3.48868870e-03 6.53972156e+00] [ 1.12227893e-02 -3.08652266e-05 9.99937022e-01 8.13484831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:6.55, Z:0.08 [[ 9.49439930e-01 -3.13758281e-01 -1.09343359e-02 4.03959759e+01] [ 3.13737878e-01 9.49502891e-01 -3.57824485e-03 6.54852730e+00] [ 1.15048875e-02 -3.31867837e-05 9.99933816e-01 8.11507042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731858063999994 meters Centerline goodness [0,1] 0.999933911970745 Centerline is valid? [True, True] Translation: X:40.42, Y:6.56, Z:0.08 [[ 9.49235714e-01 -3.14366962e-01 -1.11791383e-02 4.04229539e+01] [ 3.14345643e-01 9.49301539e-01 -3.66130645e-03 6.55736070e+00] [ 1.17633670e-02 -3.86705824e-05 9.99930808e-01 8.13067033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:6.57, Z:0.08 [[ 9.49077607e-01 -3.14822459e-01 -1.17692281e-02 4.04503488e+01] [ 3.14798818e-01 9.49150577e-01 -3.85832084e-03 6.56529874e+00] [ 1.23854557e-02 -4.30931757e-05 9.99923296e-01 8.13193423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.48, Y:6.57, Z:0.08 [[ 9.48896440e-01 -3.15371895e-01 -1.16667924e-02 4.04773726e+01] [ 3.15348661e-01 9.48968158e-01 -3.82838376e-03 6.57383786e+00] [ 1.22787792e-02 -4.63676427e-05 9.99924612e-01 8.13799695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821858064 meters Centerline goodness [0,1] 0.9999119330691325 Centerline is valid? [True, True] Translation: X:40.50, Y:6.58, Z:0.08 [[ 9.48782229e-01 -3.15706963e-01 -1.18909463e-02 4.05039836e+01] [ 3.15682831e-01 9.48856739e-01 -3.90381003e-03 6.58222928e+00] [ 1.25152645e-02 -4.99019979e-05 9.99921680e-01 8.11189529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.53, Y:6.59, Z:0.08 [[ 9.48592286e-01 -3.16265906e-01 -1.21881611e-02 4.05297543e+01] [ 3.16240570e-01 9.48670582e-01 -4.00358503e-03 6.58966523e+00] [ 1.28287473e-02 -5.66211210e-05 9.99917707e-01 8.07964421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.56, Y:6.60, Z:0.08 [[ 9.48556479e-01 -3.16389828e-01 -1.17508531e-02 4.05567086e+01] [ 3.16366247e-01 9.48629261e-01 -3.86316275e-03 6.59822185e+00] [ 1.23694685e-02 -5.31452410e-05 9.99923494e-01 8.05872336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91185806399999 meters Centerline goodness [0,1] 0.9999558937038262 Centerline is valid? [True, True] Translation: X:40.58, Y:6.61, Z:0.08 [[ 9.48506043e-01 -3.16541357e-01 -1.17411666e-02 4.05839358e+01] [ 3.16517784e-01 9.48578709e-01 -3.86339508e-03 6.60692182e+00] [ 1.23603450e-02 -5.18344686e-05 9.99923607e-01 8.10492854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941858063999994 meters Centerline goodness [0,1] 0.9999337894504524 Centerline is valid? [True, True] Translation: X:40.61, Y:6.61, Z:0.08 [[ 9.48420827e-01 -3.16813377e-01 -1.12791954e-02 4.06095270e+01] [ 3.16791618e-01 9.48487892e-01 -3.71334402e-03 6.61430853e+00] [ 1.18746174e-02 -5.13417760e-05 9.99929493e-01 8.13160540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971858063999996 meters Centerline goodness [0,1] 0.9998239010323802 Centerline is valid? [True, True] Translation: X:40.64, Y:6.62, Z:0.08 [[ 9.48348814e-01 -3.17019069e-01 -1.15514813e-02 4.06360882e+01] [ 3.16996248e-01 9.48419162e-01 -3.80419618e-03 6.62218465e+00] [ 1.21616490e-02 -5.40713038e-05 9.99926043e-01 8.11971877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001858064 meters Centerline goodness [0,1] 0.9999114789651891 Centerline is valid? [True, True] Translation: X:40.66, Y:6.63, Z:0.08 [[ 9.48232020e-01 -3.17360054e-01 -1.17742399e-02 4.06629180e+01] [ 3.17336335e-01 9.48305116e-01 -3.88038442e-03 6.63044284e+00] [ 1.23970509e-02 -5.68893799e-05 9.99923152e-01 8.11106265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031858064 meters Centerline goodness [0,1] 0.9998239087847505 Centerline is valid? [True, True] Translation: X:40.69, Y:6.64, Z:0.08 [[ 9.48146188e-01 -3.17584907e-01 -1.25949921e-02 4.06899156e+01] [ 3.17557761e-01 9.48229837e-01 -4.15275667e-03 6.63769692e+00] [ 1.32618002e-02 -6.22170918e-05 9.99912057e-01 8.03707080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06185806399999 meters Centerline goodness [0,1] 0.9999334235813675 Centerline is valid? [True, True] Translation: X:40.72, Y:6.65, Z:0.08 [[ 9.48093898e-01 -3.17708307e-01 -1.33937639e-02 4.07174122e+01] [ 3.17677577e-01 9.48188498e-01 -4.41920606e-03 6.64619240e+00] [ 1.41038313e-02 -6.50761601e-05 9.99900534e-01 8.17022197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09185806399999 meters Centerline goodness [0,1] 0.9999777837021239 Centerline is valid? [True, True] Translation: X:40.75, Y:6.65, Z:0.08 [[ 9.47939052e-01 -3.18132623e-01 -1.42543656e-02 4.07453107e+01] [ 3.18097806e-01 9.48046217e-01 -4.70710627e-03 6.65438269e+00] [ 1.50112815e-02 -7.22325897e-05 9.99887322e-01 8.18347903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121858063999994 meters Centerline goodness [0,1] 0.9998670183293069 Centerline is valid? [True, True] Translation: X:40.77, Y:6.66, Z:0.08 [[ 9.47675952e-01 -3.18883372e-01 -1.49561354e-02 4.07717364e+01] [ 3.18845103e-01 9.47793958e-01 -4.94090735e-03 6.66180961e+00] [ 1.57509080e-02 -8.63114491e-05 9.99875943e-01 8.06800221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.80, Y:6.67, Z:0.08 [[ 9.47460005e-01 -3.19533567e-01 -1.47593711e-02 4.07983707e+01] [ 3.19496318e-01 9.47574953e-01 -4.87972758e-03 6.66979681e+00] [ 1.55448471e-02 -9.22180118e-05 9.99879167e-01 8.06485815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181858064 meters Centerline goodness [0,1] 0.9999778290173821 Centerline is valid? [True, True] Translation: X:40.83, Y:6.68, Z:0.08 [[ 9.47183858e-01 -3.20348129e-01 -1.48261938e-02 4.08257548e+01] [ 3.20310571e-01 9.47299882e-01 -4.90636051e-03 6.67770428e+00] [ 1.56165950e-02 -1.01761121e-04 9.99878048e-01 8.12266623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:6.68, Z:0.08 [[ 9.46784402e-01 -3.21533641e-01 -1.46770042e-02 4.08529132e+01] [ 3.21496945e-01 9.46898149e-01 -4.85905552e-03 6.68279871e+00] [ 1.54599779e-02 -1.18134043e-04 9.99880480e-01 8.27508516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.88, Y:6.69, Z:0.08 [[ 9.46588146e-01 -3.22149670e-01 -1.38011904e-02 4.08798159e+01] [ 3.22117270e-01 9.46688743e-01 -4.57037961e-03 6.69041224e+00] [ 1.45377778e-02 -1.19334607e-04 9.99894314e-01 8.36631514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.91, Y:6.70, Z:0.08 [[ 9.46456376e-01 -3.22558329e-01 -1.32835638e-02 4.09061670e+01] [ 3.22528308e-01 9.46549582e-01 -4.40230912e-03 6.69926373e+00] [ 1.39935532e-02 -1.17731813e-04 9.99902079e-01 8.48521280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.93, Y:6.71, Z:0.09 [[ 9.46452122e-01 -3.22604772e-01 -1.24315029e-02 4.09330226e+01] [ 3.22578438e-01 9.46533755e-01 -4.12327842e-03 6.70879690e+00] [ 1.30970264e-02 -1.07649172e-04 9.99914224e-01 8.52925891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.96, Y:6.72, Z:0.09 [[ 9.46626048e-01 -3.22092932e-01 -1.24606560e-02 4.09586150e+01] [ 3.22066382e-01 9.46708051e-01 -4.13671706e-03 6.71940064e+00] [ 1.31290107e-02 -9.72342716e-05 9.99913806e-01 8.62716193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361858063999996 meters Centerline goodness [0,1] 0.9999558508642193 Centerline is valid? [True, True] Translation: X:40.98, Y:6.73, Z:0.08 [[ 9.47591394e-01 -3.19205413e-01 -1.33587002e-02 4.09847346e+01] [ 3.19174573e-01 9.47685550e-01 -4.43744388e-03 6.73050832e+00] [ 1.40763032e-02 -5.88737971e-05 9.99900922e-01 8.44852014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391858064 meters Centerline goodness [0,1] 0.9999557198839861 Centerline is valid? [True, True] Translation: X:41.01, Y:6.74, Z:0.09 [[ 9.48007366e-01 -3.17940178e-01 -1.40027591e-02 4.10104799e+01] [ 3.17906098e-01 9.48110775e-01 -4.65526753e-03 6.74076175e+00] [ 1.47562634e-02 -3.83345893e-05 9.99891120e-01 8.51723731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421858064 meters Centerline goodness [0,1] 0.9999335562888972 Centerline is valid? [True, True] Translation: X:41.04, Y:6.75, Z:0.08 [[ 9.48948389e-01 -3.15060333e-01 -1.52951648e-02 4.10363972e+01] [ 3.15019259e-01 9.49071645e-01 -5.08721651e-03 6.75131977e+00] [ 1.61189873e-02 9.23442816e-06 9.99870081e-01 8.46690129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45185806399999 meters Centerline goodness [0,1] 0.9999112550751004 Centerline is valid? [True, True] Translation: X:41.06, Y:6.76, Z:0.08 [[ 9.49238120e-01 -3.14185487e-01 -1.53124670e-02 4.10612397e+01] [ 3.14144172e-01 9.49361616e-01 -5.09515164e-03 6.76075461e+00] [ 1.61378911e-02 2.61899115e-05 9.99869775e-01 8.43364904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481858063999994 meters Centerline goodness [0,1] 0.9999115142130295 Centerline is valid? [True, True] Translation: X:41.09, Y:6.77, Z:0.08 [[ 9.49553392e-01 -3.13227697e-01 -1.53871999e-02 4.10870972e+01] [ 3.13185782e-01 9.49678055e-01 -5.12426518e-03 6.77050496e+00] [ 1.62179479e-02 4.67111380e-05 9.99868479e-01 8.40939487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511858063999995 meters Centerline goodness [0,1] 0.9999337368025798 Centerline is valid? [True, True] Translation: X:41.11, Y:6.78, Z:0.08 [[ 9.49777061e-01 -3.12534325e-01 -1.56789804e-02 4.11136776e+01] [ 3.12490675e-01 9.49906465e-01 -5.22363904e-03 6.78031768e+00] [ 1.65261314e-02 6.17573487e-05 9.99863432e-01 8.29957858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541858063999996 meters Centerline goodness [0,1] 0.9999779366340129 Centerline is valid? [True, True] Translation: X:41.14, Y:6.79, Z:0.08 [[ 9.50121099e-01 -3.11465107e-01 -1.61054353e-02 4.11410251e+01] [ 3.11418833e-01 9.50257586e-01 -5.36946733e-03 6.79024897e+00] [ 1.69767138e-02 8.61083268e-05 9.99855882e-01 8.27028075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.17, Y:6.80, Z:0.08 [[ 9.50139211e-01 -3.11412366e-01 -1.60566974e-02 4.11666878e+01] [ 3.11366320e-01 9.50274871e-01 -5.35577437e-03 6.79911779e+00] [ 1.69261305e-02 8.92164420e-05 9.99856739e-01 8.24310670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.19, Y:6.81, Z:0.08 [[ 9.50163594e-01 -3.11341717e-01 -1.59837489e-02 4.11920591e+01] [ 3.11296044e-01 9.50298020e-01 -5.33353360e-03 6.80723194e+00] [ 1.68498765e-02 9.20516481e-05 9.99858027e-01 8.20383665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.22, Y:6.82, Z:0.08 [[ 9.50192316e-01 -3.11249435e-01 -1.60733171e-02 4.12188179e+01] [ 3.11203160e-01 9.50328248e-01 -5.36781914e-03 6.81554524e+00] [ 1.69456580e-02 9.83934129e-05 9.99856407e-01 8.31192566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.25, Y:6.82, Z:0.08 [[ 9.50159709e-01 -3.11351909e-01 -1.60161513e-02 4.12453813e+01] [ 3.11305894e-01 9.50294680e-01 -5.35366736e-03 6.82430778e+00] [ 1.68869379e-02 1.00916732e-04 9.99857400e-01 8.31504587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.27, Y:6.83, Z:0.08 [[ 9.50230375e-01 -3.11178720e-01 -1.51669933e-02 4.12720339e+01] [ 3.11137358e-01 9.50351405e-01 -5.07451901e-03 6.83272803e+00] [ 1.59930557e-02 1.02943885e-04 9.99872098e-01 8.44080769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.30, Y:6.84, Z:0.08 [[ 9.50250047e-01 -3.11142421e-01 -1.46711682e-02 4.12989568e+01] [ 3.11103644e-01 9.50363290e-01 -4.91319501e-03 6.84134652e+00] [ 1.54716430e-02 1.04509911e-04 9.99880302e-01 8.48961980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.33, Y:6.85, Z:0.09 [[ 9.50130538e-01 -3.11536248e-01 -1.40401708e-02 4.13258059e+01] [ 3.11500714e-01 9.50234264e-01 -4.70623720e-03 6.84960519e+00] [ 1.48076148e-02 9.80164586e-05 9.99890356e-01 8.54152366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.35, Y:6.86, Z:0.09 [[ 9.50009676e-01 -3.11923243e-01 -1.36200624e-02 4.13525369e+01] [ 3.11889783e-01 9.50107300e-01 -4.56963684e-03 6.85754582e+00] [ 1.43658966e-02 9.32409203e-05 9.99896801e-01 8.60234585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.38, Y:6.87, Z:0.09 [[ 9.49854752e-01 -3.12422312e-01 -1.29710639e-02 4.13795802e+01] [ 3.12391956e-01 9.49943310e-01 -4.35587999e-03 6.86556581e+00] [ 1.36826495e-02 8.53972707e-05 9.99906385e-01 8.56679286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:6.87, Z:0.09 [[ 9.49697279e-01 -3.12905500e-01 -1.28540698e-02 4.14061611e+01] [ 3.12875680e-01 9.49784260e-01 -4.32056930e-03 6.87427104e+00] [ 1.35605231e-02 8.15070677e-05 9.99908049e-01 8.53046956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:6.88, Z:0.09 [[ 9.49677377e-01 -3.12975478e-01 -1.26185959e-02 4.14329615e+01] [ 3.12946695e-01 9.49761203e-01 -4.24528796e-03 6.88273740e+00] [ 1.33133239e-02 8.27060411e-05 9.99911370e-01 8.50499546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.46, Y:6.89, Z:0.08 [[ 9.49566468e-01 -3.13296248e-01 -1.29993689e-02 4.14592351e+01] [ 3.13265700e-01 9.49655440e-01 -4.37571754e-03 6.88961947e+00] [ 1.37158173e-02 8.27782586e-05 9.99905930e-01 8.48419413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.49, Y:6.90, Z:0.09 [[ 9.49294139e-01 -3.14100087e-01 -1.34823444e-02 4.14859764e+01] [ 3.14067256e-01 9.49389872e-01 -4.54193192e-03 6.89735457e+00] [ 1.42266225e-02 7.72664259e-05 9.99898794e-01 8.55514280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961858064 meters Centerline goodness [0,1] 0.9999778883360972 Centerline is valid? [True, True] Translation: X:41.51, Y:6.91, Z:0.08 [[ 9.49178547e-01 -3.14420798e-01 -1.41297154e-02 4.15122609e+01] [ 3.14384742e-01 9.49283707e-01 -4.76212310e-03 6.90583769e+00] [ 1.49104192e-02 7.79381370e-05 9.99888830e-01 8.44233857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:6.91, Z:0.08 [[ 9.48872827e-01 -3.15322636e-01 -1.45599726e-02 4.15393243e+01] [ 3.15284400e-01 9.48984526e-01 -4.91090946e-03 6.91281575e+00] [ 1.53657096e-02 6.92963126e-05 9.99881938e-01 8.47262214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:6.92, Z:0.08 [[ 9.48675818e-01 -3.15889020e-01 -1.51102205e-02 4.15660656e+01] [ 3.15847877e-01 9.48796144e-01 -5.09864329e-03 6.92098794e+00] [ 1.59471244e-02 6.44285389e-05 9.99872834e-01 8.38014662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.59, Y:6.93, Z:0.08 [[ 9.48365289e-01 -3.16833327e-01 -1.48297628e-02 4.15925909e+01] [ 3.16793752e-01 9.48481228e-01 -5.00784130e-03 6.92877861e+00] [ 1.56524027e-02 5.12866544e-05 9.99877492e-01 8.44488191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081858063999995 meters Centerline goodness [0,1] 0.9999555496288394 Centerline is valid? [True, True] Translation: X:41.62, Y:6.94, Z:0.09 [[ 9.47656667e-01 -3.18956338e-01 -1.46183578e-02 4.16194372e+01] [ 3.18918065e-01 9.47769410e-01 -4.94099855e-03 6.93565211e+00] [ 1.54307951e-02 2.03118476e-05 9.99880938e-01 8.53703451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.65, Y:6.94, Z:0.09 [[ 9.47156789e-01 -3.20433387e-01 -1.47126576e-02 4.16454464e+01] [ 3.20394757e-01 9.47271051e-01 -4.97544731e-03 6.94296823e+00] [ 1.55311741e-02 -1.32966730e-06 9.99879384e-01 8.53260064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.67, Y:6.95, Z:0.09 [[ 9.46499790e-01 -3.22378618e-01 -1.44974070e-02 4.16725471e+01] [ 3.22341278e-01 9.46610810e-01 -4.90658490e-03 6.95022361e+00] [ 1.53051802e-02 -2.90311203e-05 9.99882868e-01 8.57313241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.70, Y:6.96, Z:0.09 [[ 9.45183134e-01 -3.26251163e-01 -1.37485227e-02 4.17005150e+01] [ 3.26217962e-01 9.45283117e-01 -4.65508960e-03 6.95579628e+00] [ 1.45149748e-02 -8.51028753e-05 9.99894649e-01 8.63547192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.73, Y:6.96, Z:0.09 [[ 9.44597840e-01 -3.27960063e-01 -1.33085428e-02 4.17280091e+01] [ 3.27929105e-01 9.44691582e-01 -4.50737239e-03 6.96294776e+00] [ 1.40507065e-02 -1.06604298e-04 9.99901278e-01 8.65449765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.76, Y:6.97, Z:0.09 [[ 9.44018951e-01 -3.29613763e-01 -1.35272667e-02 4.17555727e+01] [ 3.29581906e-01 9.44115856e-01 -4.58448464e-03 6.97054046e+00] [ 1.42824162e-02 -1.30501960e-04 9.99897993e-01 8.68812915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.78, Y:6.98, Z:0.09 [[ 9.43379278e-01 -3.31427307e-01 -1.38375339e-02 4.17823057e+01] [ 3.31394139e-01 9.43480744e-01 -4.69150244e-03 6.97710729e+00] [ 1.46103388e-02 -1.59811446e-04 9.99893251e-01 8.66903202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291858063999996 meters Centerline goodness [0,1] 0.9999775935469415 Centerline is valid? [True, True] Translation: X:41.81, Y:6.99, Z:0.09 [[ 9.43226055e-01 -3.31842362e-01 -1.43267544e-02 4.18095595e+01] [ 3.31806806e-01 9.43334839e-01 -4.86054926e-03 6.98605825e+00] [ 1.51278627e-02 -1.69117906e-04 9.99885553e-01 8.63383304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.84, Y:7.00, Z:0.09 [[ 9.43045176e-01 -3.32340849e-01 -1.46750158e-02 4.18368653e+01] [ 3.32303546e-01 9.43159333e-01 -4.98250323e-03 6.99598504e+00] [ 1.54967675e-02 -1.77834142e-04 9.99879902e-01 8.59484639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.86, Y:7.01, Z:0.09 [[ 9.43070367e-01 -3.32263299e-01 -1.48115740e-02 4.18634197e+01] [ 3.32225222e-01 9.43186657e-01 -5.03309104e-03 7.00572962e+00] [ 1.56423903e-02 -1.74219428e-04 9.99877635e-01 8.57007483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.89, Y:7.02, Z:0.09 [[ 9.43284839e-01 -3.31678752e-01 -1.42449559e-02 4.18897216e+01] [ 3.31643437e-01 9.43392379e-01 -4.84245645e-03 7.01549319e+00] [ 1.50447228e-02 -1.56430404e-04 9.99886810e-01 8.64761239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.92, Y:7.03, Z:0.09 [[ 9.43365487e-01 -3.31461242e-01 -1.39643565e-02 4.19159208e+01] [ 3.31427228e-01 9.43468825e-01 -4.75067582e-03 7.02605903e+00] [ 1.47496000e-02 -1.46544372e-04 9.99891208e-01 8.87937808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441858063999994 meters Centerline goodness [0,1] 0.9999776040850149 Centerline is valid? [True, True] Translation: X:41.94, Y:7.04, Z:0.09 [[ 9.43491120e-01 -3.31135373e-01 -1.31860353e-02 4.19433880e+01] [ 3.31104963e-01 9.43583249e-01 -4.48950928e-03 7.03607453e+00] [ 1.39287574e-02 -1.30149595e-04 9.99902982e-01 8.96099333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471858063999996 meters Centerline goodness [0,1] 0.9999776576254524 Centerline is valid? [True, True] Translation: X:41.97, Y:7.05, Z:0.09 [[ 9.43907417e-01 -3.29989567e-01 -1.20695326e-02 4.19688379e+01] [ 3.29963974e-01 9.43984574e-01 -4.11100357e-03 7.04706358e+00] [ 1.27500409e-02 -1.02104196e-04 9.99918710e-01 9.07356040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501858064 meters Centerline goodness [0,1] 0.9999776576254524 Centerline is valid? [True, True] Translation: X:41.99, Y:7.06, Z:0.09 [[ 9.43817555e-01 -3.30246531e-01 -1.20686189e-02 4.19949357e+01] [ 3.30220925e-01 9.43894707e-01 -4.11368500e-03 7.05603745e+00] [ 1.27500357e-02 -1.02742362e-04 9.99918710e-01 9.08296594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.02, Y:7.07, Z:0.09 [[ 9.43992273e-01 -3.29762040e-01 -1.16441030e-02 4.20211922e+01] [ 3.29738124e-01 9.44064081e-01 -3.97247678e-03 7.06668083e+00] [ 1.23027515e-02 -8.95173089e-05 9.99924314e-01 9.09311282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.05, Y:7.08, Z:0.09 [[ 9.44139579e-01 -3.29345413e-01 -1.14915035e-02 4.20474131e+01] [ 3.29322068e-01 9.44209507e-01 -3.92215403e-03 7.07748001e+00] [ 1.21421303e-02 -8.13448460e-05 9.99926278e-01 9.08608843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.07, Y:7.09, Z:0.09 [[ 9.44246582e-01 -3.29043370e-01 -1.13513619e-02 4.20731074e+01] [ 3.29020536e-01 9.44314807e-01 -3.87704401e-03 7.08819481e+00] [ 1.19949748e-02 -7.39456208e-05 9.99928055e-01 9.09460938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.10, Y:7.10, Z:0.09 [[ 9.44542523e-01 -3.28205511e-01 -1.09801659e-02 4.20983025e+01] [ 3.28184071e-01 9.44606341e-01 -3.75191047e-03 7.09929284e+00] [ 1.16033321e-02 -5.96765754e-05 9.99932677e-01 9.12192447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.12, Y:7.11, Z:0.09 [[ 9.44511707e-01 -3.28278909e-01 -1.14277529e-02 4.21246213e+01] [ 3.28255657e-01 9.44580835e-01 -3.90756376e-03 7.10902116e+00] [ 1.20772072e-02 -6.04848404e-05 9.99927066e-01 9.10490730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.15, Y:7.12, Z:0.09 [[ 9.44482451e-01 -3.28333159e-01 -1.22570995e-02 4.21511719e+01] [ 3.28306365e-01 9.44561979e-01 -4.19498264e-03 7.11952919e+00] [ 1.29549420e-02 -6.19962830e-05 9.99916079e-01 9.18929970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.18, Y:7.13, Z:0.09 [[ 9.44473724e-01 -3.28279800e-01 -1.42041816e-02 4.21771497e+01] [ 3.28243777e-01 9.44580525e-01 -4.86359972e-03 7.13035104e+00] [ 1.50136148e-02 -6.88920674e-05 9.99887287e-01 8.99718711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74185806399999 meters Centerline goodness [0,1] 0.9999554694631844 Centerline is valid? [True, True] Translation: X:42.20, Y:7.14, Z:0.09 [[ 9.44239889e-01 -3.28931696e-01 -1.46619191e-02 4.22041929e+01] [ 3.28893340e-01 9.44353712e-01 -5.02374099e-03 7.14053938e+00] [ 1.54985054e-02 -7.85909107e-05 9.99879888e-01 8.92570937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77185806399999 meters Centerline goodness [0,1] 0.9999777802466393 Centerline is valid? [True, True] Translation: X:42.23, Y:7.15, Z:0.09 [[ 9.43927945e-01 -3.29794754e-01 -1.53445593e-02 4.22304519e+01] [ 3.29752823e-01 9.44052653e-01 -5.25971136e-03 7.14912576e+00] [ 1.62206971e-02 -9.51232010e-05 9.99868431e-01 8.68403958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801858063999994 meters Centerline goodness [0,1] 0.9999777570176609 Centerline is valid? [True, True] Translation: X:42.26, Y:7.16, Z:0.09 [[ 9.43074969e-01 -3.32166036e-01 -1.65930177e-02 4.22569995e+01] [ 3.32117342e-01 9.43220920e-01 -5.68927182e-03 7.15903116e+00] [ 1.75406643e-02 -1.45419090e-04 9.99846140e-01 8.82413446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.28, Y:7.17, Z:0.09 [[ 9.42487756e-01 -3.33798707e-01 -1.71829137e-02 4.22842004e+01] [ 3.33746718e-01 9.42644361e-01 -5.89386175e-03 7.16709029e+00] [ 1.81647401e-02 -1.79848505e-04 9.99834991e-01 8.83898323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.31, Y:7.18, Z:0.09 [[ 9.41740702e-01 -3.35849059e-01 -1.81620370e-02 4.23123354e+01] [ 3.35791268e-01 9.41915791e-01 -6.23426509e-03 7.17526796e+00] [ 1.92008815e-02 -2.27592270e-04 9.99815620e-01 8.87681192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.34, Y:7.18, Z:0.09 [[ 9.40819457e-01 -3.38409799e-01 -1.83727098e-02 4.23398681e+01] [ 3.38351102e-01 9.40998793e-01 -6.30893981e-03 7.18245333e+00] [ 1.94237048e-02 -2.80853260e-04 9.99811303e-01 9.04002307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.37, Y:7.19, Z:0.09 [[ 9.40461185e-01 -3.39437615e-01 -1.77444627e-02 4.23660320e+01] [ 3.39382957e-01 9.40628526e-01 -6.09799461e-03 7.19169456e+00] [ 1.87608365e-02 -2.87240966e-04 9.99823959e-01 9.09386401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.39, Y:7.20, Z:0.09 [[ 9.40271047e-01 -3.39976226e-01 -1.75078483e-02 4.23924623e+01] [ 3.39923010e-01 9.40433986e-01 -6.02205602e-03 7.20131121e+00] [ 1.85123314e-02 -2.88955578e-04 9.99828590e-01 9.11555148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.42, Y:7.21, Z:0.09 [[ 9.39961756e-01 -3.40871285e-01 -1.66932604e-02 4.24179362e+01] [ 3.40822954e-01 9.40109932e-01 -5.74710379e-03 7.21277404e+00] [ 1.76525225e-02 -2.87388543e-04 9.99844141e-01 9.33337122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:7.22, Z:0.09 [[ 9.39927057e-01 -3.40989617e-01 -1.62237093e-02 4.24456747e+01] [ 3.40943946e-01 9.40067021e-01 -5.58773054e-03 7.21688237e+00] [ 1.71567321e-02 -2.79316330e-04 9.99852773e-01 8.98990665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.47, Y:7.23, Z:0.09 [[ 9.39865809e-01 -3.41166185e-01 -1.60591135e-02 4.24711240e+01] [ 3.41121390e-01 9.40002956e-01 -5.53525625e-03 7.22997427e+00] [ 1.69840565e-02 -2.75709042e-04 9.99855722e-01 9.42547686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.50, Y:7.24, Z:0.10 [[ 9.39934081e-01 -3.40958637e-01 -1.64660666e-02 4.24977283e+01] [ 3.40911424e-01 9.40078259e-01 -5.68053910e-03 7.23994596e+00] [ 1.74162201e-02 -2.74137918e-04 9.99848289e-01 9.51986826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.52, Y:7.25, Z:0.10 [[ 9.40063922e-01 -3.40587753e-01 -1.67273796e-02 4.25230899e+01] [ 3.40538921e-01 9.40212694e-01 -5.77345141e-03 7.24914875e+00] [ 1.76936615e-02 -2.68910422e-04 9.99843419e-01 9.50901312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.55, Y:7.26, Z:0.10 [[ 9.40109728e-01 -3.40435543e-01 -1.72435782e-02 4.25489827e+01] [ 3.40383536e-01 9.40267817e-01 -5.95649526e-03 7.26102193e+00] [ 1.82413843e-02 -2.69670978e-04 9.99833576e-01 9.73114795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.57, Y:7.27, Z:0.10 [[ 9.40173219e-01 -3.40238649e-01 -1.76629596e-02 4.25748292e+01] [ 3.40183943e-01 9.40339083e-01 -6.10696629e-03 7.27104205e+00] [ 1.86869972e-02 -2.67049082e-04 9.99825347e-01 9.76308611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.60, Y:7.28, Z:0.10 [[ 9.40700924e-01 -3.38798540e-01 -1.72429929e-02 4.26005804e+01] [ 3.38746074e-01 9.40858915e-01 -5.96659798e-03 7.28342579e+00] [ 1.82446983e-02 -2.28211901e-04 9.99833526e-01 9.81181848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.63, Y:7.30, Z:0.10 [[ 9.41019794e-01 -3.37924838e-01 -1.69867998e-02 4.26273642e+01] [ 3.37873693e-01 9.41173078e-01 -5.88261463e-03 7.29519420e+00] [ 1.79754002e-02 -2.03735962e-04 9.99838409e-01 9.88378013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251858064 meters Centerline goodness [0,1] 0.9999342321604735 Centerline is valid? [True, True] Translation: X:42.65, Y:7.31, Z:0.10 [[ 9.41374628e-01 -3.36909664e-01 -1.74839314e-02 4.26530723e+01] [ 3.36855206e-01 9.41536958e-01 -6.06020661e-03 7.30611640e+00] [ 1.85035098e-02 -1.84628569e-04 9.99828778e-01 9.93715316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.68, Y:7.32, Z:0.10 [[ 9.42409391e-01 -3.33932528e-01 -1.88044430e-02 4.26774897e+01] [ 3.33868850e-01 9.42596971e-01 -6.52237352e-03 7.31813929e+00] [ 1.99030436e-02 -1.31471688e-04 9.99801906e-01 9.92555893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31185806399999 meters Centerline goodness [0,1] 0.9999781735638205 Centerline is valid? [True, True] Translation: X:42.70, Y:7.33, Z:0.10 [[ 9.42902041e-01 -3.32477548e-01 -1.98600512e-02 4.27039932e+01] [ 3.32406084e-01 9.43111165e-01 -6.89383890e-03 7.32955438e+00] [ 2.10222827e-02 -1.01387097e-04 9.99779002e-01 9.98531931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.73, Y:7.34, Z:0.10 [[ 9.43392004e-01 -3.31073582e-01 -2.00451956e-02 4.27286251e+01] [ 3.31000367e-01 9.43604938e-01 -6.96260922e-03 7.34025540e+00] [ 2.12198815e-02 -6.64972350e-05 9.99774831e-01 9.99732904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:7.35, Z:0.10 [[ 9.43891119e-01 -3.29662606e-01 -1.98020361e-02 4.27540424e+01] [ 3.29590782e-01 9.44098811e-01 -6.88125657e-03 7.35120328e+00] [ 2.09635717e-02 -3.14115958e-05 9.99780240e-01 9.94462742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401858063999995 meters Centerline goodness [0,1] 0.999891205013273 Centerline is valid? [True, True] Translation: X:42.78, Y:7.36, Z:0.10 [[ 9.44862697e-01 -3.26897977e-01 -1.92924095e-02 4.27793571e+01] [ 3.26829112e-01 9.45059634e-01 -6.70966590e-03 7.36440531e+00] [ 2.04258537e-02 3.43919453e-05 9.99791370e-01 1.03205582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431858064 meters Centerline goodness [0,1] 0.9999348052851182 Centerline is valid? [True, True] Translation: X:42.80, Y:7.38, Z:0.10 [[ 9.45145529e-01 -3.26093824e-01 -1.90459418e-02 4.28039910e+01] [ 3.26026481e-01 9.45337408e-01 -6.62710027e-03 7.37506420e+00] [ 2.01658977e-02 5.40928013e-05 9.99796646e-01 1.03156277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461858064 meters Centerline goodness [0,1] 0.9999565349676186 Centerline is valid? [True, True] Translation: X:42.83, Y:7.39, Z:0.10 [[ 9.45339876e-01 -3.25521083e-01 -1.91974889e-02 4.28301912e+01] [ 3.25452434e-01 9.45534780e-01 -6.68532015e-03 7.38543336e+00] [ 2.03281061e-02 7.20302354e-05 9.99793360e-01 1.04144872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49185806399999 meters Centerline goodness [0,1] 0.9999783132007547 Centerline is valid? [True, True] Translation: X:42.86, Y:7.40, Z:0.10 [[ 9.45394312e-01 -3.25340838e-01 -1.95686776e-02 4.28566016e+01] [ 3.25269416e-01 9.45596813e-01 -6.81722406e-03 7.39559000e+00] [ 2.07220005e-02 7.98725271e-05 9.99785273e-01 1.04021302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52185806399999 meters Centerline goodness [0,1] 0.9998041903270022 Centerline is valid? [True, True] Translation: X:42.88, Y:7.41, Z:0.11 [[ 9.45554678e-01 -3.24790808e-01 -2.09112835e-02 4.28832563e+01] [ 3.24709066e-01 9.45785875e-01 -7.28705501e-03 7.40525975e+00] [ 2.21443651e-02 1.00225608e-04 9.99754778e-01 1.05702321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551858063999994 meters Centerline goodness [0,1] 0.9999564990429789 Centerline is valid? [True, True] Translation: X:42.91, Y:7.41, Z:0.11 [[ 9.45441272e-01 -3.25105327e-01 -2.11501038e-02 4.29090402e+01] [ 3.25021739e-01 9.45677808e-01 -7.37237451e-03 7.41471861e+00] [ 2.23979820e-02 9.59036228e-05 9.99749129e-01 1.05301076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581858063999995 meters Centerline goodness [0,1] 0.9999565207939303 Centerline is valid? [True, True] Translation: X:42.94, Y:7.42, Z:0.11 [[ 9.45081250e-01 -3.26087031e-01 -2.21060881e-02 4.29365142e+01] [ 3.25995851e-01 9.45339749e-01 -7.71123464e-03 7.42430477e+00] [ 2.34122974e-02 8.12502489e-05 9.99725891e-01 1.06663583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611858063999996 meters Centerline goodness [0,1] 0.9998261171970092 Centerline is valid? [True, True] Translation: X:42.96, Y:7.43, Z:0.11 [[ 9.44882333e-01 -3.26649649e-01 -2.23021009e-02 4.29619684e+01] [ 3.26556918e-01 9.45145492e-01 -7.78317236e-03 7.43288575e+00] [ 2.36211006e-02 7.12767318e-05 9.99720980e-01 1.07027457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641858064 meters Centerline goodness [0,1] 0.9999567005845421 Centerline is valid? [True, True] Translation: X:42.99, Y:7.44, Z:0.11 [[ 9.44533499e-01 -3.27670569e-01 -2.21013157e-02 4.29886261e+01] [ 3.27579628e-01 9.44792038e-01 -7.71954306e-03 7.44149541e+00] [ 2.34106142e-02 5.14262413e-05 9.99725933e-01 1.08324120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671858064 meters Centerline goodness [0,1] 0.9998265131307874 Centerline is valid? [True, True] Translation: X:43.02, Y:7.45, Z:0.11 [[ 9.44262755e-01 -3.28423685e-01 -2.24885184e-02 4.30152654e+01] [ 3.28329650e-01 9.44530509e-01 -7.85869192e-03 7.44983227e+00] [ 2.38220722e-02 3.70227237e-05 9.99716213e-01 1.08738757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.04, Y:7.46, Z:0.11 [[ 9.43912844e-01 -3.29422330e-01 -2.25714766e-02 4.30426616e+01] [ 3.29327727e-01 9.44182677e-01 -7.89432730e-03 7.45794937e+00] [ 2.39121649e-02 1.81438525e-05 9.99714063e-01 1.10147215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731858063999994 meters Centerline goodness [0,1] 0.9999564421987978 Centerline is valid? [True, True] Translation: X:43.07, Y:7.47, Z:0.11 [[ 9.43402000e-01 -3.30902818e-01 -2.22708700e-02 4.30691610e+01] [ 3.30810964e-01 9.43664837e-01 -7.79626051e-03 7.46578965e+00] [ 2.35960415e-02 -1.24402174e-05 9.99721575e-01 1.11340919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.10, Y:7.48, Z:0.11 [[ 9.43159856e-01 -3.31607830e-01 -2.20393608e-02 4.30959754e+01] [ 3.31517905e-01 9.43417324e-01 -7.72217680e-03 7.47516785e+00] [ 2.33530491e-02 -2.31955798e-05 9.99727280e-01 1.11812621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.12, Y:7.48, Z:0.11 [[ 9.42968302e-01 -3.32155519e-01 -2.19884726e-02 4.31225833e+01] [ 3.32065997e-01 9.43224634e-01 -7.71125352e-03 7.48478487e+00] [ 2.33014044e-02 -3.01564267e-05 9.99728485e-01 1.12007846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.15, Y:7.49, Z:0.11 [[ 9.42741059e-01 -3.32779017e-01 -2.23029714e-02 4.31488487e+01] [ 3.32686922e-01 9.43004838e-01 -7.82865018e-03 7.49361481e+00] [ 2.36370204e-02 -3.95169258e-05 9.99720606e-01 1.13097316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.18, Y:7.50, Z:0.11 [[ 9.42576203e-01 -3.33199419e-01 -2.29836585e-02 4.31758355e+01] [ 3.33101667e-01 9.42856375e-01 -8.07058594e-03 7.50210362e+00] [ 2.43594035e-02 -4.87527277e-05 9.99703265e-01 1.12004076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88185806399999 meters Centerline goodness [0,1] 0.9999782201507166 Centerline is valid? [True, True] Translation: X:43.20, Y:7.51, Z:0.11 [[ 9.42297626e-01 -3.33989528e-01 -2.29386113e-02 4.32027034e+01] [ 3.33892236e-01 9.42576783e-01 -8.06123377e-03 7.51069119e+00] [ 2.43137701e-02 -6.29427596e-05 9.99704375e-01 1.12812552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.23, Y:7.52, Z:0.11 [[ 9.42024058e-01 -3.34702901e-01 -2.37622112e-02 4.32301170e+01] [ 3.34598620e-01 9.42323703e-01 -8.35474055e-03 7.51831985e+00] [ 2.51880508e-02 -8.04364969e-05 9.99682727e-01 1.13454534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.26, Y:7.53, Z:0.11 [[ 9.41934303e-01 -3.34938681e-01 -2.39968487e-02 4.32562252e+01] [ 3.34832343e-01 9.42239923e-01 -8.43975026e-03 7.52662763e+00] [ 2.54375877e-02 -8.52307812e-05 9.99676409e-01 1.12527922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.28, Y:7.54, Z:0.11 [[ 9.41826092e-01 -3.35240815e-01 -2.40251485e-02 4.32828090e+01] [ 3.35134153e-01 9.42132469e-01 -8.45641193e-03 7.53537855e+00] [ 2.54698069e-02 -8.71783964e-05 9.99675588e-01 1.12146762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.31, Y:7.54, Z:0.11 [[ 9.41699417e-01 -3.35593496e-01 -2.40668637e-02 4.33093571e+01] [ 3.35486390e-01 9.42006899e-01 -8.47848173e-03 7.54437989e+00] [ 2.55164749e-02 -8.99239235e-05 9.99674398e-01 1.11698300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.34, Y:7.55, Z:0.11 [[ 9.41907766e-01 -3.35077081e-01 -2.30891578e-02 4.33355178e+01] [ 3.34978278e-01 9.42190716e-01 -8.13688385e-03 7.55275492e+00] [ 2.44808734e-02 -7.01722148e-05 9.99700296e-01 1.11504401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.36, Y:7.56, Z:0.11 [[ 9.41895995e-01 -3.35143674e-01 -2.25976356e-02 4.33632694e+01] [ 3.35048922e-01 9.42167031e-01 -7.96907517e-03 7.56160978e+00] [ 2.39615324e-02 -6.52734768e-05 9.99712879e-01 1.12023460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.39, Y:7.57, Z:0.11 [[ 9.41806767e-01 -3.35465489e-01 -2.15155659e-02 4.33905365e+01] [ 3.35379549e-01 9.42052494e-01 -7.59317713e-03 7.57055450e+00] [ 2.28160414e-02 -6.45751944e-05 9.99739678e-01 1.12542324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.42, Y:7.58, Z:0.11 [[ 9.41620066e-01 -3.36019487e-01 -2.10369994e-02 4.34176178e+01] [ 3.35937320e-01 9.41855031e-01 -7.43082702e-03 7.57946791e+00] [ 2.23107064e-02 -7.00973721e-05 9.99751083e-01 1.14368017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.44, Y:7.59, Z:0.11 [[ 9.41196479e-01 -3.37288053e-01 -1.96458111e-02 4.34447736e+01] [ 3.37216618e-01 9.41401488e-01 -6.94201089e-03 7.58588102e+00] [ 2.08360532e-02 -9.10977809e-05 9.99782902e-01 1.11528915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.47, Y:7.59, Z:0.11 [[ 9.40684107e-01 -3.38795349e-01 -1.81967873e-02 4.34727786e+01] [ 3.38734260e-01 9.40860085e-01 -6.43439944e-03 7.59453108e+00] [ 1.93005754e-02 -1.11137988e-04 9.99813720e-01 1.13536151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.50, Y:7.60, Z:0.11 [[ 9.40188570e-01 -3.40210031e-01 -1.73950725e-02 4.34996601e+01] [ 3.40154349e-01 9.40349466e-01 -6.15633264e-03 7.60178594e+00] [ 1.84518932e-02 -1.28895978e-04 9.99829741e-01 1.14769989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.53, Y:7.61, Z:0.11 [[ 9.39128327e-01 -3.43228939e-01 -1.52276525e-02 4.35273317e+01] [ 3.43186589e-01 9.39251761e-01 -5.39403199e-03 7.60732746e+00] [ 1.61539873e-02 -1.60237864e-04 9.99869503e-01 1.14787956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.55, Y:7.62, Z:0.11 [[ 9.38806078e-01 -3.44127952e-01 -1.48020136e-02 4.35545274e+01] [ 3.44088014e-01 9.38922747e-01 -5.24542020e-03 7.61512808e+00] [ 1.57030430e-02 -1.68763115e-04 9.99876685e-01 1.13982374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:7.62, Z:0.11 [[ 9.38448270e-01 -3.45136735e-01 -1.39813736e-02 4.35806193e+01] [ 3.45101188e-01 9.38552398e-01 -4.95639127e-03 7.62269165e+00] [ 1.48328845e-02 -1.73671847e-04 9.99889972e-01 1.13039349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331858063999995 meters Centerline goodness [0,1] 0.9999778731690048 Centerline is valid? [True, True] Translation: X:43.61, Y:7.63, Z:0.11 [[ 9.37916863e-01 -3.46638610e-01 -1.23948878e-02 4.36076833e+01] [ 3.46610761e-01 9.37998744e-01 -4.39725453e-03 7.63031864e+00] [ 1.31506474e-02 -1.71942316e-04 9.99913512e-01 1.11910901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:7.64, Z:0.11 [[ 9.37662764e-01 -3.47338199e-01 -1.20298265e-02 4.36348874e+01] [ 3.47311976e-01 9.37739914e-01 -4.27151426e-03 7.63910551e+00] [ 1.27645085e-02 -1.72862950e-04 9.99918515e-01 1.12012528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:7.65, Z:0.11 [[ 9.37565086e-01 -3.47601814e-01 -1.20286250e-02 4.36608740e+01] [ 3.47575569e-01 9.37642229e-01 -4.27489623e-03 7.64840654e+00] [ 1.27645084e-02 -1.72862712e-04 9.99918515e-01 1.12106327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421858064 meters Centerline goodness [0,1] 0.9998677044517452 Centerline is valid? [True, True] Translation: X:43.69, Y:7.66, Z:0.11 [[ 9.37223946e-01 -3.48545351e-01 -1.12877336e-02 4.36872103e+01] [ 3.48522287e-01 9.37291902e-01 -4.01333484e-03 7.65608162e+00] [ 1.19787305e-02 -1.72633204e-04 9.99928238e-01 1.11942701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45185806399999 meters Centerline goodness [0,1] 0.9999779088519231 Centerline is valid? [True, True] Translation: X:43.71, Y:7.66, Z:0.11 [[ 9.36817527e-01 -3.49657291e-01 -1.06160146e-02 4.37138912e+01] [ 3.49636932e-01 9.36877660e-01 -3.77714975e-03 7.66445836e+00] [ 1.12666149e-02 -1.73250687e-04 9.99936515e-01 1.12255858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:7.67, Z:0.11 [[ 9.36107740e-01 -3.51577679e-01 -9.76908344e-03 4.37409869e+01] [ 3.51560527e-01 9.36158696e-01 -3.47739564e-03 7.67114259e+00] [ 1.03679871e-02 -1.79207147e-04 9.99946235e-01 1.10904779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.77, Y:7.68, Z:0.11 [[ 9.35644130e-01 -3.52816594e-01 -9.51381920e-03 4.37684688e+01] [ 3.52800371e-01 9.35692479e-01 -3.38856051e-03 7.67996200e+00] [ 1.00975495e-02 -1.85992191e-04 9.99949001e-01 1.10324229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541858063999996 meters Centerline goodness [0,1] 0.9999778103226379 Centerline is valid? [True, True] Translation: X:43.80, Y:7.69, Z:0.11 [[ 9.35197883e-01 -3.54005431e-01 -9.22361490e-03 4.37960909e+01] [ 3.53990215e-01 9.35243347e-01 -3.28769119e-03 7.68866971e+00] [ 9.79018501e-03 -1.90427583e-04 9.99952057e-01 1.09643034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:7.70, Z:0.11 [[ 9.34528948e-01 -3.55785348e-01 -8.51066115e-03 4.38245650e+01] [ 3.55772447e-01 9.34567681e-01 -3.03581379e-03 7.69568316e+00] [ 9.03388692e-03 -1.90802875e-04 9.99959175e-01 1.09433653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.85, Y:7.70, Z:0.11 [[ 9.34144163e-01 -3.56806991e-01 -7.96584827e-03 4.38520342e+01] [ 3.56795715e-01 9.34178107e-01 -2.84275041e-03 7.70297595e+00] [ 8.45583428e-03 -1.86641829e-04 9.99964231e-01 1.09082359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.88, Y:7.71, Z:0.11 [[ 9.33799757e-01 -3.57732232e-01 -6.75755084e-03 4.38783410e+01] [ 3.57724137e-01 9.33824193e-01 -2.41215919e-03 7.71368404e+00] [ 7.17327155e-03 -1.64865381e-04 9.99974258e-01 1.09806705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.91, Y:7.72, Z:0.11 [[ 9.33491643e-01 -3.58566188e-01 -4.86224999e-03 4.39052527e+01] [ 3.58562005e-01 9.33504298e-01 -1.73629623e-03 7.72370147e+00] [ 5.16150838e-03 -1.22600091e-04 9.99986672e-01 1.10184639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.93, Y:7.73, Z:0.11 [[ 9.33533239e-01 -3.58465055e-01 -4.30060402e-03 4.39319267e+01] [ 3.58461777e-01 9.33543139e-01 -1.53661896e-03 7.73165524e+00] [ 4.56562357e-03 -1.07117283e-04 9.99989572e-01 1.09820688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.96, Y:7.74, Z:0.11 [[ 9.33544363e-01 -3.58441275e-01 -3.84379654e-03 4.39575632e+01] [ 3.58438655e-01 9.33552271e-01 -1.37387732e-03 7.74457075e+00] [ 4.08083933e-03 -9.51898318e-05 9.99991669e-01 1.09706251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.98, Y:7.75, Z:0.11 [[ 9.33893059e-01 -3.57539184e-01 -3.07982408e-03 4.39835369e+01] [ 3.57537494e-01 9.33898135e-01 -1.10160928e-03 7.75498449e+00] [ 3.27011045e-03 -7.23673238e-05 9.99994651e-01 1.09306004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.01, Y:7.77, Z:0.11 [[ 9.34031131e-01 -3.57180158e-01 -2.86030458e-03 4.40105608e+01] [ 3.57178699e-01 9.34035508e-01 -1.02328367e-03 7.76596167e+00] [ 3.03712266e-03 -6.58610604e-05 9.99995386e-01 1.09582577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.04, Y:7.78, Z:0.11 [[ 9.34112255e-01 -3.56970858e-01 -2.47026707e-03 4.40376577e+01] [ 3.56969767e-01 9.34115519e-01 -8.84396359e-04 7.77743333e+00] [ 2.62321854e-03 -5.56851834e-05 9.99996558e-01 1.09933064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.06, Y:7.79, Z:0.11 [[ 9.34437925e-01 -3.56124466e-01 -1.06292266e-03 4.40629215e+01] [ 3.56124263e-01 9.34438529e-01 -3.80544378e-04 7.79001776e+00] [ 1.12875705e-03 -2.29374516e-05 9.99999363e-01 1.09267778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.09, Y:7.80, Z:0.11 [[ 9.34673059e-01 -3.55507244e-01 -9.33602670e-04 4.40890597e+01] [ 3.55507088e-01 9.34673525e-01 -3.33890540e-04 7.80180660e+00] [ 9.91314204e-04 -1.98238742e-05 9.99999508e-01 1.08963860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.12, Y:7.81, Z:0.11 [[ 9.34975425e-01 -3.54710839e-01 -1.08420727e-03 4.41154317e+01] [ 3.54710628e-01 9.34976053e-01 -3.88201179e-04 7.81243967e+00] [ 1.15140700e-03 -2.16212799e-05 9.99999337e-01 1.08636131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.14, Y:7.82, Z:0.11 [[ 9.35281205e-01 -3.53904786e-01 -6.85885293e-04 4.41424134e+01] [ 3.53904701e-01 9.35281456e-01 -2.45444925e-04 7.82399918e+00] [ 7.28359929e-04 -1.31780042e-05 9.99999735e-01 1.08787560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.17, Y:7.84, Z:0.11 [[ 9.36145998e-01 -3.51611533e-01 -7.47707702e-06 4.41689500e+01] [ 3.51611533e-01 9.36145998e-01 -1.79673810e-06 7.83684867e+00] [ 7.63138951e-06 -9.47017332e-07 1.00000000e+00 1.08877744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.19, Y:7.85, Z:0.11 [[ 9.36635277e-01 -3.50305724e-01 5.06834085e-04 4.41942691e+01] [ 3.50305676e-01 9.36635415e-01 1.82532366e-04 7.84804432e+00] [-5.38660886e-04 6.58060345e-06 9.99999855e-01 1.08820069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02185806399999 meters Centerline goodness [0,1] 0.9999558450160062 Centerline is valid? [True, True] Translation: X:44.22, Y:7.86, Z:0.11 [[ 9.37183217e-01 -3.48836753e-01 7.33568622e-04 4.42194228e+01] [ 3.48836653e-01 9.37183504e-01 2.64114665e-04 7.85987995e+00] [-7.79621314e-04 8.37179163e-06 9.99999696e-01 1.08770773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.25, Y:7.87, Z:0.11 [[ 9.37676187e-01 -3.47508351e-01 1.14665512e-03 4.42460456e+01] [ 3.47508105e-01 9.37676888e-01 4.13560486e-04 7.87255478e+00] [-1.21890773e-03 1.06861279e-05 9.99999257e-01 1.08729394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.27, Y:7.89, Z:0.11 [[ 9.38677972e-01 -3.44788164e-01 2.18791765e-03 4.42718353e+01] [ 3.44787262e-01 9.38680522e-01 7.88897741e-04 7.88630977e+00] [-2.32575828e-03 1.38452040e-05 9.99997295e-01 1.09809092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:7.90, Z:0.11 [[ 9.39206050e-01 -3.43345182e-01 2.46605461e-03 4.42976026e+01] [ 3.43344028e-01 9.39209288e-01 8.89977094e-04 7.89740523e+00] [-2.62171074e-03 1.08332525e-05 9.99996563e-01 1.10161424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:7.91, Z:0.11 [[ 9.40047679e-01 -3.41034354e-01 2.43518488e-03 4.43227638e+01] [ 3.41033220e-01 9.40050833e-01 8.79662926e-04 7.91008650e+00] [-2.58919285e-03 3.55384743e-06 9.99996648e-01 1.10462189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171858064 meters Centerline goodness [0,1] 0.999978077867415 Centerline is valid? [True, True] Translation: X:44.35, Y:7.92, Z:0.11 [[ 9.40531731e-01 -3.39698981e-01 2.16000365e-03 4.43478937e+01] [ 3.39698085e-01 9.40534211e-01 7.80089913e-04 7.92108637e+00] [-2.29655308e-03 4.97891854e-08 9.99997363e-01 1.10706710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.37, Y:7.93, Z:0.11 [[ 9.41037588e-01 -3.38297465e-01 1.75587271e-03 4.43723554e+01] [ 3.38296870e-01 9.41039226e-01 6.34450074e-04 7.93227871e+00] [-1.86697795e-03 -3.03512503e-06 9.99998257e-01 1.10298899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.40, Y:7.94, Z:0.11 [[ 9.41437931e-01 -3.37184017e-01 1.24926156e-03 4.43967916e+01] [ 3.37183714e-01 9.41438760e-01 4.52029048e-04 7.94367817e+00] [-1.32852022e-03 -4.32664056e-06 9.99999118e-01 1.09596259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261858063999995 meters Centerline goodness [0,1] 0.9999343271819794 Centerline is valid? [True, True] Translation: X:44.42, Y:7.96, Z:0.11 [[ 9.42332522e-01 -3.34678004e-01 2.28626243e-04 4.44223511e+01] [ 3.34677994e-01 9.42332549e-01 8.35230274e-05 7.95666994e+00] [-2.43395271e-04 -2.19029252e-06 9.99999970e-01 1.07793155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.45, Y:7.97, Z:0.11 [[ 9.42596165e-01 -3.33934755e-01 2.23154611e-04 4.44491178e+01] [ 3.33934745e-01 9.42596191e-01 8.17884946e-05 7.96628957e+00] [-2.37656707e-04 -2.57444327e-06 9.99999972e-01 1.07333154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.48, Y:7.98, Z:0.11 [[ 9.42778421e-01 -3.33419806e-01 -2.86428955e-04 4.44757881e+01] [ 3.33419790e-01 9.42778465e-01 -1.02719430e-04 7.97622973e+00] [ 3.04287743e-04 1.34057976e-06 9.99999954e-01 1.07854173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:7.99, Z:0.11 [[ 9.42903380e-01 -3.33066342e-01 1.66727791e-04 4.45016952e+01] [ 3.33066336e-01 9.42903395e-01 6.14650235e-05 7.98594238e+00] [-1.77680130e-04 -2.42416405e-06 9.99999984e-01 1.07774790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38185806399999 meters Centerline goodness [0,1] 0.9999560168895144 Centerline is valid? [True, True] Translation: X:44.53, Y:8.00, Z:0.11 [[ 9.43286621e-01 -3.31978846e-01 -6.30017797e-04 4.45283961e+01] [ 3.31978768e-01 9.43286831e-01 -2.27676968e-04 7.99587944e+00] [ 6.69871428e-04 5.61210632e-06 9.99999776e-01 1.07503726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41185806399999 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:44.55, Y:8.01, Z:0.11 [[ 9.43244536e-01 -3.32097302e-01 -1.06160412e-03 4.45549579e+01] [ 3.32097079e-01 9.43245134e-01 -3.84462589e-04 8.00538040e+00] [ 1.12903191e-03 1.00866095e-05 9.99999363e-01 1.07132344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441858063999994 meters Centerline goodness [0,1] 0.9998235787059498 Centerline is valid? [True, True] Translation: X:44.58, Y:8.01, Z:0.10 [[ 9.43085513e-01 -3.32548473e-01 -1.10878954e-03 4.45820330e+01] [ 3.32548230e-01 9.43086164e-01 -4.01938887e-04 8.01354562e+00] [ 1.17934823e-03 1.03367431e-05 9.99999305e-01 1.04993665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471858063999996 meters Centerline goodness [0,1] 0.9999780470670881 Centerline is valid? [True, True] Translation: X:44.61, Y:8.02, Z:0.11 [[ 9.42955447e-01 -3.32916727e-01 -1.21564607e-03 4.46089807e+01] [ 3.32916435e-01 9.42956231e-01 -4.41169494e-04 8.02154667e+00] [ 1.29317374e-03 1.12946218e-05 9.99999164e-01 1.06106335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:8.03, Z:0.11 [[ 9.42595241e-01 -3.33934719e-01 -1.34699175e-03 4.46363846e+01] [ 3.33934361e-01 9.42596204e-01 -4.89394647e-04 8.02969979e+00] [ 1.43309518e-03 1.14942351e-05 9.99998973e-01 1.05981221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531858064 meters Centerline goodness [0,1] 0.9999341715489435 Centerline is valid? [True, True] Translation: X:44.66, Y:8.04, Z:0.11 [[ 9.42097516e-01 -3.35337277e-01 -1.08645141e-03 4.46629271e+01] [ 3.35337044e-01 9.42098143e-01 -3.94891822e-04 8.03740837e+00] [ 1.15596580e-03 7.69920104e-06 9.99999332e-01 1.05212520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:8.04, Z:0.10 [[ 9.41719239e-01 -3.36397775e-01 -1.18857082e-03 4.46899104e+01] [ 3.36397497e-01 9.41719989e-01 -4.32496643e-04 8.04481438e+00] [ 1.26479181e-03 7.45815894e-06 9.99999200e-01 1.04945127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:8.05, Z:0.10 [[ 9.41017141e-01 -3.38354701e-01 -1.68429522e-03 4.47188710e+01] [ 3.38354145e-01 9.41018648e-01 -6.13903142e-04 8.04955921e+00] [ 1.79267023e-03 7.80510992e-06 9.99998393e-01 1.04847946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.75, Y:8.06, Z:0.11 [[ 9.40838950e-01 -3.38849836e-01 -1.69076861e-03 4.47458055e+01] [ 3.38849275e-01 9.40840469e-01 -6.16679564e-04 8.05707791e+00] [ 1.79970530e-03 7.28043504e-06 9.99998381e-01 1.05191734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:8.07, Z:0.11 [[ 9.40902834e-01 -3.38670550e-01 -2.02846002e-03 4.47724769e+01] [ 3.38669741e-01 9.40905021e-01 -7.40700989e-04 8.06514976e+00] [ 2.15944183e-03 9.94963043e-06 9.99997668e-01 1.05319953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681858064 meters Centerline goodness [0,1] 0.9999780137633841 Centerline is valid? [True, True] Translation: X:44.80, Y:8.07, Z:0.11 [[ 9.41304644e-01 -3.37549018e-01 -2.49546312e-03 4.47995426e+01] [ 3.37547786e-01 9.41307952e-01 -9.12411194e-04 8.07354497e+00] [ 2.65698278e-03 1.65188450e-05 9.99996470e-01 1.05134094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:8.08, Z:0.10 [[ 9.41575949e-01 -3.36784354e-01 -3.32122559e-03 4.48259311e+01] [ 3.36782164e-01 9.41581807e-01 -1.21478954e-03 8.08290620e+00] [ 3.53632770e-03 2.52870727e-05 9.99993747e-01 1.04624802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:8.09, Z:0.10 [[ 9.41746157e-01 -3.36303110e-01 -3.79401200e-03 4.48522519e+01] [ 3.36300243e-01 9.41753799e-01 -1.38904032e-03 8.09231873e+00] [ 4.04016379e-03 3.21962250e-05 9.99991838e-01 1.04011876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:8.10, Z:0.10 [[ 9.42086502e-01 -3.35338881e-01 -4.56704367e-03 4.48802000e+01] [ 3.35334707e-01 9.42097571e-01 -1.67363787e-03 8.10018563e+00] [ 4.86383659e-03 4.52233897e-05 9.99988170e-01 1.03606400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.91, Y:8.11, Z:0.10 [[ 9.42157748e-01 -3.35132077e-01 -5.02683632e-03 4.49069686e+01] [ 3.35127012e-01 9.42171157e-01 -1.84329312e-03 8.10931188e+00] [ 5.35388684e-03 5.20442549e-05 9.99985666e-01 1.03557745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831858063999995 meters Centerline goodness [0,1] 0.9999336327234918 Centerline is valid? [True, True] Translation: X:44.93, Y:8.12, Z:0.10 [[ 9.41795177e-01 -3.36138900e-01 -5.69959537e-03 4.49334620e+01] [ 3.36132400e-01 9.41812421e-01 -2.09110072e-03 8.11721041e+00] [ 6.07085001e-03 5.35699036e-05 9.99981571e-01 1.03063877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861858063999996 meters Centerline goodness [0,1] 0.9999779278682736 Centerline is valid? [True, True] Translation: X:44.96, Y:8.12, Z:0.10 [[ 9.41201031e-01 -3.37796213e-01 -5.85985555e-03 4.49613430e+01] [ 3.37789364e-01 9.41219271e-01 -2.15159219e-03 8.12421332e+00] [ 6.24220866e-03 4.56839061e-05 9.99980516e-01 1.04494421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.99, Y:8.13, Z:0.11 [[ 9.40496564e-01 -3.39763008e-01 -5.22609954e-03 4.49892930e+01] [ 3.39757584e-01 9.40511083e-01 -1.92019000e-03 8.13239114e+00] [ 5.56761407e-03 3.03251479e-05 9.99984500e-01 1.05315596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:8.14, Z:0.11 [[ 9.39889347e-01 -3.41442694e-01 -4.99014995e-03 4.50160055e+01] [ 3.41437764e-01 9.39902594e-01 -1.83489069e-03 8.14082954e+00] [ 5.31676491e-03 2.07685647e-05 9.99985866e-01 1.06289569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:8.15, Z:0.11 [[ 9.38433789e-01 -3.45437319e-01 -3.88362092e-03 4.50436252e+01] [ 3.45434363e-01 9.38441825e-01 -1.42903037e-03 8.14818063e+00] [ 4.13819272e-03 -4.85735308e-07 9.99991438e-01 1.07479384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981858063999994 meters Centerline goodness [0,1] 0.9999778765956505 Centerline is valid? [True, True] Translation: X:45.07, Y:8.16, Z:0.11 [[ 9.37665633e-01 -3.47525226e-01 -3.06230590e-03 4.50699708e+01] [ 3.47523397e-01 9.37670634e-01 -1.12761286e-03 8.15602098e+00] [ 3.26330823e-03 -6.89912441e-06 9.99994675e-01 1.08389877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.10, Y:8.16, Z:0.11 [[ 9.36885344e-01 -3.49627451e-01 -2.54907052e-03 4.50969373e+01] [ 3.49626190e-01 9.36888812e-01 -9.39154454e-04 8.16380774e+00] [ 2.71654982e-03 -1.13417682e-05 9.99996310e-01 1.09152071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:8.17, Z:0.11 [[ 9.35906679e-01 -3.52233707e-01 -3.17864088e-03 4.51244017e+01] [ 3.52231760e-01 9.35912077e-01 -1.17149751e-03 8.17197292e+00] [ 3.38756929e-03 -2.32059251e-05 9.99994262e-01 1.09126487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.15, Y:8.18, Z:0.11 [[ 9.35453982e-01 -3.53427104e-01 -3.88972543e-03 4.51508223e+01] [ 3.53424193e-01 9.35462068e-01 -1.43487469e-03 8.18218701e+00] [ 4.14581420e-03 -3.24638246e-05 9.99991406e-01 1.08233275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.18, Y:8.19, Z:0.11 [[ 9.35242171e-01 -3.53983344e-01 -4.22782371e-03 4.51770400e+01] [ 3.53979905e-01 9.35251726e-01 -1.56080596e-03 8.19242191e+00] [ 4.50657874e-03 -3.68330859e-05 9.99989845e-01 1.07432302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.20, Y:8.20, Z:0.11 [[ 9.35338420e-01 -3.53726098e-01 -4.45961477e-03 4.52031374e+01] [ 3.53722265e-01 9.35349050e-01 -1.64710697e-03 8.20393628e+00] [ 4.75392116e-03 -3.68626058e-05 9.99988699e-01 1.06733979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.23, Y:8.22, Z:0.11 [[ 9.36282210e-01 -3.51221829e-01 -4.34176493e-03 4.52286616e+01] [ 3.51218164e-01 9.36292276e-01 -1.60467388e-03 8.21613193e+00] [ 4.62875746e-03 -2.24790966e-05 9.99989287e-01 1.06354305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:8.23, Z:0.11 [[ 9.36867687e-01 -3.49650147e-01 -4.86953992e-03 4.52546313e+01] [ 3.49645511e-01 9.36880341e-01 -1.80061841e-03 8.22727679e+00] [ 5.19176272e-03 -1.56715713e-05 9.99986523e-01 1.06626045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:8.24, Z:0.11 [[ 9.37616808e-01 -3.47634506e-01 -4.99710340e-03 4.52794391e+01] [ 3.47629589e-01 9.37630124e-01 -1.84908737e-03 8.23814510e+00] [ 5.32824125e-03 -3.40560478e-06 9.99985805e-01 1.06691150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.31, Y:8.25, Z:0.11 [[ 9.38203197e-01 -3.46041703e-01 -5.46823532e-03 4.53053585e+01] [ 3.46035780e-01 9.38219132e-01 -2.02461783e-03 8.24997213e+00] [ 5.83100520e-03 7.29784653e-06 9.99983000e-01 1.06558278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:8.26, Z:0.11 [[ 9.39439998e-01 -3.42663037e-01 -5.87654878e-03 4.53314395e+01] [ 3.42656119e-01 9.39458377e-01 -2.17762254e-03 8.26401056e+00] [ 6.26696373e-03 3.21103140e-05 9.99980362e-01 1.05975371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.36, Y:8.27, Z:0.11 [[ 9.39343864e-01 -3.42926492e-01 -5.87597905e-03 4.53572899e+01] [ 3.42919570e-01 9.39362241e-01 -2.17915907e-03 8.27366950e+00] [ 6.26696422e-03 3.19914988e-05 9.99980362e-01 1.06069206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.38, Y:8.29, Z:0.11 [[ 9.39709536e-01 -3.41926558e-01 -5.67606062e-03 4.53831218e+01] [ 3.41920069e-01 9.39726677e-01 -2.10679224e-03 8.28537047e+00] [ 6.05431380e-03 3.90137178e-05 9.99981672e-01 1.06119320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.41, Y:8.30, Z:0.11 [[ 9.40185683e-01 -3.40609785e-01 -5.98795411e-03 4.54100111e+01] [ 3.40602525e-01 9.40204750e-01 -2.22441116e-03 8.29695326e+00] [ 6.38755910e-03 5.18472338e-05 9.99979598e-01 1.06487296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.44, Y:8.31, Z:0.11 [[ 9.40886713e-01 -3.38668192e-01 -6.00406914e-03 4.54368555e+01] [ 3.38660843e-01 9.40905867e-01 -2.23208291e-03 8.30834419e+00] [ 6.40519937e-03 6.67940354e-05 9.99979484e-01 1.07180429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.46, Y:8.32, Z:0.11 [[ 9.41048470e-01 -3.38219863e-01 -5.92466584e-03 4.54625467e+01] [ 3.38212691e-01 9.41067117e-01 -2.20372440e-03 8.31860911e+00] [ 6.32085156e-03 7.00142952e-05 9.99980021e-01 1.07800657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.49, Y:8.33, Z:0.11 [[ 9.40998291e-01 -3.38369172e-01 -5.34041437e-03 4.54886511e+01] [ 3.38363341e-01 9.41013443e-01 -1.98736890e-03 8.32827991e+00] [ 5.69786608e-03 6.31102930e-05 9.99983765e-01 1.08289341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.52, Y:8.34, Z:0.11 [[ 9.40931986e-01 -3.38556834e-01 -5.12521418e-03 4.55151326e+01] [ 3.38551458e-01 9.40945942e-01 -1.90886564e-03 8.33825335e+00] [ 5.46880900e-03 6.09640048e-05 9.99985044e-01 1.08585481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.54, Y:8.35, Z:0.11 [[ 9.40818696e-01 -3.38887251e-01 -3.95123906e-03 4.55409117e+01] [ 3.38884055e-01 9.40826992e-01 -1.47264783e-03 8.35000210e+00] [ 4.21649393e-03 4.64827006e-05 9.99991109e-01 1.08589924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:8.36, Z:0.11 [[ 9.40814688e-01 -3.38903258e-01 -3.50789818e-03 4.55672826e+01] [ 3.38900735e-01 9.40821226e-01 -1.30840831e-03 8.36039816e+00] [ 3.74372890e-03 4.21404818e-05 9.99992991e-01 1.09023038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.59, Y:8.37, Z:0.11 [[ 9.40883478e-01 -3.38715923e-01 -3.13124518e-03 4.55937389e+01] [ 3.38713909e-01 9.40888687e-01 -1.16880479e-03 8.37015225e+00] [ 3.34204596e-03 3.91128238e-05 9.99994415e-01 1.10081914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611858063999996 meters Centerline goodness [0,1] 0.9999779735682819 Centerline is valid? [True, True] Translation: X:45.62, Y:8.38, Z:0.11 [[ 9.40984202e-01 -3.38423647e-01 -4.26214123e-03 4.56201618e+01] [ 3.38419905e-01 9.40993853e-01 -1.59242285e-03 8.37945770e+00] [ 4.54956225e-03 5.60513188e-05 9.99989649e-01 1.10547913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641858064 meters Centerline goodness [0,1] 0.999955857685177 Centerline is valid? [True, True] Translation: X:45.65, Y:8.39, Z:0.11 [[ 9.40807130e-01 -3.38901906e-01 -5.23852670e-03 4.56466656e+01] [ 3.38896255e-01 9.40821712e-01 -1.95823425e-03 8.38869959e+00] [ 5.59216898e-03 6.70036659e-05 9.99984361e-01 1.10614137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67185806399999 meters Centerline goodness [0,1] 0.9999559481068699 Centerline is valid? [True, True] Translation: X:45.67, Y:8.40, Z:0.11 [[ 9.40395633e-01 -3.40029419e-01 -6.00397623e-03 4.56732693e+01] [ 3.40022006e-01 9.40414797e-01 -2.24635499e-03 8.39805367e+00] [ 6.41005486e-03 7.09783831e-05 9.99979453e-01 1.09772555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.70, Y:8.41, Z:0.11 [[ 9.39147573e-01 -3.43409279e-01 -8.47954524e-03 4.57011326e+01] [ 3.43394605e-01 9.39185851e-01 -3.17538309e-03 8.40694508e+00] [ 9.05432493e-03 7.03232358e-05 9.99959006e-01 1.07216960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.73, Y:8.42, Z:0.11 [[ 9.38467749e-01 -3.45255767e-01 -8.76008768e-03 4.57277133e+01] [ 3.45240173e-01 9.38508632e-01 -3.28186370e-03 8.41635581e+00] [ 9.35450028e-03 5.55890444e-05 9.99956244e-01 1.05300887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.75, Y:8.42, Z:0.11 [[ 9.37471667e-01 -3.47930658e-01 -9.54625653e-03 4.57543615e+01] [ 3.47912255e-01 9.37520270e-01 -3.57870485e-03 8.42400380e+00] [ 1.01949501e-02 3.36747640e-05 9.99948030e-01 1.05069603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:8.43, Z:0.11 [[ 9.35451950e-01 -3.53326207e-01 -9.49945170e-03 4.57814467e+01] [ 3.53308243e-01 9.35500182e-01 -3.56300137e-03 8.42887742e+00] [ 1.01456406e-02 -2.32180077e-05 9.99948531e-01 1.05005872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:8.44, Z:0.11 [[ 9.34363116e-01 -3.56186749e-01 -9.82686562e-03 4.58089220e+01] [ 3.56167671e-01 9.34414789e-01 -3.68686798e-03 8.43633479e+00] [ 1.04955821e-02 -5.51383903e-05 9.99944918e-01 1.05567977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.84, Y:8.44, Z:0.11 [[ 9.33240010e-01 -3.59130916e-01 -9.38452101e-03 4.58370470e+01] [ 3.59113647e-01 9.33287190e-01 -3.52283819e-03 8.44480771e+00] [ 1.00236133e-02 -8.24560244e-05 9.99949759e-01 1.06554168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.86, Y:8.45, Z:0.11 [[ 9.31261338e-01 -3.64252245e-01 -8.52185731e-03 4.58649639e+01] [ 3.64238198e-01 9.31300321e-01 -3.20126854e-03 8.45298492e+00] [ 9.10247770e-03 -1.22768329e-04 9.99958564e-01 1.08282393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.89, Y:8.46, Z:0.11 [[ 9.30383909e-01 -3.66493031e-01 -8.28489741e-03 4.58920641e+01] [ 3.66479822e-01 9.30420786e-01 -3.11454490e-03 8.46213135e+00] [ 8.84989976e-03 -1.38525267e-04 9.99960829e-01 1.08562071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.92, Y:8.47, Z:0.11 [[ 9.29793522e-01 -3.67986385e-01 -8.36820898e-03 4.59183689e+01] [ 3.67972957e-01 9.29831166e-01 -3.14727614e-03 8.47145349e+00] [ 8.93917628e-03 -1.52957642e-04 9.99960033e-01 1.08406678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.94, Y:8.48, Z:0.11 [[ 9.29052815e-01 -3.69860067e-01 -8.02481258e-03 4.59442346e+01] [ 3.69847783e-01 9.29087458e-01 -3.01890305e-03 8.48180336e+00] [ 8.57232440e-03 -1.63238761e-04 9.99963244e-01 1.08206679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001858064 meters Centerline goodness [0,1] 0.9999557932894213 Centerline is valid? [True, True] Translation: X:45.97, Y:8.49, Z:0.11 [[ 9.28697950e-01 -3.70754243e-01 -7.83644102e-03 4.59708634e+01] [ 3.70742547e-01 9.28730996e-01 -2.94960727e-03 8.49242495e+00] [ 8.37152509e-03 -1.66007880e-04 9.99964944e-01 1.08042978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.00, Y:8.50, Z:0.11 [[ 9.28431544e-01 -3.71413912e-01 -8.15931358e-03 4.59976779e+01] [ 3.71401238e-01 9.28467380e-01 -3.07339733e-03 8.50397656e+00] [ 8.71715902e-03 -1.76940138e-04 9.99961989e-01 1.08515444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:8.52, Z:0.11 [[ 9.28448139e-01 -3.71366832e-01 -8.41002719e-03 4.60226712e+01] [ 3.71353342e-01 9.28486211e-01 -3.17041614e-03 8.51619968e+00] [ 8.98598167e-03 -1.79524740e-04 9.99959609e-01 1.08810786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09185806399999 meters Centerline goodness [0,1] 0.9999779512281166 Centerline is valid? [True, True] Translation: X:46.05, Y:8.53, Z:0.11 [[ 9.28810054e-01 -3.70461512e-01 -8.37562979e-03 4.60484914e+01] [ 3.70448073e-01 9.28847803e-01 -3.15992652e-03 8.52947773e+00] [ 8.95031648e-03 -1.67764397e-04 9.99959931e-01 1.08475528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.07, Y:8.54, Z:0.11 [[ 9.29180295e-01 -3.69517072e-01 -9.00625744e-03 4.60742924e+01] [ 3.69501474e-01 9.29223926e-01 -3.39938612e-03 8.53907817e+00] [ 9.62496110e-03 -1.69182797e-04 9.99953665e-01 1.07708654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.10, Y:8.55, Z:0.11 [[ 9.29511574e-01 -3.68666245e-01 -9.66606841e-03 4.61001171e+01] [ 3.68648210e-01 9.29561817e-01 -3.65058044e-03 8.55328448e+00] [ 1.03310539e-02 -1.70122040e-04 9.99946619e-01 1.08376926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181858064 meters Centerline goodness [0,1] 0.9999781200770174 Centerline is valid? [True, True] Translation: X:46.13, Y:8.57, Z:0.11 [[ 9.30279048e-01 -3.66753810e-01 -8.51672278e-03 4.61256417e+01] [ 3.66739708e-01 9.30318024e-01 -3.21877505e-03 8.56740683e+00] [ 9.10375872e-03 -1.29061438e-04 9.99958552e-01 1.08994731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.15, Y:8.58, Z:0.11 [[ 9.30628071e-01 -3.65879370e-01 -7.97994417e-03 4.61513965e+01] [ 3.65866939e-01 9.30662277e-01 -3.01807873e-03 8.58005944e+00] [ 8.53088575e-03 -1.10888956e-04 9.99963605e-01 1.09472689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.18, Y:8.59, Z:0.11 [[ 9.31026052e-01 -3.64874546e-01 -7.55357097e-03 4.61771378e+01] [ 3.64863358e-01 9.31056688e-01 -2.85887856e-03 8.59242064e+00] [ 8.07593479e-03 -9.43308462e-05 9.99967385e-01 1.09850537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.20, Y:8.61, Z:0.11 [[ 9.31527373e-01 -3.63600573e-01 -7.16782080e-03 4.62035443e+01] [ 3.63590446e-01 9.31554946e-01 -2.71482387e-03 8.60528829e+00] [ 7.66433043e-03 -7.72184155e-05 9.99970626e-01 1.10252249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.23, Y:8.62, Z:0.11 [[ 9.32723589e-01 -3.60526950e-01 -6.85752602e-03 4.62287819e+01] [ 3.60517584e-01 9.32748796e-01 -2.59917480e-03 8.62053130e+00] [ 7.33342170e-03 -4.79470607e-05 9.99973109e-01 1.10687698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.25, Y:8.63, Z:0.11 [[ 9.33264932e-01 -3.59117348e-01 -7.16217010e-03 4.62536648e+01] [ 3.59107079e-01 9.33292414e-01 -2.71597241e-03 8.63258502e+00] [ 7.65975182e-03 -3.72641821e-05 9.99970663e-01 1.10446037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:8.65, Z:0.11 [[ 9.33711081e-01 -3.57958004e-01 -7.04871679e-03 4.62793868e+01] [ 3.57948015e-01 9.33737686e-01 -2.67438111e-03 8.64537669e+00] [ 7.53896863e-03 -2.59749081e-05 9.99971581e-01 1.10087374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:8.66, Z:0.11 [[ 9.34344411e-01 -3.56311557e-01 -6.52660780e-03 4.63035953e+01] [ 3.56302939e-01 9.34367205e-01 -2.47818807e-03 8.66018400e+00] [ 6.98125534e-03 -9.96836234e-06 9.99975631e-01 1.10387453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.33, Y:8.67, Z:0.11 [[ 9.34502584e-01 -3.55902593e-01 -6.18584365e-03 4.63280231e+01] [ 3.55894833e-01 9.34523057e-01 -2.35015394e-03 8.67124843e+00] [ 6.61723940e-03 -5.28486114e-06 9.99978106e-01 1.09826056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.35, Y:8.68, Z:0.11 [[ 9.34561326e-01 -3.55742249e-01 -6.52531212e-03 4.63543104e+01] [ 3.55733600e-01 9.34584107e-01 -2.48065858e-03 8.68247721e+00] [ 6.98092806e-03 -2.94519563e-06 9.99975633e-01 1.11045394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.38, Y:8.69, Z:0.11 [[ 9.34593969e-01 -3.55643086e-01 -7.21858978e-03 4.63795091e+01] [ 3.55632486e-01 9.34621846e-01 -2.74591190e-03 8.69268987e+00] [ 7.72321629e-03 -8.52323058e-07 9.99970176e-01 1.11301889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511858063999995 meters Centerline goodness [0,1] 0.9999783956618489 Centerline is valid? [True, True] Translation: X:46.41, Y:8.70, Z:0.11 [[ 9.34433384e-01 -3.56058667e-01 -7.51509584e-03 4.64054659e+01] [ 3.56047176e-01 9.34463603e-01 -2.86055772e-03 8.70431978e+00] [ 8.04110990e-03 -2.72801799e-06 9.99967670e-01 1.11738298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.43, Y:8.72, Z:0.11 [[ 9.34421566e-01 -3.56072922e-01 -8.27111392e-03 4.64311652e+01] [ 3.56058989e-01 9.34458171e-01 -3.14996654e-03 8.71556031e+00] [ 8.85062778e-03 -1.60778754e-06 9.99960832e-01 1.11512105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.46, Y:8.73, Z:0.11 [[ 9.34318348e-01 -3.56342655e-01 -8.31482895e-03 4.64572299e+01] [ 3.56328568e-01 9.34355346e-01 -3.16857136e-03 8.72701229e+00] [ 8.89810201e-03 -2.35673079e-06 9.99960411e-01 1.10525026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:8.74, Z:0.11 [[ 9.34309838e-01 -3.56344018e-01 -9.16885971e-03 4.64821793e+01] [ 3.56326871e-01 9.34354826e-01 -3.49573430e-03 8.73917779e+00] [ 9.81265233e-03 -1.01215255e-06 9.99951855e-01 1.09567458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.51, Y:8.75, Z:0.11 [[ 9.34069008e-01 -3.56982529e-01 -8.86356227e-03 4.65079450e+01] [ 3.56966514e-01 9.34111061e-01 -3.38145007e-03 8.74956875e+00] [ 9.48667015e-03 -5.48721300e-06 9.99955001e-01 1.09919318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.53, Y:8.76, Z:0.11 [[ 9.33757298e-01 -3.57795208e-01 -8.93859960e-03 4.65340497e+01] [ 3.57778930e-01 9.33800080e-01 -3.41293144e-03 8.75972431e+00] [ 9.56799553e-03 -1.11929568e-05 9.99954226e-01 1.09544758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:8.77, Z:0.11 [[ 9.33300024e-01 -3.58970297e-01 -9.55985955e-03 4.65601005e+01] [ 3.58951708e-01 9.33348984e-01 -3.65324030e-03 8.76935407e+00] [ 1.02340900e-02 -2.19586508e-05 9.99947630e-01 1.09420627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721858063999996 meters Centerline goodness [0,1] 0.9999783460730604 Centerline is valid? [True, True] Translation: X:46.59, Y:8.78, Z:0.11 [[ 9.32310665e-01 -3.61512187e-01 -1.02841425e-02 4.65875693e+01] [ 3.61490795e-01 9.32367383e-01 -3.93306619e-03 8.77811112e+00] [ 1.10104504e-02 -5.07833112e-05 9.99939382e-01 1.09114348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.61, Y:8.79, Z:0.11 [[ 9.31711491e-01 -3.63053928e-01 -1.02734013e-02 4.66140019e+01] [ 3.63032640e-01 9.31768126e-01 -3.93213820e-03 8.78780073e+00] [ 1.10000061e-02 -6.59616592e-05 9.99939496e-01 1.09706318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781858064 meters Centerline goodness [0,1] 0.9999568723853883 Centerline is valid? [True, True] Translation: X:46.64, Y:8.80, Z:0.11 [[ 9.31095883e-01 -3.64617383e-01 -1.07060729e-02 4.66408090e+01] [ 3.64594330e-01 9.31157428e-01 -4.10094357e-03 8.79751186e+00] [ 1.14643146e-02 -8.50018084e-05 9.99934279e-01 1.09893664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.67, Y:8.81, Z:0.11 [[ 9.29859778e-01 -3.67742126e-01 -1.12481782e-02 4.66679483e+01] [ 3.67716869e-01 9.29927800e-01 -4.31182917e-03 8.80693052e+00] [ 1.20456348e-02 -1.26748346e-04 9.99927441e-01 1.10143848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:8.82, Z:0.11 [[ 9.29264166e-01 -3.69256276e-01 -1.08587003e-02 4.66942851e+01] [ 3.69232822e-01 9.29327597e-01 -4.16417139e-03 8.81582838e+00] [ 1.16289363e-02 -1.39773307e-04 9.99932372e-01 1.10406440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871858063999994 meters Centerline goodness [0,1] 0.9999136777590746 Centerline is valid? [True, True] Translation: X:46.72, Y:8.82, Z:0.11 [[ 9.28727019e-01 -3.70609304e-01 -1.07176833e-02 4.67206425e+01] [ 3.70586532e-01 9.28788846e-01 -4.11115902e-03 8.82433182e+00] [ 1.14780985e-02 -1.53684639e-04 9.99934113e-01 1.10618920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901858063999995 meters Centerline goodness [0,1] 0.9999567894566275 Centerline is valid? [True, True] Translation: X:46.75, Y:8.83, Z:0.11 [[ 9.27837701e-01 -3.72837430e-01 -1.04619068e-02 4.67476810e+01] [ 3.72815862e-01 9.27896665e-01 -4.01407416e-03 8.83286282e+00] [ 1.12041656e-02 -1.75955483e-04 9.99937216e-01 1.10508158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931858064 meters Centerline goodness [0,1] 0.9999566668111106 Centerline is valid? [True, True] Translation: X:46.77, Y:8.84, Z:0.11 [[ 9.27362603e-01 -3.74016878e-01 -1.04870656e-02 4.67745623e+01] [ 3.73995256e-01 9.27421878e-01 -4.02605227e-03 8.84319524e+00] [ 1.12317456e-02 -1.88502476e-04 9.99936904e-01 1.10816236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.80, Y:8.85, Z:0.11 [[ 9.26989993e-01 -3.74938040e-01 -1.05365503e-02 4.68014016e+01] [ 3.74916240e-01 9.27049852e-01 -4.04794539e-03 8.85280111e+00] [ 1.12856361e-02 -1.97918954e-04 9.99936296e-01 1.10923246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99185806399999 meters Centerline goodness [0,1] 0.9999783352831578 Centerline is valid? [True, True] Translation: X:46.83, Y:8.86, Z:0.11 [[ 9.26775001e-01 -3.75479161e-01 -1.01733505e-02 4.68277779e+01] [ 3.75458855e-01 9.26830816e-01 -3.90993177e-03 8.86214773e+00] [ 1.08970727e-02 -1.96047514e-04 9.99940606e-01 1.11481257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.85, Y:8.87, Z:0.11 [[ 9.26805354e-01 -3.75424227e-01 -9.40664937e-03 4.68545650e+01] [ 3.75406843e-01 9.26853072e-01 -3.61722905e-03 8.87278510e+00] [ 1.00765773e-02 -1.78853295e-04 9.99949214e-01 1.11914434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.88, Y:8.88, Z:0.11 [[ 9.26927125e-01 -3.75145885e-01 -8.46586131e-03 4.68816607e+01] [ 3.75131773e-01 9.26965771e-01 -3.25764943e-03 8.88369739e+00] [ 9.06965744e-03 -1.56209944e-04 9.99958858e-01 1.12306385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.91, Y:8.89, Z:0.11 [[ 9.27280370e-01 -3.74293393e-01 -7.45462921e-03 4.69076047e+01] [ 3.74282414e-01 9.27310325e-01 -2.86968813e-03 8.89431507e+00] [ 7.98685995e-03 -1.29131143e-04 9.99968096e-01 1.12934944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111858063999996 meters Centerline goodness [0,1] 0.999891908251724 Centerline is valid? [True, True] Translation: X:46.93, Y:8.90, Z:0.11 [[ 9.27388599e-01 -3.74023789e-01 -7.52267193e-03 4.69341277e+01] [ 3.74012587e-01 9.27419101e-01 -2.89749290e-03 8.90460455e+00] [ 8.06040091e-03 -1.26472109e-04 9.99967506e-01 1.13168415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141858064 meters Centerline goodness [0,1] 0.9999567782508159 Centerline is valid? [True, True] Translation: X:46.96, Y:8.91, Z:0.11 [[ 9.27351129e-01 -3.74131091e-01 -6.76833902e-03 4.69603075e+01] [ 3.74122012e-01 9.27375821e-01 -2.60888211e-03 8.91456937e+00] [ 7.25285787e-03 -1.12834837e-04 9.99973691e-01 1.13726850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17185806399999 meters Centerline goodness [0,1] 0.9999783872571268 Centerline is valid? [True, True] Translation: X:46.99, Y:8.93, Z:0.12 [[ 9.27494866e-01 -3.73787773e-01 -5.99789925e-03 4.69860155e+01] [ 3.73780626e-01 9.27514254e-01 -2.31353973e-03 8.92712702e+00] [ 6.42790991e-03 -9.61023152e-05 9.99979336e-01 1.15143433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20185806399999 meters Centerline goodness [0,1] 0.9999783872571268 Centerline is valid? [True, True] Translation: X:47.01, Y:8.94, Z:0.12 [[ 9.27391253e-01 -3.74044780e-01 -5.99730082e-03 4.70117282e+01] [ 3.74037627e-01 9.27410639e-01 -2.31509025e-03 8.93712674e+00] [ 6.42790801e-03 -9.62217179e-05 9.99979336e-01 1.15237274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:8.95, Z:0.12 [[ 9.27585152e-01 -3.73571254e-01 -5.50494615e-03 4.70383548e+01] [ 3.73565211e-01 9.27601483e-01 -2.12661386e-03 8.94876356e+00] [ 5.90083802e-03 -8.38409302e-05 9.99982586e-01 1.15396038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261858063999995 meters Centerline goodness [0,1] 0.9999354269355776 Centerline is valid? [True, True] Translation: X:47.06, Y:8.96, Z:0.12 [[ 9.27898886e-01 -3.72792213e-01 -5.44265520e-03 4.70643733e+01] [ 3.72786283e-01 9.27914845e-01 -2.10408421e-03 8.96055819e+00] [ 5.83470677e-03 -7.65698080e-05 9.99982975e-01 1.15568414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291858063999996 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:47.09, Y:8.97, Z:0.11 [[ 9.28206809e-01 -3.72029747e-01 -5.09777343e-03 4.70914526e+01] [ 3.72024528e-01 9.28220805e-01 -1.97180665e-03 8.96855125e+00] [ 5.46543009e-03 -6.62523973e-05 9.99985062e-01 1.14954062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321858064 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:47.12, Y:8.98, Z:0.12 [[ 9.28547258e-01 -3.71179222e-01 -5.09660303e-03 4.71175514e+01] [ 3.71173987e-01 9.28561243e-01 -1.97222338e-03 8.98166399e+00] [ 5.46455638e-03 -6.04238581e-05 9.99985067e-01 1.15590466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:8.99, Z:0.12 [[ 9.29402068e-01 -3.69028036e-01 -5.48682957e-03 4.71445579e+01] [ 3.69021922e-01 9.29418262e-01 -2.12486007e-03 8.99307333e+00] [ 5.88369254e-03 -4.99110557e-05 9.99982690e-01 1.15403057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.17, Y:9.00, Z:0.12 [[ 9.29808522e-01 -3.68007922e-01 -5.12660581e-03 4.71708463e+01] [ 3.68002561e-01 9.29822654e-01 -1.98675211e-03 9.00440905e+00] [ 5.49797474e-03 -3.93050264e-05 9.99984885e-01 1.15008888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41185806399999 meters Centerline goodness [0,1] 0.9999569030534187 Centerline is valid? [True, True] Translation: X:47.20, Y:9.02, Z:0.12 [[ 9.30902631e-01 -3.65231357e-01 -5.13295827e-03 4.71969990e+01] [ 3.65225933e-01 9.30916782e-01 -1.99066400e-03 9.01610285e+00] [ 5.50540991e-03 -2.15751130e-05 9.99984845e-01 1.15013619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441858063999994 meters Centerline goodness [0,1] 0.9999569475836831 Centerline is valid? [True, True] Translation: X:47.22, Y:9.03, Z:0.12 [[ 9.31360187e-01 -3.64065513e-01 -4.95020145e-03 4.72230853e+01] [ 3.64060444e-01 9.31373342e-01 -1.92121964e-03 9.02660345e+00] [ 5.30993548e-03 -1.28250552e-05 9.99985902e-01 1.15297851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471858063999996 meters Centerline goodness [0,1] 0.9999783605989786 Centerline is valid? [True, True] Translation: X:47.25, Y:9.04, Z:0.12 [[ 9.31737961e-01 -3.63094957e-01 -5.14049812e-03 4.72494401e+01] [ 3.63089466e-01 9.31752141e-01 -1.99678426e-03 9.03716870e+00] [ 5.51469243e-03 -5.98102481e-06 9.99984794e-01 1.15694361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501858064 meters Centerline goodness [0,1] 0.9999137726616224 Centerline is valid? [True, True] Translation: X:47.28, Y:9.05, Z:0.12 [[ 9.32179130e-01 -3.61963016e-01 -4.98432481e-03 4.72756229e+01] [ 3.61957830e-01 9.32192456e-01 -1.93773494e-03 9.04723032e+00] [ 5.34773837e-03 2.20068114e-06 9.99985701e-01 1.16112738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.30, Y:9.06, Z:0.12 [[ 9.32840950e-01 -3.60259309e-01 -4.58185815e-03 4.73017245e+01] [ 3.60254898e-01 9.32852202e-01 -1.78271114e-03 9.05735470e+00] [ 4.91643475e-03 1.23491070e-05 9.99987914e-01 1.16794022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56185806399999 meters Centerline goodness [0,1] 0.9999350621239015 Centerline is valid? [True, True] Translation: X:47.33, Y:9.07, Z:0.12 [[ 9.32959985e-01 -3.59954075e-01 -4.32783341e-03 4.73267151e+01] [ 3.59950131e-01 9.32970023e-01 -1.68504488e-03 9.06741249e+00] [ 4.64427761e-03 1.42752382e-05 9.99989215e-01 1.16562339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.35, Y:9.08, Z:0.12 [[ 9.32971265e-01 -3.59922711e-01 -4.50118381e-03 4.73532183e+01] [ 3.59918440e-01 9.32982123e-01 -1.75345033e-03 9.07738830e+00] [ 4.83063062e-03 1.58597160e-05 9.99988332e-01 1.16393791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.38, Y:9.09, Z:0.12 [[ 9.32922536e-01 -3.60054170e-01 -4.06663825e-03 4.73788372e+01] [ 3.60050680e-01 9.32931399e-01 -1.58530968e-03 9.08701332e+00] [ 4.36469187e-03 1.47752573e-05 9.99990475e-01 1.15951708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:9.10, Z:0.12 [[ 9.32879266e-01 -3.60170325e-01 -3.68942419e-03 4.74058834e+01] [ 3.60167450e-01 9.32886562e-01 -1.43906632e-03 9.09560801e+00] [ 3.96012323e-03 1.36646251e-05 9.99992159e-01 1.15984784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.43, Y:9.11, Z:0.12 [[ 9.32607087e-01 -3.60876647e-01 -3.47379425e-03 4.74318877e+01] [ 3.60874100e-01 9.32613556e-01 -1.35602515e-03 9.10502719e+00] [ 3.72906542e-03 1.10362951e-05 9.99993047e-01 1.16323516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.46, Y:9.11, Z:0.12 [[ 9.32370450e-01 -3.61493405e-01 -2.80389205e-03 4.74577943e+01] [ 3.61491746e-01 9.32374666e-01 -1.09523063e-03 9.11462323e+00] [ 3.01019656e-03 7.57684383e-06 9.99995469e-01 1.16535304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74185806399999 meters Centerline goodness [0,1] 0.9999567015219415 Centerline is valid? [True, True] Translation: X:47.48, Y:9.12, Z:0.12 [[ 9.32069261e-01 -3.62272924e-01 -2.28516305e-03 4.74840309e+01] [ 3.62271823e-01 9.32072062e-01 -8.93156536e-04 9.12339079e+00] [ 2.45350306e-03 4.63356973e-06 9.99996990e-01 1.17031547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.51, Y:9.13, Z:0.12 [[ 9.32031244e-01 -3.62372816e-01 -1.92432788e-03 4.75096027e+01] [ 3.62372034e-01 9.32033230e-01 -7.52811098e-04 9.13270393e+00] [ 2.06633580e-03 4.32085708e-06 9.99997865e-01 1.17482334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801858063999994 meters Centerline goodness [0,1] 0.9999783760406531 Centerline is valid? [True, True] Translation: X:47.54, Y:9.14, Z:0.12 [[ 9.32058186e-01 -3.62302399e-01 -2.12373480e-03 4.75363700e+01] [ 3.62301446e-01 9.32060605e-01 -8.30966777e-04 9.14237520e+00] [ 2.28051080e-03 5.07719744e-06 9.99997400e-01 1.17836557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.56, Y:9.15, Z:0.12 [[ 9.32127565e-01 -3.62122852e-01 -2.28979744e-03 4.75631419e+01] [ 3.62121742e-01 9.32130377e-01 -8.96769446e-04 9.15221849e+00] [ 2.45913046e-03 6.71808158e-06 9.99996976e-01 1.17818374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.59, Y:9.16, Z:0.12 [[ 9.32478321e-01 -3.61213881e-01 -2.95173401e-03 4.75890712e+01] [ 3.61212028e-01 9.32482993e-01 -1.15730908e-03 9.16259982e+00] [ 3.17047786e-03 1.29637992e-05 9.99994974e-01 1.16483877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891858064 meters Centerline goodness [0,1] 0.9999783075554785 Centerline is valid? [True, True] Translation: X:47.62, Y:9.17, Z:0.12 [[ 9.32546202e-01 -3.61039147e-01 -2.88354772e-03 4.76154902e+01] [ 3.61037376e-01 9.32550660e-01 -1.13079007e-03 9.17285069e+00] [ 3.09731382e-03 1.34454821e-05 9.99995203e-01 1.15694267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92185806399999 meters Centerline goodness [0,1] 0.9999347159053816 Centerline is valid? [True, True] Translation: X:47.64, Y:9.18, Z:0.11 [[ 9.32649996e-01 -3.60770256e-01 -2.96756581e-03 4.76420232e+01] [ 3.60768376e-01 9.32654717e-01 -1.16473455e-03 9.18337431e+00] [ 3.18791584e-03 1.56857720e-05 9.99994918e-01 1.14926954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95185806399999 meters Centerline goodness [0,1] 0.9999782116088548 Centerline is valid? [True, True] Translation: X:47.67, Y:9.19, Z:0.11 [[ 9.32615879e-01 -3.60858778e-01 -2.92662569e-03 4.76688035e+01] [ 3.60856947e-01 9.32620470e-01 -1.14959806e-03 9.19096067e+00] [ 3.14427358e-03 1.60401874e-05 9.99995057e-01 1.14487050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981858063999994 meters Centerline goodness [0,1] 0.9999782613421447 Centerline is valid? [True, True] Translation: X:47.70, Y:9.20, Z:0.11 [[ 9.32361856e-01 -3.61516581e-01 -2.67047227e-03 4.76955503e+01] [ 3.61515057e-01 9.32365680e-01 -1.04975214e-03 9.19918393e+00] [ 2.86935950e-03 1.33329207e-05 9.99995883e-01 1.14686659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011858063999995 meters Centerline goodness [0,1] 0.9999781830875295 Centerline is valid? [True, True] Translation: X:47.72, Y:9.21, Z:0.12 [[ 9.32087561e-01 -3.62223974e-01 -2.56337881e-03 4.77228854e+01] [ 3.62222570e-01 9.32091086e-01 -1.00844106e-03 9.20748760e+00] [ 2.75458407e-03 1.14417095e-05 9.99996206e-01 1.15223832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041858063999996 meters Centerline goodness [0,1] 0.9999124534909171 Centerline is valid? [True, True] Translation: X:47.75, Y:9.21, Z:0.12 [[ 9.31649298e-01 -3.63354202e-01 -1.81929658e-03 4.77502762e+01] [ 3.63353497e-01 9.31651074e-01 -7.16013398e-04 9.21445850e+00] [ 1.95511609e-03 6.02560597e-06 9.99998089e-01 1.15519259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.78, Y:9.22, Z:0.12 [[ 9.31382036e-01 -3.64038493e-01 -1.86516876e-03 4.77758390e+01] [ 3.64037752e-01 9.31383903e-01 -7.34839523e-04 9.22306073e+00] [ 2.00469804e-03 5.42448750e-06 9.99997991e-01 1.15826486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101858064 meters Centerline goodness [0,1] 0.9999781415987234 Centerline is valid? [True, True] Translation: X:47.80, Y:9.23, Z:0.12 [[ 9.31160439e-01 -3.64606156e-01 -1.60901101e-03 4.78024025e+01] [ 3.64605604e-01 9.31161829e-01 -6.34019239e-04 9.23203364e+00] [ 1.72941695e-03 3.71920004e-06 9.99998505e-01 1.15737204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:9.24, Z:0.11 [[ 9.30928111e-01 -3.65197279e-01 -1.94897988e-03 4.78292155e+01] [ 3.65196470e-01 9.30930152e-01 -7.68833192e-04 9.23982406e+00] [ 2.09513992e-03 3.96785939e-06 9.99997805e-01 1.14492664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16185806399999 meters Centerline goodness [0,1] 0.9999561345791113 Centerline is valid? [True, True] Translation: X:47.86, Y:9.25, Z:0.11 [[ 9.30883476e-01 -3.65309901e-01 -2.15192084e-03 4.78556060e+01] [ 3.65308913e-01 9.30885963e-01 -8.49686945e-04 9.24871013e+00] [ 2.31359196e-03 4.84367208e-06 9.99997324e-01 1.13946685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191858063999994 meters Centerline goodness [0,1] 0.9999121303984887 Centerline is valid? [True, True] Translation: X:47.88, Y:9.26, Z:0.11 [[ 9.30871914e-01 -3.65338903e-01 -2.22851238e-03 4.78819632e+01] [ 3.65337841e-01 9.30874581e-01 -8.80700800e-04 9.25778851e+00] [ 2.39621980e-03 5.65973579e-06 9.99997129e-01 1.13537923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221858063999996 meters Centerline goodness [0,1] 0.9999560931702927 Centerline is valid? [True, True] Translation: X:47.91, Y:9.27, Z:0.11 [[ 9.30748987e-01 -3.65649831e-01 -2.55423524e-03 4.79080794e+01] [ 3.65648435e-01 9.30752492e-01 -1.01041088e-03 9.26693596e+00] [ 2.74681738e-03 6.48678438e-06 9.99996227e-01 1.13168262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:9.27, Z:0.11 [[ 9.30393619e-01 -3.66548480e-01 -3.15040995e-03 4.79355091e+01] [ 3.66546357e-01 9.30398953e-01 -1.24751806e-03 9.27486546e+00] [ 3.38841397e-03 5.91155241e-06 9.99994259e-01 1.11781210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.96, Y:9.28, Z:0.11 [[ 9.30005253e-01 -3.67532038e-01 -3.22963496e-03 4.79617981e+01] [ 3.67529810e-01 9.30010861e-01 -1.27996366e-03 9.28344385e+00] [ 3.47402325e-03 3.38580299e-06 9.99993966e-01 1.11366273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:9.29, Z:0.11 [[ 9.29587315e-01 -3.68587526e-01 -3.26496932e-03 4.79883601e+01] [ 3.68585251e-01 9.29593048e-01 -1.29503705e-03 9.29212379e+00] [ 3.51242729e-03 4.30474514e-07 9.99993831e-01 1.10950041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:9.30, Z:0.11 [[ 9.28831063e-01 -3.70486193e-01 -3.58289911e-03 4.80157154e+01] [ 3.70483463e-01 9.28837973e-01 -1.42241442e-03 9.29855673e+00] [ 3.85491765e-03 -6.22217606e-06 9.99992570e-01 1.09602008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.04, Y:9.31, Z:0.11 [[ 9.28363239e-01 -3.71655660e-01 -3.71023012e-03 4.80424956e+01] [ 3.71652737e-01 9.28370653e-01 -1.47422799e-03 9.30672641e+00] [ 3.99237393e-03 -1.02981060e-05 9.99992030e-01 1.09192082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:9.31, Z:0.11 [[ 9.27718431e-01 -3.73261195e-01 -3.82025623e-03 4.80696461e+01] [ 3.73258103e-01 9.27726296e-01 -1.51922780e-03 9.31485991e+00] [ 4.11122095e-03 -1.65259611e-05 9.99991549e-01 1.09027867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.10, Y:9.32, Z:0.11 [[ 9.26510322e-01 -3.76249542e-01 -3.86073752e-03 4.80976292e+01] [ 3.76246406e-01 9.26518365e-01 -1.53645102e-03 9.32052749e+00] [ 4.15513321e-03 -2.90508821e-05 9.99991367e-01 1.08176427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:9.33, Z:0.11 [[ 9.25872334e-01 -3.77815045e-01 -4.02645503e-03 4.81255204e+01] [ 3.77811647e-01 9.25881089e-01 -1.60297867e-03 9.32911647e+00] [ 4.33364802e-03 -3.70879986e-05 9.99990609e-01 1.07588222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.15, Y:9.34, Z:0.11 [[ 9.25215366e-01 -3.79421893e-01 -3.94389079e-03 4.81535896e+01] [ 3.79418642e-01 9.25223771e-01 -1.57120128e-03 9.33774367e+00] [ 4.24512967e-03 -4.26861228e-05 9.99990988e-01 1.07684915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.18, Y:9.35, Z:0.11 [[ 9.24715621e-01 -3.80634538e-01 -4.28576185e-03 4.81813942e+01] [ 3.80630706e-01 9.24725552e-01 -1.70868909e-03 9.34630781e+00] [ 4.61353957e-03 -5.12410703e-05 9.99989356e-01 1.08125827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.21, Y:9.35, Z:0.11 [[ 9.24074456e-01 -3.82180054e-01 -4.98054241e-03 4.82096816e+01] [ 3.82174893e-01 9.24087876e-01 -1.98725809e-03 9.35237456e+00] [ 5.36194926e-03 -6.70638296e-05 9.99985622e-01 1.08178211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.24, Y:9.36, Z:0.11 [[ 9.23894624e-01 -3.82608693e-01 -5.41402811e-03 4.82365675e+01] [ 3.82602595e-01 9.23910484e-01 -2.16144081e-03 9.36120048e+00] [ 5.82906337e-03 -7.44776558e-05 9.99983008e-01 1.07931021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.26, Y:9.37, Z:0.11 [[ 9.23815438e-01 -3.82792978e-01 -5.87985954e-03 4.82627375e+01] [ 3.82785781e-01 9.23834146e-01 -2.34864843e-03 9.37059338e+00] [ 6.33106114e-03 -8.10089530e-05 9.99979955e-01 1.07377486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:9.38, Z:0.11 [[ 9.23696039e-01 -3.83083564e-01 -5.71055855e-03 4.82890696e+01] [ 3.83076770e-01 9.23713688e-01 -2.28286176e-03 9.38035155e+00] [ 6.14944792e-03 -7.89119627e-05 9.99981089e-01 1.05815736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.31, Y:9.39, Z:0.11 [[ 9.23725059e-01 -3.83012192e-01 -5.80315238e-03 4.83148993e+01] [ 3.83005165e-01 9.23743284e-01 -2.32131166e-03 9.38946016e+00] [ 6.24971370e-03 -7.83835869e-05 9.99980467e-01 1.05734512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.34, Y:9.40, Z:0.11 [[ 9.23946444e-01 -3.82475152e-01 -5.97727941e-03 4.83412476e+01] [ 3.82467677e-01 9.23965775e-01 -2.39234453e-03 9.39834360e+00] [ 6.43781393e-03 -7.57179489e-05 9.99979274e-01 1.06419782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:9.41, Z:0.11 [[ 9.24800626e-01 -3.80401098e-01 -6.22946726e-03 4.83677790e+01] [ 3.80392923e-01 9.24821605e-01 -2.49466614e-03 9.40633106e+00] [ 6.71011965e-03 -6.25764511e-05 9.99977485e-01 1.07705609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.39, Y:9.42, Z:0.11 [[ 9.25405615e-01 -3.78928372e-01 -6.14302320e-03 4.83943734e+01] [ 3.78920382e-01 9.25426003e-01 -2.46120347e-03 9.41712353e+00] [ 6.61753323e-03 -5.01051913e-05 9.99978103e-01 1.08209544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.42, Y:9.43, Z:0.11 [[ 9.25986753e-01 -3.77505335e-01 -6.18511939e-03 4.84205816e+01] [ 3.77497191e-01 9.26007409e-01 -2.47983000e-03 9.42854773e+00] [ 6.66361543e-03 -3.85754685e-05 9.99977797e-01 1.08202645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.45, Y:9.44, Z:0.11 [[ 9.26564413e-01 -3.76086934e-01 -6.08338647e-03 4.84463446e+01] [ 3.76079014e-01 9.26584382e-01 -2.44082220e-03 9.43958590e+00] [ 6.55473223e-03 -2.62550027e-05 9.99978517e-01 1.08136784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.47, Y:9.45, Z:0.11 [[ 9.27685519e-01 -3.73319159e-01 -5.69056808e-03 4.84713968e+01] [ 3.73312166e-01 9.27702973e-01 -2.28494177e-03 9.45130462e+00] [ 6.13216946e-03 -4.65090328e-06 9.99981198e-01 1.08086752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.50, Y:9.46, Z:0.11 [[ 9.27979537e-01 -3.72588579e-01 -5.63298609e-03 4.84971481e+01] [ 3.72581702e-01 9.27996633e-01 -2.26363521e-03 9.46216737e+00] [ 6.07079675e-03 1.85960243e-06 9.99981573e-01 1.08241911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.52, Y:9.47, Z:0.11 [[ 9.28244267e-01 -3.71938984e-01 -4.89620209e-03 4.85224534e+01] [ 3.71933773e-01 9.28257180e-01 -1.96868095e-03 9.47236512e+00] [ 5.27716394e-03 6.35388286e-06 9.99986076e-01 1.08981581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.55, Y:9.48, Z:0.11 [[ 9.28500492e-01 -3.71296081e-01 -5.10457371e-03 4.85488689e+01] [ 3.71290402e-01 9.28514523e-01 -2.05355658e-03 9.48268540e+00] [ 5.50214834e-03 1.14490720e-05 9.99984863e-01 1.10144053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.58, Y:9.49, Z:0.11 [[ 9.28335413e-01 -3.71707070e-01 -5.21685133e-03 4.85753071e+01] [ 3.71701135e-01 9.28350071e-01 -2.10044842e-03 9.49339736e+00] [ 5.62381582e-03 1.08110871e-05 9.99984186e-01 1.10062482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.60, Y:9.50, Z:0.11 [[ 9.28318959e-01 -3.71744642e-01 -5.46188460e-03 4.86001787e+01] [ 3.71738128e-01 9.28335026e-01 -2.20069239e-03 9.50372129e+00] [ 5.88855439e-03 1.25537098e-05 9.99982662e-01 1.09731427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.63, Y:9.51, Z:0.11 [[ 9.28042484e-01 -3.72433692e-01 -5.50392560e-03 4.86265716e+01] [ 3.72427081e-01 9.28058805e-01 -2.21908725e-03 9.51420942e+00] [ 5.93442947e-03 9.59629716e-06 9.99982391e-01 1.09222089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.65, Y:9.52, Z:0.11 [[ 9.27545414e-01 -3.73663745e-01 -5.90855573e-03 4.86521488e+01] [ 3.73656142e-01 9.27564233e-01 -2.38369893e-03 9.52368705e+00] [ 6.37126684e-03 3.22087471e-06 9.99979703e-01 1.09704353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.68, Y:9.53, Z:0.11 [[ 9.27056095e-01 -3.74870919e-01 -6.22818866e-03 4.86787495e+01] [ 3.74862488e-01 9.27077016e-01 -2.51408369e-03 9.53382216e+00] [ 6.71646743e-03 -4.01768929e-06 9.99977444e-01 1.09571432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.70, Y:9.54, Z:0.11 [[ 9.26954254e-01 -3.75122686e-01 -6.22750463e-03 4.87043101e+01] [ 3.75114250e-01 9.26975173e-01 -2.51577727e-03 9.54423488e+00] [ 6.71646730e-03 -4.01527931e-06 9.99977444e-01 1.09665217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.73, Y:9.55, Z:0.11 [[ 9.26377861e-01 -3.76540067e-01 -6.45267151e-03 4.87306692e+01] [ 3.76531030e-01 9.26400333e-01 -2.60884050e-03 9.55438014e+00] [ 6.96009001e-03 -1.28589700e-05 9.99975778e-01 1.10288470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181858064 meters Centerline goodness [0,1] 0.9999774490348187 Centerline is valid? [True, True] Translation: X:48.76, Y:9.56, Z:0.11 [[ 9.25516195e-01 -3.78637688e-01 -7.29886993e-03 4.87564755e+01] [ 3.78626178e-01 9.25544975e-01 -2.95253482e-03 9.56361806e+00] [ 7.87337334e-03 -3.09244324e-05 9.99969004e-01 1.10315512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.78, Y:9.57, Z:0.11 [[ 9.24986567e-01 -3.79929742e-01 -7.29665551e-03 4.87828197e+01] [ 3.79918266e-01 9.25015345e-01 -2.95326668e-03 9.57382903e+00] [ 7.87155217e-03 -4.04007022e-05 9.99969018e-01 1.10336135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.81, Y:9.58, Z:0.11 [[ 9.24318424e-01 -3.81542849e-01 -7.77857362e-03 4.88091778e+01] [ 3.81529851e-01 9.24351152e-01 -3.14984204e-03 9.58351365e+00] [ 8.39193318e-03 -5.63010005e-05 9.99964786e-01 1.09777608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.84, Y:9.59, Z:0.11 [[ 9.23475069e-01 -3.83576623e-01 -7.92276545e-03 4.88358458e+01] [ 3.83563200e-01 9.23509052e-01 -3.20986002e-03 9.59358989e+00] [ 8.54797288e-03 -7.46555590e-05 9.99963463e-01 1.10051455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301858063999994 meters Centerline goodness [0,1] 0.9998872248285817 Centerline is valid? [True, True] Translation: X:48.86, Y:9.60, Z:0.11 [[ 9.21914956e-01 -3.87317025e-01 -7.63776337e-03 4.88629365e+01] [ 3.87304661e-01 9.21946588e-01 -3.09651754e-03 9.60370893e+00] [ 8.24094384e-03 -1.03415515e-04 9.99966037e-01 1.10667057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.89, Y:9.61, Z:0.11 [[ 9.21158759e-01 -3.89109127e-01 -7.78641933e-03 4.88898863e+01] [ 3.89096329e-01 9.21191659e-01 -3.15817809e-03 9.61228025e+00] [ 8.40166046e-03 -1.20483763e-04 9.99964698e-01 1.09981885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.92, Y:9.62, Z:0.11 [[ 9.20573042e-01 -3.90495284e-01 -7.66200148e-03 4.89157715e+01] [ 3.90482927e-01 9.20604919e-01 -3.10929013e-03 9.62435719e+00] [ 8.26783939e-03 -1.29552091e-04 9.99965812e-01 1.10575538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.94, Y:9.64, Z:0.11 [[ 9.19973768e-01 -3.91901932e-01 -7.81925923e-03 4.89427910e+01] [ 3.91889095e-01 9.20006986e-01 -3.17532593e-03 9.63560862e+00] [ 8.43818949e-03 -1.43065863e-04 9.99964388e-01 1.10641745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.97, Y:9.65, Z:0.11 [[ 9.19121692e-01 -3.93916921e-01 -6.69137094e-03 4.89692440e+01] [ 3.93907560e-01 9.19146039e-01 -2.71906787e-03 9.64734450e+00] [ 7.22143394e-03 -1.36627337e-04 9.99973916e-01 1.12063909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.00, Y:9.66, Z:0.11 [[ 9.18656573e-01 -3.95009562e-01 -6.12753613e-03 4.89954606e+01] [ 3.95001726e-01 9.18676999e-01 -2.49162043e-03 9.65852442e+00] [ 6.61344039e-03 -1.31443858e-04 9.99978122e-01 1.12914978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:9.67, Z:0.11 [[ 9.18452106e-01 -3.95486403e-01 -6.01947828e-03 4.90218602e+01] [ 3.95478844e-01 9.18471822e-01 -2.44885749e-03 9.66802980e+00] [ 6.49721102e-03 -1.31417992e-04 9.99978884e-01 1.13080546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.05, Y:9.68, Z:0.11 [[ 9.18451640e-01 -3.95480701e-01 -6.44990464e-03 4.90467920e+01] [ 3.95472011e-01 9.18474276e-01 -2.62529888e-03 9.68262783e+00] [ 6.96232653e-03 -1.39546702e-04 9.99975753e-01 1.12736358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:9.70, Z:0.11 [[ 9.18645713e-01 -3.95028693e-01 -6.51043593e-03 4.90730248e+01] [ 3.95019815e-01 9.18668772e-01 -2.65183810e-03 9.69537549e+00] [ 7.02848632e-03 -1.35651498e-04 9.99975291e-01 1.12327356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:9.71, Z:0.11 [[ 9.18836070e-01 -3.94577963e-01 -6.96471032e-03 4.90992164e+01] [ 3.94567775e-01 9.18862455e-01 -2.83888144e-03 9.70781020e+00] [ 7.51977088e-03 -1.39583584e-04 9.99971716e-01 1.11939863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.13, Y:9.72, Z:0.11 [[ 9.19158408e-01 -3.93811399e-01 -7.77191524e-03 4.91254366e+01] [ 3.93798666e-01 9.19191253e-01 -3.17019855e-03 9.72098280e+00] [ 8.39233684e-03 -1.46655201e-04 9.99964773e-01 1.11813394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.15, Y:9.73, Z:0.11 [[ 9.19773483e-01 -3.92359405e-01 -8.41645596e-03 4.91501435e+01] [ 3.92344398e-01 9.19811979e-01 -3.43461015e-03 9.73463003e+00] [ 9.08915860e-03 -1.43086004e-04 9.99958683e-01 1.11018756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.18, Y:9.75, Z:0.11 [[ 9.19978298e-01 -3.91883397e-01 -8.20578354e-03 4.91753906e+01] [ 3.91869105e-01 9.20014883e-01 -3.34944878e-03 9.74559915e+00] [ 8.86203635e-03 -1.34172861e-04 9.99960722e-01 1.10800470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.20, Y:9.76, Z:0.11 [[ 9.19934263e-01 -3.91993219e-01 -7.89103526e-03 4.92005466e+01] [ 3.91979991e-01 9.19968097e-01 -3.22285999e-03 9.75922588e+00] [ 8.52283995e-03 -1.28308602e-04 9.99963672e-01 1.11533102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721858063999996 meters Centerline goodness [0,1] 0.999977632138144 Centerline is valid? [True, True] Translation: X:49.23, Y:9.77, Z:0.11 [[ 9.20062618e-01 -3.91699083e-01 -7.52374822e-03 4.92255616e+01] [ 3.91687034e-01 9.20093373e-01 -3.07454890e-03 9.77077166e+00] [ 8.12684886e-03 -1.18177114e-04 9.99966970e-01 1.11843944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:9.78, Z:0.11 [[ 9.19910920e-01 -3.92072625e-01 -6.55406373e-03 4.92502847e+01] [ 3.92063480e-01 9.19934262e-01 -2.67984399e-03 9.78399240e+00] [ 7.08000125e-03 -1.04391288e-04 9.99974931e-01 1.12062197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:9.80, Z:0.11 [[ 9.19700290e-01 -3.92573238e-01 -6.13428883e-03 4.92758330e+01] [ 3.92565225e-01 9.19720742e-01 -2.51015909e-03 9.79523180e+00] [ 6.62725396e-03 -9.95144325e-05 9.99978035e-01 1.12504356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81185806399999 meters Centerline goodness [0,1] 0.999955448632273 Centerline is valid? [True, True] Translation: X:49.30, Y:9.81, Z:0.11 [[ 9.19281652e-01 -3.93557372e-01 -5.81710003e-03 4.93026356e+01] [ 3.93550176e-01 9.19300052e-01 -2.38212711e-03 9.80674346e+00] [ 6.28516404e-03 -9.94749915e-05 9.99980243e-01 1.13388323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:9.82, Z:0.12 [[ 9.18509213e-01 -3.95370462e-01 -4.79829763e-03 4.93286190e+01] [ 3.95365585e-01 9.18521741e-01 -1.96585336e-03 9.81676653e+00] [ 5.18458104e-03 -9.14273271e-05 9.99986556e-01 1.15166372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.36, Y:9.83, Z:0.12 [[ 9.18108964e-01 -3.96300006e-01 -4.71540670e-03 4.93550014e+01] [ 3.96295304e-01 9.18121069e-01 -1.93266053e-03 9.82864792e+00] [ 5.09522762e-03 -9.43005794e-05 9.99987015e-01 1.15642566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.38, Y:9.84, Z:0.12 [[ 9.17784182e-01 -3.97056509e-01 -4.28060306e-03 4.93806226e+01] [ 3.97052638e-01 9.17794160e-01 -1.75544323e-03 9.84020655e+00] [ 4.62572265e-03 -8.85067074e-05 9.99989297e-01 1.15374179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931858064 meters Centerline goodness [0,1] 0.9999555969983571 Centerline is valid? [True, True] Translation: X:49.41, Y:9.85, Z:0.12 [[ 9.17473040e-01 -3.97774297e-01 -4.33927521e-03 4.94057481e+01] [ 3.97770325e-01 9.17483297e-01 -1.78010833e-03 9.85116434e+00] [ 4.68929387e-03 -9.28335104e-05 9.99989001e-01 1.15193298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.43, Y:9.86, Z:0.11 [[ 9.16729594e-01 -3.99489735e-01 -3.84743661e-03 4.94311078e+01] [ 3.99486625e-01 9.16737663e-01 -1.57881935e-03 9.86492288e+00] [ 4.15781217e-03 -8.96490457e-05 9.99991352e-01 1.14327353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99185806399999 meters Centerline goodness [0,1] 0.99997783933518 Centerline is valid? [True, True] Translation: X:49.46, Y:9.88, Z:0.11 [[ 9.16353534e-01 -4.00349319e-01 -4.07714158e-03 4.94567548e+01] [ 4.00345831e-01 9.16362599e-01 -1.67413343e-03 9.87564500e+00] [ 4.40637823e-03 -9.81685453e-05 9.99990287e-01 1.13773769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.48, Y:9.89, Z:0.11 [[ 9.16011907e-01 -4.01125928e-01 -4.49186455e-03 4.94836761e+01] [ 4.01121699e-01 9.16022913e-01 -1.84515418e-03 9.88706860e+00] [ 4.85479004e-03 -1.11601143e-04 9.99988209e-01 1.14221220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.51, Y:9.90, Z:0.11 [[ 9.15060748e-01 -4.03287389e-01 -4.80723145e-03 4.95097901e+01] [ 4.03282569e-01 9.15073366e-01 -1.97612146e-03 9.89869433e+00] [ 5.19591433e-03 -1.30401472e-04 9.99986493e-01 1.14018412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.54, Y:9.91, Z:0.11 [[ 9.14712895e-01 -4.04072041e-01 -5.10929243e-03 4.95364475e+01] [ 4.04066599e-01 9.14727154e-01 -2.10179609e-03 9.90987676e+00] [ 5.52288556e-03 -1.41954430e-04 9.99984739e-01 1.14052770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.56, Y:9.92, Z:0.11 [[ 9.14334262e-01 -4.04925977e-01 -5.27360860e-03 4.95625819e+01] [ 4.04920186e-01 9.14349457e-01 -2.17090500e-03 9.92173614e+00] [ 5.70097698e-03 -1.50457756e-04 9.99983738e-01 1.13822185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.59, Y:9.94, Z:0.11 [[ 9.13614136e-01 -4.06537484e-01 -6.04027593e-03 4.95881606e+01] [ 4.06529909e-01 9.13634085e-01 -2.48835363e-03 9.93652534e+00] [ 6.53021099e-03 -1.82157768e-04 9.99978661e-01 1.13268336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.61, Y:9.95, Z:0.11 [[ 9.13235466e-01 -4.07383714e-01 -6.28436135e-03 4.96140647e+01] [ 4.07375526e-01 9.13257068e-01 -2.59016962e-03 9.94797668e+00] [ 6.79443033e-03 -1.94660252e-04 9.99976899e-01 1.12584239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.64, Y:9.96, Z:0.11 [[ 9.12857395e-01 -4.08228069e-01 -6.42030929e-03 4.96396877e+01] [ 4.08219535e-01 9.12879950e-01 -2.64746981e-03 9.96077384e+00] [ 6.94174310e-03 -2.04133280e-04 9.99975885e-01 1.12276172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231858063999994 meters Centerline goodness [0,1] 0.9999779122675266 Centerline is valid? [True, True] Translation: X:49.67, Y:9.97, Z:0.11 [[ 9.12317484e-01 -4.09425794e-01 -6.87949195e-03 4.96655412e+01] [ 4.09416014e-01 9.12343394e-01 -2.83887784e-03 9.97319740e+00] [ 7.43876885e-03 -2.26616290e-04 9.99972306e-01 1.12072253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261858063999995 meters Centerline goodness [0,1] 0.9999559975358621 Centerline is valid? [True, True] Translation: X:49.69, Y:9.98, Z:0.11 [[ 9.11784131e-01 -4.10626570e-01 -5.95977886e-03 4.96911833e+01] [ 4.10619249e-01 9.11803586e-01 -2.46043811e-03 9.98334184e+00] [ 6.44446900e-03 -2.03811491e-04 9.99979213e-01 1.11890283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.72, Y:10.00, Z:0.11 [[ 9.11483785e-01 -4.11302763e-01 -5.22930681e-03 4.97169368e+01] [ 4.11297133e-01 9.11498768e-01 -2.15974757e-03 9.99724487e+00] [ 5.65481686e-03 -1.82224015e-04 9.99983995e-01 1.12170695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.74, Y:10.01, Z:0.11 [[ 9.11227980e-01 -4.11877682e-01 -4.51027750e-03 4.97427559e+01] [ 4.11873495e-01 9.11239129e-01 -1.86394686e-03 1.00102622e+01] [ 4.87765945e-03 -1.59183229e-04 9.99988091e-01 1.12272453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.77, Y:10.02, Z:0.11 [[ 9.11187717e-01 -4.11971808e-01 -4.02172065e-03 4.97678198e+01] [ 4.11968476e-01 9.11196581e-01 -1.66297060e-03 1.00205178e+01] [ 4.34967511e-03 -1.41543744e-04 9.99990530e-01 1.12451767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.79, Y:10.04, Z:0.11 [[ 9.11139923e-01 -4.12080191e-01 -3.73585340e-03 4.97918592e+01] [ 4.12077314e-01 9.11147573e-01 -1.54536786e-03 1.00352222e+01] [ 4.04072924e-03 -1.31414085e-04 9.99991828e-01 1.12645451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.82, Y:10.05, Z:0.11 [[ 9.11253882e-01 -4.11830742e-01 -3.43553017e-03 4.98173617e+01] [ 4.11828304e-01 9.11260350e-01 -1.42214475e-03 1.00480215e+01] [ 3.71634535e-03 -1.18913640e-04 9.99993087e-01 1.13202185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.84, Y:10.06, Z:0.11 [[ 9.11521215e-01 -4.11238499e-01 -3.45994638e-03 4.98425067e+01] [ 4.11236018e-01 9.11527775e-01 -1.43317911e-03 1.00596821e+01] [ 3.74321565e-03 -1.16481408e-04 9.99992987e-01 1.13475088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.87, Y:10.08, Z:0.11 [[ 9.12422437e-01 -4.09237996e-01 -3.09179442e-03 4.98664504e+01] [ 4.09236002e-01 9.12427670e-01 -1.28094816e-03 1.00766928e+01] [ 3.34525143e-03 -9.65077462e-05 9.99994400e-01 1.13145106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:10.09, Z:0.11 [[ 9.13018585e-01 -4.07908208e-01 -2.82079612e-03 4.98914463e+01] [ 4.07906540e-01 9.13022939e-01 -1.16944432e-03 1.00888829e+01] [ 3.05247750e-03 -8.28967839e-05 9.99995338e-01 1.12829283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531858064 meters Centerline goodness [0,1] 0.9999566921461207 Centerline is valid? [True, True] Translation: X:49.92, Y:10.10, Z:0.11 [[ 9.13539768e-01 -4.06735987e-01 -3.30603573e-03 4.99161716e+01] [ 4.06733687e-01 9.13545745e-01 -1.37102433e-03 1.01042029e+01] [ 3.57785980e-03 -9.21908557e-05 9.99993595e-01 1.12141131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.94, Y:10.12, Z:0.11 [[ 9.14610476e-01 -4.04322388e-01 -3.32935786e-03 4.99410484e+01] [ 4.04320035e-01 9.14616532e-01 -1.38163775e-03 1.01206407e+01] [ 3.60371282e-03 -8.24657292e-05 9.99993503e-01 1.11903387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59185806399999 meters Centerline goodness [0,1] 0.9999567408560984 Centerline is valid? [True, True] Translation: X:49.97, Y:10.13, Z:0.11 [[ 9.14952734e-01 -4.03548041e-01 -3.23611646e-03 4.99670681e+01] [ 4.03545811e-01 9.14958454e-01 -1.34378854e-03 1.01337676e+01] [ 3.50319535e-03 -7.64182409e-05 9.99993861e-01 1.12143507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.99, Y:10.15, Z:0.11 [[ 9.15143557e-01 -4.03120265e-01 -2.51439226e-03 4.99927356e+01] [ 4.03118916e-01 9.15147009e-01 -1.04461768e-03 1.01463507e+01] [ 2.72214512e-03 -5.76239415e-05 9.99996293e-01 1.12551059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.02, Y:10.16, Z:0.11 [[ 9.15353769e-01 -4.02644904e-01 -2.13523187e-03 5.00176787e+01] [ 4.02643928e-01 9.15356258e-01 -8.87702784e-04 1.01580270e+01] [ 2.31192686e-03 -4.71760580e-05 9.99997326e-01 1.13110402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681858064 meters Centerline goodness [0,1] 0.9999784765717483 Centerline is valid? [True, True] Translation: X:50.04, Y:10.17, Z:0.11 [[ 9.15336596e-01 -4.02688440e-01 -9.67503363e-04 5.00424598e+01] [ 4.02688240e-01 9.15337107e-01 -4.01745046e-04 1.01711589e+01] [ 1.04736982e-03 -2.18702839e-05 9.99999451e-01 1.14156864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.07, Y:10.18, Z:0.11 [[ 9.15143908e-01 -4.03127160e-01 -3.47383870e-04 5.00675499e+01] [ 4.03127134e-01 9.15143974e-01 -1.43696786e-04 1.01837074e+01] [ 3.75834332e-04 -8.53662540e-06 9.99999929e-01 1.14401414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.09, Y:10.20, Z:0.11 [[ 9.15066986e-01 -4.03301880e-01 6.20350848e-05 5.00932802e+01] [ 4.03301879e-01 9.15066988e-01 2.68926246e-05 1.01962099e+01] [-6.76121044e-05 4.10313302e-07 9.99999998e-01 1.14886639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.12, Y:10.21, Z:0.12 [[ 9.15150322e-01 -4.03112410e-01 5.21758362e-04 5.01186614e+01] [ 4.03112351e-01 9.15150471e-01 2.18059897e-04 1.02068348e+01] [-5.65390062e-04 1.07696552e-05 9.99999840e-01 1.15307185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.14, Y:10.22, Z:0.12 [[ 9.15481263e-01 -4.02357944e-01 1.46350087e-03 5.01436119e+01] [ 4.02357481e-01 9.15482433e-01 6.10845626e-04 1.02202374e+01] [-1.58558792e-03 2.96327966e-05 9.99998743e-01 1.15848782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831858063999995 meters Centerline goodness [0,1] 0.9999785057174791 Centerline is valid? [True, True] Translation: X:50.17, Y:10.23, Z:0.12 [[ 9.15625575e-01 -4.02030228e-01 1.22560826e-03 5.01695502e+01] [ 4.02029902e-01 9.15626395e-01 5.12529415e-04 1.02343349e+01] [-1.32825159e-03 2.34461292e-05 9.99999118e-01 1.15319926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861858063999996 meters Centerline goodness [0,1] 0.9999785343236165 Centerline is valid? [True, True] Translation: X:50.20, Y:10.25, Z:0.12 [[ 9.15770322e-01 -4.01701095e-01 9.73799476e-04 5.01951785e+01] [ 4.01700889e-01 9.15770839e-01 4.07141287e-04 1.02450244e+01] [-1.05532626e-03 1.83282072e-05 9.99999443e-01 1.15416169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.22, Y:10.26, Z:0.11 [[ 9.16154393e-01 -4.00823834e-01 1.17550421e-03 5.02194019e+01] [ 4.00823532e-01 9.16155147e-01 4.92156386e-04 1.02615154e+01] [-1.27421224e-03 2.02785128e-05 9.99999188e-01 1.13881636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.24, Y:10.27, Z:0.11 [[ 9.16558961e-01 -3.99898266e-01 1.02375241e-03 5.02448725e+01] [ 3.99898037e-01 9.16559533e-01 4.28254429e-04 1.02724214e+01] [-1.10958823e-03 1.68761448e-05 9.99999384e-01 1.13947358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95185806399999 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:50.27, Y:10.28, Z:0.11 [[ 9.16906399e-01 -3.99101731e-01 6.81697301e-04 5.02703535e+01] [ 3.99101629e-01 9.16906652e-01 2.85513034e-04 1.02834158e+01] [-7.39001536e-04 1.02777750e-05 9.99999727e-01 1.14107400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.29, Y:10.30, Z:0.11 [[ 9.17268604e-01 -3.98267657e-01 1.08656151e-03 5.02948522e+01] [ 3.98267397e-01 9.17269248e-01 4.55580077e-04 1.02987544e+01] [-1.17811227e-03 1.48527226e-05 9.99999306e-01 1.12784592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.32, Y:10.31, Z:0.11 [[ 9.17155317e-01 -3.98528473e-01 1.08638451e-03 5.03202726e+01] [ 3.98528212e-01 9.17155961e-01 4.56002601e-04 1.03094595e+01] [-1.17811405e-03 1.47296647e-05 9.99999306e-01 1.12878427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.35, Y:10.32, Z:0.11 [[ 9.17782595e-01 -3.97079478e-01 1.73110495e-03 5.03456881e+01] [ 3.97078815e-01 9.17784227e-01 7.26361525e-04 1.03224738e+01] [-1.87720408e-03 2.07431372e-05 9.99998238e-01 1.12383456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071858064 meters Centerline goodness [0,1] 0.9999786443428864 Centerline is valid? [True, True] Translation: X:50.37, Y:10.33, Z:0.11 [[ 9.17912538e-01 -3.96778762e-01 1.78503469e-03 5.03712236e+01] [ 3.96778054e-01 9.17914274e-01 7.49686205e-04 1.03338119e+01] [-1.93596838e-03 2.01162211e-05 9.99998126e-01 1.12485563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.40, Y:10.34, Z:0.11 [[ 9.18131632e-01 -3.96272248e-01 1.61624897e-03 5.03969998e+01] [ 3.96271668e-01 9.18133054e-01 6.78341266e-04 1.03445466e+01] [-1.75273942e-03 1.76671015e-05 9.99998464e-01 1.12570138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.42, Y:10.35, Z:0.11 [[ 9.18322194e-01 -3.95830909e-01 1.49685536e-03 5.04232467e+01] [ 3.95830408e-01 9.18323413e-01 6.29440374e-04 1.03532805e+01] [-1.62374928e-03 1.44718040e-05 9.99998682e-01 1.13517152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16185806399999 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:50.45, Y:10.37, Z:0.11 [[ 9.18525987e-01 -3.95357526e-01 1.56133495e-03 5.04487483e+01] [ 3.95356980e-01 9.18527314e-01 6.57037450e-04 1.03662127e+01] [-1.69389350e-03 1.37786988e-05 9.99998565e-01 1.12136907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.47, Y:10.38, Z:0.11 [[ 9.18603063e-01 -3.95178497e-01 1.53893147e-03 5.04749480e+01] [ 3.95177965e-01 9.18604352e-01 6.48148725e-04 1.03773314e+01] [-1.66980358e-03 1.27604010e-05 9.99998606e-01 1.11529660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:10.39, Z:0.11 [[ 9.19106475e-01 -3.94005065e-01 1.81570620e-03 5.05002698e+01] [ 3.94004325e-01 9.19108268e-01 7.63992715e-04 1.03879499e+01] [-1.96984758e-03 1.32054424e-05 9.99998060e-01 1.11194558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251858064 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:50.53, Y:10.40, Z:0.11 [[ 9.19237844e-01 -3.93697255e-01 2.06346977e-03 5.05256067e+01] [ 3.93696295e-01 9.19240160e-01 8.69624003e-04 1.03993399e+01] [-2.23919286e-03 1.29891106e-05 9.99997493e-01 1.10907287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:10.41, Z:0.11 [[ 9.19556636e-01 -3.92950856e-01 2.28408959e-03 5.05503795e+01] [ 3.92949678e-01 9.19559473e-01 9.62222262e-04 1.04100381e+01] [-2.47846228e-03 1.27144031e-05 9.99996929e-01 1.10959440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.58, Y:10.42, Z:0.11 [[ 9.19881105e-01 -3.92189883e-01 2.41832464e-03 5.05766083e+01] [ 3.92188556e-01 9.19884284e-01 1.02014270e-03 1.04208447e+01] [-2.62466848e-03 1.00292581e-05 9.99996556e-01 1.11234954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:10.43, Z:0.11 [[ 9.20117373e-01 -3.91634020e-01 2.61051759e-03 5.06015231e+01] [ 3.91632471e-01 9.20121076e-01 1.10138910e-03 1.04307163e+01] [-2.83333369e-03 8.95620898e-06 9.99995986e-01 1.11614005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371858063999994 meters Centerline goodness [0,1] 0.9998928693863558 Centerline is valid? [True, True] Translation: X:50.63, Y:10.44, Z:0.11 [[ 9.20756385e-01 -3.90130424e-01 2.43544415e-03 5.06276248e+01] [ 3.90129071e-01 9.20759606e-01 1.02743123e-03 1.04402125e+01] [-2.64329077e-03 4.12370173e-06 9.99996506e-01 1.10833366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:10.45, Z:0.11 [[ 9.20885551e-01 -3.89823873e-01 2.67386041e-03 5.06531234e+01] [ 3.89822237e-01 9.20889433e-01 1.12956251e-03 1.04507513e+01] [-2.90266023e-03 2.13245105e-06 9.99995787e-01 1.11405761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.68, Y:10.46, Z:0.11 [[ 9.21105093e-01 -3.89305108e-01 2.63464301e-03 5.06788485e+01] [ 3.89303514e-01 9.21108861e-01 1.11386219e-03 1.04612478e+01] [-2.86042527e-03 -3.08355523e-07 9.99995909e-01 1.10876342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.70, Y:10.47, Z:0.11 [[ 9.21141268e-01 -3.89221584e-01 2.30695058e-03 5.07049956e+01] [ 3.89220360e-01 9.21144157e-01 9.76257246e-04 1.04718566e+01] [-2.50501444e-03 -1.35870290e-06 9.99996862e-01 1.09642505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49185806399999 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:50.73, Y:10.48, Z:0.11 [[ 9.21248891e-01 -3.88971312e-01 1.34103754e-03 5.07318692e+01] [ 3.88970898e-01 9.21249868e-01 5.67353913e-04 1.04806514e+01] [-1.45611506e-03 -1.04958536e-06 9.99998940e-01 1.08849458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.76, Y:10.49, Z:0.11 [[ 9.21239475e-01 -3.88992592e-01 1.60999806e-03 5.07574551e+01] [ 3.88991996e-01 9.21240882e-01 6.81434236e-04 1.04896420e+01] [-1.74826890e-03 -1.48775923e-06 9.99998472e-01 1.09100311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551858063999994 meters Centerline goodness [0,1] 0.9999355351655672 Centerline is valid? [True, True] Translation: X:50.78, Y:10.50, Z:0.11 [[ 9.21192356e-01 -3.89104792e-01 1.45038984e-03 5.07844786e+01] [ 3.89104306e-01 9.21193498e-01 6.14975786e-04 1.04978278e+01] [-1.57537972e-03 -2.15806043e-06 9.99998759e-01 1.09268105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.81, Y:10.51, Z:0.11 [[ 9.21034504e-01 -3.89478896e-01 1.27769029e-03 5.08112620e+01] [ 3.89478519e-01 9.21035390e-01 5.42283831e-04 1.05078485e+01] [-1.38800608e-03 -1.82919881e-06 9.99999037e-01 1.08712776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.84, Y:10.52, Z:0.11 [[ 9.20933932e-01 -3.89717783e-01 8.61721015e-04 5.08368758e+01] [ 3.89717612e-01 9.20934335e-01 3.65610714e-04 1.05171330e+01] [-9.36073467e-04 -8.75456306e-07 9.99999562e-01 1.08156682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641858064 meters Centerline goodness [0,1] 0.9999135826473956 Centerline is valid? [True, True] Translation: X:50.86, Y:10.53, Z:0.11 [[ 9.20759112e-01 -3.90131562e-01 1.52529505e-04 5.08631711e+01] [ 3.90131556e-01 9.20759124e-01 6.56903173e-05 1.05263182e+01] [-1.66070799e-04 -9.78385109e-07 9.99999986e-01 1.07146203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.89, Y:10.53, Z:0.11 [[ 9.20041000e-01 -3.91820459e-01 -1.13423677e-03 5.08904333e+01] [ 3.91820164e-01 9.20041699e-01 -4.80356413e-04 1.05327234e+01] [ 1.23175860e-03 -2.46924346e-06 9.99999241e-01 1.05878441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.92, Y:10.54, Z:0.11 [[ 9.19344604e-01 -3.93449195e-01 -1.79740059e-03 5.09170655e+01] [ 3.93448456e-01 9.19346361e-01 -7.62389621e-04 1.05412724e+01] [ 1.95239527e-03 -6.28570256e-06 9.99998094e-01 1.05374119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731858063999994 meters Centerline goodness [0,1] 0.9999782934294211 Centerline is valid? [True, True] Translation: X:50.94, Y:10.55, Z:0.10 [[ 9.18575602e-01 -3.95239893e-01 -2.07149739e-03 5.09440110e+01] [ 3.95238914e-01 9.18577937e-01 -8.79504361e-04 1.05499338e+01] [ 2.25044701e-03 -1.08451324e-05 9.99997468e-01 1.04913085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761858063999995 meters Centerline goodness [0,1] 0.9999565727189821 Centerline is valid? [True, True] Translation: X:50.97, Y:10.56, Z:0.10 [[ 9.17942909e-01 -3.96708021e-01 -1.88749877e-03 5.09703897e+01] [ 3.96707210e-01 9.17944849e-01 -8.02203552e-04 1.05581455e+01] [ 2.05086035e-03 -1.24073063e-05 9.99997897e-01 1.04708934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.00, Y:10.57, Z:0.10 [[ 9.16440977e-01 -4.00165227e-01 -1.93031184e-03 5.09988469e+01] [ 4.00164387e-01 9.16443010e-01 -8.20385218e-04 1.05659798e+01] [ 2.09731043e-03 -2.06074228e-05 9.99997800e-01 1.04201648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821858064 meters Centerline goodness [0,1] 0.999891012925867 Centerline is valid? [True, True] Translation: X:51.03, Y:10.58, Z:0.10 [[ 9.15694166e-01 -4.01871824e-01 -1.79766643e-03 5.10263110e+01] [ 4.01871097e-01 9.15695930e-01 -7.64460051e-04 1.05754217e+01] [ 1.95333079e-03 -2.24185707e-05 9.99998092e-01 1.04183734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851858064 meters Centerline goodness [0,1] 0.9999350579066999 Centerline is valid? [True, True] Translation: X:51.05, Y:10.58, Z:0.10 [[ 9.15025259e-01 -4.03391501e-01 -2.01814271e-03 5.10531499e+01] [ 4.03390587e-01 9.15027484e-01 -8.59106500e-04 1.05841841e+01] [ 2.19321231e-03 -2.79956267e-05 9.99997595e-01 1.04250318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.08, Y:10.59, Z:0.10 [[ 9.13744025e-01 -4.06281876e-01 -2.62567831e-03 5.10811999e+01] [ 4.06280340e-01 9.13747796e-01 -1.11799219e-03 1.05919192e+01] [ 2.85342773e-03 -4.52027954e-05 9.99995928e-01 1.03743657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91185806399999 meters Centerline goodness [0,1] 0.999934296977661 Centerline is valid? [True, True] Translation: X:51.11, Y:10.60, Z:0.10 [[ 9.13013150e-01 -4.07920525e-01 -2.79882827e-03 5.11087517e+01] [ 4.07918785e-01 9.13017438e-01 -1.19258498e-03 1.06017862e+01] [ 3.04185891e-03 -5.28488575e-05 9.99995372e-01 1.03346679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.14, Y:10.61, Z:0.10 [[ 9.12389424e-01 -4.09309460e-01 -3.36213697e-03 5.11362369e+01] [ 4.09306955e-01 9.12395617e-01 -1.43375827e-03 1.06120185e+01] [ 3.65444986e-03 -6.80001594e-05 9.99993320e-01 1.02840328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971858063999996 meters Centerline goodness [0,1] 0.9999561691869384 Centerline is valid? [True, True] Translation: X:51.16, Y:10.62, Z:0.10 [[ 9.11836658e-01 -4.10539645e-01 -3.33312679e-03 5.11627702e+01] [ 4.10537187e-01 9.11842747e-01 -1.42229357e-03 1.06221363e+01] [ 3.62319538e-03 -7.14730843e-05 9.99993434e-01 1.02355896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:10.63, Z:0.10 [[ 9.11178549e-01 -4.11997479e-01 -3.42472775e-03 5.11895816e+01] [ 4.11994893e-01 9.11184982e-01 -1.46178951e-03 1.06320435e+01] [ 3.72281409e-03 -7.90190983e-05 9.99993067e-01 1.02016583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031858064 meters Centerline goodness [0,1] 0.9999122171747098 Centerline is valid? [True, True] Translation: X:51.22, Y:10.64, Z:0.10 [[ 9.10942442e-01 -4.12519212e-01 -3.43041388e-03 5.12159588e+01] [ 4.12516618e-01 9.10948897e-01 -1.46516580e-03 1.06411740e+01] [ 3.72934078e-03 -8.04210246e-05 9.99993043e-01 1.02063088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.24, Y:10.65, Z:0.10 [[ 9.10856233e-01 -4.12705841e-01 -3.84866637e-03 5.12414273e+01] [ 4.12702574e-01 9.10864359e-01 -1.64450152e-03 1.06502559e+01] [ 4.18430840e-03 -9.04500611e-05 9.99991242e-01 1.02221081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.27, Y:10.66, Z:0.10 [[ 9.10751025e-01 -4.12935959e-01 -4.05762956e-03 5.12668716e+01] [ 4.12932326e-01 9.10760059e-01 -1.73481499e-03 1.06613274e+01] [ 4.41189443e-03 -9.55418812e-05 9.99990263e-01 1.02320060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:10.67, Z:0.10 [[ 9.11330658e-01 -4.11655579e-01 -4.01436444e-03 5.12923733e+01] [ 4.11652006e-01 9.11339496e-01 -1.71741457e-03 1.06728555e+01] [ 4.36543215e-03 -8.73886226e-05 9.99990468e-01 1.02171168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.32, Y:10.69, Z:0.10 [[ 9.11861760e-01 -4.10475029e-01 -4.28733696e-03 5.13188098e+01] [ 4.10470937e-01 9.11871835e-01 -1.83485831e-03 1.06851033e+01] [ 4.66266534e-03 -8.66900930e-05 9.99989126e-01 1.01821096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.35, Y:10.70, Z:0.10 [[ 9.12397862e-01 -4.09288092e-01 -3.66047267e-03 5.13454731e+01] [ 4.09285096e-01 9.12405202e-01 -1.56746945e-03 1.06975144e+01] [ 3.98138089e-03 -6.80211278e-05 9.99992072e-01 1.02197021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:10.71, Z:0.10 [[ 9.13514839e-01 -4.06794481e-01 -2.98145886e-03 5.13709697e+01] [ 4.06792478e-01 9.13519703e-01 -1.27735645e-03 1.07096217e+01] [ 3.24324296e-03 -4.59509652e-05 9.99994740e-01 1.03157050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.40, Y:10.72, Z:0.10 [[ 9.13884740e-01 -4.05965336e-01 -2.61309021e-03 5.13966871e+01] [ 4.05963794e-01 9.13888475e-01 -1.11965784e-03 1.07225503e+01] [ 2.84261530e-03 -3.75817975e-05 9.99995959e-01 1.03528004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27185806399999 meters Centerline goodness [0,1] 0.9999561220684057 Centerline is valid? [True, True] Translation: X:51.42, Y:10.73, Z:0.10 [[ 9.14059113e-01 -4.05574085e-01 -2.36608228e-03 5.14222669e+01] [ 4.05572818e-01 9.14062175e-01 -1.01438434e-03 1.07338111e+01] [ 2.57415431e-03 -3.24114097e-05 9.99996686e-01 1.03864753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.45, Y:10.75, Z:0.10 [[ 9.14490610e-01 -4.04603406e-01 -1.73471811e-03 5.14486297e+01] [ 4.04602722e-01 9.14492255e-01 -7.44062828e-04 1.07453348e+01] [ 1.88743663e-03 -2.14332011e-05 9.99998219e-01 1.04481681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.47, Y:10.76, Z:0.10 [[ 9.14455483e-01 -4.04681754e-01 -1.96159370e-03 5.14745859e+01] [ 4.04680879e-01 9.14457586e-01 -8.42014080e-04 1.07564347e+01] [ 2.13454197e-03 -2.38350697e-05 9.99997722e-01 1.04612048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.50, Y:10.77, Z:0.10 [[ 9.14511854e-01 -4.04552795e-01 -2.25916824e-03 5.15001770e+01] [ 4.04551632e-01 9.14514645e-01 -9.70649265e-04 1.07678957e+01] [ 2.45872132e-03 -2.62799397e-05 9.99996977e-01 1.04620493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391858064 meters Centerline goodness [0,1] 0.9999781229490264 Centerline is valid? [True, True] Translation: X:51.52, Y:10.78, Z:0.10 [[ 9.14576217e-01 -4.04405927e-01 -2.48802271e-03 5.15249657e+01] [ 4.04404512e-01 9.14579601e-01 -1.07004900e-03 1.07779495e+01] [ 2.70822898e-03 -2.75262417e-05 9.99996332e-01 1.04223099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.55, Y:10.79, Z:0.10 [[ 9.14348731e-01 -4.04920026e-01 -2.48430332e-03 5.15505219e+01] [ 4.04918616e-01 9.14352105e-01 -1.06868779e-03 1.07883833e+01] [ 2.70426106e-03 -2.87873369e-05 9.99996343e-01 1.04292106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.58, Y:10.80, Z:0.10 [[ 9.14099297e-01 -4.05483158e-01 -2.42558930e-03 5.15766092e+01] [ 4.05481815e-01 9.14102515e-01 -1.04422691e-03 1.07983678e+01] [ 2.64065371e-03 -2.90052670e-05 9.99996513e-01 1.04321441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:10.81, Z:0.10 [[ 9.13925238e-01 -4.05873071e-01 -2.77650516e-03 5.16017531e+01] [ 4.05871309e-01 9.13929455e-01 -1.19645123e-03 1.08077117e+01] [ 3.02313719e-03 -3.34368118e-05 9.99995430e-01 1.04397013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.63, Y:10.82, Z:0.10 [[ 9.13578440e-01 -4.06653959e-01 -2.64409260e-03 5.16277512e+01] [ 4.06652364e-01 9.13582266e-01 -1.13966173e-03 1.08184882e+01] [ 2.87904406e-03 -3.40561239e-05 9.99995855e-01 1.03845995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.65, Y:10.83, Z:0.10 [[ 9.13332495e-01 -4.07200151e-01 -3.43365736e-03 5.16543612e+01] [ 4.07197459e-01 9.13338949e-01 -1.48137892e-03 1.08276315e+01] [ 3.73931072e-03 -4.51850425e-05 9.99993008e-01 1.03009989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:10.84, Z:0.10 [[ 9.13284904e-01 -4.07301713e-01 -3.99975942e-03 5.16803533e+01] [ 4.07298058e-01 9.13293661e-01 -1.72627835e-03 1.08375684e+01] [ 4.35607106e-03 -5.25102898e-05 9.99990511e-01 1.03186945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60185806399999 meters Centerline goodness [0,1] 0.9999558313641483 Centerline is valid? [True, True] Translation: X:51.71, Y:10.85, Z:0.10 [[ 9.13248040e-01 -4.07380096e-01 -4.41296955e-03 5.17064054e+01] [ 4.07375641e-01 9.13258701e-01 -1.90594829e-03 1.08466352e+01] [ 4.80662823e-03 -5.71327564e-05 9.99988446e-01 1.03153065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63185806399999 meters Centerline goodness [0,1] 0.9999779161697805 Centerline is valid? [True, True] Translation: X:51.73, Y:10.86, Z:0.10 [[ 9.13268774e-01 -4.07330364e-01 -4.70329082e-03 5.17318457e+01] [ 4.07325299e-01 9.13280883e-01 -2.03233440e-03 1.08573396e+01] [ 5.12325710e-03 -5.97017919e-05 9.99986874e-01 1.03175136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.76, Y:10.87, Z:0.10 [[ 9.13636815e-01 -4.06514385e-01 -3.71828348e-03 5.17580605e+01] [ 4.06511209e-01 9.13644380e-01 -1.60757885e-03 1.08667851e+01] [ 4.05069273e-03 -4.27806918e-05 9.99991795e-01 1.03571269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.78, Y:10.88, Z:0.10 [[ 9.13827194e-01 -4.06090587e-01 -3.20846417e-03 5.17836055e+01] [ 4.06088219e-01 9.13832826e-01 -1.38746125e-03 1.08774657e+01] [ 3.49543483e-03 -3.50196769e-05 9.99993890e-01 1.03951455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.81, Y:10.89, Z:0.10 [[ 9.14000627e-01 -4.05699352e-01 -3.29997663e-03 5.18096144e+01] [ 4.05696840e-01 9.14006584e-01 -1.42812971e-03 1.08886657e+01] [ 3.59559167e-03 -3.34786389e-05 9.99993535e-01 1.04259637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.84, Y:10.90, Z:0.10 [[ 9.14281376e-01 -4.05061594e-01 -3.83021669e-03 5.18359738e+01] [ 4.05058198e-01 9.14289398e-01 -1.65905402e-03 1.08992970e+01] [ 4.17394558e-03 -3.46184804e-05 9.99991288e-01 1.03935009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:10.91, Z:0.10 [[ 9.14618770e-01 -4.04300082e-01 -3.73483629e-03 5.18621048e+01] [ 4.04296842e-01 9.14626395e-01 -1.61896418e-03 1.09095863e+01] [ 4.07052720e-03 -2.92474942e-05 9.99991715e-01 1.03496478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.89, Y:10.92, Z:0.10 [[ 9.15270735e-01 -4.02815629e-01 -4.36477728e-03 5.18882253e+01] [ 4.02811180e-01 9.15281142e-01 -1.89337377e-03 1.09182584e+01] [ 4.75767888e-03 -2.52314772e-05 9.99988682e-01 1.03466446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.91, Y:10.93, Z:0.10 [[ 9.15511060e-01 -4.02269225e-01 -4.35531532e-03 5.19141253e+01] [ 4.02264786e-01 9.15521420e-01 -1.88999233e-03 1.09282499e+01] [ 4.74767021e-03 -2.16811051e-05 9.99988730e-01 1.03693087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.94, Y:10.94, Z:0.10 [[ 9.15760760e-01 -4.01696461e-01 -4.70997779e-03 5.19390673e+01] [ 4.01691255e-01 9.15772872e-01 -2.04522909e-03 1.09380660e+01] [ 5.13483118e-03 -1.90163436e-05 9.99986816e-01 1.03659004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:10.95, Z:0.10 [[ 9.15909807e-01 -4.01355410e-01 -4.80212367e-03 5.19653960e+01] [ 4.01349988e-01 9.15922396e-01 -2.08623568e-03 1.09482564e+01] [ 5.23569459e-03 -1.65285539e-05 9.99986294e-01 1.03744775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.99, Y:10.96, Z:0.10 [[ 9.15800515e-01 -4.01604734e-01 -4.80155536e-03 5.19906696e+01] [ 4.01599308e-01 9.15813102e-01 -2.08754303e-03 1.09593294e+01] [ 5.23569447e-03 -1.65283321e-05 9.99986294e-01 1.03838560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.02, Y:10.97, Z:0.10 [[ 9.15977758e-01 -4.01203414e-01 -4.53516752e-03 5.20177634e+01] [ 4.01198563e-01 9.15988985e-01 -1.97296693e-03 1.09686284e+01] [ 4.94572456e-03 -1.23088687e-05 9.99987770e-01 1.04417316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.04, Y:10.98, Z:0.10 [[ 9.15859570e-01 -4.01472039e-01 -4.63148469e-03 5.20444033e+01] [ 4.01466978e-01 9.15871280e-01 -2.01600969e-03 1.09784893e+01] [ 5.05121534e-03 -1.30063918e-05 9.99987242e-01 1.04686631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.07, Y:10.99, Z:0.10 [[ 9.15659611e-01 -4.01926833e-01 -4.72198238e-03 5.20710891e+01] [ 4.01921569e-01 9.15671787e-01 -2.05699378e-03 1.09879375e+01] [ 5.15054704e-03 -1.43604429e-05 9.99986736e-01 1.04975377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.10, Y:11.00, Z:0.11 [[ 9.15337513e-01 -4.02653677e-01 -5.22042897e-03 5.20974679e+01] [ 4.02647245e-01 9.15352400e-01 -2.27598343e-03 1.09966540e+01] [ 5.69496529e-03 -1.86983312e-05 9.99983783e-01 1.05034789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.12, Y:11.00, Z:0.10 [[ 9.14424623e-01 -4.04724319e-01 -5.08273119e-03 5.21246284e+01] [ 4.04718247e-01 9.14438749e-01 -2.21716571e-03 1.10034146e+01] [ 5.54518723e-03 -2.96431377e-05 9.99984625e-01 1.04224857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.15, Y:11.01, Z:0.10 [[ 9.13828207e-01 -4.06064106e-01 -5.47257386e-03 5.21515107e+01] [ 4.06057085e-01 9.13844593e-01 -2.38824771e-03 1.10133265e+01] [ 5.97086370e-03 -3.97292683e-05 9.99982173e-01 1.04074120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.18, Y:11.02, Z:0.10 [[ 9.12820885e-01 -4.08321923e-01 -5.58920272e-03 5.21787755e+01] [ 4.08314634e-01 9.12837995e-01 -2.44032276e-03 1.10211814e+01] [ 6.09847388e-03 -5.45756808e-05 9.99981403e-01 1.03595662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.21, Y:11.03, Z:0.10 [[ 9.12300208e-01 -4.09481082e-01 -5.79431900e-03 5.22062520e+01] [ 4.09473265e-01 9.12318606e-01 -2.53096876e-03 1.10311114e+01] [ 6.32264886e-03 -6.36153941e-05 9.99980010e-01 1.03876900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.23, Y:11.04, Z:0.10 [[ 9.11966031e-01 -4.10227261e-01 -5.61722481e-03 5.22319728e+01] [ 4.10219922e-01 9.11983328e-01 -2.45472513e-03 1.10410355e+01] [ 6.12981054e-03 -6.56715891e-05 9.99981210e-01 1.04464458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.26, Y:11.05, Z:0.11 [[ 9.11671413e-01 -4.10888315e-01 -5.10168088e-03 5.22574076e+01] [ 4.10882267e-01 9.11685685e-01 -2.23037853e-03 1.10523419e+01] [ 5.56756590e-03 -6.28178560e-05 9.99984499e-01 1.05674563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.28, Y:11.06, Z:0.11 [[ 9.11372255e-01 -4.11560866e-01 -4.27403298e-03 5.22834979e+01] [ 4.11556623e-01 9.11382275e-01 -1.86953791e-03 1.10622760e+01] [ 4.66470654e-03 -5.51616026e-05 9.99989119e-01 1.06633760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.31, Y:11.07, Z:0.11 [[ 9.11060736e-01 -4.12250118e-01 -4.26335599e-03 5.23093296e+01] [ 4.12245902e-01 9.11070709e-01 -1.86530522e-03 1.10727716e+01] [ 4.65319106e-03 -5.81446945e-05 9.99989172e-01 1.06291083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.33, Y:11.08, Z:0.11 [[ 9.10881812e-01 -4.12643115e-01 -4.47033676e-03 5.23348679e+01] [ 4.12638483e-01 9.10892779e-01 -1.95632532e-03 1.10840339e+01] [ 4.87926165e-03 -6.26518253e-05 9.99988094e-01 1.06020395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.36, Y:11.10, Z:0.11 [[ 9.10623943e-01 -4.13208458e-01 -4.77540361e-03 5.23601740e+01] [ 4.13203174e-01 9.10636462e-01 -2.09070011e-03 1.10968570e+01] [ 5.21255161e-03 -6.93703495e-05 9.99986412e-01 1.05729297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.39, Y:11.11, Z:0.11 [[ 9.10525866e-01 -4.13411964e-01 -5.76146269e-03 5.23861775e+01] [ 4.13404268e-01 9.10544091e-01 -2.52391696e-03 1.11069482e+01] [ 6.28948327e-03 -8.37215927e-05 9.99980218e-01 1.05231214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:11.12, Z:0.10 [[ 9.10631422e-01 -4.13168630e-01 -6.48810744e-03 5.24117557e+01] [ 4.13158854e-01 9.10654531e-01 -2.84368230e-03 1.11187290e+01] [ 7.08334476e-03 -9.10725824e-05 9.99974909e-01 1.04771634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.44, Y:11.13, Z:0.10 [[ 9.10877763e-01 -4.12612426e-01 -7.25852718e-03 5.24370072e+01] [ 4.12600161e-01 9.10906678e-01 -3.18289272e-03 1.11306285e+01] [ 7.92514197e-03 -9.56432803e-05 9.99968591e-01 1.04270056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.46, Y:11.14, Z:0.10 [[ 9.11611081e-01 -4.10974114e-01 -8.09412364e-03 5.24621245e+01] [ 4.10958782e-01 9.11647009e-01 -3.55105134e-03 1.11448705e+01] [ 8.83837379e-03 -8.91734402e-05 9.99960937e-01 1.03453438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.49, Y:11.16, Z:0.10 [[ 9.12047075e-01 -4.10004142e-01 -8.16921396e-03 5.24880473e+01] [ 4.09988465e-01 9.12083657e-01 -3.58630880e-03 1.11577409e+01] [ 8.92140800e-03 -7.84010392e-05 9.99960200e-01 1.03409880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.51, Y:11.17, Z:0.10 [[ 9.12497547e-01 -4.09001920e-01 -8.10285912e-03 5.25135191e+01] [ 4.08986436e-01 9.12533520e-01 -3.55949352e-03 1.11704925e+01] [ 8.84997024e-03 -6.59303678e-05 9.99960836e-01 1.03642055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.54, Y:11.18, Z:0.10 [[ 9.13051193e-01 -4.07773503e-01 -7.63470599e-03 5.25382050e+01] [ 4.07759702e-01 9.13083111e-01 -3.35515084e-03 1.11824182e+01] [ 8.33926271e-03 -4.97009603e-05 9.99965227e-01 1.03710589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.56, Y:11.20, Z:0.10 [[ 9.14155320e-01 -4.05285230e-01 -7.99580198e-03 5.25641086e+01] [ 4.05269983e-01 9.14190287e-01 -3.51554287e-03 1.11959140e+01] [ 8.73448211e-03 -2.67063199e-05 9.99961853e-01 1.03796502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621858063999994 meters Centerline goodness [0,1] 0.9998440841054882 Centerline is valid? [True, True] Translation: X:52.59, Y:11.21, Z:0.10 [[ 9.14500413e-01 -4.04505157e-01 -8.03564039e-03 5.25897753e+01] [ 4.04489706e-01 9.14535717e-01 -3.53556591e-03 1.12084414e+01] [ 8.77903478e-03 -1.70573359e-05 9.99961463e-01 1.04039775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.61, Y:11.22, Z:0.10 [[ 9.14798524e-01 -4.03831235e-01 -7.99965118e-03 5.26143004e+01] [ 4.03815881e-01 9.14833501e-01 -3.52145841e-03 1.12200332e+01] [ 8.74042379e-03 -8.96122784e-06 9.99961802e-01 1.03815139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.64, Y:11.23, Z:0.10 [[ 9.15007091e-01 -4.03356765e-01 -8.08347302e-03 5.26395268e+01] [ 4.03341051e-01 9.15042797e-01 -3.56048517e-03 1.12317830e+01] [ 8.83286954e-03 -2.52732643e-06 9.99960989e-01 1.04750532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:11.24, Z:0.10 [[ 9.15322473e-01 -4.02641402e-01 -8.04189801e-03 5.26631316e+01] [ 4.02625805e-01 9.15357800e-01 -3.54394111e-03 1.12442764e+01] [ 8.78815148e-03 5.97327792e-06 9.99961383e-01 1.04196282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74185806399999 meters Centerline goodness [0,1] 0.9999335636460271 Centerline is valid? [True, True] Translation: X:52.69, Y:11.26, Z:0.10 [[ 9.15329763e-01 -4.02627191e-01 -7.92279503e-03 5.26878617e+01] [ 4.02612040e-01 9.15364050e-01 -3.49296297e-03 1.12559380e+01] [ 8.65860362e-03 7.40029626e-06 9.99962514e-01 1.04079881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.71, Y:11.27, Z:0.10 [[ 9.15175494e-01 -4.02986292e-01 -7.47417510e-03 5.27135728e+01] [ 4.02972802e-01 9.15206014e-01 -3.29727876e-03 1.12671099e+01] [ 8.16916815e-03 5.69943144e-06 9.99966632e-01 1.04871683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.74, Y:11.28, Z:0.10 [[ 9.14894168e-01 -4.03627903e-01 -7.29226082e-03 5.27380056e+01] [ 4.03615070e-01 9.14923230e-01 -3.21864177e-03 1.12775299e+01] [ 7.97099245e-03 1.45022524e-06 9.99968231e-01 1.04608659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831858063999995 meters Centerline goodness [0,1] 0.9999554684716779 Centerline is valid? [True, True] Translation: X:52.76, Y:11.29, Z:0.10 [[ 9.14538947e-01 -4.04431340e-01 -7.33519441e-03 5.27640526e+01] [ 4.04418366e-01 9.14568363e-01 -3.23944206e-03 1.12884846e+01] [ 8.01866864e-03 -3.89141211e-06 9.99967850e-01 1.04899274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:11.30, Z:0.10 [[ 9.14047320e-01 -4.05533416e-01 -7.75536807e-03 5.27897166e+01] [ 4.05518930e-01 9.14080220e-01 -3.42763240e-03 1.12990420e+01] [ 8.47904803e-03 -1.19303544e-05 9.99964052e-01 1.04727587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.82, Y:11.31, Z:0.10 [[ 9.13403838e-01 -4.06969069e-01 -8.34304590e-03 5.28161119e+01] [ 4.06952338e-01 9.13441939e-01 -3.69020325e-03 1.13096157e+01] [ 9.12268661e-03 -2.45762264e-05 9.99958387e-01 1.04566394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.84, Y:11.32, Z:0.10 [[ 9.12004673e-01 -4.10086231e-01 -8.76124340e-03 5.28426516e+01] [ 4.10067908e-01 9.12046753e-01 -3.87694851e-03 1.13173517e+01] [ 9.58054680e-03 -5.69095965e-05 9.99954104e-01 1.04116338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.87, Y:11.33, Z:0.10 [[ 9.11032816e-01 -4.12224238e-01 -9.50717132e-03 5.28696784e+01] [ 4.12202755e-01 9.11082417e-01 -4.20924595e-03 1.13268606e+01] [ 1.03969698e-02 -8.41210214e-05 9.99945947e-01 1.03995264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981858063999994 meters Centerline goodness [0,1] 0.9999776136109245 Centerline is valid? [True, True] Translation: X:52.90, Y:11.34, Z:0.10 [[ 9.10094328e-01 -4.14286549e-01 -9.74523223e-03 5.28969322e+01] [ 4.14264066e-01 9.10146496e-01 -4.31740603e-03 1.13367984e+01] [ 1.06582322e-02 -1.07852789e-04 9.99943194e-01 1.03589018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.92, Y:11.35, Z:0.10 [[ 9.08927666e-01 -4.16826063e-01 -1.03214382e-02 5.29231884e+01] [ 4.16800987e-01 9.08986255e-01 -4.57432274e-03 1.13459307e+01] [ 1.12887424e-02 -1.44257126e-04 9.99936270e-01 1.02737944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:11.36, Z:0.10 [[ 9.08550269e-01 -4.17646639e-01 -1.03775501e-02 5.29493176e+01] [ 4.17621317e-01 9.08609521e-01 -4.60149511e-03 1.13572840e+01] [ 1.13509398e-02 -1.53196510e-04 9.99935564e-01 1.02411815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:11.37, Z:0.10 [[ 9.08311277e-01 -4.18168619e-01 -1.02776026e-02 5.29752079e+01] [ 4.18143782e-01 9.08369408e-01 -4.56025818e-03 1.13687388e+01] [ 1.12428167e-02 -1.55381705e-04 9.99936785e-01 1.02396569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.00, Y:11.38, Z:0.10 [[ 9.07988266e-01 -4.18867950e-01 -1.03416310e-02 5.30014334e+01] [ 4.18842814e-01 9.08047143e-01 -4.59161053e-03 1.13803842e+01] [ 1.13139670e-02 -1.62389363e-04 9.99935982e-01 1.01916764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.03, Y:11.39, Z:0.10 [[ 9.07296984e-01 -4.20349349e-01 -1.08906987e-02 5.30271459e+01] [ 4.20321543e-01 9.07362325e-01 -4.83849487e-03 1.13929699e+01] [ 1.19156679e-02 -1.87643478e-04 9.99928988e-01 1.02578133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.05, Y:11.40, Z:0.10 [[ 9.06939874e-01 -4.21120323e-01 -1.08507819e-02 5.30526209e+01] [ 4.21092755e-01 9.07004761e-01 -4.82242186e-03 1.14035201e+01] [ 1.18725307e-02 -1.95538953e-04 9.99929500e-01 1.02569127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.08, Y:11.41, Z:0.10 [[ 9.06464905e-01 -4.22144603e-01 -1.07383037e-02 5.30792611e+01] [ 4.22117647e-01 9.06528484e-01 -4.77487755e-03 1.14148759e+01] [ 1.17502670e-02 -2.04568591e-04 9.99930942e-01 1.02819894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.10, Y:11.43, Z:0.10 [[ 9.06161450e-01 -4.22814972e-01 -9.94616824e-03 5.31049466e+01] [ 4.22791855e-01 9.06216013e-01 -4.42562695e-03 1.14257666e+01] [ 1.08845983e-02 -1.94826379e-04 9.99940742e-01 1.03346307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.13, Y:11.44, Z:0.11 [[ 9.06290148e-01 -4.22564534e-01 -8.79673741e-03 5.31298695e+01] [ 4.22546415e-01 9.06332823e-01 -3.91671757e-03 1.14399870e+01] [ 9.62783779e-03 -1.67347317e-04 9.99953637e-01 1.05697623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.16, Y:11.45, Z:0.11 [[ 9.06539955e-01 -4.22027424e-01 -8.84099727e-03 5.31557517e+01] [ 4.22009082e-01 9.06583051e-01 -3.93793382e-03 1.14507867e+01] [ 9.67701434e-03 -1.61086791e-04 9.99953164e-01 1.05493736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.18, Y:11.46, Z:0.11 [[ 9.07070000e-01 -4.20894245e-01 -8.48825313e-03 5.31819243e+01] [ 4.20877272e-01 9.07109704e-01 -3.78248155e-03 1.14643074e+01] [ 9.29180149e-03 -1.41537284e-04 9.99956820e-01 1.05685177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.21, Y:11.48, Z:0.11 [[ 9.07662662e-01 -4.19613052e-01 -8.56617261e-03 5.32062516e+01] [ 4.19595696e-01 9.07703074e-01 -3.81852585e-03 1.14773251e+01] [ 9.37784449e-03 -1.28395825e-04 9.99956019e-01 1.05763583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371858063999994 meters Centerline goodness [0,1] 0.9999777693795434 Centerline is valid? [True, True] Translation: X:53.23, Y:11.49, Z:0.11 [[ 9.08860741e-01 -4.17020557e-01 -8.12453033e-03 5.32308261e+01] [ 4.17004827e-01 9.08897049e-01 -3.62328659e-03 1.14918855e+01] [ 8.89534663e-03 -9.49054330e-05 9.99960431e-01 1.06149856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.26, Y:11.51, Z:0.11 [[ 9.09187346e-01 -4.16316249e-01 -7.69094388e-03 5.32562715e+01] [ 4.16302111e-01 9.09219871e-01 -3.43193762e-03 1.15050700e+01] [ 8.42153040e-03 -8.14819201e-05 9.99964535e-01 1.06924493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.28, Y:11.52, Z:0.11 [[ 9.09434146e-01 -4.15780289e-01 -7.50233230e-03 5.32809154e+01] [ 4.15766799e-01 9.09465088e-01 -3.35005573e-03 1.15194577e+01] [ 8.21599645e-03 -7.25656122e-05 9.99966245e-01 1.08267329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461858064 meters Centerline goodness [0,1] 0.9999556275375502 Centerline is valid? [True, True] Translation: X:53.31, Y:11.53, Z:0.11 [[ 9.09376192e-01 -4.15909936e-01 -7.33938026e-03 5.33050108e+01] [ 4.15897016e-01 9.09405806e-01 -3.27892537e-03 1.15314126e+01] [ 8.03821266e-03 -7.06496874e-05 9.99967691e-01 1.08043687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49185806399999 meters Centerline goodness [0,1] 0.9999777362187194 Centerline is valid? [True, True] Translation: X:53.33, Y:11.54, Z:0.11 [[ 9.09052496e-01 -4.16629325e-01 -6.60045106e-03 5.33301365e+01] [ 4.16618889e-01 9.09076455e-01 -2.94956465e-03 1.15438511e+01] [ 7.22918978e-03 -6.85634836e-05 9.99973867e-01 1.07957179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52185806399999 meters Centerline goodness [0,1] 0.9999554783847558 Centerline is valid? [True, True] Translation: X:53.36, Y:11.56, Z:0.11 [[ 9.08684350e-01 -4.17433994e-01 -6.45072756e-03 5.33560171e+01] [ 4.17424038e-01 9.08707244e-01 -2.88404643e-03 1.15552878e+01] [ 7.06572188e-03 -7.20008835e-05 9.99975035e-01 1.08038461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.38, Y:11.57, Z:0.11 [[ 9.08285690e-01 -4.18307138e-01 -6.02024704e-03 5.33817222e+01] [ 4.18298473e-01 9.08305638e-01 -2.69345797e-03 1.15664560e+01] [ 6.59491703e-03 -7.18308083e-05 9.99978251e-01 1.08479910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.41, Y:11.58, Z:0.11 [[ 9.07533501e-01 -4.19935523e-01 -6.09100176e-03 5.34073726e+01] [ 4.19926681e-01 9.07553938e-01 -2.72642290e-03 1.15777207e+01] [ 6.67283445e-03 -8.34540331e-05 9.99977733e-01 1.08133389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.43, Y:11.59, Z:0.11 [[ 9.07059084e-01 -4.20958443e-01 -6.14875464e-03 5.34336510e+01] [ 4.20949448e-01 9.07079920e-01 -2.75343678e-03 1.15899728e+01] [ 6.73649433e-03 -9.07850307e-05 9.99977305e-01 1.08366136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.46, Y:11.60, Z:0.11 [[ 9.06610549e-01 -4.21924265e-01 -6.10136554e-03 5.34599707e+01] [ 4.21915418e-01 9.06631075e-01 -2.73391696e-03 1.16018804e+01] [ 6.68519350e-03 -9.56622411e-05 9.99977649e-01 1.08359473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.49, Y:11.61, Z:0.11 [[ 9.06147566e-01 -4.22911164e-01 -6.53726272e-03 5.34860090e+01] [ 4.22901020e-01 9.06171140e-01 -2.93115871e-03 1.16149449e+01] [ 7.16349855e-03 -1.08552744e-04 9.99974336e-01 1.08672499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.51, Y:11.63, Z:0.11 [[ 9.05478413e-01 -4.24332440e-01 -7.12904529e-03 5.35109797e+01] [ 4.24320410e-01 9.05506468e-01 -3.19789448e-03 1.16267588e+01] [ 7.81236699e-03 -1.29375001e-04 9.99969475e-01 1.06823508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.54, Y:11.64, Z:0.11 [[ 9.05196782e-01 -4.24929492e-01 -7.32892317e-03 5.35363596e+01] [ 4.24916791e-01 9.05226440e-01 -3.28831513e-03 1.16395023e+01] [ 8.03163711e-03 -1.37610236e-04 9.99967736e-01 1.06638666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.56, Y:11.65, Z:0.11 [[ 9.05075247e-01 -4.25186428e-01 -7.43634618e-03 5.35614390e+01] [ 4.25173346e-01 9.05105785e-01 -3.33825451e-03 1.16511396e+01] [ 8.15006045e-03 -1.40364660e-04 9.99966778e-01 1.06236087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791858063999996 meters Centerline goodness [0,1] 0.9999112649185855 Centerline is valid? [True, True] Translation: X:53.59, Y:11.66, Z:0.11 [[ 9.04995158e-01 -4.25352332e-01 -7.69144999e-03 5.35869083e+01] [ 4.25338330e-01 9.05027830e-01 -3.45429324e-03 1.16625613e+01] [ 8.43026797e-03 -1.45349836e-04 9.99964454e-01 1.05996997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821858064 meters Centerline goodness [0,1] 0.9999112649185855 Centerline is valid? [True, True] Translation: X:53.61, Y:11.67, Z:0.11 [[ 9.04880177e-01 -4.25596896e-01 -7.69077601e-03 5.36120506e+01] [ 4.25582891e-01 9.04912847e-01 -3.45579335e-03 1.16739423e+01] [ 8.43025694e-03 -1.45983794e-04 9.99964454e-01 1.06091055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.64, Y:11.69, Z:0.11 [[ 9.05175666e-01 -4.24949914e-01 -8.63624664e-03 5.36371887e+01] [ 4.24932208e-01 9.05216850e-01 -3.88232459e-03 1.16859446e+01] [ 9.46746949e-03 -1.55633616e-04 9.99955170e-01 1.05897455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.66, Y:11.70, Z:0.11 [[ 9.05395329e-01 -4.24478818e-01 -8.77672689e-03 5.36629863e+01] [ 4.24460490e-01 9.05437856e-01 -3.94738265e-03 1.16990207e+01] [ 9.62236110e-03 -1.51431983e-04 9.99953693e-01 1.05854787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.69, Y:11.71, Z:0.11 [[ 9.05690178e-01 -4.23847101e-01 -8.88462510e-03 5.36883206e+01] [ 4.23828265e-01 9.05733744e-01 -3.99842935e-03 1.17124872e+01] [ 9.74182744e-03 -1.44217052e-04 9.99952537e-01 1.05707929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.71, Y:11.73, Z:0.11 [[ 9.06635509e-01 -4.21833685e-01 -8.27015003e-03 5.37137100e+01] [ 4.21817260e-01 9.06673221e-01 -3.72417025e-03 1.17269844e+01] [ 9.06930403e-03 -1.12027032e-04 9.99958867e-01 1.06210092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971858063999996 meters Centerline goodness [0,1] 0.9999337558239672 Centerline is valid? [True, True] Translation: X:53.74, Y:11.74, Z:0.11 [[ 9.07078585e-01 -4.20897260e-01 -7.34416525e-03 5.37391877e+01] [ 4.20884260e-01 9.07108312e-01 -3.30920592e-03 1.17406031e+01] [ 8.05478904e-03 -8.93337271e-05 9.99967556e-01 1.07119424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:11.75, Z:0.11 [[ 9.07475326e-01 -4.20048138e-01 -6.93501857e-03 5.37649828e+01] [ 4.20036506e-01 9.07501822e-01 -3.12682569e-03 1.17536200e+01] [ 7.60695930e-03 -7.54438070e-05 9.99971064e-01 1.07459808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.79, Y:11.77, Z:0.11 [[ 9.08004981e-01 -4.18905870e-01 -6.69532620e-03 5.37904647e+01] [ 4.18894987e-01 9.08029663e-01 -3.02018900e-03 1.17655447e+01] [ 7.34472969e-03 -6.22919278e-05 9.99973025e-01 1.06976773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.82, Y:11.78, Z:0.11 [[ 9.08807337e-01 -4.17149232e-01 -7.46615932e-03 5.38155388e+01] [ 4.17135625e-01 9.08838003e-01 -3.36968793e-03 1.17793313e+01] [ 8.19119206e-03 -5.20039190e-05 9.99966450e-01 1.06441133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.84, Y:11.79, Z:0.11 [[ 9.09186736e-01 -4.16313717e-01 -7.89732847e-03 5.38407139e+01] [ 4.16298440e-01 9.09221033e-01 -3.56678325e-03 1.17918700e+01] [ 8.66531794e-03 -4.47734998e-05 9.99962454e-01 1.06208210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121858063999994 meters Centerline goodness [0,1] 0.9999557776500243 Centerline is valid? [True, True] Translation: X:53.87, Y:11.80, Z:0.11 [[ 9.09335353e-01 -4.15989813e-01 -7.85440740e-03 5.38657753e+01] [ 4.15974667e-01 9.09369273e-01 -3.54999626e-03 1.18045283e+01] [ 8.61931902e-03 -3.90973940e-05 9.99962852e-01 1.05601869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.89, Y:11.82, Z:0.11 [[ 9.09669256e-01 -4.15270941e-01 -7.20347689e-03 5.38911712e+01] [ 4.15258161e-01 9.09697776e-01 -3.25812280e-03 1.18172023e+01] [ 7.90599063e-03 -2.74884233e-05 9.99968747e-01 1.07067694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181858064 meters Centerline goodness [0,1] 0.9999558586594275 Centerline is valid? [True, True] Translation: X:53.92, Y:11.83, Z:0.11 [[ 9.09493272e-01 -4.15667422e-01 -6.52550110e-03 5.39171524e+01] [ 4.15656929e-01 9.09516681e-01 -2.95357749e-03 1.18287980e+01] [ 7.16275805e-03 -2.61108872e-05 9.99974347e-01 1.07513378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.94, Y:11.84, Z:0.11 [[ 9.09396774e-01 -4.15878567e-01 -6.52113207e-03 5.39433838e+01] [ 4.15868078e-01 9.09420154e-01 -2.95379961e-03 1.18401166e+01] [ 7.15887088e-03 -2.57548310e-05 9.99974375e-01 1.08194633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.97, Y:11.85, Z:0.11 [[ 9.09252857e-01 -4.16189355e-01 -6.75740407e-03 5.39678374e+01] [ 4.16178089e-01 9.09277966e-01 -3.06243626e-03 1.18509177e+01] [ 7.41891200e-03 -2.77545915e-05 9.99972479e-01 1.08183597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27185806399999 meters Centerline goodness [0,1] 0.9999558810553252 Centerline is valid? [True, True] Translation: X:53.99, Y:11.86, Z:0.11 [[ 9.09130921e-01 -4.16451571e-01 -7.00405421e-03 5.39921787e+01] [ 4.16439467e-01 9.09157900e-01 -3.17524970e-03 1.18618532e+01] [ 7.69012895e-03 -3.00469161e-05 9.99970430e-01 1.07954979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301858063999994 meters Centerline goodness [0,1] 0.9999559762271627 Centerline is valid? [True, True] Translation: X:54.02, Y:11.87, Z:0.11 [[ 9.08880214e-01 -4.16997625e-01 -7.05247055e-03 5.40178706e+01] [ 4.16985356e-01 9.08907575e-01 -3.19894845e-03 1.18735696e+01] [ 7.74399781e-03 -3.33159931e-05 9.99970014e-01 1.07912856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.04, Y:11.89, Z:0.11 [[ 9.08524837e-01 -4.17777890e-01 -6.65240878e-03 5.40432217e+01] [ 4.17766979e-01 9.08549192e-01 -3.01962891e-03 1.18853318e+01] [ 7.30557481e-03 -3.57488487e-05 9.99973313e-01 1.08604513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.07, Y:11.90, Z:0.11 [[ 9.07759612e-01 -4.19449651e-01 -5.87175959e-03 5.40691774e+01] [ 4.19441174e-01 9.07778601e-01 -2.66714436e-03 1.18972918e+01] [ 6.44899048e-03 -4.17318051e-05 9.99979204e-01 1.09267966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.10, Y:11.91, Z:0.11 [[ 9.07188193e-01 -4.20682568e-01 -5.97989117e-03 5.40954361e+01] [ 4.20673788e-01 9.07207900e-01 -2.71833057e-03 1.19085323e+01] [ 6.56855880e-03 -4.95460795e-05 9.99978426e-01 1.09431500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:11.92, Z:0.11 [[ 9.06582486e-01 -4.21981145e-01 -6.33326464e-03 5.41216067e+01] [ 4.21971317e-01 9.06604605e-01 -2.88060347e-03 1.19188754e+01] [ 6.95732724e-03 -6.09513672e-05 9.99975796e-01 1.09354888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:11.93, Z:0.11 [[ 9.05635148e-01 -4.23993509e-01 -7.38127667e-03 5.41487668e+01] [ 4.23980211e-01 9.05665223e-01 -3.35910286e-03 1.19296781e+01] [ 8.10920340e-03 -8.73936253e-05 9.99967116e-01 1.09192325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.17, Y:11.94, Z:0.11 [[ 9.05246621e-01 -4.24818694e-01 -7.59163001e-03 5.41747811e+01] [ 4.24804645e-01 9.05278448e-01 -3.45623153e-03 1.19409774e+01] [ 8.34081080e-03 -9.62177730e-05 9.99965210e-01 1.09129453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511858063999995 meters Centerline goodness [0,1] 0.9999779122675266 Centerline is valid? [True, True] Translation: X:54.20, Y:11.95, Z:0.11 [[ 9.04968612e-01 -4.25406700e-01 -7.80711015e-03 5.42003534e+01] [ 4.25391848e-01 9.05002281e-01 -3.55624603e-03 1.19534241e+01] [ 8.57830338e-03 -1.02789978e-04 9.99963200e-01 1.08874642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.23, Y:11.97, Z:0.11 [[ 9.04878936e-01 -4.25592427e-01 -8.07454810e-03 5.42256616e+01] [ 4.25576533e-01 9.04914955e-01 -3.67966440e-03 1.19658026e+01] [ 8.87281662e-03 -1.06687380e-04 9.99960630e-01 1.08346745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.25, Y:11.98, Z:0.11 [[ 9.05022921e-01 -4.25274533e-01 -8.66503752e-03 5.42502876e+01] [ 4.25256194e-01 9.05064395e-01 -3.95092659e-03 1.19786063e+01] [ 9.52264540e-03 -1.09181754e-04 9.99954653e-01 1.07290601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.27, Y:11.99, Z:0.11 [[ 9.05477288e-01 -4.24278180e-01 -9.94521267e-03 5.42744307e+01] [ 4.24253923e-01 9.05531896e-01 -4.53811544e-03 1.19923307e+01] [ 1.09311306e-02 -1.10135031e-04 9.99940247e-01 1.06594242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:12.00, Z:0.11 [[ 9.05652165e-01 -4.23881297e-01 -1.08996596e-02 5.42994840e+01] [ 4.23852087e-01 9.05717745e-01 -4.97746578e-03 1.20044783e+01] [ 1.19818697e-02 -1.11990801e-04 9.99928209e-01 1.06738332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:12.02, Z:0.11 [[ 9.05800393e-01 -4.23555822e-01 -1.12300250e-02 5.43252786e+01] [ 4.23524754e-01 9.05869998e-01 -5.13117467e-03 1.20167510e+01] [ 1.23462816e-02 -1.08373530e-04 9.99923776e-01 1.06788931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.35, Y:12.03, Z:0.11 [[ 9.06228341e-01 -4.22633633e-01 -1.14458170e-02 5.43497950e+01] [ 4.22601266e-01 9.06300614e-01 -5.23134272e-03 1.20290646e+01] [ 1.25842924e-02 -9.62257227e-05 9.99920810e-01 1.07301043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.37, Y:12.04, Z:0.11 [[ 9.06461260e-01 -4.22150752e-01 -1.08040586e-02 5.43746049e+01] [ 4.22121865e-01 9.06525640e-01 -4.93914902e-03 1.20412500e+01] [ 1.18792216e-02 -8.34821126e-05 9.99929436e-01 1.07445475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.40, Y:12.05, Z:0.11 [[ 9.06802809e-01 -4.21424377e-01 -1.04956929e-02 5.43999090e+01] [ 4.21397035e-01 9.06863545e-01 -4.80098620e-03 1.20535270e+01] [ 1.15414139e-02 -6.93060813e-05 9.99933393e-01 1.08250513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.42, Y:12.07, Z:0.11 [[ 9.07531817e-01 -4.19887507e-01 -8.97120835e-03 5.44243066e+01] [ 4.19867438e-01 9.07576157e-01 -4.10545714e-03 1.20661921e+01] [ 9.86588496e-03 -4.08852921e-05 9.99951330e-01 1.09796289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.45, Y:12.08, Z:0.11 [[ 9.07795828e-01 -4.19329703e-01 -8.32670061e-03 5.44497327e+01] [ 4.19312371e-01 9.07834015e-01 -3.81269022e-03 1.20786777e+01] [ 9.15803631e-03 -3.03442996e-05 9.99958064e-01 1.11137397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84185806399999 meters Centerline goodness [0,1] 0.9999561470826847 Centerline is valid? [True, True] Translation: X:54.47, Y:12.09, Z:0.11 [[ 9.07896041e-01 -4.19123784e-01 -7.74809135e-03 5.44749767e+01] [ 4.19108748e-01 9.07929102e-01 -3.55024242e-03 1.20907905e+01] [ 8.52270866e-03 -2.40418216e-05 9.99963681e-01 1.12102832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871858063999994 meters Centerline goodness [0,1] 0.999978025358736 Centerline is valid? [True, True] Translation: X:54.50, Y:12.10, Z:0.11 [[ 9.08168612e-01 -4.18550803e-01 -6.70799573e-03 5.45002725e+01] [ 4.18539508e-01 9.08193385e-01 -3.07491800e-03 1.21024929e+01] [ 7.37916675e-03 -1.50172156e-05 9.99972773e-01 1.13613933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:12.12, Z:0.11 [[ 9.08146448e-01 -4.18598071e-01 -6.75903117e-03 5.45259786e+01] [ 4.18586594e-01 9.08171600e-01 -3.09982537e-03 1.21150064e+01] [ 7.43594107e-03 -1.41444307e-05 9.99972353e-01 1.13741513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.55, Y:12.13, Z:0.11 [[ 9.07961478e-01 -4.18999439e-01 -6.73978689e-03 5.45514219e+01] [ 4.18988022e-01 9.07986492e-01 -3.09319012e-03 1.21275199e+01] [ 7.41568039e-03 -1.53925066e-05 9.99972503e-01 1.13654520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961858064 meters Centerline goodness [0,1] 0.9999781167253868 Centerline is valid? [True, True] Translation: X:54.58, Y:12.14, Z:0.11 [[ 9.07773734e-01 -4.19403349e-01 -6.90500999e-03 5.45765003e+01] [ 4.19391359e-01 9.07799995e-01 -3.17127763e-03 1.21395576e+01] [ 7.59841250e-03 -1.70989868e-05 9.99971132e-01 1.13077430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99185806399999 meters Centerline goodness [0,1] 0.9999124611546374 Centerline is valid? [True, True] Translation: X:54.60, Y:12.15, Z:0.11 [[ 9.07308618e-01 -4.20392736e-01 -7.81149054e-03 5.46021292e+01] [ 4.20377414e-01 9.07342244e-01 -3.58920120e-03 1.21503156e+01] [ 8.59656947e-03 -2.72610166e-05 9.99963048e-01 1.12185107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02185806399999 meters Centerline goodness [0,1] 0.9999123268455199 Centerline is valid? [True, True] Translation: X:54.63, Y:12.16, Z:0.11 [[ 9.06941152e-01 -4.21175193e-01 -8.31886772e-03 5.46280792e+01] [ 4.21157831e-01 9.06979303e-01 -3.82431699e-03 1.21613814e+01] [ 9.15574829e-03 -3.51258272e-05 9.99958085e-01 1.11953930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051858063999994 meters Centerline goodness [0,1] 0.9999780783479844 Centerline is valid? [True, True] Translation: X:54.65, Y:12.17, Z:0.11 [[ 9.06411904e-01 -4.22305691e-01 -8.68127539e-03 5.46538671e+01] [ 4.22286809e-01 9.06453474e-01 -3.99371286e-03 1.21720765e+01] [ 9.55573991e-03 -4.60392044e-05 9.99954342e-01 1.11736807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081858063999995 meters Centerline goodness [0,1] 0.9999779963473937 Centerline is valid? [True, True] Translation: X:54.68, Y:12.18, Z:0.11 [[ 9.05707687e-01 -4.23798798e-01 -9.38962459e-03 5.46805913e+01] [ 4.23776760e-01 9.05756355e-01 -4.32237709e-03 1.21833087e+01] [ 1.03365304e-02 -6.42945366e-05 9.99946575e-01 1.11282204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111858063999996 meters Centerline goodness [0,1] 0.9999779963473937 Centerline is valid? [True, True] Translation: X:54.71, Y:12.20, Z:0.11 [[ 9.04573297e-01 -4.26173210e-01 -1.11151312e-02 5.47073336e+01] [ 4.26142465e-01 9.04641578e-01 -5.12003094e-03 1.21952021e+01] [ 1.22372299e-02 -1.05186156e-04 9.99925117e-01 1.10357879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.73, Y:12.21, Z:0.11 [[ 9.04128260e-01 -4.27094678e-01 -1.19258094e-02 5.47326533e+01] [ 4.27059341e-01 9.04206901e-01 -5.49533122e-03 1.22062208e+01] [ 1.31304258e-02 -1.24544034e-04 9.99913784e-01 1.09616642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.76, Y:12.22, Z:0.11 [[ 9.03851864e-01 -4.27674955e-01 -1.20806137e-02 5.47569130e+01] [ 4.27638712e-01 9.03932583e-01 -5.56927740e-03 1.22170579e+01] [ 1.33019008e-02 -1.32336307e-04 9.99911517e-01 1.09048071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.78, Y:12.23, Z:0.11 [[ 9.03652269e-01 -4.28111024e-01 -1.15554165e-02 5.47813774e+01] [ 4.28077874e-01 9.03726139e-01 -5.32910508e-03 1.22276059e+01] [ 1.27243806e-02 -1.30960244e-04 9.99919033e-01 1.10036614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231858063999994 meters Centerline goodness [0,1] 0.999978004091239 Centerline is valid? [True, True] Translation: X:54.81, Y:12.24, Z:0.11 [[ 9.03584895e-01 -4.28275299e-01 -1.07053852e-02 5.48064494e+01] [ 4.28246826e-01 9.03648302e-01 -4.93994140e-03 1.22392155e+01] [ 1.17895580e-02 -1.20890784e-04 9.99930493e-01 1.10741382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.83, Y:12.25, Z:0.11 [[ 9.03414061e-01 -4.28642186e-01 -1.04359807e-02 5.48308116e+01] [ 4.28615129e-01 9.03474328e-01 -4.81762127e-03 1.22505369e+01] [ 1.14936764e-02 -1.20712428e-04 9.99933938e-01 1.11205760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.86, Y:12.26, Z:0.11 [[ 9.03378673e-01 -4.28707090e-01 -1.08260495e-02 5.48558444e+01] [ 4.28677940e-01 9.03443532e-01 -5.00080804e-03 1.22644143e+01] [ 1.19246063e-02 -1.23265261e-04 9.99928892e-01 1.12225321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:12.28, Z:0.11 [[ 9.03258408e-01 -4.28957904e-01 -1.09253876e-02 5.48798688e+01] [ 4.28928208e-01 9.03324471e-01 -5.04895271e-03 1.22757158e+01] [ 1.20349582e-02 -1.25697950e-04 9.99927569e-01 1.11984236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.91, Y:12.29, Z:0.11 [[ 9.03301451e-01 -4.28870643e-01 -1.07916391e-02 5.49055825e+01] [ 4.28841626e-01 9.03365904e-01 -4.99022469e-03 1.22874413e+01] [ 1.18889597e-02 -1.20226867e-04 9.99929317e-01 1.12294182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:12.30, Z:0.11 [[ 9.03674680e-01 -4.28085457e-01 -1.07198247e-02 5.49312454e+01] [ 4.28056748e-01 9.03738253e-01 -4.95886769e-03 1.22993550e+01] [ 1.18107348e-02 -1.07490149e-04 9.99930245e-01 1.12661592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41185806399999 meters Centerline goodness [0,1] 0.9999780374242291 Centerline is valid? [True, True] Translation: X:54.96, Y:12.31, Z:0.11 [[ 9.03698795e-01 -4.28036583e-01 -1.06381870e-02 5.49561999e+01] [ 4.28008273e-01 9.03761403e-01 -4.92398941e-03 1.23116110e+01] [ 1.17220304e-02 -1.03428755e-04 9.99931289e-01 1.13242771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.98, Y:12.32, Z:0.11 [[ 9.03804292e-01 -4.27823255e-01 -1.02500404e-02 5.49809393e+01] [ 4.27796939e-01 9.03862408e-01 -4.74609791e-03 1.23235658e+01] [ 1.12951172e-02 -9.53922409e-05 9.99936204e-01 1.13561567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.01, Y:12.34, Z:0.11 [[ 9.03935723e-01 -4.27541165e-01 -1.04288781e-02 5.50058293e+01] [ 4.27513872e-01 9.03995876e-01 -4.83173526e-03 1.23359209e+01] [ 1.14934285e-02 -9.09119552e-05 9.99933944e-01 1.14285197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.03, Y:12.35, Z:0.11 [[ 9.04352313e-01 -4.26645650e-01 -1.09719587e-02 5.50300373e+01] [ 4.26615346e-01 9.04418865e-01 -5.08562267e-03 1.23482568e+01] [ 1.20930052e-02 -8.16113202e-05 9.99926874e-01 1.14142854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531858064 meters Centerline goodness [0,1] 0.999978038871198 Centerline is valid? [True, True] Translation: X:55.06, Y:12.36, Z:0.11 [[ 9.04352405e-01 -4.26640391e-01 -1.11671144e-02 5.50551998e+01] [ 4.26608960e-01 9.04421345e-01 -5.17928110e-03 1.23605451e+01] [ 1.23094671e-02 -8.00957388e-05 9.99924232e-01 1.13912980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.08, Y:12.37, Z:0.11 [[ 9.04503174e-01 -4.26314016e-01 -1.14178606e-02 5.50797882e+01] [ 4.26281102e-01 9.04575234e-01 -5.29787178e-03 1.23720904e+01] [ 1.25868709e-02 -7.52763704e-05 9.99920779e-01 1.12983183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:12.38, Z:0.11 [[ 9.05036641e-01 -4.25168744e-01 -1.18414036e-02 5.51044481e+01] [ 4.25133200e-01 9.05114101e-01 -5.49785396e-03 1.23846611e+01] [ 1.30553371e-02 -5.84145398e-05 9.99914774e-01 1.13600139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.13, Y:12.40, Z:0.11 [[ 9.05253128e-01 -4.24705120e-01 -1.19304572e-02 5.51298263e+01] [ 4.24668946e-01 9.05331740e-01 -5.54327298e-03 1.23969281e+01] [ 1.31552780e-02 -4.84294676e-05 9.99913464e-01 1.13448870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:12.41, Z:0.11 [[ 9.05426170e-01 -4.24341251e-01 -1.17453312e-02 5.51551777e+01] [ 4.24306108e-01 9.05502348e-01 -5.46122390e-03 1.24095971e+01] [ 1.29528476e-02 -3.88807350e-05 9.99916108e-01 1.13231790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.18, Y:12.42, Z:0.11 [[ 9.05876801e-01 -4.23383023e-01 -1.15774226e-02 5.51798605e+01] [ 4.23348771e-01 9.05950780e-01 -5.38542828e-03 1.24215932e+01] [ 1.27686740e-02 -2.27530892e-05 9.99918477e-01 1.13216510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.21, Y:12.43, Z:0.11 [[ 9.05874532e-01 -4.23388104e-01 -1.15691546e-02 5.52054666e+01] [ 4.23353858e-01 9.05948405e-01 -5.38495391e-03 1.24333059e+01] [ 1.27609826e-02 -1.97536143e-05 9.99918575e-01 1.13896812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.23, Y:12.45, Z:0.11 [[ 9.05754763e-01 -4.23644308e-01 -1.15676307e-02 5.52304534e+01] [ 4.23610041e-01 9.05828626e-01 -5.38822629e-03 1.24450126e+01] [ 1.27609824e-02 -1.97528969e-05 9.99918575e-01 1.13990600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:12.46, Z:0.11 [[ 9.05896896e-01 -4.23343732e-01 -1.14410507e-02 5.52567300e+01] [ 4.23310138e-01 9.05969141e-01 -5.33318313e-03 1.24561372e+01] [ 1.26230085e-02 -1.17987040e-05 9.99920327e-01 1.14385083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801858063999994 meters Centerline goodness [0,1] 0.999912524329171 Centerline is valid? [True, True] Translation: X:55.28, Y:12.47, Z:0.11 [[ 9.06034245e-01 -4.23055351e-01 -1.12302107e-02 5.52812710e+01] [ 4.23022934e-01 9.06103841e-01 -5.23715295e-03 1.24671380e+01] [ 1.23913427e-02 -5.59677706e-06 9.99923224e-01 1.14519344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.31, Y:12.48, Z:0.11 [[ 9.05985350e-01 -4.23169936e-01 -1.08513012e-02 5.53064904e+01] [ 4.23139641e-01 9.06050333e-01 -5.06352659e-03 1.24787227e+01] [ 1.19745573e-02 -4.13479589e-06 9.99928302e-01 1.14718792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.33, Y:12.49, Z:0.11 [[ 9.05944291e-01 -4.23248535e-01 -1.12079975e-02 5.53318274e+01] [ 4.23216174e-01 9.06013619e-01 -5.23379498e-03 1.24902086e+01] [ 1.23697944e-02 -1.87914851e-06 9.99923491e-01 1.14682747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.36, Y:12.50, Z:0.11 [[ 9.05496524e-01 -4.24205329e-01 -1.12197796e-02 5.53576019e+01] [ 4.24172926e-01 9.05566032e-01 -5.24312446e-03 1.25017018e+01] [ 1.23844126e-02 -1.14957479e-05 9.99923310e-01 1.14607785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92185806399999 meters Centerline goodness [0,1] 0.9999119931354645 Centerline is valid? [True, True] Translation: X:55.38, Y:12.51, Z:0.11 [[ 9.05155248e-01 -4.24924286e-01 -1.15467507e-02 5.53835068e+01] [ 4.24890000e-01 9.05228894e-01 -5.39790707e-03 1.25129261e+01] [ 1.27461542e-02 -2.01549978e-05 9.99918764e-01 1.14097784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:12.52, Z:0.11 [[ 9.04496200e-01 -4.26317134e-01 -1.18459138e-02 5.54094799e+01] [ 4.26281125e-01 9.04573767e-01 -5.54105842e-03 1.25235394e+01] [ 1.30777510e-02 -3.78231765e-05 9.99914482e-01 1.13737273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.44, Y:12.53, Z:0.11 [[ 9.03722680e-01 -4.27952812e-01 -1.19041647e-02 5.54357005e+01] [ 4.27916536e-01 9.03801077e-01 -5.57233647e-03 1.25334277e+01] [ 1.31436939e-02 -5.81420698e-05 9.99913616e-01 1.14096364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.46, Y:12.54, Z:0.11 [[ 9.02280488e-01 -4.30993448e-01 -1.16003824e-02 5.54633352e+01] [ 4.30959206e-01 9.02355051e-01 -5.43366609e-03 1.25419915e+01] [ 1.28095381e-02 -9.66006943e-05 9.99917950e-01 1.14800572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:12.55, Z:0.11 [[ 9.01617193e-01 -4.32390365e-01 -1.11807730e-02 5.54888038e+01] [ 4.32358618e-01 9.01686509e-01 -5.24071136e-03 1.25528500e+01] [ 1.23475852e-02 -1.08988088e-04 9.99923760e-01 1.14691896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.52, Y:12.56, Z:0.11 [[ 9.00947285e-01 -4.33782745e-01 -1.12481225e-02 5.55152135e+01] [ 4.33750680e-01 9.01017488e-01 -5.27570091e-03 1.25641985e+01] [ 1.24232631e-02 -1.25752367e-04 9.99922820e-01 1.14237365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:12.57, Z:0.11 [[ 9.00124562e-01 -4.35490732e-01 -1.11173316e-02 5.55419801e+01] [ 4.35459518e-01 9.00193202e-01 -5.21607507e-03 1.25735879e+01] [ 1.22792987e-02 -1.46030586e-04 9.99924596e-01 1.14048859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.57, Y:12.59, Z:0.12 [[ 8.99744144e-01 -4.36287264e-01 -1.06722803e-02 5.55668999e+01] [ 4.36258520e-01 8.99807424e-01 -5.01022517e-03 1.25856367e+01] [ 1.17888945e-02 -1.47952461e-04 9.99930498e-01 1.15442078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.59, Y:12.59, Z:0.11 [[ 8.99592257e-01 -4.36600121e-01 -1.06820224e-02 5.55935834e+01] [ 4.36571324e-01 8.99655663e-01 -5.01670496e-03 1.25946362e+01] [ 1.18004360e-02 -1.50475739e-04 9.99930361e-01 1.14390720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.62, Y:12.61, Z:0.12 [[ 8.99575377e-01 -4.36635850e-01 -1.06431110e-02 5.56196773e+01] [ 4.36607231e-01 8.99638323e-01 -5.00132487e-03 1.26060549e+01] [ 1.17587083e-02 -1.47790516e-04 9.99930853e-01 1.15187068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221858063999996 meters Centerline goodness [0,1] 0.9999778398262642 Centerline is valid? [True, True] Translation: X:55.65, Y:12.62, Z:0.12 [[ 8.99619394e-01 -4.36542249e-01 -1.07615408e-02 5.56456369e+01] [ 4.36512941e-01 8.99683746e-01 -5.06050694e-03 1.26180229e+01] [ 1.18911084e-02 -1.45021645e-04 9.99929288e-01 1.15517076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.67, Y:12.63, Z:0.12 [[ 8.99915902e-01 -4.35925708e-01 -1.09611002e-02 5.56707455e+01] [ 4.35895212e-01 8.99982643e-01 -5.15807977e-03 1.26300465e+01] [ 1.21133395e-02 -1.36053085e-04 9.99926622e-01 1.15730180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.70, Y:12.64, Z:0.12 [[ 9.00758360e-01 -4.34177437e-01 -1.11503054e-02 5.56957077e+01] [ 4.34145716e-01 9.00827364e-01 -5.24948425e-03 1.26422013e+01] [ 1.23237078e-02 -1.12340484e-04 9.99924054e-01 1.15322836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:12.65, Z:0.12 [[ 9.01242439e-01 -4.33175223e-01 -1.10133287e-02 5.57210881e+01] [ 4.33144185e-01 9.01309723e-01 -5.18631261e-03 1.26535565e+01] [ 1.21730024e-02 -9.62342743e-05 9.99925902e-01 1.15756650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:12.67, Z:0.12 [[ 9.01442819e-01 -4.32765761e-01 -1.07070250e-02 5.57464103e+01] [ 4.32736363e-01 9.01506400e-01 -5.04497069e-03 1.26654410e+01] [ 1.18357422e-02 -8.55664742e-05 9.99929951e-01 1.16216764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.77, Y:12.68, Z:0.12 [[ 9.01710127e-01 -4.32211786e-01 -1.05744722e-02 5.57717463e+01] [ 4.32183051e-01 9.01772126e-01 -4.98433524e-03 1.26768400e+01] [ 1.16900527e-02 -7.56821065e-05 9.99931666e-01 1.16364012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.80, Y:12.69, Z:0.12 [[ 9.02323070e-01 -4.30941418e-01 -1.01277459e-02 5.57985326e+01] [ 4.30914953e-01 9.02379904e-01 -4.77619676e-03 1.26888011e+01] [ 1.11973354e-02 -5.45246244e-05 9.99937306e-01 1.17271651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.82, Y:12.70, Z:0.12 [[ 9.02509491e-01 -4.30547600e-01 -1.02655799e-02 5.58234113e+01] [ 4.30520354e-01 9.02567871e-01 -4.84381827e-03 1.27002506e+01] [ 1.13508770e-02 -4.79491542e-05 9.99935576e-01 1.17421092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.85, Y:12.71, Z:0.12 [[ 9.02652600e-01 -4.30256018e-01 -9.90165439e-03 5.58484068e+01] [ 4.30230628e-01 9.02706906e-01 -4.67437637e-03 1.27117888e+01] [ 1.09494704e-02 -4.06569997e-05 9.99940052e-01 1.16975549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.87, Y:12.72, Z:0.12 [[ 9.02977349e-01 -4.29602486e-01 -8.57970362e-03 5.58744770e+01] [ 4.29583372e-01 9.03018108e-01 -4.05258330e-03 1.27248690e+01] [ 9.48862759e-03 -2.63070807e-05 9.99954982e-01 1.18576225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52185806399999 meters Centerline goodness [0,1] 0.9999558186798622 Centerline is valid? [True, True] Translation: X:55.90, Y:12.74, Z:0.12 [[ 9.03056641e-01 -4.29446282e-01 -8.03700162e-03 5.58998490e+01] [ 4.29429481e-01 9.03092404e-01 -3.79882201e-03 1.27371326e+01] [ 8.88954511e-03 -2.07739844e-05 9.99960487e-01 1.19267284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.93, Y:12.75, Z:0.12 [[ 9.03138585e-01 -4.29283231e-01 -7.52357034e-03 5.59257835e+01] [ 4.29268482e-01 9.03169922e-01 -3.55857656e-03 1.27491677e+01] [ 8.32269967e-03 -1.57438170e-05 9.99965366e-01 1.19805447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.95, Y:12.76, Z:0.12 [[ 9.03325617e-01 -4.28904998e-01 -6.58265886e-03 5.59513870e+01] [ 4.28893688e-01 9.03349601e-01 -3.11478354e-03 1.27606914e+01] [ 7.28238848e-03 -9.59707211e-06 9.99973483e-01 1.20318369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.98, Y:12.77, Z:0.12 [[ 9.03216181e-01 -4.29134550e-01 -6.63843142e-03 5.59765488e+01] [ 4.29123042e-01 9.03240576e-01 -3.14271744e-03 1.27722783e+01] [ 7.34474925e-03 -1.01506433e-05 9.99973027e-01 1.20871111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.00, Y:12.78, Z:0.12 [[ 9.03135363e-01 -4.29307572e-01 -6.44405704e-03 5.60006221e+01] [ 4.29296721e-01 9.03158352e-01 -3.05221245e-03 1.27836021e+01] [ 7.13034185e-03 -9.85156345e-06 9.99974579e-01 1.20666700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.03, Y:12.80, Z:0.12 [[ 9.02873243e-01 -4.29864073e-01 -6.06519525e-03 5.60261986e+01] [ 4.29854464e-01 9.02893614e-01 -2.87419647e-03 1.27956668e+01] [ 6.71173986e-03 -1.21161706e-05 9.99977476e-01 1.20966354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:12.81, Z:0.12 [[ 9.02147642e-01 -4.31378605e-01 -6.49091314e-03 5.60513947e+01] [ 4.31367623e-01 9.02170992e-01 -3.07818976e-03 1.28071817e+01] [ 7.18377875e-03 -2.29881369e-05 9.99974196e-01 1.20294246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.08, Y:12.82, Z:0.12 [[ 9.01637012e-01 -4.32441503e-01 -6.71155334e-03 5.60755501e+01] [ 4.32429777e-01 9.01661991e-01 -3.18471739e-03 1.28182753e+01] [ 7.42875653e-03 -3.08164382e-05 9.99972406e-01 1.19664298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.10, Y:12.83, Z:0.12 [[ 9.00366540e-01 -4.35067073e-01 -7.53233721e-03 5.61023522e+01] [ 4.35052378e-01 9.00398045e-01 -3.57627792e-03 1.28298217e+01] [ 8.33802246e-03 -5.70002333e-05 9.99965236e-01 1.18276379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.13, Y:12.84, Z:0.12 [[ 8.99575658e-01 -4.36694589e-01 -7.84034252e-03 5.61284238e+01] [ 4.36678714e-01 8.99609821e-01 -3.72419184e-03 1.28405306e+01] [ 8.67958356e-03 -7.35183584e-05 9.99962329e-01 1.17509374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:12.85, Z:0.12 [[ 8.98738849e-01 -4.38406077e-01 -8.28205561e-03 5.61547677e+01] [ 4.38388418e-01 8.98777004e-01 -3.93598772e-03 1.28516092e+01] [ 9.16928207e-03 -9.33321795e-05 9.99957957e-01 1.17311114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.18, Y:12.86, Z:0.12 [[ 8.97720700e-01 -4.40481794e-01 -8.56353875e-03 5.61810841e+01] [ 4.40462992e-01 8.97761536e-01 -4.07148972e-03 1.28622305e+01] [ 9.48143279e-03 -1.16861296e-04 9.99955043e-01 1.17008944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.21, Y:12.87, Z:0.12 [[ 8.96359066e-01 -4.43249082e-01 -8.40689774e-03 5.62074647e+01] [ 4.43231074e-01 8.96398478e-01 -3.99801374e-03 1.28726969e+01] [ 9.30804625e-03 -1.42542445e-04 9.99956669e-01 1.17538856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.23, Y:12.89, Z:0.12 [[ 8.95775880e-01 -4.44429228e-01 -8.26043329e-03 5.62334870e+01] [ 4.44411875e-01 8.95813953e-01 -3.93019993e-03 1.28855942e+01] [ 9.14650712e-03 -1.50456347e-04 9.99958159e-01 1.18575395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:12.90, Z:0.12 [[ 8.95561626e-01 -4.44861129e-01 -8.24317611e-03 5.62597963e+01] [ 4.44843854e-01 8.95599549e-01 -3.92343821e-03 1.28954772e+01] [ 9.12796995e-03 -1.53245528e-04 9.99958327e-01 1.18152849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.28, Y:12.91, Z:0.12 [[ 8.95499691e-01 -4.44996217e-01 -7.65969983e-03 5.62842064e+01] [ 4.44981290e-01 8.95532438e-01 -3.64753701e-03 1.29090059e+01] [ 8.48264984e-03 -1.42054849e-04 9.99964012e-01 1.18554832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:12.92, Z:0.12 [[ 8.95598316e-01 -4.44797147e-01 -7.69120850e-03 5.63089719e+01] [ 4.44782068e-01 8.95631330e-01 -3.66512809e-03 1.29223220e+01] [ 8.51872582e-03 -1.38429074e-04 9.99963705e-01 1.18846120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.33, Y:12.94, Z:0.12 [[ 8.95587295e-01 -4.44818750e-01 -7.72501873e-03 5.63343274e+01] [ 4.44803516e-01 8.95620601e-01 -3.68387348e-03 1.29351433e+01] [ 8.55734192e-03 -1.36885204e-04 9.99963376e-01 1.18742656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.36, Y:12.95, Z:0.12 [[ 8.95560440e-01 -4.44864419e-01 -8.19428501e-03 5.63582276e+01] [ 4.44847259e-01 8.95597917e-01 -3.90995246e-03 1.29468250e+01] [ 9.07818332e-03 -1.43606485e-04 9.99958782e-01 1.18083859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:12.96, Z:0.12 [[ 8.95635520e-01 -4.44707149e-01 -8.51866677e-03 5.63836316e+01] [ 4.44688582e-01 8.95676019e-01 -4.06626883e-03 1.29573040e+01] [ 9.43826435e-03 -1.46259051e-04 9.99955448e-01 1.17654697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.41, Y:12.97, Z:0.12 [[ 8.95505218e-01 -4.44959726e-01 -9.01372890e-03 5.64079572e+01] [ 4.44938926e-01 8.95550567e-01 -4.30509392e-03 1.29707262e+01] [ 9.98784343e-03 -1.55324793e-04 9.99950108e-01 1.18403320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.43, Y:12.98, Z:0.12 [[ 8.95121375e-01 -4.45732633e-01 -8.95225853e-03 5.64338591e+01] [ 4.45712127e-01 8.95166126e-01 -4.27854686e-03 1.29829201e+01] [ 9.92084655e-03 -1.60311440e-04 9.99950774e-01 1.18295853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.46, Y:12.99, Z:0.12 [[ 8.94983008e-01 -4.46008502e-01 -9.04606725e-03 5.64589118e+01] [ 4.45987562e-01 8.95028709e-01 -4.32494845e-03 1.29948332e+01] [ 1.00254537e-02 -1.63678097e-04 9.99949730e-01 1.18286883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.49, Y:13.01, Z:0.12 [[ 8.94386109e-01 -4.47197019e-01 -9.39758661e-03 5.64852695e+01] [ 4.47174462e-01 8.94435461e-01 -4.49523566e-03 1.30076015e+01] [ 1.04157907e-02 -1.81884410e-04 9.99945738e-01 1.18387283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:13.02, Z:0.12 [[ 8.94016545e-01 -4.47931794e-01 -9.56688945e-03 5.65113892e+01] [ 4.47908428e-01 8.94067711e-01 -4.57909794e-03 1.30199004e+01] [ 1.06045705e-02 -1.91301099e-04 9.99943752e-01 1.18273765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.54, Y:13.03, Z:0.12 [[ 8.93686500e-01 -4.48579231e-01 -1.00554565e-02 5.65377385e+01] [ 4.48553425e-01 8.93743045e-01 -4.81600766e-03 1.30322539e+01] [ 1.11473554e-02 -2.06408444e-04 9.99937845e-01 1.18270406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:13.04, Z:0.12 [[ 8.93279504e-01 -4.49386678e-01 -1.01656622e-02 5.65634470e+01] [ 4.49360321e-01 8.93337320e-01 -4.87187143e-03 1.30445993e+01] [ 1.12707196e-02 -2.16102340e-04 9.99936460e-01 1.18523614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.59, Y:13.06, Z:0.12 [[ 8.93146167e-01 -4.49637689e-01 -1.07644370e-02 5.65887085e+01] [ 4.49608132e-01 8.93211003e-01 -5.16064501e-03 1.30562152e+01] [ 1.19353341e-02 -2.30568103e-04 9.99928745e-01 1.18245744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.61, Y:13.07, Z:0.12 [[ 8.93204206e-01 -4.49529089e-01 -1.04806657e-02 5.66135068e+01] [ 4.49501029e-01 8.93265666e-01 -5.02744692e-03 1.30690316e+01] [ 1.16220025e-02 -2.20533301e-04 9.99932438e-01 1.17686241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.64, Y:13.08, Z:0.12 [[ 8.93850040e-01 -4.48250513e-01 -1.01776497e-02 5.66376135e+01] [ 4.48223949e-01 8.93907959e-01 -4.88386252e-03 1.30824330e+01] [ 1.12870759e-02 -1.96425627e-04 9.99936280e-01 1.16884363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.66, Y:13.09, Z:0.12 [[ 8.94180196e-01 -4.47593180e-01 -1.01055065e-02 5.66633272e+01] [ 4.47566923e-01 8.94237279e-01 -4.85161161e-03 1.30944932e+01] [ 1.12082689e-02 -1.84675424e-04 9.99937168e-01 1.16899459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.69, Y:13.11, Z:0.12 [[ 8.94422662e-01 -4.47113645e-01 -9.87374632e-03 5.66896259e+01] [ 4.47088518e-01 8.94477143e-01 -4.74318748e-03 1.31072928e+01] [ 1.09525842e-02 -1.72024239e-04 9.99940004e-01 1.17487739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.71, Y:13.12, Z:0.12 [[ 8.94825022e-01 -4.46314222e-01 -9.58102034e-03 5.67147450e+01] [ 4.46290488e-01 8.94876299e-01 -4.60538746e-03 1.31207985e+01] [ 1.06292779e-02 -1.54902305e-04 9.99943496e-01 1.18618525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.74, Y:13.13, Z:0.12 [[ 8.96004130e-01 -4.43943879e-01 -9.50953667e-03 5.67402882e+01] [ 4.43920334e-01 8.96054584e-01 -4.57388614e-03 1.31346500e+01] [ 1.05516127e-02 -1.23255824e-04 9.99944323e-01 1.19164674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.76, Y:13.15, Z:0.12 [[ 8.96453005e-01 -4.43025039e-01 -1.00411630e-02 5.67647945e+01] [ 4.42998692e-01 8.96509231e-01 -4.83296797e-03 1.31474185e+01] [ 1.11431211e-02 -1.15693393e-04 9.99937907e-01 1.18531089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.79, Y:13.16, Z:0.12 [[ 8.96908910e-01 -4.42083633e-01 -1.07920276e-02 5.67895750e+01] [ 4.42053085e-01 8.96973829e-01 -5.19817141e-03 1.31602220e+01] [ 1.19781928e-02 -1.08362827e-04 9.99928253e-01 1.17732792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.81, Y:13.17, Z:0.12 [[ 8.97563494e-01 -4.40718158e-01 -1.21358537e-02 5.68139464e+01] [ 4.40679344e-01 8.97645529e-01 -5.84977223e-03 1.31732705e+01] [ 1.34717956e-02 -9.74780254e-05 9.99909246e-01 1.16106685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.84, Y:13.19, Z:0.12 [[ 8.97439736e-01 -4.40970158e-01 -1.21342113e-02 5.68387763e+01] [ 4.40931322e-01 8.97521760e-01 -5.85317798e-03 1.31853228e+01] [ 1.34717955e-02 -9.74793070e-05 9.99909246e-01 1.16200478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.86, Y:13.20, Z:0.12 [[ 8.97675966e-01 -4.40478762e-01 -1.25028274e-02 5.68633238e+01] [ 4.40437447e-01 8.97763027e-01 -6.03349771e-03 1.31966529e+01] [ 1.38822038e-02 -9.05874879e-05 9.99903633e-01 1.15393753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.89, Y:13.21, Z:0.12 [[ 8.97596815e-01 -4.40634146e-01 -1.27085222e-02 5.68887803e+01] [ 4.40591422e-01 8.97686772e-01 -6.13657610e-03 1.32083757e+01] [ 1.41122572e-02 -9.10946969e-05 9.99900413e-01 1.16117035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721858063999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.91, Y:13.22, Z:0.12 [[ 8.97466325e-01 -4.40909794e-01 -1.23591719e-02 5.69140556e+01] [ 4.40869379e-01 8.97551417e-01 -5.97031996e-03 1.32178013e+01] [ 1.37253648e-02 -9.06193336e-05 9.99905799e-01 1.16112358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.94, Y:13.23, Z:0.12 [[ 8.97253814e-01 -4.41354859e-01 -1.18945987e-02 5.69396000e+01] [ 4.41317420e-01 8.97332648e-01 -5.74927393e-03 1.32294197e+01] [ 1.32108817e-02 -9.07356599e-05 9.99912728e-01 1.16243991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.97, Y:13.24, Z:0.12 [[ 8.97058516e-01 -4.41755903e-01 -1.17363365e-02 5.69654412e+01] [ 4.41719437e-01 8.97135282e-01 -5.67672593e-03 1.32415837e+01] [ 1.30368088e-02 -9.18126223e-05 9.99915013e-01 1.16967547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.99, Y:13.25, Z:0.12 [[ 8.96521674e-01 -4.42855085e-01 -1.13252641e-02 5.69915223e+01] [ 4.42821169e-01 8.96593198e-01 -5.48169342e-03 1.32521161e+01] [ 1.25817505e-02 -1.00609711e-04 9.99920842e-01 1.17231920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.02, Y:13.26, Z:0.12 [[ 8.96248989e-01 -4.43401765e-01 -1.15162783e-02 5.70171719e+01] [ 4.43366715e-01 8.96322968e-01 -5.57608749e-03 1.32627671e+01] [ 1.27947517e-02 -1.08371683e-04 9.99918138e-01 1.17020012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871858063999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.04, Y:13.27, Z:0.12 [[ 8.95890531e-01 -4.44126222e-01 -1.14915780e-02 5.70430962e+01] [ 4.44091342e-01 8.95964221e-01 -5.56723753e-03 1.32737341e+01] [ 1.27685989e-02 -1.15674921e-04 9.99918471e-01 1.17442115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901858063999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.07, Y:13.28, Z:0.12 [[ 8.95371443e-01 -4.45185588e-01 -1.09440466e-02 5.70684887e+01] [ 4.45153988e-01 8.95438316e-01 -5.30559687e-03 1.32846247e+01] [ 1.21616939e-02 -1.21306060e-04 9.99926037e-01 1.18877148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.09, Y:13.29, Z:0.12 [[ 8.94970313e-01 -4.46003984e-01 -1.04204523e-02 5.70939317e+01] [ 4.45975360e-01 8.95030966e-01 -5.05442519e-03 1.32941800e+01] [ 1.15809213e-02 -1.23704472e-04 9.99932931e-01 1.19405321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.12, Y:13.31, Z:0.12 [[ 8.94723151e-01 -4.46498807e-01 -1.04545801e-02 5.71192458e+01] [ 4.46469992e-01 8.94784219e-01 -5.07418860e-03 1.33069561e+01] [ 1.16202125e-02 -1.27662285e-04 9.99932475e-01 1.19670938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.14, Y:13.32, Z:0.12 [[ 8.94700268e-01 -4.46540278e-01 -1.06400975e-02 5.71443580e+01] [ 4.46510390e-01 8.94763524e-01 -5.16789716e-03 1.33196565e+01] [ 1.18280454e-02 -1.27195124e-04 9.99930038e-01 1.19806329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021858064 meters Centerline goodness [0,1] 0.9999551499114211 Centerline is valid? [True, True] Translation: X:57.17, Y:13.33, Z:0.12 [[ 8.94638854e-01 -4.46636044e-01 -1.17288388e-02 5.71708784e+01] [ 4.46599686e-01 8.94715723e-01 -5.70049448e-03 1.33323061e+01] [ 1.30400228e-02 -1.38211891e-04 9.99914966e-01 1.19341836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.051858064 meters Centerline goodness [0,1] 0.9999327143049388 Centerline is valid? [True, True] Translation: X:57.19, Y:13.34, Z:0.12 [[ 8.94657522e-01 -4.46595680e-01 -1.18412858e-02 5.71949612e+01] [ 4.46558588e-01 8.94735871e-01 -5.75740743e-03 1.33438614e+01] [ 1.31660565e-02 -1.36920007e-04 9.99913314e-01 1.19009327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.22, Y:13.36, Z:0.12 [[ 8.94506211e-01 -4.46903782e-01 -1.16468122e-02 5.72206100e+01] [ 4.46867880e-01 8.94582021e-01 -5.66626719e-03 1.33562819e+01] [ 1.29513050e-02 -1.36075075e-04 9.99916119e-01 1.19225033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.25, Y:13.37, Z:0.12 [[ 8.94095256e-01 -4.47726053e-01 -1.16213254e-02 5.72460220e+01] [ 4.47690326e-01 8.94170767e-01 -5.65786145e-03 1.33675960e+01] [ 1.29246215e-02 -1.44087892e-04 9.99916463e-01 1.19542513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.27, Y:13.38, Z:0.12 [[ 8.93679620e-01 -4.48547923e-01 -1.18952502e-02 5.72726279e+01] [ 4.48510516e-01 8.93758768e-01 -5.79493146e-03 1.33798658e+01] [ 1.32307887e-02 -1.56332675e-04 9.99912457e-01 1.19609199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.30, Y:13.39, Z:0.12 [[ 8.93410574e-01 -4.49098233e-01 -1.13279799e-02 5.72980847e+01] [ 4.49064306e-01 8.93482374e-01 -5.52231368e-03 1.33924612e+01] [ 1.26014117e-02 -1.53297970e-04 9.99920587e-01 1.20404969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:13.40, Z:0.12 [[ 8.92636255e-01 -4.50646281e-01 -1.08832872e-02 5.73233443e+01] [ 4.50615058e-01 8.92702583e-01 -5.30739046e-03 1.34035370e+01] [ 1.21072944e-02 -1.66603960e-04 9.99926690e-01 1.20697419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.35, Y:13.42, Z:0.12 [[ 8.92040188e-01 -4.51828970e-01 -1.07184906e-02 5.73487328e+01] [ 4.51798756e-01 8.92104562e-01 -5.22815063e-03 1.34152181e+01] [ 1.19242443e-02 -1.78880273e-04 9.99928888e-01 1.21073241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.38, Y:13.43, Z:0.12 [[ 8.91015312e-01 -4.53876532e-01 -9.37061809e-03 5.73753547e+01] [ 4.53853531e-01 8.91064567e-01 -4.57281638e-03 1.34273908e+01] [ 1.04253198e-02 -1.78438697e-04 9.99945639e-01 1.21864745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.40, Y:13.44, Z:0.12 [[ 8.90397756e-01 -4.55102848e-01 -8.55765273e-03 5.74016387e+01] [ 4.55083698e-01 8.90438862e-01 -4.17849719e-03 1.34399671e+01] [ 9.52171254e-03 -1.73923730e-04 9.99954652e-01 1.22473038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.43, Y:13.45, Z:0.12 [[ 8.89999016e-01 -4.55884751e-01 -8.41699949e-03 5.74265780e+01] [ 4.55866237e-01 8.90038798e-01 -4.11230307e-03 1.34540375e+01] [ 9.36619237e-03 -1.77080203e-04 9.99956121e-01 1.22944579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.45, Y:13.47, Z:0.12 [[ 8.89515305e-01 -4.56831172e-01 -8.23422664e-03 5.74527643e+01] [ 4.56813472e-01 8.89553398e-01 -4.02545664e-03 1.34671806e+01] [ 9.16373836e-03 -1.80800375e-04 9.99957996e-01 1.22942602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:13.48, Z:0.12 [[ 8.89101798e-01 -4.57638192e-01 -8.07952766e-03 5.74771412e+01] [ 4.57621171e-01 8.89138488e-01 -3.95126160e-03 1.34809515e+01] [ 8.99206722e-03 -1.84289116e-04 9.99959554e-01 1.21866170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.50, Y:13.49, Z:0.12 [[ 8.88706077e-01 -4.58408797e-01 -7.92988091e-03 5.75031528e+01] [ 4.58392416e-01 8.88741436e-01 -3.87982734e-03 1.34942677e+01] [ 8.82616073e-03 -1.86971129e-04 9.99961031e-01 1.21443358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.53, Y:13.51, Z:0.12 [[ 8.88233670e-01 -4.59318835e-01 -8.19484563e-03 5.75281378e+01] [ 4.59301366e-01 8.88271449e-01 -4.01094492e-03 1.35077388e+01] [ 9.12154995e-03 -2.01247462e-04 9.99958378e-01 1.21734294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:13.52, Z:0.12 [[ 8.87716883e-01 -4.60315793e-01 -8.25265905e-03 5.75535657e+01] [ 4.60298103e-01 8.87755217e-01 -4.04112049e-03 1.35208242e+01] [ 9.18653271e-03 -2.11312417e-04 9.99957781e-01 1.21506605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.58, Y:13.54, Z:0.12 [[ 8.87146993e-01 -4.61404518e-01 -8.72263627e-03 5.75784717e+01] [ 4.61384782e-01 8.87189843e-01 -4.27392857e-03 1.35356914e+01] [ 9.71064424e-03 -2.32888755e-04 9.99952823e-01 1.21699717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.60, Y:13.55, Z:0.12 [[ 8.87072770e-01 -4.61541738e-01 -9.00695167e-03 5.76032111e+01] [ 4.61520683e-01 8.87118462e-01 -4.41507799e-03 1.35467129e+01] [ 1.00279759e-02 -2.40399027e-04 9.99949690e-01 1.21020770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.63, Y:13.56, Z:0.12 [[ 8.87340227e-01 -4.61018763e-01 -9.43516982e-03 5.76277020e+01] [ 4.60995604e-01 8.87390354e-01 -4.62731220e-03 1.35634549e+01] [ 1.05059564e-02 -2.43571551e-04 9.99944781e-01 1.20954850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.65, Y:13.58, Z:0.12 [[ 8.87561871e-01 -4.60596958e-01 -9.18517791e-03 5.76520081e+01] [ 4.60574960e-01 8.87609367e-01 -4.50743469e-03 1.35795896e+01] [ 1.02289607e-02 -2.29835782e-04 9.99947656e-01 1.21391192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.68, Y:13.59, Z:0.12 [[ 8.87888320e-01 -4.59969583e-01 -9.07270107e-03 5.76770872e+01] [ 4.59948060e-01 8.87934646e-01 -4.45497955e-03 1.35937109e+01] [ 1.01051207e-02 -2.17446944e-04 9.99948918e-01 1.21425248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:13.61, Z:0.12 [[ 8.88435655e-01 -4.58928516e-01 -8.16728123e-03 5.77011554e+01] [ 4.58911018e-01 8.88473175e-01 -4.01177328e-03 1.36083108e+01] [ 9.09752744e-03 -1.83852926e-04 9.99958600e-01 1.22011498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.73, Y:13.62, Z:0.12 [[ 8.88612472e-01 -4.58590841e-01 -7.89404555e-03 5.77262738e+01] [ 4.58574465e-01 8.88647518e-01 -3.87933410e-03 1.36225963e+01] [ 8.79405107e-03 -1.72783058e-04 9.99961317e-01 1.22488016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.75, Y:13.64, Z:0.12 [[ 8.89024660e-01 -4.57803300e-01 -7.16187226e-03 5.77510957e+01] [ 4.57789785e-01 8.89053495e-01 -3.52080107e-03 1.36360066e+01] [ 7.97912191e-03 -1.48552990e-04 9.99968155e-01 1.22768381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.78, Y:13.65, Z:0.12 [[ 8.89935108e-01 -4.56031850e-01 -7.10321686e-03 5.77754883e+01] [ 4.56018488e-01 8.89963446e-01 -3.49348233e-03 1.36520305e+01] [ 7.91474256e-03 -1.30225640e-04 9.99968669e-01 1.22888911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.80, Y:13.67, Z:0.12 [[ 8.90370858e-01 -4.55180985e-01 -7.07147841e-03 5.78004006e+01] [ 4.55167698e-01 8.90398931e-01 -3.47997991e-03 1.36672016e+01] [ 7.88045751e-03 -1.20235853e-04 9.99968941e-01 1.23156731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.83, Y:13.68, Z:0.12 [[ 8.90668599e-01 -4.54597132e-01 -7.13398094e-03 5.78251746e+01] [ 4.54583573e-01 8.90697162e-01 -3.51292933e-03 1.36820358e+01] [ 7.95118417e-03 -1.14134706e-04 9.99968382e-01 1.23402589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.85, Y:13.70, Z:0.12 [[ 8.90850657e-01 -4.54236327e-01 -7.38013397e-03 5.78496655e+01] [ 4.54221783e-01 8.90881219e-01 -3.63664962e-03 1.36958996e+01] [ 8.22672111e-03 -1.12505912e-04 9.99966154e-01 1.23218991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.87, Y:13.71, Z:0.12 [[ 8.91271748e-01 -4.53412579e-01 -7.19059300e-03 5.78741342e+01] [ 4.53398734e-01 8.91300748e-01 -3.54475947e-03 1.37097714e+01] [ 8.01621945e-03 -1.00861789e-04 9.99967865e-01 1.24014108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.90, Y:13.72, Z:0.12 [[ 8.91173497e-01 -4.53611753e-01 -6.79535929e-03 5.78986184e+01] [ 4.53599381e-01 8.91199399e-01 -3.35152866e-03 1.37231131e+01] [ 7.57631290e-03 -9.55772537e-05 9.99971295e-01 1.24495023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.92, Y:13.74, Z:0.12 [[ 8.91130576e-01 -4.53696222e-01 -6.78490004e-03 5.79236318e+01] [ 4.53683874e-01 8.91156400e-01 -3.34870578e-03 1.37366374e+01] [ 7.56570226e-03 -9.40656269e-05 9.99971375e-01 1.24851771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.95, Y:13.75, Z:0.12 [[ 8.91005595e-01 -4.53943496e-01 -6.65827197e-03 5.79473311e+01] [ 4.53931594e-01 8.91030468e-01 -3.28847415e-03 1.37515780e+01] [ 7.42550464e-03 -9.23511463e-05 9.99972426e-01 1.24809561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98185806400001 meters Centerline goodness [0,1] 0.9999560623036534 Centerline is valid? [True, True] Translation: X:57.97, Y:13.76, Z:0.12 [[ 8.90771042e-01 -4.54408315e-01 -6.32719203e-03 5.79716336e+01] [ 4.54397569e-01 8.90793509e-01 -3.12630023e-03 1.37646257e+01] [ 7.05683841e-03 -9.02429631e-05 9.99975096e-01 1.24514303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.00, Y:13.78, Z:0.12 [[ 8.90177698e-01 -4.55567385e-01 -6.48256765e-03 5.79962863e+01] [ 4.55556126e-01 8.90201296e-01 -3.20445026e-03 1.37799565e+01] [ 7.23063315e-03 -1.00643256e-04 9.99973854e-01 1.24968811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.02, Y:13.79, Z:0.12 [[ 8.89571788e-01 -4.56751520e-01 -6.33111911e-03 5.80215925e+01] [ 4.56740800e-01 8.89594311e-01 -3.13102794e-03 1.37921613e+01] [ 7.06222931e-03 -1.06406287e-04 9.99975056e-01 1.24743815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.05, Y:13.81, Z:0.12 [[ 8.88882734e-01 -4.58086937e-01 -6.62142297e-03 5.80467085e+01] [ 4.58075237e-01 8.88907388e-01 -3.27620019e-03 1.38060681e+01] [ 7.38661631e-03 -1.20952121e-04 9.99972711e-01 1.24987078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.07, Y:13.82, Z:0.13 [[ 8.88157044e-01 -4.59488208e-01 -6.90305238e-03 5.80729723e+01] [ 4.59475517e-01 8.88183859e-01 -3.41768868e-03 1.38185687e+01] [ 7.70156735e-03 -1.36339292e-04 9.99970333e-01 1.25111586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.10, Y:13.83, Z:0.13 [[ 8.86768811e-01 -4.62151896e-01 -7.52996128e-03 5.80983990e+01] [ 4.62136872e-01 8.86800764e-01 -3.73044162e-03 1.38318153e+01] [ 8.40160608e-03 -1.71833471e-04 9.99964691e-01 1.25108693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.12, Y:13.84, Z:0.12 [[ 8.85906794e-01 -4.63801187e-01 -7.59021648e-03 5.81227506e+01] [ 4.63785969e-01 8.85939289e-01 -3.76181193e-03 1.38444179e+01] [ 8.46920383e-03 -1.87621161e-04 9.99964118e-01 1.24612967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.15, Y:13.86, Z:0.12 [[ 8.85018255e-01 -4.65495018e-01 -7.55484653e-03 5.81479447e+01] [ 4.65479989e-01 8.85050477e-01 -3.74605215e-03 1.38586336e+01] [ 8.43018914e-03 -2.01305342e-04 9.99964445e-01 1.24608983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.17, Y:13.87, Z:0.12 [[ 8.83512014e-01 -4.68343591e-01 -7.79751509e-03 5.81730290e+01] [ 4.68327678e-01 8.83546391e-01 -3.86785606e-03 1.38710863e+01] [ 8.70095192e-03 -2.34494841e-04 9.99962119e-01 1.24384507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.20, Y:13.88, Z:0.12 [[ 8.82922923e-01 -4.69455498e-01 -7.65820065e-03 5.81980574e+01] [ 4.69440181e-01 8.82956102e-01 -3.79980715e-03 1.38828385e+01] [ 8.54569535e-03 -2.40130265e-04 9.99963456e-01 1.24325202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.22, Y:13.90, Z:0.12 [[ 8.82321571e-01 -4.70585097e-01 -7.63623646e-03 5.82223133e+01] [ 4.70569894e-01 8.82354580e-01 -3.79077629e-03 1.38981666e+01] [ 8.52175105e-03 -2.48699292e-04 9.99963658e-01 1.24787663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.25, Y:13.91, Z:0.13 [[ 8.81781991e-01 -4.71593906e-01 -7.72716054e-03 5.82468472e+01] [ 4.71578357e-01 8.81815809e-01 -3.83826206e-03 1.39144337e+01] [ 8.62403332e-03 -2.59451320e-04 9.99962779e-01 1.25211299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.27, Y:13.93, Z:0.13 [[ 8.81566534e-01 -4.72001139e-01 -7.44116016e-03 5.82707309e+01] [ 4.71986714e-01 8.81597902e-01 -3.69863863e-03 1.39302614e+01] [ 8.30587284e-03 -2.51532702e-04 9.99965474e-01 1.25821341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.29, Y:13.94, Z:0.13 [[ 8.81625514e-01 -4.71891597e-01 -7.40099036e-03 5.82944630e+01] [ 4.71877311e-01 8.81656543e-01 -3.68021947e-03 1.39444507e+01] [ 8.26179622e-03 -2.47784047e-04 9.99965840e-01 1.25784163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.32, Y:13.96, Z:0.13 [[ 8.81980751e-01 -4.71223599e-01 -7.63378767e-03 5.83174924e+01] [ 4.71208360e-01 8.82013752e-01 -3.79771548e-03 1.39622982e+01] [ 8.52267886e-03 -2.47592621e-04 9.99963651e-01 1.25368944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.34, Y:13.98, Z:0.13 [[ 8.82235022e-01 -4.70746908e-01 -7.66260881e-03 5.83426283e+01] [ 4.70731516e-01 8.82268264e-01 -3.81438834e-03 1.39772265e+01] [ 8.55608809e-03 -2.41844487e-04 9.99963367e-01 1.25903578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.37, Y:13.99, Z:0.13 [[ 8.83341822e-01 -4.68672527e-01 -7.29987971e-03 5.83657064e+01] [ 4.68658469e-01 8.83371959e-01 -3.63598905e-03 1.39942657e+01] [ 8.15259722e-03 -2.09329256e-04 9.99966745e-01 1.27212503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.39, Y:14.01, Z:0.13 [[ 8.83978523e-01 -4.67474117e-01 -7.06544156e-03 5.83894746e+01] [ 4.67460899e-01 8.84006738e-01 -3.52053714e-03 1.40093537e+01] [ 7.89165794e-03 -1.90738440e-04 9.99968842e-01 1.27339536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.521858064 meters Centerline goodness [0,1] 0.9999138209630507 Centerline is valid? [True, True] Translation: X:58.41, Y:14.03, Z:0.13 [[ 8.84613143e-01 -4.66268809e-01 -7.27904989e-03 5.84138436e+01] [ 4.66254727e-01 8.84643071e-01 -3.62857314e-03 1.40260568e+01] [ 8.13125153e-03 -1.84007926e-04 9.99966924e-01 1.27308371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.551858064 meters Centerline goodness [0,1] 0.9999138209630507 Centerline is valid? [True, True] Translation: X:58.44, Y:14.04, Z:0.13 [[ 8.84485260e-01 -4.66511365e-01 -7.27810728e-03 5.84384980e+01] [ 4.66497275e-01 8.84515185e-01 -3.63046318e-03 1.40384347e+01] [ 8.13124874e-03 -1.84126046e-04 9.99966924e-01 1.27402222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.46, Y:14.06, Z:0.13 [[ 8.84933703e-01 -4.65657003e-01 -7.47636393e-03 5.84625079e+01] [ 4.65642085e-01 8.84965267e-01 -3.73169899e-03 1.40562040e+01] [ 8.35401417e-03 -1.79003477e-04 9.99965089e-01 1.27506882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.48, Y:14.07, Z:0.13 [[ 8.86202145e-01 -4.63242220e-01 -7.23907994e-03 5.84844157e+01] [ 4.63228142e-01 8.86231699e-01 -3.61456659e-03 1.40740772e+01] [ 8.08992196e-03 -1.50108887e-04 9.99967265e-01 1.26209628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.51, Y:14.09, Z:0.13 [[ 8.86625716e-01 -4.62427126e-01 -7.48285242e-03 5.85086875e+01] [ 4.62412041e-01 8.86657280e-01 -3.73794521e-03 1.40892019e+01] [ 8.36325284e-03 -1.46002713e-04 9.99965017e-01 1.26150123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:14.10, Z:0.13 [[ 8.86893489e-01 -4.61919276e-01 -7.10786737e-03 5.85334098e+01] [ 4.61905632e-01 8.86921961e-01 -3.55268819e-03 1.41037579e+01] [ 7.94517882e-03 -1.32307943e-04 9.99968428e-01 1.26508137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:14.12, Z:0.13 [[ 8.87419936e-01 -4.60913455e-01 -6.68163884e-03 5.85570551e+01] [ 4.60901356e-01 8.87445082e-01 -3.34160518e-03 1.41204020e+01] [ 7.46977832e-03 -1.14169345e-04 9.99972094e-01 1.28222209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.58, Y:14.13, Z:0.13 [[ 8.87694648e-01 -4.60390045e-01 -6.26245129e-03 5.85807758e+01] [ 4.60379395e-01 8.87716732e-01 -3.13318193e-03 1.41347625e+01] [ 7.00176856e-03 -1.01794703e-04 9.99975482e-01 1.28288817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.60, Y:14.15, Z:0.13 [[ 8.88251641e-01 -4.59316139e-01 -6.14064668e-03 5.86043057e+01] [ 4.59305864e-01 8.88272861e-01 -3.07353206e-03 1.41530431e+01] [ 6.86629268e-03 -9.03651306e-05 9.99976423e-01 1.28742798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.63, Y:14.17, Z:0.13 [[ 8.88690956e-01 -4.58469592e-01 -5.83251679e-03 5.86291970e+01] [ 4.58460297e-01 8.88710092e-01 -2.92052173e-03 1.41650384e+01] [ 6.52238694e-03 -7.85361285e-05 9.99978726e-01 1.28213380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:14.18, Z:0.13 [[ 8.89017172e-01 -4.57841641e-01 -5.43131972e-03 5.86535301e+01] [ 4.57833563e-01 8.89033760e-01 -2.72067716e-03 1.41816312e+01] [ 6.07426589e-03 -6.79117461e-05 9.99981549e-01 1.28983343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.851858064 meters Centerline goodness [0,1] 0.9999573050977714 Centerline is valid? [True, True] Translation: X:58.68, Y:14.20, Z:0.13 [[ 8.89408612e-01 -4.57084804e-01 -5.07966688e-03 5.86781503e+01] [ 4.57077717e-01 8.89423115e-01 -2.54603030e-03 1.41960020e+01] [ 5.68172490e-03 -5.73412630e-05 9.99983857e-01 1.29629484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:14.21, Z:0.13 [[ 8.90054307e-01 -4.55817998e-01 -5.76923884e-03 5.87021744e+01] [ 4.55808820e-01 8.90073003e-01 -2.89302388e-03 1.42111508e+01] [ 6.45373609e-03 -5.47215799e-05 9.99979173e-01 1.28980337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:14.22, Z:0.13 [[ 8.90105757e-01 -4.55713260e-01 -6.09640185e-03 5.87265623e+01] [ 4.55703004e-01 8.90126632e-01 -3.05789244e-03 1.42228005e+01] [ 6.82009178e-03 -5.63009776e-05 9.99976741e-01 1.27699951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:14.24, Z:0.13 [[ 8.89919793e-01 -4.56069139e-01 -6.61071033e-03 5.87506166e+01] [ 4.56057077e-01 8.89944344e-01 -3.31761014e-03 1.42379110e+01] [ 7.39622387e-03 -6.24542936e-05 9.99972646e-01 1.27757345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:14.25, Z:0.13 [[ 8.89648178e-01 -4.56597549e-01 -6.69302734e-03 5.87755197e+01] [ 4.56585188e-01 8.89673352e-01 -3.36039907e-03 1.42503494e+01] [ 7.48895805e-03 -6.63642400e-05 9.99971955e-01 1.27579602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.80, Y:14.26, Z:0.13 [[ 8.89235330e-01 -4.57406066e-01 -6.34181193e-03 5.88005381e+01] [ 4.57394978e-01 8.89257941e-01 -3.18554554e-03 1.42639454e+01] [ 7.09659447e-03 -6.80132921e-05 9.99974817e-01 1.27906222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.83, Y:14.28, Z:0.13 [[ 8.88404220e-01 -4.59011843e-01 -6.78749511e-03 5.88255308e+01] [ 4.58999176e-01 8.88430144e-01 -3.41118963e-03 1.42754178e+01] [ 7.59599170e-03 -8.49393936e-05 9.99971146e-01 1.28180796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.85, Y:14.29, Z:0.13 [[ 8.87953432e-01 -4.59872901e-01 -7.45774244e-03 5.88512947e+01] [ 4.59857628e-01 8.87984744e-01 -3.74930554e-03 1.42873367e+01] [ 8.34656552e-03 -1.00291028e-04 9.99965162e-01 1.28179272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.88, Y:14.30, Z:0.13 [[ 8.87414243e-01 -4.60912700e-01 -7.44614384e-03 5.88774052e+01] [ 4.60897495e-01 8.87445475e-01 -3.74534650e-03 1.42998696e+01] [ 8.33432442e-03 -1.08235219e-04 9.99965263e-01 1.28482761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.90, Y:14.31, Z:0.13 [[ 8.87064427e-01 -4.61575719e-01 -8.03478520e-03 5.89034941e+01] [ 4.61558019e-01 8.87100807e-01 -4.04401756e-03 1.43122572e+01] [ 8.99428475e-03 -1.21215414e-04 9.99959543e-01 1.28490177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.93, Y:14.32, Z:0.13 [[ 8.86979659e-01 -4.61739216e-01 -7.99880553e-03 5.89279030e+01] [ 4.61721666e-01 8.87015717e-01 -4.02762550e-03 1.43237175e+01] [ 8.95477886e-03 -1.20799917e-04 9.99959898e-01 1.28271036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:14.34, Z:0.13 [[ 8.87232789e-01 -4.61252016e-01 -8.03462502e-03 5.89527541e+01] [ 4.61234269e-01 8.87269161e-01 -4.04788091e-03 1.43366938e+01] [ 8.99596823e-03 -1.14431727e-04 9.99959529e-01 1.28335880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.98, Y:14.35, Z:0.13 [[ 8.87629038e-01 -4.60484504e-01 -8.28934520e-03 5.89776729e+01] [ 4.60465563e-01 8.87667736e-01 -4.17787800e-03 1.43498769e+01] [ 9.28203237e-03 -1.08552182e-04 9.99956915e-01 1.27942370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:14.36, Z:0.13 [[ 8.87757148e-01 -4.60232421e-01 -8.56535477e-03 5.90025748e+01] [ 4.60212165e-01 8.87798461e-01 -4.31924232e-03 1.43631180e+01] [ 9.59216413e-03 -1.07442218e-04 9.99953988e-01 1.27208904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:14.37, Z:0.13 [[ 8.87761997e-01 -4.60200517e-01 -9.70152973e-03 5.90277898e+01] [ 4.60174509e-01 8.87814997e-01 -4.89409091e-03 1.43744333e+01] [ 1.08654268e-02 -1.19608755e-04 9.99940962e-01 1.25865513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.05, Y:14.39, Z:0.13 [[ 8.87474339e-01 -4.60754249e-01 -9.73754416e-03 5.90534836e+01] [ 4.60728050e-01 8.87527750e-01 -4.91499083e-03 1.43866851e+01] [ 1.09069436e-02 -1.24431497e-04 9.99940510e-01 1.26764099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.08, Y:14.40, Z:0.13 [[ 8.86615591e-01 -4.62417456e-01 -9.10439667e-03 5.90801893e+01] [ 4.62394624e-01 8.86662325e-01 -4.59710834e-03 1.43956103e+01] [ 1.01983087e-02 -1.33956151e-04 9.99947987e-01 1.28127482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.11, Y:14.41, Z:0.13 [[ 8.86006308e-01 -4.63594796e-01 -8.52567040e-03 5.91059487e+01] [ 4.63574815e-01 8.86047316e-01 -4.30626747e-03 1.44053271e+01] [ 9.55051056e-03 -1.36905933e-04 9.99954383e-01 1.28642122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391858064 meters Centerline goodness [0,1] 0.9999573524394405 Centerline is valid? [True, True] Translation: X:59.13, Y:14.42, Z:0.13 [[ 8.85481880e-01 -4.64606940e-01 -7.88866623e-03 5.91319232e+01] [ 4.64589856e-01 8.85517009e-01 -3.98655614e-03 1.44179237e+01] [ 8.83772977e-03 -1.34971088e-04 9.99960937e-01 1.30097564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.16, Y:14.43, Z:0.13 [[ 8.84685198e-01 -4.66118876e-01 -8.08046465e-03 5.91593100e+01] [ 4.66100991e-01 8.84722087e-01 -4.08599409e-03 1.44286707e+01] [ 9.05352451e-03 -1.51494088e-04 9.99959005e-01 1.31284347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451858064 meters Centerline goodness [0,1] 0.9999786420623225 Centerline is valid? [True, True] Translation: X:59.18, Y:14.44, Z:0.13 [[ 8.84597324e-01 -4.66285827e-01 -8.06859818e-03 5.91839734e+01] [ 4.66267986e-01 8.84634108e-01 -4.08169760e-03 1.44398116e+01] [ 9.04099490e-03 -1.51470244e-04 9.99959118e-01 1.30818642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.21, Y:14.45, Z:0.13 [[ 8.84422327e-01 -4.66609468e-01 -8.52946470e-03 5.92093226e+01] [ 4.66589523e-01 8.84463441e-01 -4.31724621e-03 1.44514979e+01] [ 9.55846766e-03 -1.61489926e-04 9.99954304e-01 1.30692090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.511858064 meters Centerline goodness [0,1] 0.9999356540763142 Centerline is valid? [True, True] Translation: X:59.23, Y:14.46, Z:0.13 [[ 8.84492313e-01 -4.66472838e-01 -8.74295478e-03 5.92345959e+01] [ 4.66451845e-01 8.84535508e-01 -4.42841057e-03 1.44633058e+01] [ 9.79918720e-03 -1.61272281e-04 9.99951974e-01 1.31208533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.26, Y:14.47, Z:0.13 [[ 8.84738698e-01 -4.66012191e-01 -8.37108220e-03 5.92610608e+01] [ 4.65992910e-01 8.84778286e-01 -4.24166531e-03 1.44730240e+01] [ 9.38321950e-03 -1.48099514e-04 9.99955966e-01 1.31326586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.29, Y:14.49, Z:0.13 [[ 8.84665725e-01 -4.66147075e-01 -8.57083297e-03 5.92866304e+01] [ 4.66126847e-01 8.84707229e-01 -4.34513677e-03 1.44856017e+01] [ 9.60815069e-03 -1.51101783e-04 9.99953829e-01 1.31184871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.31, Y:14.50, Z:0.13 [[ 8.84611521e-01 -4.66239644e-01 -9.11330205e-03 5.93116950e+01] [ 4.66216747e-01 8.84658448e-01 -4.62337210e-03 1.44975327e+01] [ 1.02177590e-02 -1.58885808e-04 9.99947785e-01 1.30604517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.34, Y:14.51, Z:0.13 [[ 8.84794879e-01 -4.65897670e-01 -8.79679650e-03 5.93375014e+01] [ 4.65876303e-01 8.84838595e-01 -4.46443451e-03 1.45072711e+01] [ 9.86371469e-03 -1.48110243e-04 9.99951341e-01 1.30911744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661858064 meters Centerline goodness [0,1] 0.9997852049145115 Centerline is valid? [True, True] Translation: X:59.36, Y:14.52, Z:0.13 [[ 8.84728743e-01 -4.66022999e-01 -8.81002219e-03 5.93625998e+01] [ 4.66001550e-01 8.84772594e-01 -4.47354026e-03 1.45195284e+01] [ 9.87963883e-03 -1.47614344e-04 9.99951184e-01 1.31911732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.691858064 meters Centerline goodness [0,1] 0.9998285395859231 Centerline is valid? [True, True] Translation: X:59.39, Y:14.53, Z:0.13 [[ 8.84914492e-01 -4.65667059e-01 -8.97392032e-03 5.93882865e+01] [ 4.65644769e-01 8.84959982e-01 -4.55853380e-03 1.45306611e+01] [ 1.00643194e-02 -1.44746425e-04 9.99949343e-01 1.31939950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:14.54, Z:0.13 [[ 8.85802025e-01 -4.63956414e-01 -9.96086310e-03 5.94148602e+01] [ 4.63928830e-01 8.85858017e-01 -5.06100766e-03 1.45408569e+01] [ 1.11719974e-02 -1.38080726e-04 9.99937582e-01 1.31425849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751858064 meters Centerline goodness [0,1] 0.9998284366287797 Centerline is valid? [True, True] Translation: X:59.44, Y:14.55, Z:0.13 [[ 8.86359694e-01 -4.62880318e-01 -1.04069549e-02 5.94402916e+01] [ 4.62850103e-01 8.86420778e-01 -5.29026807e-03 1.45539817e+01] [ 1.16737020e-02 -1.27779756e-04 9.99931852e-01 1.32070148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781858064 meters Centerline goodness [0,1] 0.9998495012039904 Centerline is valid? [True, True] Translation: X:59.47, Y:14.57, Z:0.13 [[ 8.87034165e-01 -4.61591738e-01 -1.01714493e-02 5.94657680e+01] [ 4.61562755e-01 8.87092473e-01 -5.17367175e-03 1.45667620e+01] [ 1.14111402e-02 -1.05538550e-04 9.99934885e-01 1.32754359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811858064 meters Centerline goodness [0,1] 0.9995269631031221 Centerline is valid? [True, True] Translation: X:59.49, Y:14.58, Z:0.13 [[ 8.88079140e-01 -4.59574543e-01 -1.03286439e-02 5.94908794e+01] [ 4.59544501e-01 8.88139197e-01 -5.25538517e-03 1.45790976e+01] [ 1.15885147e-02 -7.92735525e-05 9.99932848e-01 1.33268490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84185806400001 meters Centerline goodness [0,1] 0.9995688726018539 Centerline is valid? [True, True] Translation: X:59.52, Y:14.59, Z:0.14 [[ 8.89900326e-01 -4.56046152e-01 -9.96576753e-03 5.95168926e+01] [ 4.56017933e-01 8.89956126e-01 -5.07325286e-03 1.45925724e+01] [ 1.11827333e-02 -2.98793391e-05 9.99937471e-01 1.35103269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87185806400001 meters Centerline goodness [0,1] 0.9997410891516354 Centerline is valid? [True, True] Translation: X:59.54, Y:14.60, Z:0.14 [[ 8.90747939e-01 -4.54388216e-01 -9.97289336e-03 5.95412842e+01] [ 4.54359830e-01 8.90803766e-01 -5.07892357e-03 1.46042684e+01] [ 1.11916940e-02 -7.24142817e-06 9.99937371e-01 1.35274455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.901858064 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:59.57, Y:14.62, Z:0.14 [[ 8.91454652e-01 -4.52998200e-01 -1.00614924e-02 5.95669979e+01] [ 4.52969185e-01 8.91511430e-01 -5.12703745e-03 1.46165855e+01] [ 1.12924743e-02 1.29753516e-05 9.99936238e-01 1.36116418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.931858064 meters Centerline goodness [0,1] 0.9997618171188533 Centerline is valid? [True, True] Translation: X:59.59, Y:14.63, Z:0.14 [[ 8.92079608e-01 -4.51740638e-01 -1.11521086e-02 5.95929726e+01] [ 4.51704847e-01 8.92149312e-01 -5.68652877e-03 1.46288536e+01] [ 1.25181822e-02 3.53748469e-05 9.99921644e-01 1.36357022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.961858064 meters Centerline goodness [0,1] 0.999697943860709 Centerline is valid? [True, True] Translation: X:59.62, Y:14.64, Z:0.14 [[ 8.93160558e-01 -4.49582359e-01 -1.18287750e-02 5.96185705e+01] [ 4.49541876e-01 8.93238881e-01 -6.03354870e-03 1.46398249e+01] [ 1.32784988e-02 7.13980335e-05 9.99911834e-01 1.35789246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.991858064 meters Centerline goodness [0,1] 0.9996324085886652 Centerline is valid? [True, True] Translation: X:59.65, Y:14.65, Z:0.14 [[ 8.93592989e-01 -4.48717341e-01 -1.20132643e-02 5.96454877e+01] [ 4.48675465e-01 8.93673733e-01 -6.13079468e-03 1.46516185e+01] [ 1.34869327e-02 8.83781782e-05 9.99909043e-01 1.36750603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.021858064 meters Centerline goodness [0,1] 0.9996974477557107 Centerline is valid? [True, True] Translation: X:59.67, Y:14.66, Z:0.14 [[ 8.93930386e-01 -4.48045140e-01 -1.20007047e-02 5.96709892e+01] [ 4.48003265e-01 8.94010930e-01 -6.12632238e-03 1.46629353e+01] [ 1.34736301e-02 1.00150866e-04 9.99909222e-01 1.37265149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.051858064 meters Centerline goodness [0,1] 0.9997407031266882 Centerline is valid? [True, True] Translation: X:59.70, Y:14.67, Z:0.14 [[ 8.94077222e-01 -4.47758300e-01 -1.17654291e-02 5.96970718e+01] [ 4.47717982e-01 8.94154625e-01 -6.00962957e-03 1.46739151e+01] [ 1.32109743e-02 1.05478759e-04 9.99912726e-01 1.38101641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081858064 meters Centerline goodness [0,1] 0.9997837463777518 Centerline is valid? [True, True] Translation: X:59.73, Y:14.68, Z:0.14 [[ 8.93871386e-01 -4.48142365e-01 -1.27423259e-02 5.97251802e+01] [ 4.48095052e-01 8.93962196e-01 -6.51276171e-03 1.46830142e+01] [ 1.43098021e-02 1.11798137e-04 9.99897603e-01 1.38572362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.111858064 meters Centerline goodness [0,1] 0.999935149156939 Centerline is valid? [True, True] Translation: X:59.75, Y:14.69, Z:0.14 [[ 8.93604160e-01 -4.48666004e-01 -1.30545752e-02 5.97514605e+01] [ 4.48616334e-01 8.93699505e-01 -6.67681086e-03 1.46938971e+01] [ 1.46625254e-02 1.09930304e-04 9.99892493e-01 1.38513873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:14.70, Z:0.14 [[ 8.93347478e-01 -4.49151920e-01 -1.38865543e-02 5.97781661e+01] [ 4.49095707e-01 8.93455394e-01 -7.10676609e-03 1.47046195e+01] [ 1.55990345e-02 1.12419657e-04 9.99878321e-01 1.37988502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:14.71, Z:0.14 [[ 8.92714126e-01 -4.50342735e-01 -1.59031466e-02 5.98049589e+01] [ 4.50269154e-01 8.92855761e-01 -8.14125490e-03 1.47124758e+01] [ 1.78655711e-02 1.07116874e-04 9.99840392e-01 1.37097656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:14.72, Z:0.14 [[ 8.92369507e-01 -4.50992584e-01 -1.68033288e-02 5.98320590e+01] [ 4.50910467e-01 8.92527691e-01 -8.60652998e-03 1.47237523e+01] [ 1.88789175e-02 1.03408061e-04 9.99821772e-01 1.36651642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23185806400001 meters Centerline goodness [0,1] 0.9999781023496179 Centerline is valid? [True, True] Translation: X:59.86, Y:14.73, Z:0.14 [[ 8.92043878e-01 -4.51603994e-01 -1.76508207e-02 5.98591446e+01] [ 4.51513399e-01 8.92218484e-01 -9.04590538e-03 1.47346810e+01] [ 1.98335555e-02 9.97624833e-05 9.99803291e-01 1.36723202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.89, Y:14.74, Z:0.14 [[ 8.91490224e-01 -4.52677331e-01 -1.81222033e-02 5.98869804e+01] [ 4.52582002e-01 8.91674395e-01 -9.29000136e-03 1.47419500e+01] [ 2.03644777e-02 8.01623382e-05 9.99792619e-01 1.37901164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.291858064 meters Centerline goodness [0,1] 0.9998679577464789 Centerline is valid? [True, True] Translation: X:59.91, Y:14.75, Z:0.14 [[ 8.91158170e-01 -4.53320399e-01 -1.83774883e-02 5.99127491e+01] [ 4.53222389e-01 8.91347637e-01 -9.42631412e-03 1.47523755e+01] [ 2.06538713e-02 7.12476731e-05 9.99786684e-01 1.38209561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.94, Y:14.76, Z:0.14 [[ 8.90647035e-01 -4.54338024e-01 -1.80227331e-02 5.99387949e+01] [ 4.54243849e-01 8.90829365e-01 -9.25031996e-03 1.47624315e+01] [ 2.02579520e-02 5.20543973e-05 9.99794785e-01 1.38800472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:14.77, Z:0.14 [[ 8.90212178e-01 -4.55211272e-01 -1.74635507e-02 5.99659438e+01] [ 4.55122918e-01 8.90383455e-01 -8.96845270e-03 1.47728457e+01] [ 1.96317973e-02 3.57636853e-05 9.99807277e-01 1.39519497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:14.78, Z:0.14 [[ 8.89041570e-01 -4.57485323e-01 -1.76710593e-02 5.99942046e+01] [ 4.57395192e-01 8.89217172e-01 -9.08070304e-03 1.47792815e+01] [ 1.98676977e-02 -9.53507601e-06 9.99802618e-01 1.40588873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.411858064 meters Centerline goodness [0,1] 0.9999338580593955 Centerline is valid? [True, True] Translation: X:60.02, Y:14.79, Z:0.14 [[ 8.88519139e-01 -4.58502127e-01 -1.75937298e-02 6.00200428e+01] [ 4.58412922e-01 8.88693310e-01 -9.04402348e-03 1.47889312e+01] [ 1.97821340e-02 -2.94051219e-05 9.99804314e-01 1.40766680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441858064 meters Centerline goodness [0,1] 0.9999338580593955 Centerline is valid? [True, True] Translation: X:60.04, Y:14.80, Z:0.14 [[ 8.88401564e-01 -4.58729982e-01 -1.75916350e-02 6.00445334e+01] [ 4.58640741e-01 8.88575716e-01 -9.04809723e-03 1.48016359e+01] [ 1.97821331e-02 -2.98967772e-05 9.99804314e-01 1.40860674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.07, Y:14.81, Z:0.14 [[ 8.87742409e-01 -4.60001619e-01 -1.76613985e-02 6.00709604e+01] [ 4.59911802e-01 8.87918075e-01 -9.08992609e-03 1.48119997e+01] [ 1.98632556e-02 -5.31726962e-05 9.99802705e-01 1.42705536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.10, Y:14.82, Z:0.14 [[ 8.86611294e-01 -4.62179330e-01 -1.76261175e-02 6.00989066e+01] [ 4.62090181e-01 8.86786478e-01 -9.07780451e-03 1.48196858e+01] [ 1.98261762e-02 -9.63718058e-05 9.99803437e-01 1.42897288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.13, Y:14.83, Z:0.14 [[ 8.86303050e-01 -4.62746506e-01 -1.82366422e-02 6.01254239e+01] [ 4.62651139e-01 8.86490642e-01 -9.39493153e-03 1.48298367e+01] [ 2.05140844e-02 -1.10446833e-04 9.99789558e-01 1.39820175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.15, Y:14.84, Z:0.14 [[ 8.86166582e-01 -4.63009264e-01 -1.81991995e-02 6.01503639e+01] [ 4.62914227e-01 8.86353433e-01 -9.38134716e-03 1.48422061e+01] [ 2.04745736e-02 -1.11232044e-04 9.99790368e-01 1.43286861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.18, Y:14.85, Z:0.14 [[ 8.86052311e-01 -4.63224464e-01 -1.82865822e-02 6.01756101e+01] [ 4.63128422e-01 8.86240985e-01 -9.43295478e-03 1.48536213e+01] [ 2.05758940e-02 -1.10944579e-04 9.99788288e-01 1.42234857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.20, Y:14.87, Z:0.14 [[ 8.85874772e-01 -4.63587316e-01 -1.76829948e-02 6.02007937e+01] [ 4.63497530e-01 8.86051233e-01 -9.12428124e-03 1.48657234e+01] [ 1.98979404e-02 -1.13053826e-04 9.99802010e-01 1.41515546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.23, Y:14.88, Z:0.14 [[ 8.85749576e-01 -4.63845721e-01 -1.71707739e-02 6.02263033e+01] [ 4.63761058e-01 8.85915986e-01 -8.86266245e-03 1.48771479e+01] [ 1.93227711e-02 -1.13036741e-04 9.99813291e-01 1.40052451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.25, Y:14.89, Z:0.14 [[ 8.85545069e-01 -4.64272080e-01 -1.61668066e-02 6.02520306e+01] [ 4.64197016e-01 8.85692623e-01 -8.34906470e-03 1.48902081e+01] [ 1.81950590e-02 -1.11110322e-04 9.99834450e-01 1.42391415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.28, Y:14.90, Z:0.14 [[ 8.85395088e-01 -4.64572390e-01 -1.57490802e-02 6.02773192e+01] [ 4.64501105e-01 8.85535139e-01 -8.13882562e-03 1.49027046e+01] [ 1.77274376e-02 -1.09388946e-04 9.99842851e-01 1.42718652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.30, Y:14.92, Z:0.14 [[ 8.85609629e-01 -4.64168149e-01 -1.56049640e-02 6.03015235e+01] [ 4.64098057e-01 8.85747097e-01 -8.06682043e-03 1.49156580e+01] [ 1.75664127e-02 -9.81796255e-05 9.99845694e-01 1.42267439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.33, Y:14.93, Z:0.14 [[ 8.85807803e-01 -4.63801443e-01 -1.52563824e-02 6.03258315e+01] [ 4.63734315e-01 8.85939171e-01 -7.89124045e-03 1.49296390e+01] [ 1.71761955e-02 -8.47856926e-05 9.99852475e-01 1.41690546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.35, Y:14.94, Z:0.14 [[ 8.86002721e-01 -4.63427807e-01 -1.52920368e-02 6.03497360e+01] [ 4.63360215e-01 8.86134675e-01 -7.91508299e-03 1.49438720e+01] [ 1.72188736e-02 -7.29363836e-05 9.99851742e-01 1.41318222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.37, Y:14.96, Z:0.14 [[ 8.86364366e-01 -4.62764584e-01 -1.43927122e-02 6.03739758e+01] [ 4.62704548e-01 8.86481211e-01 -7.45409880e-03 1.49596496e+01] [ 1.62083619e-02 -5.25258539e-05 9.99868634e-01 1.40649541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.40, Y:14.97, Z:0.14 [[ 8.86397730e-01 -4.62727280e-01 -1.35103289e-02 6.03990148e+01] [ 4.62674314e-01 8.86500684e-01 -7.00119228e-03 1.49736753e+01] [ 1.52165585e-02 -4.50412114e-05 9.99884220e-01 1.40619762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.42, Y:14.99, Z:0.14 [[ 8.86172174e-01 -4.63181299e-01 -1.27264788e-02 6.04237009e+01] [ 4.63134286e-01 8.86263551e-01 -6.59929655e-03 1.49876049e+01] [ 1.43356850e-02 -4.59556861e-05 9.99897238e-01 1.41198265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:15.00, Z:0.14 [[ 8.85753237e-01 -4.64004604e-01 -1.18714247e-02 6.04487555e+01] [ 4.63963744e-01 8.85832786e-01 -6.15787205e-03 1.50008423e+01] [ 1.33733782e-02 -5.35555568e-05 9.99910571e-01 1.40676106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.47, Y:15.01, Z:0.14 [[ 8.84997923e-01 -4.65459575e-01 -1.12276374e-02 6.04739053e+01] [ 4.65423104e-01 8.85069138e-01 -5.82710541e-03 1.50139471e+01] [ 1.26495173e-02 -6.86256486e-05 9.99919989e-01 1.40665692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.50, Y:15.03, Z:0.14 [[ 8.83537354e-01 -4.68253272e-01 -1.00307948e-02 6.04989602e+01] [ 4.68224318e-01 8.83594287e-01 -5.20803038e-03 1.50255200e+01] [ 1.13018302e-02 -9.51726650e-05 9.99936128e-01 1.40190235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.52, Y:15.04, Z:0.14 [[ 8.82589760e-01 -4.70050012e-01 -9.39690220e-03 6.05246978e+01] [ 4.70024679e-01 8.82639776e-01 -4.88126761e-03 1.50377574e+01] [ 1.05885196e-02 -1.08619127e-04 9.99943934e-01 1.40064834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.55, Y:15.05, Z:0.14 [[ 8.81719283e-01 -4.71687376e-01 -9.06228384e-03 6.05507487e+01] [ 4.71663873e-01 8.81765845e-01 -4.71017885e-03 1.50511540e+01] [ 1.02125443e-02 -1.21296375e-04 9.99947843e-01 1.40140735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.58, Y:15.06, Z:0.14 [[ 8.79829516e-01 -4.75190749e-01 -9.68374824e-03 6.05765288e+01] [ 4.75164090e-01 8.79882789e-01 -5.03628484e-03 1.50642228e+01] [ 1.09137594e-02 -1.70297367e-04 9.99940429e-01 1.38819224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.60, Y:15.08, Z:0.14 [[ 8.79028533e-01 -4.76667697e-01 -9.83592997e-03 6.06023971e+01] [ 4.76640251e-01 8.79083541e-01 -5.11853836e-03 1.50776789e+01] [ 1.10864460e-02 -1.88858869e-04 9.99938526e-01 1.37977643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.63, Y:15.09, Z:0.14 [[ 8.77995804e-01 -4.78573957e-01 -9.50454585e-03 6.06275201e+01] [ 4.78548409e-01 8.78047224e-01 -4.94904247e-03 1.50914418e+01] [ 1.07139229e-02 -2.03146774e-04 9.99942584e-01 1.37163625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.65, Y:15.10, Z:0.14 [[ 8.77686433e-01 -4.79152160e-01 -8.92930308e-03 6.06524210e+01] [ 4.79129623e-01 8.77731832e-01 -4.65134752e-03 1.51043020e+01] [ 1.00662368e-02 -1.95868999e-04 9.99949315e-01 1.36673808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.68, Y:15.12, Z:0.14 [[ 8.77637918e-01 -4.79241959e-01 -8.87860274e-03 6.06772881e+01] [ 4.79219656e-01 8.77682806e-01 -4.62749575e-03 1.51182490e+01] [ 1.00102871e-02 -1.93535223e-04 9.99949877e-01 1.36667421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.70, Y:15.13, Z:0.14 [[ 8.77862004e-01 -4.78840561e-01 -8.36776056e-03 6.07015612e+01] [ 4.78820707e-01 8.77901866e-01 -4.36392875e-03 1.51337236e+01] [ 9.43569870e-03 -1.75729793e-04 9.99955467e-01 1.36379282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.73, Y:15.15, Z:0.14 [[ 8.78031387e-01 -4.78533361e-01 -8.16739878e-03 6.07261331e+01] [ 4.78514417e-01 8.78069356e-01 -4.26121812e-03 1.51474221e+01] [ 9.21067762e-03 -1.66734814e-04 9.99957567e-01 1.36402534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.75, Y:15.16, Z:0.14 [[ 8.78603584e-01 -4.77499197e-01 -7.08945445e-03 6.07510710e+01] [ 4.77484876e-01 8.78632175e-01 -3.70050953e-03 1.51622609e+01] [ 7.99601311e-03 -1.33826342e-04 9.99968022e-01 1.37054221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.78, Y:15.18, Z:0.14 [[ 8.78710515e-01 -4.77312649e-01 -6.36133483e-03 6.07759527e+01] [ 4.77301101e-01 8.78733533e-01 -3.32231626e-03 1.51761301e+01] [ 7.17570180e-03 -1.16917882e-04 9.99974247e-01 1.37171017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.80, Y:15.19, Z:0.14 [[ 8.78578313e-01 -4.77555957e-01 -6.36046942e-03 6.08003816e+01] [ 4.77544403e-01 8.78601328e-01 -3.32397251e-03 1.51889735e+01] [ 7.17569975e-03 -1.17036413e-04 9.99974247e-01 1.37264862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:15.20, Z:0.14 [[ 8.79061852e-01 -4.76671783e-01 -5.85412686e-03 6.08254039e+01] [ 4.76661964e-01 8.79081339e-01 -3.06121384e-03 1.52040844e+01] [ 6.60544794e-03 -9.94432997e-05 9.99978179e-01 1.38061608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.85, Y:15.22, Z:0.14 [[ 8.79144458e-01 -4.76520487e-01 -5.76605487e-03 6.08496009e+01] [ 4.76510945e-01 8.79163362e-01 -3.01704843e-03 1.52179533e+01] [ 6.50698957e-03 -9.51668487e-05 9.99978825e-01 1.38250911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.87, Y:15.23, Z:0.14 [[ 8.79293513e-01 -4.76241541e-01 -6.07559578e-03 6.08742738e+01] [ 4.76230925e-01 8.79314498e-01 -3.18121464e-03 1.52323570e+01] [ 6.85738601e-03 -9.61652049e-05 9.99976483e-01 1.37559373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.90, Y:15.25, Z:0.13 [[ 8.79581141e-01 -4.75700182e-01 -6.80834773e-03 6.08977387e+01] [ 4.75686823e-01 8.79607485e-01 -3.56649367e-03 1.52467185e+01] [ 7.68525530e-03 -1.01620726e-04 9.99970463e-01 1.34965284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.92, Y:15.26, Z:0.13 [[ 8.79387364e-01 -4.76056493e-01 -6.93394321e-03 6.09227725e+01] [ 4.76042634e-01 8.79414694e-01 -3.63397300e-03 1.52603900e+01] [ 7.82778799e-03 -1.05182651e-04 9.99969357e-01 1.34478390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.95, Y:15.27, Z:0.13 [[ 8.79132609e-01 -4.76530922e-01 -6.64343229e-03 6.09475282e+01] [ 4.76518197e-01 8.79157705e-01 -3.48396670e-03 1.52735403e+01] [ 7.50084255e-03 -1.02847638e-04 9.99971863e-01 1.34431916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.97, Y:15.29, Z:0.13 [[ 8.78741791e-01 -4.77254889e-01 -6.37466364e-03 6.09724807e+01] [ 4.77243176e-01 8.78764906e-01 -3.34522095e-03 1.52874183e+01] [ 7.19835375e-03 -1.02679269e-04 9.99974086e-01 1.34563494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.00, Y:15.30, Z:0.13 [[ 8.78358336e-01 -4.77959021e-01 -6.46581411e-03 6.09973123e+01] [ 4.77946973e-01 8.78382128e-01 -3.39538873e-03 1.53002196e+01] [ 7.30231223e-03 -1.07948285e-04 9.99973332e-01 1.34994112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.02, Y:15.31, Z:0.14 [[ 8.78255741e-01 -4.78150411e-01 -6.24801475e-03 6.10225693e+01] [ 4.78139150e-01 8.78277959e-01 -3.28315139e-03 1.53136143e+01] [ 7.05733383e-03 -1.03973903e-04 9.99975091e-01 1.35401393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.05, Y:15.33, Z:0.14 [[ 8.78123432e-01 -4.78403555e-01 -5.41084752e-03 6.10465332e+01] [ 4.78395107e-01 8.78140097e-01 -2.84450187e-03 1.53262958e+01] [ 6.11230197e-03 -9.06992398e-05 9.99981316e-01 1.35599128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.07, Y:15.34, Z:0.14 [[ 8.77968692e-01 -4.78690412e-01 -5.14450532e-03 6.10712948e+01] [ 4.78682773e-01 8.77983759e-01 -2.70568457e-03 1.53392831e+01] [ 5.81197738e-03 -8.70797268e-05 9.99983107e-01 1.35685485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.10, Y:15.35, Z:0.14 [[ 8.77906154e-01 -4.78806471e-01 -5.01480321e-03 6.10956926e+01] [ 4.78799205e-01 8.77920472e-01 -2.63921392e-03 1.53523343e+01] [ 5.66627110e-03 -8.41016504e-05 9.99983943e-01 1.35368384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.12, Y:15.37, Z:0.13 [[ 8.77787075e-01 -4.79022409e-01 -5.23289370e-03 6.11208745e+01] [ 4.79014489e-01 8.77802668e-01 -2.75588009e-03 1.53654738e+01] [ 5.91357637e-03 -8.75559846e-05 9.99982511e-01 1.34890482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.15, Y:15.38, Z:0.13 [[ 8.77790164e-01 -4.79015680e-01 -5.32987380e-03 6.11455351e+01] [ 4.79007452e-01 8.77806340e-01 -2.80885999e-03 1.53792028e+01] [ 6.02408499e-03 -8.74595970e-05 9.99981851e-01 1.34771324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.17, Y:15.39, Z:0.13 [[ 8.77786482e-01 -4.79027963e-01 -4.80660460e-03 6.11693583e+01] [ 4.79021265e-01 8.77799638e-01 -2.53434666e-03 1.53918162e+01] [ 5.43325870e-03 -7.78505727e-05 9.99985237e-01 1.34930824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.19, Y:15.41, Z:0.14 [[ 8.77915917e-01 -4.78797333e-01 -4.09338236e-03 6.11941293e+01] [ 4.78792471e-01 8.77925458e-01 -2.15880602e-03 1.54055418e+01] [ 4.62731515e-03 -6.46304882e-05 9.99989292e-01 1.35527411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:15.42, Z:0.14 [[ 8.78248332e-01 -4.78194095e-01 -3.20547156e-03 6.12178210e+01] [ 4.78191108e-01 8.78254180e-01 -1.69080874e-03 1.54193862e+01] [ 3.62375355e-03 -4.78780420e-05 9.99993433e-01 1.36346443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.24, Y:15.43, Z:0.14 [[ 8.78553725e-01 -4.77636384e-01 -2.61484861e-03 6.12429720e+01] [ 4.77634393e-01 8.78557616e-01 -1.37941395e-03 1.54328209e+01] [ 2.95615345e-03 -3.70523613e-05 9.99995630e-01 1.37091061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.27, Y:15.45, Z:0.14 [[ 8.78901824e-01 -4.76997046e-01 -2.32430623e-03 6.12673645e+01] [ 4.76995470e-01 8.78904896e-01 -1.22672858e-03 1.54475650e+01] [ 2.62799004e-03 -3.05095547e-05 9.99996546e-01 1.37462004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.29, Y:15.46, Z:0.14 [[ 8.80145319e-01 -4.74698459e-01 -2.36450892e-03 6.12914758e+01] [ 4.74696816e-01 8.80148495e-01 -1.24883257e-03 1.54619413e+01] [ 2.67393786e-03 -2.32707168e-05 9.99996425e-01 1.36812310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.971858064 meters Centerline goodness [0,1] 0.9999778858911986 Centerline is valid? [True, True] Translation: X:61.32, Y:15.48, Z:0.14 [[ 8.80817201e-01 -4.73451608e-01 -2.15269122e-03 6.13162657e+01] [ 4.73450243e-01 8.80819831e-01 -1.13699178e-03 1.54775632e+01] [ 2.43444370e-03 -1.77102651e-05 9.99997037e-01 1.36448809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.34, Y:15.49, Z:0.14 [[ 8.82270486e-01 -4.70737966e-01 -2.13482324e-03 6.13393767e+01] [ 4.70736613e-01 8.82273069e-01 -1.12839591e-03 1.54926356e+01] [ 2.41467585e-03 -9.38905429e-06 9.99997085e-01 1.36817904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:15.51, Z:0.14 [[ 8.82906735e-01 -4.69543108e-01 -2.22881148e-03 6.13630216e+01] [ 4.69541630e-01 8.82909548e-01 -1.17814603e-03 1.55071348e+01] [ 2.52102928e-03 -6.32670683e-06 9.99996822e-01 1.36492285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.39, Y:15.52, Z:0.14 [[ 8.83439439e-01 -4.68537957e-01 -2.63445967e-03 6.13874118e+01] [ 4.68535885e-01 8.83443367e-01 -1.39369623e-03 1.55217215e+01] [ 2.98039551e-03 -3.09268139e-06 9.99995559e-01 1.36226169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.41, Y:15.54, Z:0.14 [[ 8.84080009e-01 -4.67328174e-01 -2.62964218e-03 6.14112040e+01] [ 4.67326101e-01 8.84083920e-01 -1.39217568e-03 1.55356324e+01] [ 2.97542729e-03 1.89426226e-06 9.99995573e-01 1.36523816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12185806400001 meters Centerline goodness [0,1] 0.9999560594076808 Centerline is valid? [True, True] Translation: X:61.44, Y:15.55, Z:0.14 [[ 8.84929282e-01 -4.65717901e-01 -2.64643451e-03 6.14353362e+01] [ 4.65715792e-01 8.84933239e-01 -1.40140730e-03 1.55493828e+01] [ 2.99457833e-03 7.66001138e-06 9.99995516e-01 1.37474566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.151858064 meters Centerline goodness [0,1] 0.9999779483108406 Centerline is valid? [True, True] Translation: X:61.46, Y:15.56, Z:0.14 [[ 8.84974850e-01 -4.65633038e-01 -2.32162638e-03 6.14599214e+01] [ 4.65631413e-01 8.84977895e-01 -1.23011587e-03 1.55628533e+01] [ 2.62737062e-03 7.59943538e-06 9.99996548e-01 1.37799900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:15.58, Z:0.14 [[ 8.84802164e-01 -4.65960016e-01 -2.52864588e-03 6.14835851e+01] [ 4.65958087e-01 8.84805777e-01 -1.34092120e-03 1.55758038e+01] [ 2.86217614e-03 8.20698079e-06 9.99995904e-01 1.37932505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.211858064 meters Centerline goodness [0,1] 0.9999779711421963 Centerline is valid? [True, True] Translation: X:61.51, Y:15.59, Z:0.14 [[ 8.84294605e-01 -4.66923880e-01 -2.26744014e-03 6.15085516e+01] [ 4.66922332e-01 8.84297512e-01 -1.20256346e-03 1.55886990e+01] [ 2.56659727e-03 4.70194474e-06 9.99996706e-01 1.37876744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:15.60, Z:0.14 [[ 8.82966228e-01 -4.69428696e-01 -2.70913354e-03 6.15344146e+01] [ 4.69426494e-01 8.82970384e-01 -1.43800126e-03 1.56000803e+01] [ 3.06712374e-03 -2.03250964e-06 9.99995296e-01 1.37421075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:15.61, Z:0.14 [[ 8.82125549e-01 -4.71006231e-01 -2.76512490e-03 6.15602026e+01] [ 4.71003941e-01 8.82129883e-01 -1.46873778e-03 1.56123257e+01] [ 3.13098395e-03 -6.77360697e-06 9.99995098e-01 1.37553973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.58, Y:15.62, Z:0.14 [[ 8.81378895e-01 -4.72401908e-01 -2.77129396e-03 6.15849683e+01] [ 4.72399611e-01 8.81383252e-01 -1.47307335e-03 1.56244180e+01] [ 3.13845474e-03 -1.08224229e-05 9.99995075e-01 1.37753557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.61, Y:15.64, Z:0.14 [[ 8.80102104e-01 -4.74776826e-01 -2.69308089e-03 6.16111335e+01] [ 4.74774668e-01 8.80106224e-01 -1.43172368e-03 1.56375381e+01] [ 3.04994648e-03 -1.85435621e-05 9.99995349e-01 1.38088575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361858064 meters Centerline goodness [0,1] 0.999978007961118 Centerline is valid? [True, True] Translation: X:61.64, Y:15.65, Z:0.14 [[ 8.79514175e-01 -4.75864763e-01 -2.74646926e-03 6.16363403e+01] [ 4.75862520e-01 8.79518463e-01 -1.46104933e-03 1.56500960e+01] [ 3.11083232e-03 -2.19281876e-05 9.99995161e-01 1.38315640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391858064 meters Centerline goodness [0,1] 0.999978007961118 Centerline is valid? [True, True] Translation: X:61.66, Y:15.66, Z:0.14 [[ 8.79385012e-01 -4.76103412e-01 -2.74636783e-03 6.16606578e+01] [ 4.76101170e-01 8.79389300e-01 -1.46123999e-03 1.56631295e+01] [ 3.11082783e-03 -2.25563911e-05 9.99995161e-01 1.38409672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421858064 meters Centerline goodness [0,1] 0.9999779997359969 Centerline is valid? [True, True] Translation: X:61.69, Y:15.68, Z:0.14 [[ 8.78509449e-01 -4.77718271e-01 -2.53021267e-03 6.16856856e+01] [ 4.77716372e-01 8.78513092e-01 -1.34704620e-03 1.56769012e+01] [ 2.86633354e-03 -2.53312075e-05 9.99995892e-01 1.38247612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.71, Y:15.69, Z:0.14 [[ 8.77038576e-01 -4.80414198e-01 -2.35262681e-03 6.17107831e+01] [ 4.80412564e-01 8.77041731e-01 -1.25331335e-03 1.56893313e+01] [ 2.66546142e-03 -3.10273203e-05 9.99996447e-01 1.38152434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.74, Y:15.70, Z:0.14 [[ 8.76132738e-01 -4.82064589e-01 -2.27089749e-03 6.17363916e+01] [ 4.82063072e-01 8.76135680e-01 -1.20986520e-03 1.57025759e+01] [ 2.57284749e-03 -3.47133088e-05 9.99996690e-01 1.38092699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.76, Y:15.71, Z:0.14 [[ 8.74461247e-01 -4.85087994e-01 -2.67664792e-03 6.17617724e+01] [ 4.85085898e-01 8.74465342e-01 -1.42711512e-03 1.57136950e+01] [ 3.03291225e-03 -5.04472903e-05 9.99995399e-01 1.38502688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.79, Y:15.73, Z:0.14 [[ 8.73569077e-01 -4.86691797e-01 -2.85708272e-03 6.17872739e+01] [ 4.86689416e-01 8.73573747e-01 -1.52362658e-03 1.57281762e+01] [ 3.23740902e-03 -5.95188540e-05 9.99994758e-01 1.38199234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.81, Y:15.74, Z:0.14 [[ 8.73037043e-01 -4.87644579e-01 -3.01435681e-03 6.18118220e+01] [ 4.87641931e-01 8.73042244e-01 -1.60850537e-03 1.57403195e+01] [ 3.41603976e-03 -6.56419978e-05 9.99994163e-01 1.38137466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.84, Y:15.75, Z:0.14 [[ 8.72469652e-01 -4.88659326e-01 -2.96136721e-03 6.18365960e+01] [ 4.88656773e-01 8.72474675e-01 -1.58079879e-03 1.57547547e+01] [ 3.35618996e-03 -6.78931798e-05 9.99994366e-01 1.38002864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.86, Y:15.77, Z:0.14 [[ 8.72132244e-01 -4.89258106e-01 -3.44301842e-03 6.18610806e+01] [ 4.89254656e-01 8.72139036e-01 -1.83911416e-03 1.57711811e+01] [ 3.90259228e-03 -8.05620297e-05 9.99992382e-01 1.37745086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.89, Y:15.79, Z:0.14 [[ 8.72027886e-01 -4.89444536e-01 -3.37818073e-03 6.18854790e+01] [ 4.89441212e-01 8.72034426e-01 -1.80553623e-03 1.57851418e+01] [ 3.82959974e-03 -7.89429269e-05 9.99992664e-01 1.37854832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.91, Y:15.80, Z:0.14 [[ 8.71813557e-01 -4.89827138e-01 -3.23991138e-03 6.19096228e+01] [ 4.89824079e-01 8.71819574e-01 -1.73274926e-03 1.58003914e+01] [ 3.67336577e-03 -7.63523138e-05 9.99993250e-01 1.38257412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.93, Y:15.81, Z:0.14 [[ 8.71662084e-01 -4.90097345e-01 -3.13106917e-03 6.19341418e+01] [ 4.90094486e-01 8.71667704e-01 -1.67563434e-03 1.58145934e+01] [ 3.55047582e-03 -7.39328130e-05 9.99993694e-01 1.38388093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.96, Y:15.83, Z:0.14 [[ 8.71770513e-01 -4.89905687e-01 -2.93101672e-03 6.19576262e+01] [ 4.89903177e-01 8.71775437e-01 -1.56956099e-03 1.58295070e+01] [ 3.32412523e-03 -6.76174167e-05 9.99994473e-01 1.38437558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781858064 meters Centerline goodness [0,1] 0.9999342984165919 Centerline is valid? [True, True] Translation: X:61.98, Y:15.84, Z:0.14 [[ 8.72043902e-01 -4.89417402e-01 -3.16860831e-03 6.19818632e+01] [ 4.89414461e-01 8.72049656e-01 -1.69801010e-03 1.58440610e+01] [ 3.59421947e-03 -7.00233719e-05 9.99993538e-01 1.38341614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811858064 meters Centerline goodness [0,1] 0.9999781697520084 Centerline is valid? [True, True] Translation: X:62.01, Y:15.86, Z:0.14 [[ 8.72677481e-01 -4.88287168e-01 -3.10732239e-03 6.20053236e+01] [ 4.88284331e-01 8.72683011e-01 -1.66570152e-03 1.58603127e+01] [ 3.52504814e-03 -6.36366313e-05 9.99993785e-01 1.37471150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.03, Y:15.88, Z:0.14 [[ 8.72958176e-01 -4.87784537e-01 -3.20429361e-03 6.20297005e+01] [ 4.87781513e-01 8.72964055e-01 -1.71871623e-03 1.58754696e+01] [ 3.63559635e-03 -6.26278035e-05 9.99993389e-01 1.37534736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.05, Y:15.89, Z:0.14 [[ 8.73368517e-01 -4.87051120e-01 -2.93946429e-03 6.20544471e+01] [ 4.87048568e-01 8.73373462e-01 -1.57749577e-03 1.58910623e+01] [ 3.33557119e-03 -5.39267287e-05 9.99994436e-01 1.38041859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:15.91, Z:0.14 [[ 8.74239732e-01 -4.85486568e-01 -2.77206591e-03 6.20781660e+01] [ 4.85484288e-01 8.74244125e-01 -1.48847219e-03 1.59085906e+01] [ 3.14609559e-03 -4.45129184e-05 9.99995050e-01 1.38916628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.931858064 meters Centerline goodness [0,1] 0.9999782953139583 Centerline is valid? [True, True] Translation: X:62.10, Y:15.92, Z:0.14 [[ 8.74794127e-01 -4.84486055e-01 -2.91519683e-03 6.21011884e+01] [ 4.84483525e-01 8.74798983e-01 -1.56629849e-03 1.59240431e+01] [ 3.30906099e-03 -4.21761174e-05 9.99994524e-01 1.38615391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.12, Y:15.94, Z:0.14 [[ 8.75070037e-01 -4.83986043e-01 -3.15285244e-03 6.21248328e+01] [ 4.83983079e-01 8.75075716e-01 -1.69439692e-03 1.59398650e+01] [ 3.57904906e-03 -4.32112500e-05 9.99993594e-01 1.38242108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:15.96, Z:0.14 [[ 8.75599329e-01 -4.83019475e-01 -4.24286613e-03 6.21484516e+01] [ 4.83014088e-01 8.75609607e-01 -2.28198581e-03 1.59566135e+01] [ 4.81733793e-03 -5.12588749e-05 9.99988395e-01 1.37181925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021858064 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:62.17, Y:15.97, Z:0.14 [[ 8.75603555e-01 -4.83010949e-01 -4.34013395e-03 6.21722199e+01] [ 4.83005305e-01 8.75614310e-01 -2.33570185e-03 1.59707403e+01] [ 4.92845297e-03 -5.11588738e-05 9.99987854e-01 1.36740434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.051858064 meters Centerline goodness [0,1] 0.9999132038624281 Centerline is valid? [True, True] Translation: X:62.20, Y:15.99, Z:0.14 [[ 8.75653570e-01 -4.82914548e-01 -4.93615479e-03 6.21967061e+01] [ 4.82907234e-01 8.75667480e-01 -2.65831510e-03 1.59853658e+01] [ 5.60616926e-03 -5.59417503e-05 9.99984284e-01 1.36438013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:16.00, Z:0.14 [[ 8.75522298e-01 -4.83149637e-01 -5.20898727e-03 6.22205231e+01] [ 4.83141486e-01 8.75537792e-01 -2.80713880e-03 1.60010655e+01] [ 5.91693330e-03 -5.89652351e-05 9.99982493e-01 1.36990551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.111858064 meters Centerline goodness [0,1] 0.9999568547082299 Centerline is valid? [True, True] Translation: X:62.24, Y:16.02, Z:0.14 [[ 8.75498475e-01 -4.83194627e-01 -5.03712886e-03 6.22441391e+01] [ 4.83186997e-01 8.75512964e-01 -2.71588158e-03 1.60151005e+01] [ 5.72237100e-03 -5.61249849e-05 9.99983626e-01 1.37426334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.27, Y:16.03, Z:0.14 [[ 8.75342415e-01 -4.83474718e-01 -5.27755565e-03 6.22680698e+01] [ 4.83466340e-01 8.75358323e-01 -2.84681489e-03 1.60301478e+01] [ 5.99611529e-03 -5.95826963e-05 9.99982021e-01 1.37319152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:16.05, Z:0.14 [[ 8.75185133e-01 -4.83762344e-01 -4.99776239e-03 6.22907010e+01] [ 4.83754827e-01 8.75199401e-01 -2.69739080e-03 1.60454702e+01] [ 5.67893474e-03 -5.69753526e-05 9.99983873e-01 1.36649968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.31, Y:16.06, Z:0.14 [[ 8.74973799e-01 -4.84140327e-01 -5.38475955e-03 6.23146473e+01] [ 4.84131598e-01 8.74990366e-01 -2.90788565e-03 1.60599223e+01] [ 6.11943744e-03 -6.26084912e-05 9.99981274e-01 1.36782140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.34, Y:16.07, Z:0.14 [[ 8.74760729e-01 -4.84522182e-01 -5.65003488e-03 6.23393284e+01] [ 4.84512567e-01 8.74778972e-01 -3.05317457e-03 1.60740478e+01] [ 6.42186251e-03 -6.67156925e-05 9.99979377e-01 1.37078035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.261858064 meters Centerline goodness [0,1] 0.9999135621056271 Centerline is valid? [True, True] Translation: X:62.36, Y:16.09, Z:0.14 [[ 8.74626186e-01 -4.84764263e-01 -5.71349468e-03 6.23636504e+01] [ 4.84754423e-01 8.74644845e-01 -3.08947641e-03 1.60879757e+01] [ 6.49494643e-03 -6.75048451e-05 9.99978905e-01 1.36965385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.291858064 meters Centerline goodness [0,1] 0.9999567333693888 Centerline is valid? [True, True] Translation: X:62.39, Y:16.10, Z:0.14 [[ 8.74178224e-01 -4.85566561e-01 -6.12764038e-03 6.23879551e+01] [ 4.85555248e-01 8.74199696e-01 -3.31554146e-03 1.61040947e+01] [ 6.96669742e-03 -7.69338011e-05 9.99975729e-01 1.37019968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.41, Y:16.12, Z:0.14 [[ 8.73967380e-01 -4.85941658e-01 -6.45933441e-03 6.24118001e+01] [ 4.85929086e-01 8.73991246e-01 -3.49641431e-03 1.61176916e+01] [ 7.34445510e-03 -8.30264125e-05 9.99973026e-01 1.36792042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.351858064 meters Centerline goodness [0,1] 0.999913603179403 Centerline is valid? [True, True] Translation: X:62.43, Y:16.13, Z:0.14 [[ 8.73744345e-01 -4.86334373e-01 -7.04953738e-03 6.24349272e+01] [ 4.86319398e-01 8.73772779e-01 -3.81771316e-03 1.61334549e+01] [ 8.01637900e-03 -9.26214876e-05 9.99967864e-01 1.35889591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381858064 meters Centerline goodness [0,1] 0.9998710731015514 Centerline is valid? [True, True] Translation: X:62.46, Y:16.15, Z:0.14 [[ 8.73743004e-01 -4.86328822e-01 -7.57892804e-03 6.24589906e+01] [ 4.86311489e-01 8.73775868e-01 -4.10719958e-03 1.61475147e+01] [ 8.61973396e-03 -9.70828765e-05 9.99962845e-01 1.35657227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.48, Y:16.16, Z:0.14 [[ 8.73749280e-01 -4.86317229e-01 -7.59922131e-03 6.24833595e+01] [ 4.86299778e-01 8.73782321e-01 -4.12090950e-03 1.61617758e+01] [ 8.64413451e-03 -9.48579245e-05 9.99962634e-01 1.36037009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.51, Y:16.18, Z:0.14 [[ 8.73860292e-01 -4.86103560e-01 -8.45690086e-03 6.25075806e+01] [ 4.86081908e-01 8.73901206e-01 -4.58915732e-03 1.61768603e+01] [ 9.62130157e-03 -1.00464148e-04 9.99953709e-01 1.36371453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.471858064 meters Centerline goodness [0,1] 0.9999138432377711 Centerline is valid? [True, True] Translation: X:62.53, Y:16.19, Z:0.13 [[ 8.73660524e-01 -4.86451079e-01 -9.09048451e-03 6.25317227e+01] [ 4.86426045e-01 8.73707809e-01 -4.93629817e-03 1.61903296e+01] [ 1.03436949e-02 -1.09199584e-04 9.99946497e-01 1.34811968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.55, Y:16.20, Z:0.14 [[ 8.73734403e-01 -4.86320358e-01 -8.98346503e-03 6.25546415e+01] [ 4.86295883e-01 8.73780578e-01 -4.88016563e-03 1.62039469e+01] [ 1.02229012e-02 -1.04653456e-04 9.99947739e-01 1.36164578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.58, Y:16.22, Z:0.14 [[ 8.73545201e-01 -4.86658999e-01 -9.04438171e-03 6.25785800e+01] [ 4.86634182e-01 8.73592014e-01 -4.91586088e-03 1.62184541e+01] [ 1.02934476e-02 -1.07078611e-04 9.99947015e-01 1.36146132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.60, Y:16.23, Z:0.14 [[ 8.73329424e-01 -4.87050979e-01 -8.77846046e-03 6.26019364e+01] [ 4.87027601e-01 8.73373535e-01 -4.77323933e-03 1.62319366e+01] [ 9.99168594e-03 -1.06742183e-04 9.99950076e-01 1.35990794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.63, Y:16.24, Z:0.14 [[ 8.73008968e-01 -4.87630757e-01 -8.46087282e-03 6.26263522e+01] [ 4.87609056e-01 8.73049961e-01 -4.60158555e-03 1.62444270e+01] [ 9.63063933e-03 -1.08372756e-04 9.99953618e-01 1.35901229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.65, Y:16.26, Z:0.14 [[ 8.72562279e-01 -4.88423226e-01 -8.82169044e-03 6.26520365e+01] [ 4.88399655e-01 8.72606863e-01 -4.79989521e-03 1.62573648e+01] [ 1.00422479e-02 -1.20303074e-04 9.99949568e-01 1.35958835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.68, Y:16.27, Z:0.14 [[ 8.71887461e-01 -4.89629665e-01 -8.66296207e-03 6.26765777e+01] [ 4.89606979e-01 8.71930487e-01 -4.71506367e-03 1.62715586e+01] [ 9.86213578e-03 -1.30441795e-04 9.99951359e-01 1.37371325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.70, Y:16.28, Z:0.14 [[ 8.71712835e-01 -4.89945226e-01 -8.39093869e-03 6.27020902e+01] [ 4.89923946e-01 8.71753210e-01 -4.56821008e-03 1.62822717e+01] [ 9.55300046e-03 -1.28754431e-04 9.99954361e-01 1.36201963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.73, Y:16.30, Z:0.14 [[ 8.71663818e-01 -4.90035271e-01 -8.22325416e-03 6.27262559e+01] [ 4.90014816e-01 8.71702597e-01 -4.47912615e-03 1.62957550e+01] [ 9.36316180e-03 -1.25224175e-04 9.99956157e-01 1.36591994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.75, Y:16.31, Z:0.14 [[ 8.72339800e-01 -4.88834210e-01 -8.02425633e-03 6.27502836e+01] [ 4.88814660e-01 8.72376698e-01 -4.37327226e-03 1.63120886e+01] [ 9.13797933e-03 -1.07394685e-04 9.99958242e-01 1.37838847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.78, Y:16.33, Z:0.14 [[ 8.72784119e-01 -4.88043304e-01 -7.84955447e-03 6.27753006e+01] [ 4.88024542e-01 8.72819411e-01 -4.28048555e-03 1.63263258e+01] [ 8.94030582e-03 -9.48354153e-05 9.99960030e-01 1.37678477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.80, Y:16.34, Z:0.14 [[ 8.73424675e-01 -4.86891742e-01 -8.10982523e-03 6.27996993e+01] [ 4.86871650e-01 8.73462320e-01 -4.42394434e-03 1.63394353e+01] [ 9.23760873e-03 -8.44618419e-05 9.99957329e-01 1.37610100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.82, Y:16.35, Z:0.14 [[ 8.74838509e-01 -4.84340803e-01 -8.45988109e-03 6.28249469e+01] [ 4.84318800e-01 8.74879411e-01 -4.61701955e-03 1.63532816e+01] [ 9.63758674e-03 -5.81329533e-05 9.99953556e-01 1.39009037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.85, Y:16.37, Z:0.14 [[ 8.75601091e-01 -4.82960531e-01 -8.47676386e-03 6.28489972e+01] [ 4.82938360e-01 8.75642121e-01 -4.62783743e-03 1.63671137e+01] [ 9.65767431e-03 -4.16149393e-05 9.99953363e-01 1.38614791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.87, Y:16.38, Z:0.14 [[ 8.77058793e-01 -4.80302141e-01 -8.81623102e-03 6.28724835e+01] [ 4.80277999e-01 8.77103103e-01 -4.81566679e-03 1.63824979e+01] [ 1.00457187e-02 -1.06188882e-05 9.99949540e-01 1.37904244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.90, Y:16.40, Z:0.14 [[ 8.77662734e-01 -4.79195465e-01 -8.93492412e-03 6.28966304e+01] [ 4.79170577e-01 8.77708213e-01 -4.88378039e-03 1.63960859e+01] [ 1.01825417e-02 4.95930187e-06 9.99948157e-01 1.37609594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.92, Y:16.41, Z:0.14 [[ 8.77972724e-01 -4.78630018e-01 -8.78651276e-03 6.29214980e+01] [ 4.78605890e-01 8.78016689e-01 -4.80582967e-03 1.64094715e+01] [ 1.00149192e-02 1.41106045e-05 9.99949849e-01 1.37803272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.95, Y:16.42, Z:0.14 [[ 8.78129445e-01 -4.78348828e-01 -8.43066868e-03 6.29468541e+01] [ 4.78326573e-01 8.78169914e-01 -4.61419869e-03 1.64226034e+01] [ 9.61075613e-03 1.92508807e-05 9.99953815e-01 1.37898166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.011858064 meters Centerline goodness [0,1] 0.999978413849674 Centerline is valid? [True, True] Translation: X:62.97, Y:16.43, Z:0.14 [[ 8.78150635e-01 -4.78316433e-01 -8.05311076e-03 6.29722123e+01] [ 4.78296100e-01 8.78187559e-01 -4.41041421e-03 1.64344247e+01] [ 9.18171527e-03 2.12365775e-05 9.99957847e-01 1.37843864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:16.45, Z:0.14 [[ 8.78287974e-01 -4.78055987e-01 -8.52685761e-03 6.29969890e+01] [ 4.78033161e-01 8.78329364e-01 -4.67163175e-03 1.64472556e+01] [ 9.72269096e-03 2.69172862e-05 9.99952733e-01 1.37178353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.02, Y:16.46, Z:0.14 [[ 8.78344396e-01 -4.77945041e-01 -8.92523669e-03 6.30228994e+01] [ 4.77920001e-01 8.78389741e-01 -4.89242825e-03 1.64594199e+01] [ 1.01781482e-02 3.16878078e-05 9.99948201e-01 1.37241525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.05, Y:16.47, Z:0.14 [[ 8.78329686e-01 -4.77968898e-01 -9.09374877e-03 6.30481662e+01] [ 4.77942870e-01 8.78376759e-01 -4.98815984e-03 1.64724731e+01] [ 1.03719228e-02 3.49564800e-05 9.99946210e-01 1.36868489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.07, Y:16.49, Z:0.14 [[ 8.78130604e-01 -4.78340232e-01 -8.79004525e-03 6.30736532e+01] [ 4.78315899e-01 8.78174596e-01 -4.82479869e-03 1.64854118e+01] [ 1.00270898e-02 3.23849915e-05 9.99949727e-01 1.37255925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:16.50, Z:0.14 [[ 8.77957297e-01 -4.78655207e-01 -8.95419854e-03 6.30992480e+01] [ 4.78629940e-01 8.78002956e-01 -4.91827254e-03 1.64980888e+01] [ 1.02159696e-02 3.22857501e-05 9.99947815e-01 1.37574711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.13, Y:16.51, Z:0.14 [[ 8.77160160e-01 -4.80106273e-01 -9.38195904e-03 6.31253764e+01] [ 4.80078578e-01 8.77210332e-01 -5.15677996e-03 1.65082124e+01] [ 1.07057538e-02 1.92443762e-05 9.99942692e-01 1.37063856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221858064 meters Centerline goodness [0,1] 0.9999351225103263 Centerline is valid? [True, True] Translation: X:63.15, Y:16.52, Z:0.14 [[ 8.76549956e-01 -4.81204635e-01 -1.01130826e-02 6.31506647e+01] [ 4.81172505e-01 8.76608293e-01 -5.56065984e-03 1.65195661e+01] [ 1.15410273e-02 8.05887119e-06 9.99933400e-01 1.36116121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.18, Y:16.53, Z:0.14 [[ 8.75873607e-01 -4.82428520e-01 -1.03994232e-02 6.31751795e+01] [ 4.82394605e-01 8.75935342e-01 -5.72031200e-03 1.65306118e+01] [ 1.18688640e-02 -6.35535894e-06 9.99929563e-01 1.35166479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.20, Y:16.54, Z:0.14 [[ 8.75738679e-01 -4.82673438e-01 -1.03979670e-02 6.31993122e+01] [ 4.82639509e-01 8.75800407e-01 -5.72295826e-03 1.65439693e+01] [ 1.18688637e-02 -6.65380305e-06 9.99929563e-01 1.35260372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311858064 meters Centerline goodness [0,1] 0.999956499989125 Centerline is valid? [True, True] Translation: X:63.23, Y:16.55, Z:0.13 [[ 8.73816560e-01 -4.86120087e-01 -1.14839060e-02 6.32269317e+01] [ 4.86078945e-01 8.73892018e-01 -6.32460208e-03 1.65545715e+01] [ 1.31102099e-02 -5.55429008e-05 9.99914056e-01 1.33384685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:16.57, Z:0.13 [[ 8.73384004e-01 -4.86907668e-01 -1.10138206e-02 6.32531629e+01] [ 4.86869840e-01 8.73453444e-01 -6.06959141e-03 1.65657720e+01] [ 1.25753901e-02 -6.12130221e-05 9.99920925e-01 1.33034676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:16.57, Z:0.13 [[ 8.72106553e-01 -4.89202524e-01 -1.05380498e-02 6.32805899e+01] [ 4.89168037e-01 8.72170215e-01 -5.80931294e-03 1.65743714e+01] [ 1.20329037e-02 -8.85372642e-05 9.99927598e-01 1.33640951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:16.59, Z:0.13 [[ 8.71436259e-01 -4.90397273e-01 -1.04575683e-02 6.33072994e+01] [ 4.90363366e-01 8.71498998e-01 -5.76761862e-03 1.65864439e+01] [ 1.19421848e-02 -1.01896417e-04 9.99928684e-01 1.34479933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.431858064 meters Centerline goodness [0,1] 0.999978224893302 Centerline is valid? [True, True] Translation: X:63.33, Y:16.60, Z:0.13 [[ 8.70912426e-01 -4.91327148e-01 -1.04488796e-02 6.33324217e+01] [ 4.91293343e-01 8.70975098e-01 -5.76458548e-03 1.65977743e+01] [ 1.19330113e-02 -1.13015868e-04 9.99928793e-01 1.34561701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.461858064 meters Centerline goodness [0,1] 0.9999780946748155 Centerline is valid? [True, True] Translation: X:63.36, Y:16.61, Z:0.13 [[ 8.70251104e-01 -4.92495228e-01 -1.05577911e-02 6.33584888e+01] [ 4.92460767e-01 8.70315135e-01 -5.82739749e-03 1.66102148e+01] [ 1.20585708e-02 -1.27998801e-04 9.99927285e-01 1.34754084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.491858064 meters Centerline goodness [0,1] 0.9999560651992443 Centerline is valid? [True, True] Translation: X:63.39, Y:16.62, Z:0.13 [[ 8.68581207e-01 -4.95422065e-01 -1.11204707e-02 6.33858123e+01] [ 4.95384026e-01 8.68652374e-01 -6.14158989e-03 1.66204014e+01] [ 1.27025024e-02 -1.74433983e-04 9.99919305e-01 1.33597271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:16.63, Z:0.13 [[ 8.67920232e-01 -4.96581873e-01 -1.09960733e-02 6.34113549e+01] [ 4.96544748e-01 8.67989866e-01 -6.07493964e-03 1.66307548e+01] [ 1.25611851e-02 -1.87479443e-04 9.99921088e-01 1.33613030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.44, Y:16.64, Z:0.13 [[ 8.66464848e-01 -4.99122286e-01 -1.07522154e-02 6.34380292e+01] [ 4.99086949e-01 8.66531532e-01 -5.94312066e-03 1.66415778e+01] [ 1.22834777e-02 -2.16785239e-04 9.99924532e-01 1.34630003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.581858064 meters Centerline goodness [0,1] 0.9999559335477901 Centerline is valid? [True, True] Translation: X:63.46, Y:16.65, Z:0.13 [[ 8.65675242e-01 -5.00498224e-01 -1.03876816e-02 6.34641187e+01] [ 5.00465302e-01 8.65737534e-01 -5.74495579e-03 1.66540647e+01] [ 1.18683460e-02 -2.25408235e-04 9.99929543e-01 1.33891675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.611858064 meters Centerline goodness [0,1] 0.9999339017780422 Centerline is valid? [True, True] Translation: X:63.49, Y:16.66, Z:0.13 [[ 8.65626858e-01 -5.00588383e-01 -1.00703957e-02 6.34896483e+01] [ 5.00557424e-01 8.65685407e-01 -5.57155216e-03 1.66646467e+01] [ 1.15068489e-02 -2.17926145e-04 9.99933770e-01 1.33969470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641858064 meters Centerline goodness [0,1] 0.9999557453587945 Centerline is valid? [True, True] Translation: X:63.51, Y:16.68, Z:0.13 [[ 8.65576640e-01 -5.00682272e-01 -9.71301727e-03 6.35144176e+01] [ 5.00653444e-01 8.65631110e-01 -5.37675848e-03 1.66771089e+01] [ 1.10999376e-02 -2.08859011e-04 9.99938372e-01 1.34555002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671858064 meters Centerline goodness [0,1] 0.9999337368025798 Centerline is valid? [True, True] Translation: X:63.54, Y:16.69, Z:0.13 [[ 8.65610691e-01 -5.00614737e-01 -1.01497042e-02 6.35387281e+01] [ 5.00583228e-01 8.65670167e-01 -5.62077538e-03 1.66888539e+01] [ 1.16001391e-02 -2.15368413e-04 9.99932693e-01 1.34324568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.56, Y:16.70, Z:0.13 [[ 8.65871419e-01 -5.00171309e-01 -9.76463045e-03 6.35644835e+01] [ 5.00142088e-01 8.65926453e-01 -5.41012547e-03 1.67013964e+01] [ 1.11614414e-02 -1.99229646e-04 9.99937689e-01 1.34614367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.59, Y:16.71, Z:0.13 [[ 8.66081202e-01 -4.99813424e-01 -9.48123581e-03 6.35901326e+01] [ 4.99785821e-01 8.66133077e-01 -5.25606610e-03 1.67141390e+01] [ 1.08390643e-02 -1.86407179e-04 9.99941238e-01 1.34900227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.62, Y:16.73, Z:0.14 [[ 8.66895399e-01 -4.98414960e-01 -8.65411067e-03 6.36155423e+01] [ 4.98391879e-01 8.66938581e-01 -4.79902278e-03 1.67266229e+01] [ 9.89448717e-03 -1.52887708e-04 9.99951037e-01 1.36009755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.64, Y:16.74, Z:0.14 [[ 8.67348024e-01 -4.97642323e-01 -7.71519285e-03 6.36409205e+01] [ 4.97623932e-01 8.67382328e-01 -4.28011596e-03 1.67409123e+01] [ 8.82198878e-03 -1.26914490e-04 9.99961077e-01 1.36446746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.67, Y:16.76, Z:0.14 [[ 8.67969802e-01 -4.96558806e-01 -7.60095049e-03 6.36662793e+01] [ 4.96540894e-01 8.68003076e-01 -4.21906833e-03 1.67551779e+01] [ 8.69266394e-03 -1.12158847e-04 9.99962212e-01 1.36799080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.69, Y:16.77, Z:0.14 [[ 8.68971916e-01 -4.94801959e-01 -7.67010334e-03 6.36908601e+01] [ 4.94783630e-01 8.69005761e-01 -4.25988701e-03 1.67698311e+01] [ 8.77316442e-03 -9.33193975e-05 9.99961511e-01 1.36828517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881858064 meters Centerline goodness [0,1] 0.999933257692051 Centerline is valid? [True, True] Translation: X:63.72, Y:16.78, Z:0.14 [[ 8.69323519e-01 -4.94176359e-01 -8.14527507e-03 6.37153850e+01] [ 4.94155634e-01 8.69361673e-01 -4.52671164e-03 1.67832126e+01] [ 9.31818383e-03 -8.98566784e-05 9.99956581e-01 1.36450439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.74, Y:16.80, Z:0.14 [[ 8.70189451e-01 -4.92642287e-01 -8.59627629e-03 6.37409840e+01] [ 4.92619111e-01 8.70231907e-01 -4.77915300e-03 1.67954656e+01] [ 9.83516677e-03 -7.59214580e-05 9.99951631e-01 1.35148497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:16.81, Z:0.14 [[ 8.70393632e-01 -4.92286510e-01 -8.30171988e-03 6.37653634e+01] [ 4.92264857e-01 8.70433218e-01 -4.61765694e-03 1.68099056e+01] [ 9.49930297e-03 -6.74657568e-05 9.99954878e-01 1.35805463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.971858064 meters Centerline goodness [0,1] 0.999933269568699 Centerline is valid? [True, True] Translation: X:63.79, Y:16.82, Z:0.14 [[ 8.70477475e-01 -4.92147568e-01 -7.72900729e-03 6.37892887e+01] [ 4.92128770e-01 8.70511785e-01 -4.30186913e-03 1.68240654e+01] [ 8.84534636e-03 -5.89866718e-05 9.99960877e-01 1.36394065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.81, Y:16.84, Z:0.14 [[ 8.70509152e-01 -4.92114466e-01 -6.09661988e-03 6.38135608e+01] [ 4.92102761e-01 8.70530499e-01 -3.39453230e-03 1.68372077e+01] [ 6.97779200e-03 -4.51920419e-05 9.99975654e-01 1.36938962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031858064 meters Centerline goodness [0,1] 0.9999555693784156 Centerline is valid? [True, True] Translation: X:63.84, Y:16.85, Z:0.14 [[ 8.70527395e-01 -4.92084004e-01 -5.94876095e-03 6.38376941e+01] [ 4.92072852e-01 8.70547719e-01 -3.31326563e-03 1.68494777e+01] [ 6.80908529e-03 -4.29352644e-05 9.99976817e-01 1.38130455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:16.86, Z:0.14 [[ 8.70337110e-01 -4.92423292e-01 -5.71108229e-03 6.38628782e+01] [ 4.92413009e-01 8.70355847e-01 -3.18257241e-03 1.68625051e+01] [ 6.53784665e-03 -4.23003398e-05 9.99978627e-01 1.39311705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09185806400001 meters Centerline goodness [0,1] 0.999955536782197 Centerline is valid? [True, True] Translation: X:63.89, Y:16.88, Z:0.14 [[ 8.70184486e-01 -4.92689040e-01 -6.03896789e-03 6.38877630e+01] [ 4.92677534e-01 8.70205440e-01 -3.36753974e-03 1.68756116e+01] [ 6.91429263e-03 -4.48829715e-05 9.99976095e-01 1.39504750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.121858064 meters Centerline goodness [0,1] 0.9999331491220251 Centerline is valid? [True, True] Translation: X:63.91, Y:16.89, Z:0.14 [[ 8.70124435e-01 -4.92783965e-01 -6.88700006e-03 6.39113448e+01] [ 4.92768989e-01 8.70151688e-01 -3.84225532e-03 1.68889719e+01] [ 7.88613654e-03 -5.04598188e-05 9.99968903e-01 1.38845440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.94, Y:16.90, Z:0.14 [[ 8.70067477e-01 -4.92882145e-01 -7.05530361e-03 6.39352049e+01] [ 4.92866415e-01 8.70096080e-01 -3.93810049e-03 1.69033892e+01] [ 8.07981143e-03 -5.09090421e-05 9.99967356e-01 1.38505316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.181858064 meters Centerline goodness [0,1] 0.9999777436513766 Centerline is valid? [True, True] Translation: X:63.96, Y:16.92, Z:0.14 [[ 8.70020591e-01 -4.92961016e-01 -7.32182158e-03 6.39583915e+01] [ 4.92944059e-01 8.70051398e-01 -4.08907301e-03 1.69167409e+01] [ 8.38611468e-03 -5.16707259e-05 9.99964835e-01 1.37888862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.98, Y:16.93, Z:0.14 [[ 8.69410390e-01 -4.94033439e-01 -7.51900341e-03 6.39832022e+01] [ 4.94015586e-01 8.69442900e-01 -4.20045833e-03 1.69303976e+01] [ 8.61251101e-03 -6.25827602e-05 9.99962910e-01 1.36911524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:16.94, Z:0.14 [[ 8.68499971e-01 -4.95628342e-01 -7.76827688e-03 6.40084724e+01] [ 4.95609332e-01 8.68534709e-01 -4.34161994e-03 1.69439241e+01] [ 8.89884799e-03 -7.93337197e-05 9.99960401e-01 1.37439027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:16.96, Z:0.14 [[ 8.67255711e-01 -4.97802861e-01 -7.73584392e-03 6.40342396e+01] [ 4.97784073e-01 8.67290206e-01 -4.32600832e-03 1.69565193e+01] [ 8.86272098e-03 -9.90244729e-05 9.99960720e-01 1.37945460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301858064 meters Centerline goodness [0,1] 0.9998890713049652 Centerline is valid? [True, True] Translation: X:64.06, Y:16.97, Z:0.14 [[ 8.64831233e-01 -5.02011900e-01 -7.14074664e-03 6.40610763e+01] [ 5.01996024e-01 8.64860703e-01 -3.99459175e-03 1.69662710e+01] [ 8.18108375e-03 -1.29978712e-04 9.99966526e-01 1.38957300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.331858064 meters Centerline goodness [0,1] 0.9999557913351017 Centerline is valid? [True, True] Translation: X:64.09, Y:16.98, Z:0.14 [[ 8.63700510e-01 -5.03960571e-01 -6.72099340e-03 6.40860115e+01] [ 5.03946554e-01 8.63726649e-01 -3.76129431e-03 1.69805588e+01] [ 7.70064514e-03 -1.38389647e-04 9.99970340e-01 1.40163580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.11, Y:16.99, Z:0.14 [[ 8.62016753e-01 -5.06846814e-01 -5.78138159e-03 6.41114071e+01] [ 5.06836499e-01 8.62036129e-01 -3.23659182e-03 1.69933028e+01] [ 6.62421606e-03 -1.40218838e-04 9.99978050e-01 1.42130685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.14, Y:17.01, Z:0.14 [[ 8.61418896e-01 -5.07870237e-01 -5.03062193e-03 6.41362447e+01] [ 5.07862439e-01 8.61433576e-01 -2.81724339e-03 1.70072187e+01] [ 5.76434070e-03 -1.28037233e-04 9.99983378e-01 1.43409411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421858064 meters Centerline goodness [0,1] 0.9999556511519613 Centerline is valid? [True, True] Translation: X:64.16, Y:17.02, Z:0.14 [[ 8.61052045e-01 -5.08496367e-01 -4.56298394e-03 6.41608241e+01] [ 5.08489953e-01 8.61064127e-01 -2.55672536e-03 1.70218271e+01] [ 5.22910734e-03 -1.18757892e-04 9.99986321e-01 1.44202079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.18, Y:17.04, Z:0.14 [[ 8.60845230e-01 -5.08844902e-01 -4.72818698e-03 6.41844832e+01] [ 5.08838012e-01 8.60858206e-01 -2.65092709e-03 1.70373814e+01] [ 5.41920930e-03 -1.23843325e-04 9.99985308e-01 1.44390098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.21, Y:17.05, Z:0.14 [[ 8.61393643e-01 -5.07910089e-01 -5.32293243e-03 6.42074357e+01] [ 5.07901328e-01 8.61410079e-01 -2.98602408e-03 1.70535217e+01] [ 6.10185940e-03 -1.31382295e-04 9.99981375e-01 1.43733430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:17.07, Z:0.14 [[ 8.62623728e-01 -5.05811371e-01 -5.92962699e-03 6.42305498e+01] [ 5.05800440e-01 8.62644098e-01 -3.32780475e-03 1.70724035e+01] [ 6.79839921e-03 -1.28564600e-04 9.99976882e-01 1.43233242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:17.09, Z:0.14 [[ 8.63229296e-01 -5.04776741e-01 -5.96865327e-03 6.42546387e+01] [ 5.04765629e-01 8.63249922e-01 -3.35154858e-03 1.70891184e+01] [ 6.84422323e-03 -1.19616101e-04 9.99976571e-01 1.43193133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.28, Y:17.11, Z:0.14 [[ 8.63945687e-01 -5.03546224e-01 -6.24904032e-03 6.42785861e+01] [ 5.03533996e-01 8.63968279e-01 -3.51104741e-03 1.71062239e+01] [ 7.16694728e-03 -1.13249973e-04 9.99974311e-01 1.43305781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.601858064 meters Centerline goodness [0,1] 0.9999559665345663 Centerline is valid? [True, True] Translation: X:64.30, Y:17.12, Z:0.14 [[ 8.64651177e-01 -5.02332505e-01 -6.35580990e-03 6.43021113e+01] [ 5.02319807e-01 8.64674531e-01 -3.57311667e-03 1.71228244e+01] [ 7.29059959e-03 -1.03149672e-04 9.99973418e-01 1.43347197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.32, Y:17.14, Z:0.14 [[ 8.66271674e-01 -4.99533333e-01 -6.31166545e-03 6.43244106e+01] [ 4.99520727e-01 8.66294663e-01 -3.54964477e-03 1.71401473e+01] [ 7.24092797e-03 -7.78509991e-05 9.99973781e-01 1.43604116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.661858064 meters Centerline goodness [0,1] 0.999978059108761 Centerline is valid? [True, True] Translation: X:64.35, Y:17.16, Z:0.14 [[ 8.66800367e-01 -4.98605911e-01 -7.01922037e-03 6.43479421e+01] [ 4.98590275e-01 8.66828783e-01 -3.94944301e-03 1.71556460e+01] [ 8.05367789e-03 -7.63363636e-05 9.99967566e-01 1.43931606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.691858064 meters Centerline goodness [0,1] 0.9999560661643565 Centerline is valid? [True, True] Translation: X:64.37, Y:17.17, Z:0.14 [[ 8.67970769e-01 -4.96548989e-01 -8.11458980e-03 6.43712776e+01] [ 4.96527974e-01 8.68008697e-01 -4.56870541e-03 1.71727188e+01] [ 9.31212056e-03 -6.36180857e-05 9.99956639e-01 1.42886945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721858064 meters Centerline goodness [0,1] 0.999912524329171 Centerline is valid? [True, True] Translation: X:64.40, Y:17.19, Z:0.14 [[ 8.68494276e-01 -4.95624413e-01 -8.61007185e-03 6.43952039e+01] [ 4.95600677e-01 8.68536953e-01 -4.85080598e-03 1.71880324e+01] [ 9.88234344e-03 -5.42602145e-05 9.99951167e-01 1.42488395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:17.20, Z:0.14 [[ 8.68880272e-01 -4.94949114e-01 -8.51158196e-03 6.44190587e+01] [ 4.94925855e-01 8.68921960e-01 -4.79847882e-03 1.72030324e+01] [ 9.77090332e-03 -4.32983922e-05 9.99952263e-01 1.42651860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.44, Y:17.22, Z:0.14 [[ 8.69310118e-01 -4.94200720e-01 -8.09736596e-03 6.44425537e+01] [ 4.94179610e-01 8.69347829e-01 -4.56791188e-03 1.72175778e+01] [ 9.29689286e-03 -3.06211286e-05 9.99956782e-01 1.43314215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811858064 meters Centerline goodness [0,1] 0.9999781191195134 Centerline is valid? [True, True] Translation: X:64.47, Y:17.23, Z:0.14 [[ 8.69647595e-01 -4.93610695e-01 -7.84492180e-03 6.44665046e+01] [ 4.93590830e-01 8.69682978e-01 -4.42838394e-03 1.72332245e+01] [ 9.00849262e-03 -2.10480242e-05 9.99959422e-01 1.44196752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84185806400001 meters Centerline goodness [0,1] 0.9998905117480894 Centerline is valid? [True, True] Translation: X:64.49, Y:17.25, Z:0.14 [[ 8.70363956e-01 -4.92362160e-01 -6.78884019e-03 6.44892174e+01] [ 4.92347235e-01 8.70390432e-01 -3.83363402e-03 1.72498612e+01] [ 7.79647787e-03 -5.80982778e-06 9.99969607e-01 1.44928048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.871858064 meters Centerline goodness [0,1] 0.9999125740388608 Centerline is valid? [True, True] Translation: X:64.51, Y:17.26, Z:0.15 [[ 8.70408203e-01 -4.92282118e-01 -6.91931575e-03 6.45131264e+01] [ 4.92266597e-01 8.70435705e-01 -3.90909682e-03 1.72641480e+01] [ 7.94719794e-03 -3.63808339e-06 9.99968421e-01 1.45146562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.901858064 meters Centerline goodness [0,1] 0.9997154862995711 Centerline is valid? [True, True] Translation: X:64.54, Y:17.28, Z:0.15 [[ 8.69880201e-01 -4.93213054e-01 -7.02276373e-03 6.45375325e+01] [ 4.93197076e-01 8.69908549e-01 -3.97012403e-03 1.72777110e+01] [ 8.06727920e-03 -1.00742415e-05 9.99967459e-01 1.45826270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.931858064 meters Centerline goodness [0,1] 0.9997598095945149 Centerline is valid? [True, True] Translation: X:64.56, Y:17.29, Z:0.15 [[ 8.69600061e-01 -4.93705914e-01 -7.08550174e-03 6.45619305e+01] [ 4.93689643e-01 8.69628927e-01 -4.00822901e-03 1.72916501e+01] [ 8.14064364e-03 -1.24826351e-05 9.99966864e-01 1.46371563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.961858064 meters Centerline goodness [0,1] 0.9997602127566814 Centerline is valid? [True, True] Translation: X:64.59, Y:17.31, Z:0.15 [[ 8.68367833e-01 -4.95868632e-01 -7.18371826e-03 6.45855766e+01] [ 4.95851959e-01 8.68397546e-01 -4.06649009e-03 1.73062672e+01] [ 8.25476819e-03 -3.08515852e-05 9.99965928e-01 1.45803903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.991858064 meters Centerline goodness [0,1] 0.9998255560401221 Centerline is valid? [True, True] Translation: X:64.61, Y:17.32, Z:0.15 [[ 8.67563193e-01 -4.97266236e-01 -7.77149858e-03 6.46110908e+01] [ 4.97246754e-01 8.67597999e-01 -4.40199135e-03 1.73207807e+01] [ 8.93149829e-03 -4.53467693e-05 9.99960112e-01 1.45453439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.64, Y:17.33, Z:0.15 [[ 8.66761489e-01 -4.98659312e-01 -7.96315825e-03 6.46358596e+01] [ 4.98638902e-01 8.66798066e-01 -4.51213005e-03 1.73339546e+01] [ 9.15246584e-03 -5.97999278e-05 9.99958114e-01 1.45214015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.66, Y:17.35, Z:0.15 [[ 8.65911348e-01 -5.00123918e-01 -8.57921884e-03 6.46608912e+01] [ 5.00100277e-01 8.65953844e-01 -4.86338895e-03 1.73474775e+01] [ 9.86150467e-03 -7.92060343e-05 9.99951371e-01 1.45352836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.081858064 meters Centerline goodness [0,1] 0.9997379283233965 Centerline is valid? [True, True] Translation: X:64.69, Y:17.36, Z:0.15 [[ 8.64590063e-01 -5.02395296e-01 -9.10990428e-03 6.46866382e+01] [ 5.02368734e-01 8.64638049e-01 -5.16721822e-03 1.73614548e+01] [ 1.04727560e-02 -1.09005554e-04 9.99945153e-01 1.45036412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.111858064 meters Centerline goodness [0,1] 0.9997817451656554 Centerline is valid? [True, True] Translation: X:64.71, Y:17.37, Z:0.14 [[ 8.64154327e-01 -5.03143247e-01 -9.17452001e-03 6.47106635e+01] [ 5.03116332e-01 8.64203020e-01 -5.20553722e-03 1.73748090e+01] [ 1.05477788e-02 -1.17463338e-04 9.99944364e-01 1.44734901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141858064 meters Centerline goodness [0,1] 0.999695420428587 Centerline is valid? [True, True] Translation: X:64.74, Y:17.39, Z:0.14 [[ 8.63730508e-01 -5.03861430e-01 -9.65752599e-03 6.47354150e+01] [ 5.03831624e-01 8.63784488e-01 -5.48206362e-03 1.73897238e+01] [ 1.11042216e-02 -1.30741405e-04 9.99938338e-01 1.44424645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171858064 meters Centerline goodness [0,1] 0.9998042712365708 Centerline is valid? [True, True] Translation: X:64.76, Y:17.41, Z:0.14 [[ 8.63477500e-01 -5.04272870e-01 -1.07461897e-02 6.47587728e+01] [ 5.04235952e-01 8.63544354e-01 -6.10360394e-03 1.74062508e+01] [ 1.23576933e-02 -1.48290532e-04 9.99923630e-01 1.44015491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201858064 meters Centerline goodness [0,1] 0.9998042712365708 Centerline is valid? [True, True] Translation: X:64.78, Y:17.42, Z:0.14 [[ 8.63336243e-01 -5.04514705e-01 -1.07445392e-02 6.47827267e+01] [ 5.04477769e-01 8.63403087e-01 -6.10650873e-03 1.74199376e+01] [ 1.23576918e-02 -1.48410859e-04 9.99923630e-01 1.44109329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23185806400001 meters Centerline goodness [0,1] 0.9997389204360029 Centerline is valid? [True, True] Translation: X:64.81, Y:17.43, Z:0.14 [[ 8.63358745e-01 -5.04471254e-01 -1.09740985e-02 6.48061921e+01] [ 5.04432669e-01 8.63428475e-01 -6.24106152e-03 1.74345787e+01] [ 1.26237853e-02 -1.47418768e-04 9.99920306e-01 1.43431409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.261858064 meters Centerline goodness [0,1] 0.9999782011596983 Centerline is valid? [True, True] Translation: X:64.83, Y:17.45, Z:0.14 [[ 8.63415544e-01 -5.04371787e-01 -1.10769749e-02 6.48298314e+01] [ 5.04332414e-01 8.63486583e-01 -6.30366335e-03 1.74490735e+01] [ 1.27442092e-02 -1.43796598e-04 9.99918779e-01 1.43349353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.291858064 meters Centerline goodness [0,1] 0.9995428521670984 Centerline is valid? [True, True] Translation: X:64.85, Y:17.46, Z:0.14 [[ 8.64075065e-01 -5.03226018e-01 -1.17412236e-02 6.48533073e+01] [ 5.03181646e-01 8.64154822e-01 -6.68383497e-03 1.74644242e+01] [ 1.35097147e-02 -1.32633108e-04 9.99908731e-01 1.43413464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.321858064 meters Centerline goodness [0,1] 0.999543964038307 Centerline is valid? [True, True] Translation: X:64.88, Y:17.48, Z:0.14 [[ 8.64130355e-01 -5.03136855e-01 -1.14906549e-02 6.48771002e+01] [ 5.03094303e-01 8.64206740e-01 -6.54463358e-03 1.74796335e+01] [ 1.32231478e-02 -1.25466481e-04 9.99912562e-01 1.43224771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.351858064 meters Centerline goodness [0,1] 0.9996087636932708 Centerline is valid? [True, True] Translation: X:64.90, Y:17.50, Z:0.14 [[ 8.63967931e-01 -5.03400494e-01 -1.21390837e-02 6.49003001e+01] [ 5.03352966e-01 8.64053196e-01 -6.91859437e-03 1.74958734e+01] [ 1.39716379e-02 -1.32800141e-04 9.99902383e-01 1.43985068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.381858064 meters Centerline goodness [0,1] 0.9997397471209525 Centerline is valid? [True, True] Translation: X:64.92, Y:17.51, Z:0.14 [[ 8.64109738e-01 -5.03170116e-01 -1.15842460e-02 6.49247996e+01] [ 5.03126785e-01 8.64187375e-01 -6.60446517e-03 1.75098303e+01] [ 1.33341286e-02 -1.21361758e-04 9.99911089e-01 1.44525060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.411858064 meters Centerline goodness [0,1] 0.9995229938639665 Centerline is valid? [True, True] Translation: X:64.95, Y:17.52, Z:0.15 [[ 8.64066822e-01 -5.03245735e-01 -1.15003008e-02 6.49486076e+01] [ 5.03202988e-01 8.64143342e-01 -6.56018430e-03 1.75241072e+01] [ 1.32392932e-02 -1.18548146e-04 9.99912350e-01 1.45551071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.441858064 meters Centerline goodness [0,1] 0.9997610098420492 Centerline is valid? [True, True] Translation: X:64.97, Y:17.54, Z:0.15 [[ 8.64137531e-01 -5.03125559e-01 -1.14454895e-02 6.49722216e+01] [ 5.03083151e-01 8.64213318e-01 -6.53325184e-03 1.75389130e+01] [ 1.31783904e-02 -1.12404799e-04 9.99913155e-01 1.45804822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.471858064 meters Centerline goodness [0,1] 0.9996559213780348 Centerline is valid? [True, True] Translation: X:65.00, Y:17.56, Z:0.14 [[ 8.65234986e-01 -5.01221648e-01 -1.20531857e-02 6.49952240e+01] [ 5.01174401e-01 8.65318931e-01 -6.88238637e-03 1.75555901e+01] [ 1.38794508e-02 -8.58666588e-05 9.99903672e-01 1.44891123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501858064 meters Centerline goodness [0,1] 0.9998701692127927 Centerline is valid? [True, True] Translation: X:65.02, Y:17.57, Z:0.14 [[ 8.65974736e-01 -4.99937870e-01 -1.22426883e-02 6.50183807e+01] [ 4.99888943e-01 8.66061270e-01 -6.99441202e-03 1.75712523e+01] [ 1.40996896e-02 -6.30004106e-05 9.99900592e-01 1.44772468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531858064 meters Centerline goodness [0,1] 0.9997642419306443 Centerline is valid? [True, True] Translation: X:65.04, Y:17.59, Z:0.14 [[ 8.67617675e-01 -4.97081140e-01 -1.22437760e-02 6.50404698e+01] [ 4.97031856e-01 8.67704063e-01 -6.99958250e-03 1.75881624e+01] [ 1.41033346e-02 -1.25852245e-05 9.99900543e-01 1.44603981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561858064 meters Centerline goodness [0,1] 0.9996986460597972 Centerline is valid? [True, True] Translation: X:65.06, Y:17.60, Z:0.15 [[ 8.68362071e-01 -4.95776462e-01 -1.23698506e-02 6.50639864e+01] [ 4.95725959e-01 8.68450171e-01 -7.07630349e-03 1.76032570e+01] [ 1.42508636e-02 1.27374946e-05 9.99898451e-01 1.45381400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59185806400001 meters Centerline goodness [0,1] 0.9999139655432 Centerline is valid? [True, True] Translation: X:65.09, Y:17.62, Z:0.15 [[ 8.68966328e-01 -4.94718438e-01 -1.22958704e-02 6.50877605e+01] [ 4.94668366e-01 8.69053316e-01 -7.03858209e-03 1.76178013e+01] [ 1.41678833e-02 3.39127076e-05 9.99899630e-01 1.45623413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.621858064 meters Centerline goodness [0,1] 0.999892422221266 Centerline is valid? [True, True] Translation: X:65.11, Y:17.63, Z:0.15 [[ 8.70039736e-01 -4.92818593e-01 -1.26764529e-02 6.51127564e+01] [ 4.92765108e-01 8.70132076e-01 -7.26076729e-03 1.76332168e+01] [ 1.46084294e-02 7.06423566e-05 9.99893289e-01 1.46060680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.14, Y:17.65, Z:0.15 [[ 8.70584642e-01 -4.91839287e-01 -1.32852125e-02 6.51359885e+01] [ 4.91780393e-01 8.70685998e-01 -7.61166427e-03 1.76480521e+01] [ 1.53109640e-02 9.31910067e-05 9.99882776e-01 1.45546298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.681858064 meters Centerline goodness [0,1] 0.9999568881895196 Centerline is valid? [True, True] Translation: X:65.16, Y:17.66, Z:0.15 [[ 8.70639858e-01 -4.91735809e-01 -1.34955959e-02 6.51599176e+01] [ 4.91674957e-01 8.70744442e-01 -7.73645619e-03 1.76632079e+01] [ 1.55555076e-02 1.00220606e-04 9.99879001e-01 1.45195503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.711858064 meters Centerline goodness [0,1] 0.9998486944492478 Centerline is valid? [True, True] Translation: X:65.18, Y:17.68, Z:0.15 [[ 8.70545980e-01 -4.91898247e-01 -1.36312698e-02 6.51843782e+01] [ 4.91836104e-01 8.70652689e-01 -7.81939854e-03 1.76772642e+01] [ 1.57144501e-02 1.02795338e-04 9.99876515e-01 1.45351238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.741858064 meters Centerline goodness [0,1] 0.9999567922571725 Centerline is valid? [True, True] Translation: X:65.21, Y:17.69, Z:0.14 [[ 8.69829243e-01 -4.93165000e-01 -1.36150658e-02 6.52091166e+01] [ 4.93103113e-01 8.69935788e-01 -7.81304730e-03 1.76894986e+01] [ 1.56973545e-02 8.23856751e-05 9.99876786e-01 1.44996163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.771858064 meters Centerline goodness [0,1] 0.9998703879720038 Centerline is valid? [True, True] Translation: X:65.23, Y:17.70, Z:0.15 [[ 8.69189938e-01 -4.94300237e-01 -1.32713070e-02 6.52339571e+01] [ 4.94241502e-01 8.69291247e-01 -7.62009882e-03 1.77018817e+01] [ 1.53032477e-02 6.40825129e-05 9.99882896e-01 1.45272831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.801858064 meters Centerline goodness [0,1] 0.9999784068579819 Centerline is valid? [True, True] Translation: X:65.26, Y:17.71, Z:0.15 [[ 8.67934238e-01 -4.96507762e-01 -1.30461275e-02 6.52599004e+01] [ 4.96451219e-01 8.68032282e-01 -7.49304306e-03 1.77131719e+01] [ 1.50448139e-02 2.67027097e-05 9.99886820e-01 1.45603694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.831858064 meters Centerline goodness [0,1] 0.9998485962711424 Centerline is valid? [True, True] Translation: X:65.29, Y:17.73, Z:0.15 [[ 8.67103484e-01 -4.97961240e-01 -1.28899962e-02 6.52852217e+01] [ 4.97906143e-01 8.67199287e-01 -7.40737225e-03 1.77259954e+01] [ 1.48667798e-02 4.94997305e-06 9.99889483e-01 1.45629921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861858064 meters Centerline goodness [0,1] 0.9999783563837846 Centerline is valid? [True, True] Translation: X:65.31, Y:17.74, Z:0.15 [[ 8.66448077e-01 -4.99107740e-01 -1.26171877e-02 6.53098262e+01] [ 4.99055034e-01 8.66539938e-01 -7.25321328e-03 1.77384067e+01] [ 1.45534319e-02 -1.21383256e-05 9.99894093e-01 1.45410521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.33, Y:17.75, Z:0.15 [[ 8.65671290e-01 -5.00464873e-01 -1.21707991e-02 6.53345315e+01] [ 5.00415911e-01 8.65756842e-01 -7.00045674e-03 1.77517569e+01] [ 1.40404353e-02 -3.03670978e-05 9.99901428e-01 1.46196056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:17.76, Z:0.15 [[ 8.64812789e-01 -5.01961544e-01 -1.15519638e-02 6.53598228e+01] [ 5.01917512e-01 8.64889938e-01 -6.64875066e-03 1.77637181e+01] [ 1.33285944e-02 -4.82083105e-05 9.99911169e-01 1.46838127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:17.78, Z:0.15 [[ 8.64285762e-01 -5.02875825e-01 -1.12261423e-02 6.53847942e+01] [ 5.02834264e-01 8.64358665e-01 -6.46537184e-03 1.77764769e+01] [ 1.29546926e-02 -5.69601877e-05 9.99916083e-01 1.47174373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.41, Y:17.79, Z:0.15 [[ 8.63855908e-01 -5.03610054e-01 -1.13966202e-02 6.54100208e+01] [ 5.03567230e-01 8.63931079e-01 -6.56779859e-03 1.77891003e+01] [ 1.31535038e-02 -6.53328300e-05 9.99913487e-01 1.47172867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.011858064 meters Centerline goodness [0,1] 0.9999783004947487 Centerline is valid? [True, True] Translation: X:65.44, Y:17.80, Z:0.15 [[ 8.63548551e-01 -5.04128011e-01 -1.17834394e-02 6.54355347e+01] [ 5.04082218e-01 8.63628939e-01 -6.79515789e-03 1.78015023e+01] [ 1.36021487e-02 -7.18735348e-05 9.99907484e-01 1.47299447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:17.81, Z:0.15 [[ 8.63270985e-01 -5.04600430e-01 -1.19000747e-02 6.54593312e+01] [ 5.04553725e-01 8.63352998e-01 -6.86581008e-03 1.78143540e+01] [ 1.37384559e-02 -7.71723974e-05 9.99905620e-01 1.46453881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.071858064 meters Centerline goodness [0,1] 0.9998478293950132 Centerline is valid? [True, True] Translation: X:65.48, Y:17.83, Z:0.15 [[ 8.63201630e-01 -5.04719747e-01 -1.18710870e-02 6.54846845e+01] [ 5.04673223e-01 8.63283251e-01 -6.85318039e-03 1.78275492e+01] [ 1.37070460e-02 -7.53432474e-05 9.99906051e-01 1.46120433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.101858064 meters Centerline goodness [0,1] 0.9998693408244594 Centerline is valid? [True, True] Translation: X:65.51, Y:17.84, Z:0.15 [[ 8.63102444e-01 -5.04890843e-01 -1.18071148e-02 6.55089534e+01] [ 5.04844801e-01 8.63183197e-01 -6.81879161e-03 1.78400135e+01] [ 1.36344485e-02 -7.54448026e-05 9.99907044e-01 1.46297199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.131858064 meters Centerline goodness [0,1] 0.9997595733519846 Centerline is valid? [True, True] Translation: X:65.53, Y:17.85, Z:0.15 [[ 8.62880333e-01 -5.05280800e-01 -1.13509379e-02 6.55338421e+01] [ 5.05238234e-01 8.62954986e-01 -6.55893850e-03 1.78529095e+01] [ 1.31094542e-02 -7.53487979e-05 9.99914065e-01 1.47112179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.161858064 meters Centerline goodness [0,1] 0.9996942497106291 Centerline is valid? [True, True] Translation: X:65.56, Y:17.87, Z:0.15 [[ 8.62934414e-01 -5.05197723e-01 -1.09297098e-02 6.55582911e+01] [ 5.05158226e-01 8.63003624e-01 -6.31752240e-03 1.78659221e+01] [ 1.26239771e-02 -6.96253370e-05 9.99920312e-01 1.47523386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.191858064 meters Centerline goodness [0,1] 0.9999124304917028 Centerline is valid? [True, True] Translation: X:65.58, Y:17.88, Z:0.15 [[ 8.62742431e-01 -5.05545572e-01 -9.95855113e-03 6.55830480e+01] [ 5.05512789e-01 8.62799902e-01 -5.75762831e-03 1.78787164e+01] [ 1.15029804e-02 -6.68247067e-05 9.99933836e-01 1.48181708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221858064 meters Centerline goodness [0,1] 0.9999340325879016 Centerline is valid? [True, True] Translation: X:65.61, Y:17.89, Z:0.15 [[ 8.62356273e-01 -5.06215633e-01 -9.34830011e-03 6.56073983e+01] [ 5.06186762e-01 8.62406939e-01 -5.40684254e-03 1.78903920e+01] [ 1.07990671e-02 -6.93611766e-05 9.99941686e-01 1.48363332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.63, Y:17.90, Z:0.15 [[ 8.61975212e-01 -5.06869074e-01 -9.08160613e-03 6.56318854e+01] [ 5.06841832e-01 8.62023049e-01 -5.25550327e-03 1.79034283e+01] [ 1.04924059e-02 -7.28243458e-05 9.99944951e-01 1.48449313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281858064 meters Centerline goodness [0,1] 0.9999120801828733 Centerline is valid? [True, True] Translation: X:65.66, Y:17.92, Z:0.15 [[ 8.61512078e-01 -5.07665406e-01 -8.53085432e-03 6.56563881e+01] [ 5.07641378e-01 8.61554311e-01 -4.93977259e-03 1.79161789e+01] [ 9.85754597e-03 -7.49408919e-05 9.99951410e-01 1.48728938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311858064 meters Centerline goodness [0,1] 0.9999559442253894 Centerline is valid? [True, True] Translation: X:65.68, Y:17.93, Z:0.15 [[ 8.61063066e-01 -5.08437136e-01 -7.87876081e-03 6.56818095e+01] [ 5.08416658e-01 8.61099107e-01 -4.56391600e-03 1.79272136e+01] [ 9.10485828e-03 -7.58737334e-05 9.99958547e-01 1.49990802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34185806400001 meters Centerline goodness [0,1] 0.9998898799691663 Centerline is valid? [True, True] Translation: X:65.71, Y:17.94, Z:0.15 [[ 8.60916221e-01 -5.08686974e-01 -7.79889956e-03 6.57057821e+01] [ 5.08666898e-01 8.60951542e-01 -4.51993575e-03 1.79414295e+01] [ 9.01370704e-03 -7.57560462e-05 9.99959373e-01 1.51373318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.73, Y:17.96, Z:0.15 [[ 8.60731310e-01 -5.09006565e-01 -7.34360316e-03 6.57298189e+01] [ 5.08988753e-01 8.60762634e-01 -4.25875993e-03 1.79550461e+01] [ 8.48883596e-03 -7.21634062e-05 9.99963967e-01 1.51401890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.75, Y:17.97, Z:0.15 [[ 8.60818258e-01 -5.08870091e-01 -6.56945901e-03 6.57536255e+01] [ 5.08855823e-01 8.60843323e-01 -3.81122277e-03 1.79685606e+01] [ 7.59469220e-03 -6.21373282e-05 9.99971158e-01 1.50948310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.78, Y:17.98, Z:0.15 [[ 8.60890657e-01 -5.08745499e-01 -6.73008915e-03 6.57780604e+01] [ 5.08730507e-01 8.60916961e-01 -3.90617440e-03 1.79829786e+01] [ 7.78129654e-03 -6.10126205e-05 9.99969723e-01 1.50573189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.461858064 meters Centerline goodness [0,1] 0.9999119039753331 Centerline is valid? [True, True] Translation: X:65.80, Y:18.00, Z:0.15 [[ 8.61428215e-01 -5.07830467e-01 -7.04599390e-03 6.58026083e+01] [ 5.07813990e-01 8.61457029e-01 -4.09115518e-03 1.79960969e+01] [ 8.14743422e-03 -5.38177779e-05 9.99966808e-01 1.49256698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.491858064 meters Centerline goodness [0,1] 0.9999778956675508 Centerline is valid? [True, True] Translation: X:65.83, Y:18.01, Z:0.15 [[ 8.61689039e-01 -5.07383170e-01 -7.37016747e-03 6.58269888e+01] [ 5.07365108e-01 8.61720556e-01 -4.28140216e-03 1.80095131e+01] [ 8.52333621e-03 -5.01284986e-05 9.99963674e-01 1.49172338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.85, Y:18.02, Z:0.15 [[ 8.62326430e-01 -5.06283056e-01 -8.40211869e-03 6.58513453e+01] [ 5.06259510e-01 8.62367361e-01 -4.88302908e-03 1.80214358e+01] [ 9.71790781e-03 -4.28874527e-05 9.99952779e-01 1.48392288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.88, Y:18.04, Z:0.15 [[ 8.62577188e-01 -5.05850173e-01 -8.72911159e-03 6.58761474e+01] [ 5.05824708e-01 8.62621355e-01 -5.07571759e-03 1.80355909e+01] [ 1.00974707e-02 -3.72021171e-05 9.99949019e-01 1.48038625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.90, Y:18.05, Z:0.15 [[ 8.62709191e-01 -5.05622806e-01 -8.85610500e-03 6.59001549e+01] [ 5.05596549e-01 8.62754645e-01 -5.15288636e-03 1.80499833e+01] [ 1.02460626e-02 -3.21737063e-05 9.99947507e-01 1.47699406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.92, Y:18.06, Z:0.15 [[ 8.63159420e-01 -5.04866208e-01 -8.11957639e-03 6.59244641e+01] [ 5.04844089e-01 8.63197608e-01 -4.72595238e-03 1.80645043e+01] [ 9.39477258e-03 -1.98698317e-05 9.99955868e-01 1.47631583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641858064 meters Centerline goodness [0,1] 0.9999779161697805 Centerline is valid? [True, True] Translation: X:65.95, Y:18.08, Z:0.15 [[ 8.63890771e-01 -5.03631975e-01 -6.89702398e-03 6.59485212e+01] [ 5.03615962e-01 8.63918303e-01 -4.01612422e-03 1.80783172e+01] [ 7.98111382e-03 -3.95871955e-06 9.99968150e-01 1.47947235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671858064 meters Centerline goodness [0,1] 0.9999556786703601 Centerline is valid? [True, True] Translation: X:65.97, Y:18.09, Z:0.15 [[ 8.64073269e-01 -5.03320962e-01 -6.73755082e-03 6.59733520e+01] [ 5.03305652e-01 8.64099537e-01 -3.92573026e-03 1.80921377e+01] [ 7.79781687e-03 1.07117074e-06 9.99969597e-01 1.48364918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.00, Y:18.11, Z:0.15 [[ 8.64310099e-01 -5.02910390e-01 -7.01376239e-03 6.59971423e+01] [ 5.02893771e-01 8.64338556e-01 -4.08845350e-03 1.81051592e+01] [ 8.11839100e-03 6.51423127e-06 9.99967045e-01 1.48254172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73185806400001 meters Centerline goodness [0,1] 0.9998675789009048 Centerline is valid? [True, True] Translation: X:66.02, Y:18.12, Z:0.15 [[ 8.64290011e-01 -5.02937147e-01 -7.55000440e-03 6.60207200e+01] [ 5.02917880e-01 8.64322987e-01 -4.40226342e-03 1.81181405e+01] [ 8.73970416e-03 7.80009013e-06 9.99961808e-01 1.47917942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.761858064 meters Centerline goodness [0,1] 0.999866879659212 Centerline is valid? [True, True] Translation: X:66.05, Y:18.13, Z:0.15 [[ 8.64174919e-01 -5.03132410e-01 -7.71283064e-03 6.60450247e+01] [ 5.03112300e-01 8.64209337e-01 -4.49842052e-03 1.81302620e+01] [ 8.92880141e-03 7.00222417e-06 9.99960137e-01 1.47556453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.791858064 meters Centerline goodness [0,1] 0.9999556688462817 Centerline is valid? [True, True] Translation: X:66.07, Y:18.14, Z:0.15 [[ 8.63803719e-01 -5.03767381e-01 -7.84604333e-03 6.60695385e+01] [ 5.03746576e-01 8.63839352e-01 -4.57833600e-03 1.81433946e+01] [ 9.08413733e-03 2.36620280e-06 9.99958738e-01 1.47510898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.09, Y:18.16, Z:0.15 [[ 8.63311902e-01 -5.04613845e-01 -7.57801957e-03 6.60939297e+01] [ 5.04594447e-01 8.63345161e-01 -4.42462699e-03 1.81565951e+01] [ 8.77517457e-03 -3.99344148e-06 9.99961497e-01 1.47608120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.851858064 meters Centerline goodness [0,1] 0.9998889037017287 Centerline is valid? [True, True] Translation: X:66.12, Y:18.17, Z:0.15 [[ 8.62827611e-01 -5.05438870e-01 -7.74999536e-03 6.61195801e+01] [ 5.05418588e-01 8.62862416e-01 -4.52794254e-03 1.81692147e+01] [ 8.97577788e-03 -1.01578714e-05 9.99959717e-01 1.48207331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.14, Y:18.18, Z:0.15 [[ 8.62812480e-01 -5.05460233e-01 -8.03599892e-03 6.61438440e+01] [ 5.05438404e-01 8.62849902e-01 -4.69750101e-03 1.81819385e+01] [ 9.30826083e-03 -8.63996814e-06 9.99956677e-01 1.47882956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.17, Y:18.20, Z:0.15 [[ 8.62760920e-01 -5.05552257e-01 -7.77885477e-03 6.61680641e+01] [ 5.05531794e-01 8.62795987e-01 -4.54864815e-03 1.81950344e+01] [ 9.01114402e-03 -8.06254409e-06 9.99959399e-01 1.48126875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.19, Y:18.21, Z:0.15 [[ 8.62688070e-01 -5.05672838e-01 -8.01715077e-03 6.61927470e+01] [ 5.05651086e-01 8.62725322e-01 -4.69030367e-03 1.82082464e+01] [ 9.28835815e-03 -7.61197189e-06 9.99956862e-01 1.49226220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.971858064 meters Centerline goodness [0,1] 0.9999777332442663 Centerline is valid? [True, True] Translation: X:66.22, Y:18.22, Z:0.15 [[ 8.62646934e-01 -5.05738330e-01 -8.30710376e-03 6.62184515e+01] [ 5.05714949e-01 8.62686931e-01 -4.86303162e-03 1.82206023e+01] [ 9.62585135e-03 -5.94723646e-06 9.99953670e-01 1.49350584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.24, Y:18.23, Z:0.15 [[ 8.62362037e-01 -5.06219330e-01 -8.58531632e-03 6.62434042e+01] [ 5.06194348e-01 8.62404772e-01 -5.02910150e-03 1.82342501e+01] [ 9.94984616e-03 -8.93238313e-06 9.99950499e-01 1.48972716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:18.25, Z:0.15 [[ 8.61857159e-01 -5.07075520e-01 -8.75529394e-03 6.62681271e+01] [ 5.07049551e-01 8.61901628e-01 -5.13191670e-03 1.82477741e+01] [ 1.01484714e-02 -1.63887061e-05 9.99948503e-01 1.48809391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.29, Y:18.26, Z:0.15 [[ 8.61356967e-01 -5.07924214e-01 -8.78449227e-03 6.62923320e+01] [ 5.07898095e-01 8.61401760e-01 -5.15104950e-03 1.82606754e+01] [ 1.01833199e-02 -2.47345131e-05 9.99948148e-01 1.48791616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.32, Y:18.27, Z:0.15 [[ 8.61219240e-01 -5.08157725e-01 -8.78335877e-03 6.63160905e+01] [ 5.08131598e-01 8.61264028e-01 -5.15298190e-03 1.82747035e+01] [ 1.01833185e-02 -2.52549706e-05 9.99948148e-01 1.48885606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.121858064 meters Centerline goodness [0,1] 0.9999328573666659 Centerline is valid? [True, True] Translation: X:66.34, Y:18.29, Z:0.15 [[ 8.60352652e-01 -5.09618386e-01 -9.07823951e-03 6.63416780e+01] [ 5.09590521e-01 8.60400545e-01 -5.32941971e-03 1.82863502e+01] [ 1.05268925e-02 -4.10044160e-05 9.99944590e-01 1.50234639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.151858064 meters Centerline goodness [0,1] 0.9999103179229631 Centerline is valid? [True, True] Translation: X:66.37, Y:18.30, Z:0.15 [[ 8.59882266e-01 -5.10415154e-01 -8.88027807e-03 6.63666820e+01] [ 5.10388499e-01 8.59928118e-01 -5.21655256e-03 1.82994683e+01] [ 1.02990083e-02 -4.67707581e-05 9.99946963e-01 1.50395683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.181858064 meters Centerline goodness [0,1] 0.9999775573409938 Centerline is valid? [True, True] Translation: X:66.39, Y:18.31, Z:0.15 [[ 8.59615863e-01 -5.10864773e-01 -8.81765540e-03 6.63911924e+01] [ 5.10838495e-01 8.59661085e-01 -5.18184152e-03 1.83120042e+01] [ 1.02274155e-02 -5.00046365e-05 9.99947697e-01 1.50730443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.211858064 meters Centerline goodness [0,1] 0.9998877640351074 Centerline is valid? [True, True] Translation: X:66.42, Y:18.33, Z:0.15 [[ 8.59584276e-01 -5.10923639e-01 -8.47984701e-03 6.64155464e+01] [ 5.10899313e-01 8.59626101e-01 -4.98586828e-03 1.83260606e+01] [ 9.83689578e-03 -4.65740395e-05 9.99951615e-01 1.51352330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.44, Y:18.34, Z:0.15 [[ 8.59460691e-01 -5.11138960e-01 -8.01770522e-03 6.64392845e+01] [ 5.11117201e-01 8.59498087e-01 -4.71648474e-03 1.83397455e+01] [ 9.30198140e-03 -4.43538161e-05 9.99956735e-01 1.51383728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.271858064 meters Centerline goodness [0,1] 0.9999551116597464 Centerline is valid? [True, True] Translation: X:66.46, Y:18.35, Z:0.15 [[ 8.59500440e-01 -5.11077755e-01 -7.65000870e-03 6.64638471e+01] [ 5.11057921e-01 8.59534483e-01 -4.50266772e-03 1.83538186e+01] [ 8.87665958e-03 -3.95526597e-05 9.99960601e-01 1.50998022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.49, Y:18.37, Z:0.15 [[ 8.59646758e-01 -5.10827101e-01 -7.94505885e-03 6.64874908e+01] [ 5.10805670e-01 8.59683472e-01 -4.67934454e-03 1.83685644e+01] [ 9.22057178e-03 -3.57977436e-05 9.99957489e-01 1.51665710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.331858064 meters Centerline goodness [0,1] 0.9999102313786216 Centerline is valid? [True, True] Translation: X:66.51, Y:18.38, Z:0.15 [[ 8.60012758e-01 -5.10205552e-01 -8.26740364e-03 6.65121141e+01] [ 5.10182288e-01 8.60052495e-01 -4.87231377e-03 1.83828313e+01] [ 9.59628266e-03 -2.76308979e-05 9.99953954e-01 1.51429797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361858064 meters Centerline goodness [0,1] 0.9999776065926191 Centerline is valid? [True, True] Translation: X:66.54, Y:18.40, Z:0.15 [[ 8.60906823e-01 -5.08678719e-01 -9.24133824e-03 6.65364033e+01] [ 5.08649541e-01 8.60956422e-01 -5.44823711e-03 1.83974033e+01] [ 1.07277918e-02 -1.01779534e-05 9.99942456e-01 1.50741549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391858064 meters Centerline goodness [0,1] 0.9999327791346434 Centerline is valid? [True, True] Translation: X:66.56, Y:18.41, Z:0.15 [[ 8.61564114e-01 -5.07557496e-01 -9.62632244e-03 6.65601678e+01] [ 5.07525734e-01 8.61617890e-01 -5.67809687e-03 1.84121235e+01] [ 1.11761723e-02 6.43814015e-06 9.99937545e-01 1.50997860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.58, Y:18.43, Z:0.15 [[ 8.61981145e-01 -5.06851068e-01 -9.51318940e-03 6.65831620e+01] [ 5.06819974e-01 8.62033639e-01 -5.61416370e-03 1.84267272e+01] [ 1.10462341e-02 1.78288421e-05 9.99938988e-01 1.50576649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451858064 meters Centerline goodness [0,1] 0.9998882506760834 Centerline is valid? [True, True] Translation: X:66.61, Y:18.44, Z:0.15 [[ 8.62899441e-01 -5.05281753e-01 -9.74197027e-03 6.66060304e+01] [ 5.05249024e-01 8.62954430e-01 -5.75111718e-03 1.84419866e+01] [ 1.13128110e-02 4.05148319e-05 9.99936007e-01 1.50261888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48185806400001 meters Centerline goodness [0,1] 0.9999775573409938 Centerline is valid? [True, True] Translation: X:66.63, Y:18.46, Z:0.15 [[ 8.62984919e-01 -5.05136770e-01 -9.68880680e-03 6.66305950e+01] [ 5.05104354e-01 8.63039305e-01 -5.72275954e-03 1.84562765e+01] [ 1.12525974e-02 4.47966817e-05 9.99936687e-01 1.51323327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.65, Y:18.47, Z:0.15 [[ 8.62837777e-01 -5.05387717e-01 -9.70699729e-03 6.66549581e+01] [ 5.05355153e-01 8.62892377e-01 -5.73719385e-03 1.84696217e+01] [ 1.12756013e-02 4.47864858e-05 9.99936427e-01 1.52164699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.541858064 meters Centerline goodness [0,1] 0.99995523523882 Centerline is valid? [True, True] Translation: X:66.68, Y:18.48, Z:0.15 [[ 8.62638113e-01 -5.05729432e-01 -9.65543488e-03 6.66783608e+01] [ 5.05697210e-01 8.62692147e-01 -5.70893942e-03 1.84827719e+01] [ 1.12168465e-02 4.20222430e-05 9.99937088e-01 1.52720332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.571858064 meters Centerline goodness [0,1] 0.9999553022684099 Centerline is valid? [True, True] Translation: X:66.70, Y:18.50, Z:0.16 [[ 8.61805220e-01 -5.07166279e-01 -8.60984304e-03 6.67039424e+01] [ 5.07140706e-01 8.61848226e-01 -5.09305050e-03 1.84960163e+01] [ 1.00034014e-02 2.28156299e-05 9.99949964e-01 1.55099275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.601858064 meters Centerline goodness [0,1] 0.9999326538858708 Centerline is valid? [True, True] Translation: X:66.73, Y:18.51, Z:0.16 [[ 8.61243140e-01 -5.08132992e-01 -7.81763160e-03 6.67279900e+01] [ 5.08111936e-01 8.61278620e-01 -4.62590181e-03 1.85095298e+01] [ 9.08373228e-03 1.17942765e-05 9.99958742e-01 1.55389681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.75, Y:18.52, Z:0.16 [[ 8.60387827e-01 -5.09583569e-01 -7.57455565e-03 6.67523309e+01] [ 5.09563839e-01 8.60421168e-01 -4.48420431e-03 1.85229746e+01] [ 8.80238485e-03 -1.56485591e-06 9.99961258e-01 1.56352472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.78, Y:18.54, Z:0.16 [[ 8.58906358e-01 -5.12076985e-01 -7.55177944e-03 6.67760501e+01] [ 5.12057453e-01 8.58939556e-01 -4.47260425e-03 1.85357990e+01] [ 8.77683977e-03 -2.53967153e-05 9.99961482e-01 1.55733550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.80, Y:18.55, Z:0.16 [[ 8.58249635e-01 -5.13178929e-01 -7.41285116e-03 6.68004798e+01] [ 5.13160131e-01 8.58281647e-01 -4.39251141e-03 1.85503273e+01] [ 8.61645840e-03 -3.41083597e-05 9.99962877e-01 1.56321464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.82, Y:18.56, Z:0.16 [[ 8.57901499e-01 -5.13761460e-01 -7.36070303e-03 6.68236302e+01] [ 5.13742931e-01 8.57933075e-01 -4.36346909e-03 1.85636529e+01] [ 8.55677283e-03 -3.80824715e-05 9.99963389e-01 1.56515016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751858064 meters Centerline goodness [0,1] 0.999977658124623 Centerline is valid? [True, True] Translation: X:66.85, Y:18.58, Z:0.16 [[ 8.57010398e-01 -5.15242551e-01 -7.63489682e-03 6.68491716e+01] [ 5.15222656e-01 8.57044404e-01 -4.52810227e-03 1.85775492e+01] [ 8.87651656e-03 -5.30410900e-05 9.99960602e-01 1.57344016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.87, Y:18.59, Z:0.16 [[ 8.56474777e-01 -5.16132005e-01 -7.66221068e-03 6.68734191e+01] [ 5.16111978e-01 8.56509048e-01 -4.54710203e-03 1.85918164e+01] [ 8.90965767e-03 -6.00805124e-05 9.99960306e-01 1.57772075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.90, Y:18.61, Z:0.16 [[ 8.56244610e-01 -5.16497441e-01 -8.69258656e-03 6.68977376e+01] [ 5.16471653e-01 8.56288729e-01 -5.16176695e-03 1.86066313e+01] [ 1.01094033e-02 -6.97394173e-05 9.99948896e-01 1.57472072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:18.62, Z:0.16 [[ 8.56450664e-01 -5.16139511e-01 -9.60549168e-03 6.69203271e+01] [ 5.16107978e-01 8.56504524e-01 -5.70572915e-03 1.86226125e+01] [ 1.11720993e-02 -7.07953699e-05 9.99937588e-01 1.55740905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.871858064 meters Centerline goodness [0,1] 0.9999777019644569 Centerline is valid? [True, True] Translation: X:66.94, Y:18.64, Z:0.15 [[ 8.56471759e-01 -5.16089830e-01 -1.03640318e-02 6.69441859e+01] [ 5.16053077e-01 8.56534461e-01 -6.15947779e-03 1.86383472e+01] [ 1.20559942e-02 -7.29717146e-05 9.99927321e-01 1.54775653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.97, Y:18.65, Z:0.15 [[ 8.56726058e-01 -5.15623960e-01 -1.23447776e-02 6.69678060e+01] [ 5.15571704e-01 8.56814990e-01 -7.34104946e-03 1.86546545e+01] [ 1.43624115e-02 -7.53496712e-05 9.99896852e-01 1.53440093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.99, Y:18.67, Z:0.15 [[ 8.56878902e-01 -5.15367236e-01 -1.24562690e-02 6.69912119e+01] [ 5.15313940e-01 8.56969432e-01 -7.41188392e-03 1.86697810e+01] [ 1.44944839e-02 -6.78021234e-05 9.99894947e-01 1.53373180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.02, Y:18.68, Z:0.15 [[ 8.56970949e-01 -5.15195987e-01 -1.31866121e-02 6.70151587e+01] [ 5.15136161e-01 8.57072395e-01 -7.85148364e-03 1.86846491e+01] [ 1.53469341e-02 -6.44073497e-05 9.99882227e-01 1.53989127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.04, Y:18.70, Z:0.15 [[ 8.57109724e-01 -5.14964758e-01 -1.31992171e-02 6.70392435e+01] [ 5.14904712e-01 8.57211348e-01 -7.86398551e-03 1.86996324e+01] [ 1.53641940e-02 -5.60406151e-05 9.99881962e-01 1.54401703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.021858064 meters Centerline goodness [0,1] 0.9999777535538698 Centerline is valid? [True, True] Translation: X:67.06, Y:18.72, Z:0.16 [[ 8.57091437e-01 -5.14997540e-01 -1.31073287e-02 6.70620667e+01] [ 5.14938289e-01 8.57191653e-01 -7.81201708e-03 1.87150597e+01] [ 1.52586623e-02 -5.38524816e-05 9.99883578e-01 1.55674588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.051858064 meters Centerline goodness [0,1] 0.9998885371617103 Centerline is valid? [True, True] Translation: X:67.09, Y:18.73, Z:0.16 [[ 8.57035981e-01 -5.15099689e-01 -1.27136904e-02 6.70850994e+01] [ 5.15043894e-01 8.57130275e-01 -7.58150923e-03 1.87306992e+01] [ 1.48025220e-02 -5.04823780e-05 9.99890435e-01 1.56177373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.081858064 meters Centerline goodness [0,1] 0.9999112708236286 Centerline is valid? [True, True] Translation: X:67.11, Y:18.75, Z:0.16 [[ 8.56775801e-01 -5.15534267e-01 -1.26351328e-02 6.71088030e+01] [ 5.15479138e-01 8.56868961e-01 -7.53933400e-03 1.87466176e+01] [ 1.47134382e-02 -5.36284660e-05 9.99891750e-01 1.56224130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.13, Y:18.76, Z:0.16 [[ 8.56522891e-01 -5.15950786e-01 -1.27798522e-02 6.71318266e+01] [ 5.15894362e-01 8.56618225e-01 -7.63045957e-03 1.87621709e+01] [ 1.48843959e-02 -5.73904000e-05 9.99889220e-01 1.56320446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141858064 meters Centerline goodness [0,1] 0.9999778466991581 Centerline is valid? [True, True] Translation: X:67.15, Y:18.78, Z:0.16 [[ 8.56224314e-01 -5.16447798e-01 -1.27120088e-02 6.71540225e+01] [ 5.16391987e-01 8.56318672e-01 -7.59261451e-03 1.87778466e+01] [ 1.48067196e-02 -6.33983497e-05 9.99890373e-01 1.56223367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171858064 meters Centerline goodness [0,1] 0.9999777520690576 Centerline is valid? [True, True] Translation: X:67.18, Y:18.79, Z:0.16 [[ 8.55758413e-01 -5.17213492e-01 -1.29515061e-02 6.71774677e+01] [ 5.17155583e-01 8.55856412e-01 -7.73987077e-03 1.87926735e+01] [ 1.50877951e-02 -7.44841386e-05 9.99886170e-01 1.57390751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.20, Y:18.81, Z:0.16 [[ 8.55458042e-01 -5.17717493e-01 -1.26545084e-02 6.72012091e+01] [ 5.17662195e-01 8.55551630e-01 -7.56708141e-03 1.88079092e+01] [ 1.47441957e-02 -7.74399384e-05 9.99891295e-01 1.58165690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.22, Y:18.82, Z:0.16 [[ 8.54972832e-01 -5.18530169e-01 -1.21622895e-02 6.72242736e+01] [ 5.18479108e-01 8.55059330e-01 -7.27722407e-03 1.88245943e+01] [ 1.41729393e-02 -8.40641357e-05 9.99899555e-01 1.59372114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.261858064 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:67.25, Y:18.84, Z:0.16 [[ 8.54591335e-01 -5.19166131e-01 -1.18396903e-02 6.72478890e+01] [ 5.19117743e-01 8.54673342e-01 -7.08855985e-03 1.88404824e+01] [ 1.37992079e-02 -8.83714874e-05 9.99904782e-01 1.59872497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.291858064 meters Centerline goodness [0,1] 0.9999339468933022 Centerline is valid? [True, True] Translation: X:67.27, Y:18.86, Z:0.16 [[ 8.54307756e-01 -5.19638104e-01 -1.15974056e-02 6.72709565e+01] [ 5.19591662e-01 8.54386466e-01 -6.94780921e-03 1.88563792e+01] [ 1.35190128e-02 -9.03479758e-05 9.99908610e-01 1.60570378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.321858064 meters Centerline goodness [0,1] 0.9999779132432194 Centerline is valid? [True, True] Translation: X:67.29, Y:18.87, Z:0.16 [[ 8.54123150e-01 -5.19946559e-01 -1.13675077e-02 6.72940253e+01] [ 5.19901935e-01 8.54198787e-01 -6.81252553e-03 1.88712148e+01] [ 1.32522605e-02 -9.12535086e-05 9.99912181e-01 1.60389554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.32, Y:18.89, Z:0.16 [[ 8.53737190e-01 -5.20573001e-01 -1.16859104e-02 6.73171498e+01] [ 5.20525849e-01 8.53817159e-01 -7.00716627e-03 1.88871028e+01] [ 1.36253724e-02 -1.00539988e-04 9.99907165e-01 1.61861839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381858064 meters Centerline goodness [0,1] 0.999955985915493 Centerline is valid? [True, True] Translation: X:67.34, Y:18.90, Z:0.16 [[ 8.53367272e-01 -5.21189258e-01 -1.12274314e-02 6.73400445e+01] [ 5.21145755e-01 8.53441120e-01 -6.73468968e-03 1.89012086e+01] [ 1.30919995e-02 -1.03964444e-04 9.99914291e-01 1.61915324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.411858064 meters Centerline goodness [0,1] 0.9998903003576208 Centerline is valid? [True, True] Translation: X:67.36, Y:18.92, Z:0.16 [[ 8.52733656e-01 -5.22242908e-01 -1.03758257e-02 6.73627838e+01] [ 5.22205812e-01 8.52796771e-01 -6.22551444e-03 1.89158468e+01] [ 1.20997014e-02 -1.09610784e-04 9.99926790e-01 1.62566316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:18.93, Z:0.16 [[ 8.52333350e-01 -5.22900321e-01 -1.01545306e-02 6.73860104e+01] [ 5.22864799e-01 8.52393830e-01 -6.09596372e-03 1.89319015e+01] [ 1.18432406e-02 -1.13653414e-04 9.99929860e-01 1.63312609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:18.95, Z:0.16 [[ 8.52291048e-01 -5.22966483e-01 -1.02970001e-02 6.74084007e+01] [ 5.22929931e-01 8.52353240e-01 -6.18402082e-03 1.89461854e+01] [ 1.20107170e-02 -1.14023991e-04 9.99927862e-01 1.62502499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501858064 meters Centerline goodness [0,1] 0.9998468572928745 Centerline is valid? [True, True] Translation: X:67.43, Y:18.96, Z:0.16 [[ 8.52687036e-01 -5.22326142e-01 -1.00109858e-02 6.74318954e+01] [ 5.22291515e-01 8.52745795e-01 -6.01515313e-03 1.89637730e+01] [ 1.16786978e-02 -9.96098738e-05 9.99931797e-01 1.62803719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531858064 meters Centerline goodness [0,1] 0.999934322868777 Centerline is valid? [True, True] Translation: X:67.46, Y:18.98, Z:0.16 [[ 8.53004882e-01 -5.21804048e-01 -1.01590625e-02 6.74556533e+01] [ 5.21768307e-01 8.53065371e-01 -6.10790665e-03 1.89796207e+01] [ 1.18534749e-02 -9.06026653e-05 9.99929741e-01 1.63371440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561858064 meters Centerline goodness [0,1] 0.9999781640317932 Centerline is valid? [True, True] Translation: X:67.48, Y:19.00, Z:0.16 [[ 8.53396359e-01 -5.21164390e-01 -1.01159476e-02 6.74791695e+01] [ 5.21128861e-01 8.53456309e-01 -6.08587639e-03 1.89950823e+01] [ 1.18052613e-02 -7.80474851e-05 9.99930312e-01 1.63697776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59185806400001 meters Centerline goodness [0,1] 0.9999781692754383 Centerline is valid? [True, True] Translation: X:67.50, Y:19.01, Z:0.16 [[ 8.53961998e-01 -5.20247457e-01 -9.56501180e-03 6.75027811e+01] [ 5.20215600e-01 8.54015562e-01 -5.75755437e-03 1.90128921e+01] [ 1.11640219e-02 -5.91357177e-05 9.99937679e-01 1.63668355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.621858064 meters Centerline goodness [0,1] 0.9999345949245662 Centerline is valid? [True, True] Translation: X:67.53, Y:19.03, Z:0.16 [[ 8.54109372e-01 -5.20003623e-01 -9.66500218e-03 6.75264660e+01] [ 5.19971042e-01 8.54164053e-01 -5.82122236e-03 1.90289180e+01] [ 1.12825542e-02 -5.35606697e-05 9.99936349e-01 1.63369296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.651858064 meters Centerline goodness [0,1] 0.9999782234707433 Centerline is valid? [True, True] Translation: X:67.55, Y:19.04, Z:0.16 [[ 8.54292559e-01 -5.19699756e-01 -9.81764940e-03 6.75494738e+01] [ 5.19666075e-01 8.54348969e-01 -5.91692595e-03 1.90445309e+01] [ 1.14627236e-02 -4.71135127e-05 9.99934300e-01 1.62702643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.681858064 meters Centerline goodness [0,1] 0.9998909606367898 Centerline is valid? [True, True] Translation: X:67.57, Y:19.06, Z:0.16 [[ 8.54698975e-01 -5.18997408e-01 -1.14609171e-02 6.75721273e+01] [ 5.18951412e-01 8.54775812e-01 -6.90960998e-03 1.90611768e+01] [ 1.33825843e-02 -4.20225256e-05 9.99910448e-01 1.60659155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:19.08, Z:0.16 [[ 8.54810797e-01 -5.18807697e-01 -1.17078648e-02 6.75954643e+01] [ 5.18759631e-01 8.54890971e-01 -7.06211264e-03 1.90768721e+01] [ 1.36728263e-02 -3.67974984e-05 9.99906522e-01 1.60166256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.741858064 meters Centerline goodness [0,1] 0.9999782006844985 Centerline is valid? [True, True] Translation: X:67.62, Y:19.09, Z:0.16 [[ 8.54769583e-01 -5.18872599e-01 -1.18400094e-02 6.76187728e+01] [ 5.18823386e-01 8.54851580e-01 -7.14631906e-03 1.90925550e+01] [ 1.38294799e-02 -3.44175862e-05 9.99904368e-01 1.60950963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.771858064 meters Centerline goodness [0,1] 0.9999782499945625 Centerline is valid? [True, True] Translation: X:67.64, Y:19.11, Z:0.16 [[ 8.54776875e-01 -5.18869153e-01 -1.14584522e-02 6.76419543e+01] [ 5.18823002e-01 8.54853672e-01 -6.92034097e-03 1.91077330e+01] [ 1.33860514e-02 -2.95611161e-05 9.99910402e-01 1.61401355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.801858064 meters Centerline goodness [0,1] 0.9998476339732707 Centerline is valid? [True, True] Translation: X:67.67, Y:19.12, Z:0.16 [[ 8.54448986e-01 -5.19429457e-01 -1.04866685e-02 6.76654749e+01] [ 5.19390797e-01 8.54513334e-01 -6.33731648e-03 1.91239384e+01] [ 1.22527869e-02 -3.17654594e-05 9.99924931e-01 1.62415182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:19.14, Z:0.16 [[ 8.54097479e-01 -5.20017463e-01 -9.96668864e-03 6.76886669e+01] [ 5.19982557e-01 8.54155628e-01 -6.02529293e-03 1.91383494e+01] [ 1.16463607e-02 -3.63167425e-05 9.99932178e-01 1.62722422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.71, Y:19.15, Z:0.16 [[ 8.53724725e-01 -5.20638186e-01 -9.48544326e-03 6.77122397e+01] [ 5.20606575e-01 8.53777417e-01 -5.73725467e-03 1.91530200e+01] [ 1.10854911e-02 -4.01479660e-05 9.99938553e-01 1.63444902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.74, Y:19.17, Z:0.16 [[ 8.53163891e-01 -5.21560964e-01 -9.24853375e-03 6.77351936e+01] [ 5.21530930e-01 8.53214017e-01 -5.59741383e-03 1.91683742e+01] [ 1.08103712e-02 -4.78850453e-05 9.99941565e-01 1.63480154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.76, Y:19.18, Z:0.16 [[ 8.53010238e-01 -5.21813571e-01 -9.17233059e-03 6.77583531e+01] [ 5.21784021e-01 8.53059549e-01 -5.55341683e-03 1.91832528e+01] [ 1.07223925e-02 -4.88541346e-05 9.99942512e-01 1.62939842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:19.20, Z:0.16 [[ 8.53021760e-01 -5.21795770e-01 -9.11332423e-03 6.77816190e+01] [ 5.21766568e-01 8.53070438e-01 -5.52048604e-03 1.91990581e+01] [ 1.06548738e-02 -4.59331957e-05 9.99943234e-01 1.63409988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:19.21, Z:0.16 [[ 8.53016449e-01 -5.21809669e-01 -8.80945172e-03 6.78051889e+01] [ 5.21782350e-01 8.53061936e-01 -5.33966741e-03 1.92148933e+01] [ 1.03012980e-02 -4.17922830e-05 9.99946939e-01 1.63617139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:19.23, Z:0.16 [[ 8.52874004e-01 -5.22042482e-01 -8.80799378e-03 6.78287326e+01] [ 5.22015150e-01 8.52919484e-01 -5.34207176e-03 1.92292598e+01] [ 1.03012979e-02 -4.17920599e-05 9.99946939e-01 1.63710925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.041858064 meters Centerline goodness [0,1] 0.999934929724102 Centerline is valid? [True, True] Translation: X:67.85, Y:19.25, Z:0.16 [[ 8.53005816e-01 -5.21837546e-01 -8.16416129e-03 6.78518126e+01] [ 5.21814026e-01 8.53044884e-01 -4.95459783e-03 1.92453373e+01] [ 9.54989119e-03 -3.38731039e-05 9.99954398e-01 1.64849404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:19.26, Z:0.17 [[ 8.52906413e-01 -5.22002670e-01 -7.99141461e-03 6.78755284e+01] [ 5.21980114e-01 8.52943850e-01 -4.85278920e-03 1.92603871e+01] [ 9.34939687e-03 -3.23844732e-05 9.99956293e-01 1.65283641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.101858064 meters Centerline goodness [0,1] 0.9999782995529708 Centerline is valid? [True, True] Translation: X:67.90, Y:19.28, Z:0.16 [[ 8.52706991e-01 -5.22326883e-01 -8.08793872e-03 6.78988591e+01] [ 5.22303764e-01 8.52745346e-01 -4.91451003e-03 1.92767628e+01] [ 9.46393282e-03 -3.37237759e-05 9.99955215e-01 1.64719313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.92, Y:19.29, Z:0.16 [[ 8.52585452e-01 -5.22522197e-01 -8.28253879e-03 6.79215533e+01] [ 5.22497941e-01 8.52625681e-01 -5.03479067e-03 1.92914713e+01] [ 9.69269516e-03 -3.50201878e-05 9.99953024e-01 1.64173996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.161858064 meters Centerline goodness [0,1] 0.9999352289656066 Centerline is valid? [True, True] Translation: X:67.95, Y:19.31, Z:0.16 [[ 8.52382014e-01 -5.22854186e-01 -8.27054774e-03 6.79455685e+01] [ 5.22829992e-01 8.52422137e-01 -5.03000933e-03 1.93067052e+01] [ 9.67995940e-03 -3.66009186e-05 9.99953147e-01 1.64038269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.191858064 meters Centerline goodness [0,1] 0.999869935618131 Centerline is valid? [True, True] Translation: X:67.97, Y:19.32, Z:0.16 [[ 8.52001361e-01 -5.23469263e-01 -8.57970599e-03 6.79686258e+01] [ 5.23443231e-01 8.52044558e-01 -5.22063202e-03 1.93209658e+01] [ 1.00431322e-02 -4.30034406e-05 9.99949566e-01 1.61567548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:19.34, Z:0.16 [[ 8.52682237e-01 -5.22362385e-01 -8.39889687e-03 6.79916727e+01] [ 5.22337358e-01 8.52723600e-01 -5.11336059e-03 1.93369012e+01] [ 9.83296481e-03 -2.69858535e-05 9.99951655e-01 1.63377324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:19.35, Z:0.16 [[ 8.52853290e-01 -5.22085679e-01 -8.23467155e-03 6.80151707e+01] [ 5.22061579e-01 8.52893043e-01 -5.01645462e-03 1.93523533e+01] [ 9.64231319e-03 -2.07058008e-05 9.99953512e-01 1.63812819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:19.37, Z:0.16 [[ 8.53179752e-01 -5.21552204e-01 -8.22247528e-03 6.80384607e+01] [ 5.21528120e-01 8.53219373e-01 -5.01215015e-03 1.93672089e+01] [ 9.62967316e-03 -1.19870500e-05 9.99953634e-01 1.63910997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.06, Y:19.38, Z:0.16 [[ 8.54118816e-01 -5.20007785e-01 -8.54116130e-03 6.80615360e+01] [ 5.19981687e-01 8.54161521e-01 -5.20971118e-03 1.93832451e+01] [ 1.00046217e-02 8.46487995e-06 9.99949952e-01 1.63994044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:19.40, Z:0.16 [[ 8.54612935e-01 -5.19194245e-01 -8.60626269e-03 6.80845237e+01] [ 5.19167686e-01 8.54656268e-01 -5.25148571e-03 1.93984375e+01] [ 1.00819375e-02 1.98941297e-05 9.99949176e-01 1.63521416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.371858064 meters Centerline goodness [0,1] 0.9999783193131558 Centerline is valid? [True, True] Translation: X:68.11, Y:19.41, Z:0.16 [[ 8.55000465e-01 -5.18550299e-01 -8.93265472e-03 6.81080345e+01] [ 5.18521623e-01 8.55047125e-01 -5.45347374e-03 1.94135400e+01] [ 1.04657412e-02 3.09479593e-05 9.99945232e-01 1.63588385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.13, Y:19.43, Z:0.16 [[ 8.55470006e-01 -5.17779013e-01 -8.71565285e-03 6.81309731e+01] [ 5.17751652e-01 8.55514402e-01 -5.32306058e-03 1.94271990e+01] [ 1.02125356e-02 4.11749980e-05 9.99947850e-01 1.63082739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:19.44, Z:0.16 [[ 8.55374268e-01 -5.17936551e-01 -8.75154984e-03 6.81557385e+01] [ 5.17908945e-01 8.55419036e-01 -5.34772000e-03 1.94413095e+01] [ 1.02560220e-02 4.17961420e-05 9.99947405e-01 1.63589437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.461858064 meters Centerline goodness [0,1] 0.9999348321928967 Centerline is valid? [True, True] Translation: X:68.18, Y:19.45, Z:0.16 [[ 8.55410374e-01 -5.17877768e-01 -8.70111454e-03 6.81787258e+01] [ 5.17850449e-01 8.55454625e-01 -5.31952828e-03 1.94546445e+01] [ 1.01982741e-02 4.45036082e-05 9.99947995e-01 1.63448344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:19.47, Z:0.16 [[ 8.55268486e-01 -5.18109587e-01 -8.84717850e-03 6.82036123e+01] [ 5.18081323e-01 8.55314242e-01 -5.41192507e-03 1.94683809e+01] [ 1.03710880e-02 4.50910125e-05 9.99946218e-01 1.64051854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.23, Y:19.48, Z:0.16 [[ 8.55179562e-01 -5.18243525e-01 -9.56899506e-03 6.82291283e+01] [ 5.18210446e-01 8.55233095e-01 -5.85550921e-03 1.94806308e+01] [ 1.12183010e-02 4.87586053e-05 9.99937072e-01 1.62457662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.551858064 meters Centerline goodness [0,1] 0.9998692468619247 Centerline is valid? [True, True] Translation: X:68.25, Y:19.49, Z:0.16 [[ 8.54862006e-01 -5.18766524e-01 -9.60442713e-03 6.82539521e+01] [ 5.18733200e-01 8.54915956e-01 -5.88013914e-03 1.94932356e+01] [ 1.12613973e-02 4.45723285e-05 9.99936587e-01 1.62769207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:19.51, Z:0.16 [[ 8.54703077e-01 -5.19034199e-01 -9.28173740e-03 6.82777656e+01] [ 5.19003069e-01 8.54753472e-01 -5.68473752e-03 1.95063552e+01] [ 1.08841705e-02 4.15124567e-05 9.99940765e-01 1.62588586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.611858064 meters Centerline goodness [0,1] 0.9999781248632804 Centerline is valid? [True, True] Translation: X:68.30, Y:19.52, Z:0.16 [[ 8.54585035e-01 -5.19235396e-01 -8.88936981e-03 6.83035198e+01] [ 5.19206825e-01 8.54631266e-01 -5.44716532e-03 1.95182635e+01] [ 1.04254944e-02 3.96444904e-05 9.99945652e-01 1.63975644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641858064 meters Centerline goodness [0,1] 0.999912612238656 Centerline is valid? [True, True] Translation: X:68.33, Y:19.53, Z:0.16 [[ 8.54456902e-01 -5.19454701e-01 -8.37947106e-03 6.83283098e+01] [ 5.19429293e-01 8.54497988e-01 -5.13788183e-03 1.95314226e+01] [ 9.82913803e-03 3.75558642e-05 9.99951692e-01 1.64529641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671858064 meters Centerline goodness [0,1] 0.9999782391086739 Centerline is valid? [True, True] Translation: X:68.35, Y:19.54, Z:0.16 [[ 8.54353220e-01 -5.19626667e-01 -8.28862216e-03 6.83518976e+01] [ 5.19601795e-01 8.54393425e-01 -5.08420224e-03 1.95439152e+01] [ 9.72363135e-03 3.69215958e-05 9.99952724e-01 1.64642631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:19.55, Z:0.16 [[ 8.54171205e-01 -5.19927759e-01 -8.16568450e-03 6.83767579e+01] [ 5.19903615e-01 8.54210234e-01 -5.01062970e-03 1.95546952e+01] [ 9.58037674e-03 3.45667139e-05 9.99954107e-01 1.64831875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:19.57, Z:0.17 [[ 8.53826269e-01 -5.20497904e-01 -7.91422373e-03 6.84017918e+01] [ 5.20475225e-01 8.53862946e-01 -4.85893669e-03 1.95675212e+01] [ 9.28672876e-03 2.95304095e-05 9.99956877e-01 1.65182169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.761858064 meters Centerline goodness [0,1] 0.9999780113461454 Centerline is valid? [True, True] Translation: X:68.43, Y:19.58, Z:0.17 [[ 8.53513048e-01 -5.21009493e-01 -8.03652309e-03 6.84271262e+01] [ 5.20986101e-01 8.53550882e-01 -4.93712033e-03 1.95802361e+01] [ 9.43186792e-03 2.69797889e-05 9.99955519e-01 1.65598550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.791858064 meters Centerline goodness [0,1] 0.9999340804218853 Centerline is valid? [True, True] Translation: X:68.45, Y:19.59, Z:0.17 [[ 8.53051684e-01 -5.21763675e-01 -8.09266879e-03 6.84520656e+01] [ 5.21739959e-01 8.53090070e-01 -4.97478831e-03 1.95926955e+01] [ 9.49943921e-03 2.14828690e-05 9.99954879e-01 1.65460008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.48, Y:19.60, Z:0.17 [[ 8.52644380e-01 -5.22420583e-01 -8.61951677e-03 6.84761189e+01] [ 5.22393689e-01 8.52687947e-01 -5.30085044e-03 1.96044445e+01] [ 1.01190314e-02 1.69591771e-05 9.99948801e-01 1.65535256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.851858064 meters Centerline goodness [0,1] 0.999977922995408 Centerline is valid? [True, True] Translation: X:68.50, Y:19.61, Z:0.17 [[ 8.52101001e-01 -5.23290746e-01 -9.52250676e-03 6.85028056e+01] [ 5.23257942e-01 8.52154208e-01 -5.85930286e-03 1.96142462e+01] [ 1.11807632e-02 9.99054007e-06 9.99937493e-01 1.65461350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.53, Y:19.63, Z:0.17 [[ 8.52024635e-01 -5.23411652e-01 -9.70898030e-03 6.85271965e+01] [ 5.23377532e-01 8.52079951e-01 -5.97634877e-03 1.96267392e+01] [ 1.14009180e-02 1.05342381e-05 9.99935007e-01 1.65399550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.911858064 meters Centerline goodness [0,1] 0.9999778819782359 Centerline is valid? [True, True] Translation: X:68.55, Y:19.64, Z:0.17 [[ 8.52018864e-01 -5.23415220e-01 -1.00180903e-02 6.85517782e+01] [ 5.23378855e-01 8.52077759e-01 -6.16986009e-03 1.96396180e+01] [ 1.17655906e-02 1.35805770e-05 9.99930783e-01 1.65182236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.941858064 meters Centerline goodness [0,1] 0.9999339338016693 Centerline is valid? [True, True] Translation: X:68.58, Y:19.65, Z:0.16 [[ 8.52729506e-01 -5.22241203e-01 -1.07942662e-02 6.85779624e+01] [ 5.22198841e-01 8.52797822e-01 -6.65172690e-03 1.96520859e+01] [ 1.26791326e-02 3.53704949e-05 9.99919616e-01 1.64124131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.60, Y:19.67, Z:0.16 [[ 8.53202557e-01 -5.21455700e-01 -1.13732150e-02 6.86033134e+01] [ 5.21408550e-01 8.53278355e-01 -7.01234295e-03 1.96661395e+01] [ 1.33611444e-02 5.28574029e-05 9.99910735e-01 1.63526696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001858064 meters Centerline goodness [0,1] 0.9999778265593472 Centerline is valid? [True, True] Translation: X:68.63, Y:19.68, Z:0.16 [[ 8.53658434e-01 -5.20695076e-01 -1.19964758e-02 6.86290793e+01] [ 5.20642486e-01 8.53742720e-01 -7.40067396e-03 1.96801260e+01] [ 1.40953984e-02 7.17727499e-05 9.99900652e-01 1.63489928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.66, Y:19.69, Z:0.16 [[ 8.54277531e-01 -5.19655231e-01 -1.29746526e-02 6.86551212e+01] [ 5.19593560e-01 8.54376048e-01 -8.00634249e-03 1.96911863e+01] [ 1.52457702e-02 9.80925518e-05 9.99883772e-01 1.62664377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.68, Y:19.70, Z:0.16 [[ 8.54461498e-01 -5.19344200e-01 -1.33098346e-02 6.86810100e+01] [ 5.19279202e-01 8.54565147e-01 -8.21703429e-03 1.97041887e+01] [ 1.56415899e-02 1.09619114e-04 9.99877657e-01 1.63635043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.71, Y:19.72, Z:0.16 [[ 8.54381108e-01 -5.19482590e-01 -1.30675578e-02 6.87062430e+01] [ 5.19419879e-01 8.54481028e-01 -8.07233836e-03 1.97173286e+01] [ 1.53594194e-02 1.09304122e-04 9.99882031e-01 1.63780518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:19.73, Z:0.16 [[ 8.54478364e-01 -5.19336508e-01 -1.25026945e-02 6.87305876e+01] [ 5.19279053e-01 8.54569822e-01 -7.72561632e-03 1.97302451e+01] [ 1.46966200e-02 1.08984637e-04 9.99891993e-01 1.63914814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.76, Y:19.74, Z:0.17 [[ 8.54377747e-01 -5.19525528e-01 -1.14843883e-02 6.87580918e+01] [ 5.19477025e-01 8.54454923e-01 -7.09963046e-03 1.97413799e+01] [ 1.35013314e-02 9.98904052e-05 9.99908848e-01 1.66017851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:19.75, Z:0.17 [[ 8.54233049e-01 -5.19764608e-01 -1.14301851e-02 6.87822317e+01] [ 5.19716551e-01 8.54309512e-01 -7.06854529e-03 1.97541113e+01] [ 1.34388955e-02 9.77286250e-05 9.99909689e-01 1.66105689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:19.77, Z:0.17 [[ 8.53931835e-01 -5.20269939e-01 -1.09367036e-02 6.88067977e+01] [ 5.20225938e-01 8.54001863e-01 -6.76692759e-03 1.97669348e+01] [ 1.28605942e-02 8.89380235e-05 9.99917295e-01 1.66502319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.83, Y:19.78, Z:0.17 [[ 8.53649576e-01 -5.20744312e-01 -1.03808933e-02 6.88323973e+01] [ 5.20704675e-01 8.53712689e-01 -6.42543102e-03 1.97789027e+01] [ 1.22083070e-02 7.96867974e-05 9.99925473e-01 1.67806722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.86, Y:19.79, Z:0.17 [[ 8.53480550e-01 -5.21030164e-01 -9.92569881e-03 6.88567035e+01] [ 5.20993909e-01 8.53538261e-01 -6.14688090e-03 1.97924201e+01] [ 1.16746741e-02 7.50146693e-05 9.99931846e-01 1.68282269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301858064 meters Centerline goodness [0,1] 0.9999774276556364 Centerline is valid? [True, True] Translation: X:68.88, Y:19.81, Z:0.17 [[ 8.53461494e-01 -5.21071136e-01 -9.39943581e-03 6.88805107e+01] [ 5.21038587e-01 8.53513249e-01 -5.82452538e-03 1.98065959e+01] [ 1.10575351e-02 7.35393835e-05 9.99938861e-01 1.68780027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.331858064 meters Centerline goodness [0,1] 0.9999775517992233 Centerline is valid? [True, True] Translation: X:68.90, Y:19.82, Z:0.17 [[ 8.54024547e-01 -5.20151873e-01 -9.17066539e-03 6.89031119e+01] [ 5.20120812e-01 8.54073780e-01 -5.68498021e-03 1.98224749e+01] [ 1.07894780e-02 8.52587214e-05 9.99941788e-01 1.68827268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361858064 meters Centerline goodness [0,1] 0.9999101910685018 Centerline is valid? [True, True] Translation: X:68.93, Y:19.84, Z:0.17 [[ 8.54901276e-01 -5.18694618e-01 -9.98503609e-03 6.89263423e+01] [ 5.18657680e-01 8.54959578e-01 -6.19120699e-03 1.98387695e+01] [ 1.17481480e-02 1.14055104e-04 9.99930982e-01 1.67687852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:19.85, Z:0.17 [[ 8.55026564e-01 -5.18476853e-01 -1.05511670e-02 6.89511293e+01] [ 5.18435555e-01 8.55091654e-01 -6.54512239e-03 1.98539444e+01] [ 1.24157093e-02 1.26153407e-04 9.99922914e-01 1.67374014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421858064 meters Centerline goodness [0,1] 0.9999774556439796 Centerline is valid? [True, True] Translation: X:68.97, Y:19.87, Z:0.17 [[ 8.55269482e-01 -5.18074575e-01 -1.06229406e-02 6.89739082e+01] [ 5.18032659e-01 8.55335441e-01 -6.59151507e-03 1.98699747e+01] [ 1.25010740e-02 1.34491498e-04 9.99921849e-01 1.65877980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.00, Y:19.88, Z:0.17 [[ 8.54841062e-01 -5.18777310e-01 -1.08102228e-02 6.89982471e+01] [ 5.18733916e-01 8.54909402e-01 -6.71110548e-03 1.98839797e+01] [ 1.27233304e-02 1.29299326e-04 9.99919047e-01 1.66513398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.02, Y:19.90, Z:0.17 [[ 8.54430374e-01 -5.19449626e-01 -1.09919156e-02 6.90223724e+01] [ 5.19404761e-01 8.54501065e-01 -6.82812883e-03 1.98989027e+01] [ 1.29394726e-02 1.24907369e-04 9.99916274e-01 1.66229225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.05, Y:19.91, Z:0.17 [[ 8.53857038e-01 -5.20382813e-01 -1.13967612e-02 6.90450670e+01] [ 5.20334621e-01 8.53933085e-01 -7.08296360e-03 1.99130371e+01] [ 1.34179240e-02 1.17708905e-04 9.99909969e-01 1.65712705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:19.93, Z:0.17 [[ 8.52176663e-01 -5.23121894e-01 -1.17652013e-02 6.90706218e+01] [ 5.23070744e-01 8.52257871e-01 -7.31564894e-03 1.99275016e+01] [ 1.38539616e-02 8.01926862e-05 9.99904026e-01 1.65141725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:19.94, Z:0.17 [[ 8.51203105e-01 -5.24704087e-01 -1.17853643e-02 6.90949268e+01] [ 5.24652854e-01 8.51284686e-01 -7.33251178e-03 1.99417648e+01] [ 1.38800990e-02 5.82318050e-05 9.99903665e-01 1.65131571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:19.96, Z:0.16 [[ 8.50089243e-01 -5.26504678e-01 -1.18787080e-02 6.91196062e+01] [ 5.26452742e-01 8.50172232e-01 -7.39507447e-03 1.99558477e+01] [ 1.39924890e-02 3.28948468e-05 9.99902100e-01 1.64997109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:19.97, Z:0.17 [[ 8.49117798e-01 -5.28059415e-01 -1.23377269e-02 6.91444652e+01] [ 5.28003483e-01 8.49207427e-01 -7.68558370e-03 1.99699968e+01] [ 1.45357341e-02 1.16031376e-05 9.99894351e-01 1.65325414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:19.98, Z:0.17 [[ 8.47257412e-01 -5.31044528e-01 -1.21073339e-02 6.91684571e+01] [ 5.30990932e-01 8.47343914e-01 -7.54468207e-03 1.99825156e+01] [ 1.42656379e-02 -3.65967263e-05 9.99898240e-01 1.65567943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:20.00, Z:0.17 [[ 8.46468661e-01 -5.32306833e-01 -1.18423404e-02 6.91924243e+01] [ 5.32255627e-01 8.46551494e-01 -7.38339568e-03 1.99969509e+01] [ 1.39553829e-02 -5.33392481e-05 9.99902617e-01 1.65559889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:20.01, Z:0.17 [[ 8.45481733e-01 -5.33871965e-01 -1.18897020e-02 6.92168407e+01] [ 5.33820439e-01 8.45565325e-01 -7.41750131e-03 2.00115915e+01] [ 1.40135157e-02 -7.56040911e-05 9.99901803e-01 1.66387414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:20.03, Z:0.17 [[ 8.45174808e-01 -5.34362469e-01 -1.16745911e-02 6.92397469e+01] [ 5.34312803e-01 8.45255432e-01 -7.28587885e-03 2.00251450e+01] [ 1.37613118e-02 -8.00422283e-05 9.99905305e-01 1.66167035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:20.04, Z:0.17 [[ 8.44777779e-01 -5.34990132e-01 -1.16645420e-02 6.92632717e+01] [ 5.34940558e-01 8.44858302e-01 -7.28344818e-03 2.00400782e+01] [ 1.37514580e-02 -8.69414021e-05 9.99905440e-01 1.67098966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811858064 meters Centerline goodness [0,1] 0.9999548868788487 Centerline is valid? [True, True] Translation: X:69.29, Y:20.06, Z:0.17 [[ 8.44461255e-01 -5.35485678e-01 -1.18438999e-02 6.92874248e+01] [ 5.35434552e-01 8.44544303e-01 -7.40002971e-03 2.00553739e+01] [ 1.39653081e-02 -9.25948820e-05 9.99902476e-01 1.67303660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.31, Y:20.07, Z:0.17 [[ 8.44110867e-01 -5.36042126e-01 -1.16482904e-02 6.93109617e+01] [ 5.35992666e-01 8.44191228e-01 -7.28231458e-03 2.00708424e+01] [ 1.37370120e-02 -9.63173562e-05 9.99905638e-01 1.67625899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:20.09, Z:0.17 [[ 8.43961751e-01 -5.36276913e-01 -1.16462624e-02 6.93343268e+01] [ 5.36227430e-01 8.44042098e-01 -7.28555715e-03 2.00855377e+01] [ 1.37370119e-02 -9.63137915e-05 9.99905638e-01 1.67719688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:20.10, Z:0.17 [[ 8.43888077e-01 -5.36401468e-01 -1.12418472e-02 6.93572668e+01] [ 5.36355340e-01 8.43962948e-01 -7.03504825e-03 2.01001211e+01] [ 1.32613127e-02 -9.28314633e-05 9.99912061e-01 1.68059988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:20.12, Z:0.17 [[ 8.43817900e-01 -5.36522148e-01 -1.07394816e-02 6.93807395e+01] [ 5.36480018e-01 8.43886235e-01 -6.72410919e-03 2.01152258e+01] [ 1.26705342e-02 -8.75935667e-05 9.99919722e-01 1.68514597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.961858064 meters Centerline goodness [0,1] 0.9999099849224745 Centerline is valid? [True, True] Translation: X:69.40, Y:20.13, Z:0.17 [[ 8.43819170e-01 -5.36530491e-01 -1.02098712e-02 6.94043927e+01] [ 5.36492367e-01 8.43880931e-01 -6.39639475e-03 2.01310291e+01] [ 1.20477764e-02 -8.01174690e-05 9.99927420e-01 1.69674235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.991858064 meters Centerline goodness [0,1] 0.9999550874671577 Centerline is valid? [True, True] Translation: X:69.43, Y:20.15, Z:0.17 [[ 8.43627639e-01 -5.36834193e-01 -1.00725334e-02 6.94285895e+01] [ 5.36797063e-01 8.43687764e-01 -6.31424562e-03 2.01460949e+01] [ 1.18877761e-02 -8.00342340e-05 9.99929335e-01 1.70585687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.021858064 meters Centerline goodness [0,1] 0.9998882356885799 Centerline is valid? [True, True] Translation: X:69.45, Y:20.16, Z:0.17 [[ 8.43501948e-01 -5.37043661e-01 -9.41110129e-03 6.94526156e+01] [ 5.37011222e-01 8.43554444e-01 -5.90316997e-03 2.01612969e+01] [ 1.11090363e-02 -7.45316343e-05 9.99938290e-01 1.70961619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.051858064 meters Centerline goodness [0,1] 0.9997977709868776 Centerline is valid? [True, True] Translation: X:69.48, Y:20.18, Z:0.17 [[ 8.43508117e-01 -5.37038764e-01 -9.13362163e-03 6.94759262e+01] [ 5.37008171e-01 8.43557563e-01 -5.73259261e-03 2.01766532e+01] [ 1.07833600e-02 -6.93410478e-05 9.99941855e-01 1.71305294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.50, Y:20.19, Z:0.17 [[ 8.44368105e-01 -5.35687533e-01 -9.02060868e-03 6.94987325e+01] [ 5.35657596e-01 8.44416286e-01 -5.66348075e-03 2.01930104e+01] [ 1.06510049e-02 -4.98950481e-05 9.99943275e-01 1.71108284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.111858064 meters Centerline goodness [0,1] 0.9996635715246939 Centerline is valid? [True, True] Translation: X:69.52, Y:20.21, Z:0.17 [[ 8.44818902e-01 -5.34967101e-01 -9.55113359e-03 6.95219445e+01] [ 5.34933459e-01 8.44872890e-01 -5.99957715e-03 2.02088707e+01] [ 1.12790702e-02 -4.06647498e-05 9.99936388e-01 1.71891325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141858064 meters Centerline goodness [0,1] 0.9997982243744956 Centerline is valid? [True, True] Translation: X:69.55, Y:20.22, Z:0.17 [[ 8.45338185e-01 -5.34139511e-01 -9.91643126e-03 6.95451409e+01] [ 5.34103162e-01 8.45396346e-01 -6.23144324e-03 2.02235352e+01] [ 1.17117748e-02 -2.87203669e-05 9.99931414e-01 1.71734696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171858064 meters Centerline goodness [0,1] 0.9994624739635826 Centerline is valid? [True, True] Translation: X:69.57, Y:20.24, Z:0.17 [[ 8.45913439e-01 -5.33211842e-01 -1.07510538e-02 6.95684964e+01] [ 5.33169022e-01 8.45981756e-01 -6.75740124e-03 2.02387142e+01] [ 1.26983217e-02 -1.59523125e-05 9.99919373e-01 1.70759491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201858064 meters Centerline goodness [0,1] 0.999754387531818 Centerline is valid? [True, True] Translation: X:69.59, Y:20.26, Z:0.17 [[ 8.46871464e-01 -5.31663873e-01 -1.19268505e-02 6.95916946e+01] [ 5.31610973e-01 8.46955445e-01 -7.49984868e-03 2.02555831e+01] [ 1.40889096e-02 1.09632035e-05 9.99900746e-01 1.70334300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23185806400001 meters Centerline goodness [0,1] 0.9992596913137114 Centerline is valid? [True, True] Translation: X:69.62, Y:20.27, Z:0.17 [[ 8.47066312e-01 -5.31332531e-01 -1.28220441e-02 6.96157056e+01] [ 5.31271286e-01 8.47163350e-01 -8.06719769e-03 2.02715324e+01] [ 1.51487304e-02 2.14675406e-05 9.99885251e-01 1.69603324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.261858064 meters Centerline goodness [0,1] 0.9991719816493231 Centerline is valid? [True, True] Translation: X:69.64, Y:20.29, Z:0.17 [[ 8.47109103e-01 -5.31246230e-01 -1.35502893e-02 6.96388078e+01] [ 5.31177771e-01 8.47217470e-01 -8.52837522e-03 2.02864593e+01] [ 1.60107090e-02 2.68518367e-05 9.99871820e-01 1.68496942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.291858064 meters Centerline goodness [0,1] 0.9991963209358397 Centerline is valid? [True, True] Translation: X:69.66, Y:20.30, Z:0.17 [[ 8.46650663e-01 -5.31946252e-01 -1.46914940e-02 6.96632555e+01] [ 5.31865801e-01 8.46778120e-01 -9.25119835e-03 2.03014154e+01] [ 1.73615760e-02 1.86299861e-05 9.99849276e-01 1.67995595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.321858064 meters Centerline goodness [0,1] 0.9988548332771977 Centerline is valid? [True, True] Translation: X:69.69, Y:20.32, Z:0.17 [[ 8.46016409e-01 -5.32949538e-01 -1.48669069e-02 6.96874138e+01] [ 5.32867211e-01 8.46147026e-01 -9.36723699e-03 2.03156791e+01] [ 1.75718537e-02 2.74895716e-06 9.99845603e-01 1.68815060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.351858064 meters Centerline goodness [0,1] 0.9993271581402651 Centerline is valid? [True, True] Translation: X:69.71, Y:20.33, Z:0.17 [[ 8.45288664e-01 -5.34111374e-01 -1.45641634e-02 6.97115609e+01] [ 5.34032442e-01 8.45414124e-01 -9.18205107e-03 2.03296052e+01] [ 1.72169873e-02 -1.62520612e-05 9.99851777e-01 1.70093262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.381858064 meters Centerline goodness [0,1] 0.9988386376326075 Centerline is valid? [True, True] Translation: X:69.74, Y:20.34, Z:0.17 [[ 8.43888372e-01 -5.36330692e-01 -1.42058172e-02 6.97364869e+01] [ 5.36255862e-01 8.44007930e-01 -8.95908869e-03 2.03416066e+01] [ 1.67948566e-02 -5.74819912e-05 9.99858955e-01 1.71919605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.411858064 meters Centerline goodness [0,1] 0.9995966838449474 Centerline is valid? [True, True] Translation: X:69.76, Y:20.36, Z:0.17 [[ 8.43015459e-01 -5.37708106e-01 -1.39616715e-02 6.97604220e+01] [ 5.37635937e-01 8.43131061e-01 -8.80984410e-03 2.03556141e+01] [ 1.65086435e-02 -7.94615652e-05 9.99863720e-01 1.73645381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.441858064 meters Centerline goodness [0,1] 0.9995964849354376 Centerline is valid? [True, True] Translation: X:69.78, Y:20.37, Z:0.17 [[ 8.42180905e-01 -5.39013923e-01 -1.39755165e-02 6.97842467e+01] [ 5.38941701e-01 8.42296849e-01 -8.82395092e-03 2.03696757e+01] [ 1.65277659e-02 -1.00625684e-04 9.99863402e-01 1.74539284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.471858064 meters Centerline goodness [0,1] 0.9992357833220948 Centerline is valid? [True, True] Translation: X:69.81, Y:20.38, Z:0.17 [[ 8.41398876e-01 -5.40223433e-01 -1.43726968e-02 6.98091775e+01] [ 5.40147139e-01 8.41521614e-01 -9.07971190e-03 2.03848449e+01] [ 1.70000082e-02 -1.23711688e-04 9.99855482e-01 1.74769471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501858064 meters Centerline goodness [0,1] 0.9995279095384754 Centerline is valid? [True, True] Translation: X:69.83, Y:20.40, Z:0.18 [[ 8.40595428e-01 -5.41483311e-01 -1.39695824e-02 6.98330855e+01] [ 5.41411325e-01 8.40711487e-01 -8.83023052e-03 2.03992638e+01] [ 1.65258108e-02 -1.40638692e-04 9.99863430e-01 1.76093394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531858064 meters Centerline goodness [0,1] 0.9994373804433442 Centerline is valid? [True, True] Translation: X:69.86, Y:20.41, Z:0.18 [[ 8.40365935e-01 -5.41827764e-01 -1.44142201e-02 6.98569173e+01] [ 5.41751130e-01 8.40489531e-01 -9.11379112e-03 2.04138767e+01] [ 1.70531062e-02 -1.50000456e-04 9.99854574e-01 1.76035758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561858064 meters Centerline goodness [0,1] 0.9994846862187171 Centerline is valid? [True, True] Translation: X:69.88, Y:20.43, Z:0.18 [[ 8.40156720e-01 -5.42138426e-01 -1.49202157e-02 6.98810055e+01] [ 5.42056290e-01 8.40289178e-01 -9.43802524e-03 2.04291039e+01] [ 1.76540119e-02 -1.58176410e-04 9.99844143e-01 1.76042666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59185806400001 meters Centerline goodness [0,1] 0.9994161501841372 Centerline is valid? [True, True] Translation: X:69.90, Y:20.44, Z:0.18 [[ 8.39969717e-01 -5.42428700e-01 -1.48989688e-02 6.99037767e+01] [ 5.42346792e-01 8.40101827e-01 -9.42748680e-03 2.04440949e+01] [ 1.76303903e-02 -1.61604535e-04 9.99844560e-01 1.75861888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.621858064 meters Centerline goodness [0,1] 0.9998657507887141 Centerline is valid? [True, True] Translation: X:69.93, Y:20.46, Z:0.18 [[ 8.40124279e-01 -5.42199822e-01 -1.45103018e-02 6.99259266e+01] [ 5.42122055e-01 8.40249565e-01 -9.18402737e-03 2.04606360e+01] [ 1.71718528e-02 -1.50630250e-04 9.99852542e-01 1.75878182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.651858064 meters Centerline goodness [0,1] 0.9998884849566206 Centerline is valid? [True, True] Translation: X:69.95, Y:20.48, Z:0.18 [[ 8.40227433e-01 -5.42048346e-01 -1.41933683e-02 6.99490169e+01] [ 5.41973839e-01 8.40347292e-01 -8.98814035e-03 2.04772953e+01] [ 1.67993652e-02 -1.40352190e-04 9.99858871e-01 1.75927839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.681858064 meters Centerline goodness [0,1] 0.9999553172475425 Centerline is valid? [True, True] Translation: X:69.97, Y:20.49, Z:0.18 [[ 8.40410892e-01 -5.41769216e-01 -1.39874280e-02 6.99717741e+01] [ 5.41696731e-01 8.40527275e-01 -8.86292050e-03 2.04933720e+01] [ 1.65584722e-02 -1.28449091e-04 9.99862891e-01 1.75660880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:20.51, Z:0.18 [[ 8.41091309e-01 -5.40735536e-01 -1.30572011e-02 6.99937930e+01] [ 5.40672214e-01 8.41192648e-01 -8.27567322e-03 2.05107562e+01] [ 1.54585722e-02 -9.90690297e-05 9.99880504e-01 1.75209899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741858064 meters Centerline goodness [0,1] 0.9999553850272151 Centerline is valid? [True, True] Translation: X:70.02, Y:20.53, Z:0.18 [[ 8.41455852e-01 -5.40174039e-01 -1.28084543e-02 7.00162280e+01] [ 5.40112981e-01 8.41553326e-01 -8.12203139e-03 2.05271780e+01] [ 1.51663078e-02 -8.36815816e-05 9.99884981e-01 1.75337502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.04, Y:20.54, Z:0.18 [[ 8.41690097e-01 -5.39817159e-01 -1.24585815e-02 7.00385844e+01] [ 5.39759281e-01 8.41782294e-01 -7.90498012e-03 2.05443522e+01] [ 1.47546572e-02 -7.10915195e-05 9.99891142e-01 1.76494165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:20.56, Z:0.17 [[ 8.41968498e-01 -5.39395696e-01 -1.18883384e-02 7.00618436e+01] [ 5.39342895e-01 8.42052421e-01 -7.54731486e-03 2.05607282e+01] [ 1.40815933e-02 -5.72894858e-05 9.99900848e-01 1.74644580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.08, Y:20.58, Z:0.17 [[ 8.42532647e-01 -5.38532463e-01 -1.10238104e-02 7.00839995e+01] [ 5.38486943e-01 8.42604762e-01 -7.00197367e-03 2.05798011e+01] [ 1.30595053e-02 -3.67865710e-05 9.99914720e-01 1.74059481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.11, Y:20.60, Z:0.17 [[ 8.42846130e-01 -5.38052353e-01 -1.04912391e-02 7.01060381e+01] [ 5.38011063e-01 8.42911422e-01 -6.66571827e-03 2.05959635e+01] [ 1.24296907e-02 -2.62278615e-05 9.99922748e-01 1.74054623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.13, Y:20.61, Z:0.18 [[ 8.42863034e-01 -5.38042625e-01 -9.59370518e-03 7.01293429e+01] [ 5.38008064e-01 8.42917631e-01 -6.09836763e-03 2.06125975e+01] [ 1.13678850e-02 -2.14021051e-05 9.99935383e-01 1.76216846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921858064 meters Centerline goodness [0,1] 0.9999117893529749 Centerline is valid? [True, True] Translation: X:70.15, Y:20.63, Z:0.17 [[ 8.43062307e-01 -5.37740685e-01 -8.99459051e-03 7.01527565e+01] [ 5.37710269e-01 8.43110287e-01 -5.71929693e-03 2.06280698e+01] [ 1.06589304e-02 -1.47600239e-05 9.99943192e-01 1.74800613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.18, Y:20.65, Z:0.18 [[ 8.42650344e-01 -5.38401839e-01 -7.99106151e-03 7.01755381e+01] [ 5.38377840e-01 8.42688234e-01 -5.08355177e-03 2.06453435e+01] [ 9.47096713e-03 -1.85537889e-05 9.99955149e-01 1.76874711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.20, Y:20.66, Z:0.18 [[ 8.42511395e-01 -5.38622620e-01 -7.76034377e-03 7.01976695e+01] [ 5.38599977e-01 8.42547134e-01 -4.93874157e-03 2.06611791e+01] [ 9.19857333e-03 -1.87749350e-05 9.99957692e-01 1.76613753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.22, Y:20.68, Z:0.18 [[ 8.42163581e-01 -5.39174301e-01 -7.18163873e-03 7.02205011e+01] [ 5.39154912e-01 8.42194201e-01 -4.57260222e-03 2.06774281e+01] [ 8.51376410e-03 -2.11367347e-05 9.99963757e-01 1.76170481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.24, Y:20.69, Z:0.18 [[ 8.41571880e-01 -5.40113470e-01 -5.84888042e-03 7.02425764e+01] [ 5.40100618e-01 8.41592205e-01 -3.72611490e-03 2.06943770e+01] [ 6.93489702e-03 -2.31904054e-05 9.99975953e-01 1.76333850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.27, Y:20.71, Z:0.18 [[ 8.41254645e-01 -5.40608515e-01 -5.74935226e-03 7.02650934e+01] [ 5.40596095e-01 8.41274291e-01 -3.66458890e-03 2.07097684e+01] [ 6.81789022e-03 -2.52249427e-05 9.99976758e-01 1.76278323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:20.72, Z:0.18 [[ 8.41069001e-01 -5.40901666e-01 -5.32201644e-03 7.02879532e+01] [ 5.40891022e-01 8.41085838e-01 -3.39333583e-03 2.07241642e+01] [ 6.31173366e-03 -2.46013346e-05 9.99980081e-01 1.75693809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:20.74, Z:0.18 [[ 8.40827760e-01 -5.41275938e-01 -5.38867968e-03 7.03111185e+01] [ 5.41265024e-01 8.40845026e-01 -3.43731629e-03 2.07408718e+01] [ 6.39158110e-03 -2.65128856e-05 9.99979573e-01 1.76363652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.33, Y:20.76, Z:0.18 [[ 8.40678343e-01 -5.41510672e-01 -5.11034030e-03 7.03330807e+01] [ 5.41500849e-01 8.40693875e-01 -3.26170416e-03 2.07578682e+01] [ 6.06247940e-03 -2.52095685e-05 9.99981623e-01 1.76545875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.36, Y:20.77, Z:0.18 [[ 8.40566820e-01 -5.41686925e-01 -4.76410412e-03 7.03550417e+01] [ 5.41678383e-01 8.40580320e-01 -3.04207729e-03 2.07740704e+01] [ 5.65246566e-03 -2.35429859e-05 9.99984024e-01 1.76108294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:20.79, Z:0.18 [[ 8.40232836e-01 -5.42209009e-01 -4.26280362e-03 7.03778547e+01] [ 5.42202172e-01 8.40243649e-01 -2.72295972e-03 2.07908832e+01] [ 5.05820696e-03 -2.33812085e-05 9.99987207e-01 1.76142471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251858064 meters Centerline goodness [0,1] 0.9999778917580474 Centerline is valid? [True, True] Translation: X:70.40, Y:20.81, Z:0.18 [[ 8.39116197e-01 -5.43935268e-01 -4.29331692e-03 7.04016350e+01] [ 5.43928347e-01 8.39127179e-01 -2.74409122e-03 2.08073737e+01] [ 5.09524692e-03 -3.26453891e-05 9.99987019e-01 1.75924946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:20.82, Z:0.18 [[ 8.38206201e-01 -5.45337733e-01 -4.13786319e-03 7.04259553e+01] [ 5.45331315e-01 8.38216413e-01 -2.64612940e-03 2.08228436e+01] [ 4.91145905e-03 -3.85042994e-05 9.99987938e-01 1.76091293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.45, Y:20.84, Z:0.18 [[ 8.37086888e-01 -5.47053735e-01 -4.21343588e-03 7.04507444e+01] [ 5.47047094e-01 8.37097490e-01 -2.69593504e-03 2.08384880e+01] [ 5.00187793e-03 -4.82159861e-05 9.99987489e-01 1.75792837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:20.85, Z:0.17 [[ 8.34637466e-01 -5.50785688e-01 -3.92775858e-03 7.04750858e+01] [ 5.50779953e-01 8.34646705e-01 -2.51420364e-03 2.08528322e+01] [ 4.66307813e-03 -6.48821324e-05 9.99989126e-01 1.74900794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:20.87, Z:0.17 [[ 8.33347092e-01 -5.52737773e-01 -3.68499306e-03 7.04996657e+01] [ 5.52732742e-01 8.33355236e-01 -2.35941828e-03 2.08687757e+01] [ 4.37504786e-03 -7.06019578e-05 9.99990427e-01 1.74744888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:20.88, Z:0.17 [[ 8.32385218e-01 -5.54184490e-01 -3.79464197e-03 7.05237533e+01] [ 5.54179165e-01 8.32393864e-01 -2.43076260e-03 2.08838633e+01] [ 4.50572762e-03 -7.95806582e-05 9.99989846e-01 1.74317672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:20.90, Z:0.17 [[ 8.31313393e-01 -5.55791854e-01 -3.66842100e-03 7.05481508e+01] [ 5.55786890e-01 8.31321483e-01 -2.35052070e-03 2.08993761e+01] [ 4.35603745e-03 -8.48409608e-05 9.99990509e-01 1.74208760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:20.91, Z:0.17 [[ 8.29949292e-01 -5.57821754e-01 -4.36622585e-03 7.05712146e+01] [ 5.57814742e-01 8.29960769e-01 -2.79912185e-03 2.09143115e+01] [ 5.18520722e-03 -1.12415952e-04 9.99986550e-01 1.73222583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:20.93, Z:0.17 [[ 8.29466013e-01 -5.58539106e-01 -4.49459741e-03 7.05951404e+01] [ 5.58531680e-01 8.29478181e-01 -2.88259613e-03 2.09305495e+01] [ 5.33821315e-03 -1.19359527e-04 9.99985745e-01 1.72949819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:20.95, Z:0.17 [[ 8.29011577e-01 -5.59214503e-01 -4.35262097e-03 7.06182971e+01] [ 5.59207540e-01 8.29022995e-01 -2.79299912e-03 2.09476682e+01] [ 5.17030849e-03 -1.18589867e-04 9.99986627e-01 1.72784913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.551858064 meters Centerline goodness [0,1] 0.999978004091239 Centerline is valid? [True, True] Translation: X:70.64, Y:20.96, Z:0.17 [[ 8.28605066e-01 -5.59817867e-01 -4.19534885e-03 7.06423010e+01] [ 5.59811401e-01 8.28615678e-01 -2.69329179e-03 2.09620698e+01] [ 4.98408470e-03 -1.16928897e-04 9.99987573e-01 1.72512870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:20.98, Z:0.17 [[ 8.28569501e-01 -5.59872782e-01 -3.87955512e-03 7.06641434e+01] [ 5.59867249e-01 8.28578576e-01 -2.49144969e-03 2.09803451e+01] [ 4.60941113e-03 -1.07696629e-04 9.99989371e-01 1.73568409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:21.00, Z:0.17 [[ 8.28367172e-01 -5.60176572e-01 -3.16807516e-03 7.06867122e+01] [ 5.60172881e-01 8.28373225e-01 -2.03557774e-03 2.09977996e+01] [ 3.76463160e-03 -8.84640122e-05 9.99992910e-01 1.74133499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:21.02, Z:0.17 [[ 8.28952087e-01 -5.59311583e-01 -2.99843068e-03 7.07098143e+01] [ 5.59308267e-01 8.28957506e-01 -1.92770995e-03 2.10156689e+01] [ 3.56376212e-03 -7.90678767e-05 9.99993647e-01 1.74339086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671858064 meters Centerline goodness [0,1] 0.9998685738067596 Centerline is valid? [True, True] Translation: X:70.73, Y:21.03, Z:0.17 [[ 8.29309515e-01 -5.58778026e-01 -3.58402071e-03 7.07332336e+01] [ 5.58773277e-01 8.29317255e-01 -2.30562981e-03 2.10325414e+01] [ 4.26062549e-03 -9.05742564e-05 9.99990919e-01 1.74042756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701858064 meters Centerline goodness [0,1] 0.9999343745898411 Centerline is valid? [True, True] Translation: X:70.76, Y:21.05, Z:0.17 [[ 8.29876592e-01 -5.57932795e-01 -3.97976617e-03 7.07563875e+01] [ 5.57926922e-01 8.29886129e-01 -2.56171131e-03 2.10494422e+01] [ 4.73201549e-03 -9.45144375e-05 9.99988799e-01 1.73620195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73185806400001 meters Centerline goodness [0,1] 0.9999781258202818 Centerline is valid? [True, True] Translation: X:70.78, Y:21.07, Z:0.17 [[ 8.30474741e-01 -5.57039354e-01 -4.34305471e-03 7.07791588e+01] [ 5.57032339e-01 8.30486092e-01 -2.79716052e-03 2.10668581e+01] [ 5.16497502e-03 -9.62507636e-05 9.99986657e-01 1.73460010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:21.08, Z:0.17 [[ 8.31173677e-01 -5.55998359e-01 -4.01783840e-03 7.08016653e+01] [ 5.55992337e-01 8.31183384e-01 -2.58903913e-03 2.10845821e+01] [ 4.77906202e-03 -8.19461866e-05 9.99988577e-01 1.73103333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.82, Y:21.10, Z:0.17 [[ 8.31016242e-01 -5.56233645e-01 -4.01717058e-03 7.08248213e+01] [ 5.56227621e-01 8.31025947e-01 -2.59007498e-03 2.10995848e+01] [ 4.77905984e-03 -8.20668613e-05 9.99988577e-01 1.73197174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.85, Y:21.12, Z:0.17 [[ 8.33036146e-01 -5.53203526e-01 -4.07908683e-03 7.08454868e+01] [ 5.53197271e-01 8.33046130e-01 -2.63138380e-03 2.11186709e+01] [ 4.85375829e-03 -6.45018802e-05 9.99988218e-01 1.72600096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.851858064 meters Centerline goodness [0,1] 0.9999782485752817 Centerline is valid? [True, True] Translation: X:70.87, Y:21.14, Z:0.17 [[ 8.34100440e-01 -5.51596995e-01 -4.14855729e-03 7.08680507e+01] [ 5.51590501e-01 8.34110755e-01 -2.67717296e-03 2.11363979e+01] [ 4.93707682e-03 -5.52736534e-05 9.99987811e-01 1.72978051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:21.15, Z:0.17 [[ 8.35201315e-01 -5.49928519e-01 -4.16980113e-03 7.08910704e+01] [ 5.49921930e-01 8.35211723e-01 -2.69233125e-03 2.11540649e+01] [ 4.96325652e-03 -4.44264776e-05 9.99987682e-01 1.73114068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.91, Y:21.17, Z:0.17 [[ 8.37271731e-01 -5.46770847e-01 -4.20591472e-03 7.09119947e+01] [ 5.46764098e-01 8.37282294e-01 -2.71690185e-03 2.11732611e+01] [ 5.00706065e-03 -2.48580493e-05 9.99987464e-01 1.73253287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.93, Y:21.19, Z:0.17 [[ 8.38146046e-01 -5.45428845e-01 -4.31056641e-03 7.09341502e+01] [ 5.45421732e-01 8.38157130e-01 -2.78562601e-03 2.11908894e+01] [ 5.13229274e-03 -1.63151704e-05 9.99986830e-01 1.73431864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.96, Y:21.21, Z:0.17 [[ 8.38997579e-01 -5.44116777e-01 -4.47158268e-03 7.09559304e+01] [ 5.44109096e-01 8.39009495e-01 -2.89116205e-03 2.12074131e+01] [ 5.32483010e-03 -7.35084588e-06 9.99985823e-01 1.72757486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.98, Y:21.23, Z:0.17 [[ 8.40311587e-01 -5.42074481e-01 -5.62973473e-03 7.09779912e+01] [ 5.42062248e-01 8.40330445e-01 -3.64173666e-03 2.12257104e+01] [ 6.70493000e-03 8.52684845e-06 9.99977522e-01 1.72190898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.00, Y:21.24, Z:0.17 [[ 8.40714703e-01 -5.41448279e-01 -5.70516022e-03 7.10001663e+01] [ 5.41435690e-01 8.40734061e-01 -3.69220851e-03 2.12412684e+01] [ 6.79566247e-03 1.51166190e-05 9.99976909e-01 1.72209252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.02, Y:21.26, Z:0.17 [[ 8.40798234e-01 -5.41322910e-01 -5.27614250e-03 7.10232402e+01] [ 5.41312132e-01 8.40814788e-01 -3.41598689e-03 2.12567603e+01] [ 6.28541060e-03 1.61158038e-05 9.99980246e-01 1.73035047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:21.27, Z:0.17 [[ 8.40532534e-01 -5.41736693e-01 -5.13964585e-03 7.10463370e+01] [ 5.41726460e-01 8.40548247e-01 -3.32963082e-03 2.12721204e+01] [ 6.12390349e-03 1.43808769e-05 9.99981249e-01 1.73913518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.07, Y:21.29, Z:0.17 [[ 8.40041068e-01 -5.42502195e-01 -4.72995221e-03 7.10697375e+01] [ 5.42493531e-01 8.40054384e-01 -3.06601702e-03 2.12878517e+01] [ 5.63673805e-03 9.61173423e-06 9.99984113e-01 1.74345575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.09, Y:21.30, Z:0.17 [[ 8.39781905e-01 -5.42901150e-01 -4.96923847e-03 7.10927551e+01] [ 5.42891585e-01 8.39796607e-01 -3.22269602e-03 2.13029305e+01] [ 5.92275498e-03 8.60405151e-06 9.99982460e-01 1.74454694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:21.32, Z:0.17 [[ 8.39635364e-01 -5.43124776e-01 -5.28525319e-03 7.11166520e+01] [ 5.43113950e-01 8.39651998e-01 -3.42911041e-03 2.13183142e+01] [ 6.30020822e-03 8.70762763e-06 9.99980153e-01 1.74685568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.14, Y:21.33, Z:0.17 [[ 8.39622656e-01 -5.43144100e-01 -5.31819349e-03 7.11389646e+01] [ 5.43133128e-01 8.39639498e-01 -3.45224982e-03 2.13334055e+01] [ 6.34043443e-03 1.01000911e-05 9.99979899e-01 1.74516487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.241858064 meters Centerline goodness [0,1] 0.9998920366211781 Centerline is valid? [True, True] Translation: X:71.16, Y:21.35, Z:0.17 [[ 8.39609860e-01 -5.43163180e-01 -5.38905138e-03 7.11616631e+01] [ 5.43151904e-01 8.39627155e-01 -3.50000650e-03 2.13496674e+01] [ 6.42586854e-03 1.15664547e-05 9.99979354e-01 1.74634214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:21.37, Z:0.18 [[ 8.39573979e-01 -5.43216822e-01 -5.56938305e-03 7.11852403e+01] [ 5.43204764e-01 8.39592451e-01 -3.61939152e-03 2.13656358e+01] [ 6.64212632e-03 1.34315298e-05 9.99977941e-01 1.75264074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:21.38, Z:0.17 [[ 8.39556961e-01 -5.43243100e-01 -5.57165282e-03 7.12083106e+01] [ 5.43231018e-01 8.39575449e-01 -3.62312654e-03 2.13810639e+01] [ 6.64606141e-03 1.51264762e-05 9.99977915e-01 1.74981454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:21.40, Z:0.17 [[ 8.39529609e-01 -5.43272025e-01 -6.74856371e-03 7.12316501e+01] [ 5.43254276e-01 8.39556732e-01 -4.39141224e-03 2.13965672e+01] [ 8.05153351e-03 2.05345050e-05 9.99967586e-01 1.74737958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.26, Y:21.41, Z:0.17 [[ 8.39661144e-01 -5.43059409e-01 -7.45931066e-03 7.12551955e+01] [ 5.43037689e-01 8.39694276e-01 -4.85704161e-03 2.14123410e+01] [ 8.90120261e-03 2.75822853e-05 9.99960383e-01 1.74365624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.28, Y:21.43, Z:0.17 [[ 8.39655143e-01 -5.43060812e-01 -8.01213757e-03 7.12780600e+01] [ 5.43035722e-01 8.39693368e-01 -5.22032613e-03 2.14280947e+01] [ 9.56269334e-03 3.23967726e-05 9.99954276e-01 1.73814430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.30, Y:21.44, Z:0.17 [[ 8.39796266e-01 -5.42833184e-01 -8.62353494e-03 7.13011437e+01] [ 5.42804070e-01 8.39840540e-01 -5.62224096e-03 2.14438202e+01] [ 1.02943332e-02 4.06471072e-05 9.99947011e-01 1.73496424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.32, Y:21.46, Z:0.17 [[ 8.39700365e-01 -5.42976541e-01 -8.93156135e-03 7.13241649e+01] [ 5.42945278e-01 8.39747864e-01 -5.82669113e-03 2.14592752e+01] [ 1.06640162e-02 4.33256094e-05 9.99943137e-01 1.73254811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.35, Y:21.47, Z:0.17 [[ 8.39679015e-01 -5.43009183e-01 -8.95421563e-03 7.13465870e+01] [ 5.42977740e-01 8.39726756e-01 -5.84367919e-03 2.14739727e+01] [ 1.06922659e-02 4.48750215e-05 9.99942835e-01 1.73562034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.37, Y:21.49, Z:0.17 [[ 8.38817674e-01 -5.44342786e-01 -8.70873188e-03 7.13706398e+01] [ 5.44313086e-01 8.38862880e-01 -5.68630748e-03 2.14881772e+01] [ 1.04007324e-02 2.94984911e-05 9.99945910e-01 1.74618738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.541858064 meters Centerline goodness [0,1] 0.9999139488856381 Centerline is valid? [True, True] Translation: X:71.39, Y:21.50, Z:0.18 [[ 8.38125971e-01 -5.45411815e-01 -8.41473831e-03 7.13945090e+01] [ 5.45384106e-01 8.38168212e-01 -5.49774547e-03 2.15022344e+01] [ 1.00515015e-02 1.85387261e-05 9.99949482e-01 1.75521738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.571858064 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:71.42, Y:21.52, Z:0.18 [[ 8.37516835e-01 -5.46350955e-01 -8.13542290e-03 7.14176209e+01] [ 5.46325079e-01 8.37556347e-01 -5.31733493e-03 2.15158427e+01] [ 9.71900610e-03 8.77196953e-06 9.99952769e-01 1.76032955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.601858064 meters Centerline goodness [0,1] 0.9999785237205506 Centerline is valid? [True, True] Translation: X:71.44, Y:21.53, Z:0.18 [[ 8.36149967e-01 -5.48442940e-01 -7.97330859e-03 7.14427689e+01] [ 5.48418156e-01 8.36187982e-01 -5.21393014e-03 2.15288644e+01] [ 9.52672800e-03 -1.30796788e-05 9.99954620e-01 1.77139212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.631858064 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:71.47, Y:21.54, Z:0.18 [[ 8.35613486e-01 -5.49270171e-01 -7.23753103e-03 7.14658570e+01] [ 5.49249766e-01 8.35644828e-01 -4.73459066e-03 2.15426791e+01] [ 8.64857479e-03 -1.89244121e-05 9.99962600e-01 1.77672619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.661858064 meters Centerline goodness [0,1] 0.99991412439082 Centerline is valid? [True, True] Translation: X:71.49, Y:21.56, Z:0.18 [[ 8.35120614e-01 -5.50026752e-01 -6.64325581e-03 7.14894313e+01] [ 5.50009568e-01 8.35147036e-01 -4.34779446e-03 2.15574475e+01] [ 7.93949866e-03 -2.29214824e-05 9.99968481e-01 1.78574061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.691858064 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:71.51, Y:21.57, Z:0.18 [[ 8.34792133e-01 -5.50528898e-01 -6.32676649e-03 7.15134473e+01] [ 5.50513308e-01 8.34816107e-01 -4.14314959e-03 2.15729216e+01] [ 7.56261015e-03 -2.43004701e-05 9.99971403e-01 1.79100405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721858064 meters Centerline goodness [0,1] 0.999935952177626 Centerline is valid? [True, True] Translation: X:71.54, Y:21.59, Z:0.18 [[ 8.35019147e-01 -5.50189842e-01 -5.84481425e-03 7.15360560e+01] [ 5.50176515e-01 8.35039603e-01 -3.82943020e-03 2.15879473e+01] [ 6.98756497e-03 -1.80319930e-05 9.99975587e-01 1.79805020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.56, Y:21.60, Z:0.18 [[ 8.35399305e-01 -5.49613585e-01 -5.73657556e-03 7.15587389e+01] [ 5.49600725e-01 8.35419001e-01 -3.75978101e-03 2.16033057e+01] [ 6.85887095e-03 -1.19076400e-05 9.99976478e-01 1.79731953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.58, Y:21.62, Z:0.18 [[ 8.35794019e-01 -5.49012027e-01 -5.84395381e-03 7.15816276e+01] [ 5.48998655e-01 8.35814450e-01 -3.83184589e-03 2.16189432e+01] [ 6.98819052e-03 -5.68890166e-06 9.99975582e-01 1.79909150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811858064 meters Centerline goodness [0,1] 0.9999785780081832 Centerline is valid? [True, True] Translation: X:71.61, Y:21.63, Z:0.18 [[ 8.35985047e-01 -5.48721104e-01 -5.84390312e-03 7.16052301e+01] [ 5.48707709e-01 8.36005472e-01 -3.83412913e-03 2.16346676e+01] [ 6.98940256e-03 -1.32007506e-06 9.99975574e-01 1.79962574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84185806400001 meters Centerline goodness [0,1] 0.9999570215966477 Centerline is valid? [True, True] Translation: X:71.63, Y:21.65, Z:0.18 [[ 8.36427075e-01 -5.48047020e-01 -5.84912643e-03 7.16280654e+01] [ 5.48033568e-01 8.36447526e-01 -3.83986819e-03 2.16501799e+01] [ 6.99691565e-03 6.25209137e-06 9.99975521e-01 1.80239170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:21.67, Z:0.18 [[ 8.36242906e-01 -5.48331178e-01 -5.54275675e-03 7.16515506e+01] [ 5.48319090e-01 8.36261275e-01 -3.64086504e-03 2.16660569e+01] [ 6.63159264e-03 5.44821891e-06 9.99978011e-01 1.80272109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.67, Y:21.68, Z:0.18 [[ 8.36223490e-01 -5.48360103e-01 -5.61007466e-03 7.16745788e+01] [ 5.48347706e-01 8.36242308e-01 -3.68730760e-03 2.16817448e+01] [ 6.71335416e-03 7.14165349e-06 9.99977465e-01 1.80413271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.931858064 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:71.70, Y:21.70, Z:0.18 [[ 8.36118138e-01 -5.48516315e-01 -6.02594629e-03 7.16978637e+01] [ 5.48502000e-01 8.36139852e-01 -3.96270994e-03 2.16960502e+01] [ 7.21214490e-03 8.05006429e-06 9.99973992e-01 1.79707498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.961858064 meters Centerline goodness [0,1] 0.999978483518375 Centerline is valid? [True, True] Translation: X:71.72, Y:21.71, Z:0.18 [[ 8.35750704e-01 -5.49071328e-01 -6.43723315e-03 7.17219801e+01] [ 5.49054992e-01 8.35775494e-01 -4.23542263e-03 2.17106898e+01] [ 7.70563085e-03 5.36245328e-06 9.99970311e-01 1.80399548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.991858064 meters Centerline goodness [0,1] 0.9998499045821987 Centerline is valid? [True, True] Translation: X:71.75, Y:21.73, Z:0.18 [[ 8.35250628e-01 -5.49831608e-01 -6.44912274e-03 7.17460536e+01] [ 5.49815215e-01 8.35275525e-01 -4.24581423e-03 2.17258488e+01] [ 7.72127725e-03 4.93195058e-07 9.99970190e-01 1.80077119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:21.74, Z:0.18 [[ 8.34843220e-01 -5.50451595e-01 -6.31177784e-03 7.17695071e+01] [ 5.50435892e-01 8.34867080e-01 -4.15787702e-03 2.17409886e+01] [ 7.55820558e-03 -3.05362026e-06 9.99971436e-01 1.80035671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.051858064 meters Centerline goodness [0,1] 0.9999568835424482 Centerline is valid? [True, True] Translation: X:71.79, Y:21.75, Z:0.18 [[ 8.34244480e-01 -5.51364938e-01 -5.73180180e-03 7.17924058e+01] [ 5.51351998e-01 8.34264170e-01 -3.77734274e-03 2.17546720e+01] [ 6.86453122e-03 -9.01304799e-06 9.99976439e-01 1.79946185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.081858064 meters Centerline goodness [0,1] 0.9999134330296275 Centerline is valid? [True, True] Translation: X:71.82, Y:21.77, Z:0.18 [[ 8.33888646e-01 -5.51903884e-01 -5.64174430e-03 7.18163230e+01] [ 5.51891350e-01 8.33907730e-01 -3.71958696e-03 2.17698332e+01] [ 6.75754867e-03 -1.19085443e-05 9.99977167e-01 1.80346667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.111858064 meters Centerline goodness [0,1] 0.9999352806661777 Centerline is valid? [True, True] Translation: X:71.84, Y:21.79, Z:0.18 [[ 8.33622503e-01 -5.52306829e-01 -5.53972642e-03 7.18402071e+01] [ 5.52294739e-01 8.33640910e-01 -3.65450243e-03 2.17852974e+01] [ 6.63654923e-03 -1.30862904e-05 9.99977978e-01 1.80747616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141858064 meters Centerline goodness [0,1] 0.9999139155511557 Centerline is valid? [True, True] Translation: X:71.86, Y:21.80, Z:0.18 [[ 8.33480686e-01 -5.52523659e-01 -5.24897874e-03 7.18641089e+01] [ 5.52512796e-01 8.33497214e-01 -3.46470647e-03 2.18005538e+01] [ 6.28934145e-03 -1.23619951e-05 9.99980222e-01 1.81358882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.89, Y:21.81, Z:0.18 [[ 8.33092722e-01 -5.53115357e-01 -4.46303861e-03 7.18885709e+01] [ 5.53107503e-01 8.33104677e-01 -2.94750772e-03 2.18148484e+01] [ 5.34849012e-03 -1.29929156e-05 9.99985697e-01 1.82617855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201858064 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:71.91, Y:21.83, Z:0.18 [[ 8.33048673e-01 -5.53180523e-01 -4.60623289e-03 7.19116184e+01] [ 5.53172150e-01 8.33061408e-01 -3.04351885e-03 2.18295860e+01] [ 5.52089020e-03 -1.26404145e-05 9.99984760e-01 1.82547389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.94, Y:21.84, Z:0.18 [[ 8.32678255e-01 -5.53734156e-01 -5.04058957e-03 7.19356768e+01] [ 5.53724132e-01 8.32693512e-01 -3.33190326e-03 2.18442458e+01] [ 6.04225487e-03 -1.66926865e-05 9.99981745e-01 1.82086544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.261858064 meters Centerline goodness [0,1] 0.9998706729318446 Centerline is valid? [True, True] Translation: X:71.96, Y:21.86, Z:0.18 [[ 8.32430518e-01 -5.54104619e-01 -5.24437263e-03 7.19588531e+01] [ 5.54093765e-01 8.32447038e-01 -3.46817864e-03 2.18584214e+01] [ 6.28739627e-03 -1.88564388e-05 9.99980234e-01 1.81355623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.291858064 meters Centerline goodness [0,1] 0.999913728027607 Centerline is valid? [True, True] Translation: X:71.98, Y:21.87, Z:0.18 [[ 8.32286607e-01 -5.54314772e-01 -5.84268700e-03 7.19823813e+01] [ 5.54301294e-01 8.32307114e-01 -3.86556697e-03 2.18735582e+01] [ 7.00565083e-03 -2.13493520e-05 9.99975460e-01 1.81146200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.01, Y:21.89, Z:0.18 [[ 8.32008155e-01 -5.54726447e-01 -6.40305018e-03 7.20059270e+01] [ 5.54710251e-01 8.32032793e-01 -4.23891615e-03 2.18884798e+01] [ 7.67898662e-03 -2.50247638e-05 9.99970516e-01 1.80559105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.03, Y:21.90, Z:0.18 [[ 8.31722072e-01 -5.55148400e-01 -6.97496110e-03 7.20299933e+01] [ 5.55129182e-01 8.31751317e-01 -4.61923608e-03 2.19031911e+01] [ 8.36579460e-03 -3.00838500e-05 9.99965006e-01 1.79722517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.381858064 meters Centerline goodness [0,1] 0.9999353267079139 Centerline is valid? [True, True] Translation: X:72.05, Y:21.92, Z:0.18 [[ 8.31545812e-01 -5.55411065e-01 -7.07896793e-03 7.20533886e+01] [ 5.55391263e-01 8.31575942e-01 -4.69009615e-03 2.19178877e+01] [ 8.49163073e-03 -3.15671251e-05 9.99963945e-01 1.79609370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.411858064 meters Centerline goodness [0,1] 0.9998491249245625 Centerline is valid? [True, True] Translation: X:72.08, Y:21.93, Z:0.18 [[ 8.31499190e-01 -5.55476744e-01 -7.39480246e-03 7.20767898e+01] [ 5.55455122e-01 8.31532071e-01 -4.90125518e-03 2.19322303e+01] [ 8.87154868e-03 -3.20911900e-05 9.99960647e-01 1.79525314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.441858064 meters Centerline goodness [0,1] 0.9999783460730604 Centerline is valid? [True, True] Translation: X:72.10, Y:21.95, Z:0.18 [[ 8.31306607e-01 -5.55763927e-01 -7.46882157e-03 7.21001778e+01] [ 5.55741861e-01 8.31340157e-01 -4.95256031e-03 2.19472736e+01] [ 8.96158566e-03 -3.36406878e-05 9.99959844e-01 1.79791535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.471858064 meters Centerline goodness [0,1] 0.9999566705663157 Centerline is valid? [True, True] Translation: X:72.12, Y:21.96, Z:0.18 [[ 8.31529532e-01 -5.55425251e-01 -7.83759054e-03 7.21239990e+01] [ 5.55400909e-01 8.31566467e-01 -5.20013326e-03 2.19628973e+01] [ 9.40576280e-03 -2.89405311e-05 9.99955764e-01 1.79636836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501858064 meters Centerline goodness [0,1] 0.9999783779108737 Centerline is valid? [True, True] Translation: X:72.15, Y:21.98, Z:0.18 [[ 8.32082127e-01 -5.54590925e-01 -8.26072557e-03 7.21475989e+01] [ 5.54563808e-01 8.32123132e-01 -5.48418658e-03 2.19785552e+01] [ 9.91542094e-03 -1.78057979e-05 9.99950841e-01 1.80516473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.17, Y:21.99, Z:0.18 [[ 8.32580851e-01 -5.53845101e-01 -8.04555765e-03 7.21704050e+01] [ 5.53819320e-01 8.32619724e-01 -5.34386021e-03 2.19939839e+01] [ 9.65856079e-03 -6.58958150e-06 9.99953355e-01 1.80584000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561858064 meters Centerline goodness [0,1] 0.9999567118306567 Centerline is valid? [True, True] Translation: X:72.19, Y:22.01, Z:0.18 [[ 8.33512850e-01 -5.52435715e-01 -8.43262014e-03 7.21928403e+01] [ 5.52407304e-01 8.33555505e-01 -5.60268776e-03 2.20098613e+01] [ 1.01241818e-02 1.16712823e-05 9.99948749e-01 1.79978513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59185806400001 meters Centerline goodness [0,1] 0.9999783070849061 Centerline is valid? [True, True] Translation: X:72.22, Y:22.03, Z:0.18 [[ 8.33758750e-01 -5.52055489e-01 -9.00467198e-03 7.22162149e+01] [ 5.52023038e-01 8.33807374e-01 -5.98573784e-03 2.20253547e+01] [ 1.08126213e-02 1.98749230e-05 9.99941542e-01 1.79937187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.621858064 meters Centerline goodness [0,1] 0.9999782315294528 Centerline is valid? [True, True] Translation: X:72.24, Y:22.04, Z:0.18 [[ 8.34003301e-01 -5.51683199e-01 -9.17289541e-03 7.22400636e+01] [ 5.51649460e-01 8.34053744e-01 -6.10129805e-03 2.20408161e+01] [ 1.10166714e-02 2.82799171e-05 9.99939314e-01 1.79856865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.651858064 meters Centerline goodness [0,1] 0.9999565141763785 Centerline is valid? [True, True] Translation: X:72.26, Y:22.06, Z:0.18 [[ 8.34226308e-01 -5.51336378e-01 -9.72965235e-03 7.22637008e+01] [ 5.51298371e-01 8.34283044e-01 -6.47371504e-03 2.20556900e+01] [ 1.16864786e-02 3.66019045e-05 9.99931710e-01 1.79877492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.681858064 meters Centerline goodness [0,1] 0.9999565141763785 Centerline is valid? [True, True] Translation: X:72.29, Y:22.07, Z:0.18 [[ 8.34072150e-01 -5.51569588e-01 -9.72820571e-03 7.22866263e+01] [ 5.51531571e-01 8.34128880e-01 -6.47588856e-03 2.20710314e+01] [ 1.16864805e-02 3.59457189e-05 9.99931710e-01 1.79971514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.711858064 meters Centerline goodness [0,1] 0.999956577433292 Centerline is valid? [True, True] Translation: X:72.31, Y:22.09, Z:0.18 [[ 8.34408730e-01 -5.51066366e-01 -9.37718397e-03 7.23104852e+01] [ 5.51030970e-01 8.34461418e-01 -6.24598384e-03 2.20858688e+01] [ 1.12668499e-02 4.45846562e-05 9.99936526e-01 1.81079514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.741858064 meters Centerline goodness [0,1] 0.9998263248160129 Centerline is valid? [True, True] Translation: X:72.33, Y:22.10, Z:0.18 [[ 8.34524272e-01 -5.50897947e-01 -8.98280482e-03 7.23338125e+01] [ 5.50865417e-01 8.34572615e-01 -5.98689691e-03 2.21014206e+01] [ 1.07949721e-02 4.78942672e-05 9.99941731e-01 1.81228337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.36, Y:22.12, Z:0.18 [[ 8.34476802e-01 -5.50968967e-01 -9.03679177e-03 7.23570425e+01] [ 5.50936009e-01 8.34525730e-01 -6.02655530e-03 2.21167745e+01] [ 1.08618802e-02 5.03266057e-05 9.99941007e-01 1.81350622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.801858064 meters Centerline goodness [0,1] 0.9999565189034068 Centerline is valid? [True, True] Translation: X:72.38, Y:22.13, Z:0.18 [[ 8.34586920e-01 -5.50803797e-01 -8.93592060e-03 7.23804446e+01] [ 5.50771522e-01 8.34634755e-01 -5.96288408e-03 2.21317740e+01] [ 1.07426091e-02 5.48944691e-05 9.99942295e-01 1.81331964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.40, Y:22.15, Z:0.18 [[ 8.34924322e-01 -5.50283998e-01 -9.42856770e-03 7.24043620e+01] [ 5.50248011e-01 8.34977555e-01 -6.29365519e-03 2.21463079e+01] [ 1.13359401e-02 6.66751734e-05 9.99935744e-01 1.80484339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.43, Y:22.16, Z:0.18 [[ 8.35041840e-01 -5.50102029e-01 -9.63758685e-03 7.24277894e+01] [ 5.50064380e-01 8.35097451e-01 -6.43622075e-03 2.21616518e+01] [ 1.15889023e-02 7.32203802e-05 9.99932844e-01 1.79971785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891858064 meters Centerline goodness [0,1] 0.9999127532881105 Centerline is valid? [True, True] Translation: X:72.45, Y:22.18, Z:0.18 [[ 8.35167236e-01 -5.49904949e-01 -1.00117185e-02 7.24517418e+01] [ 5.49864257e-01 8.35227239e-01 -6.69015962e-03 2.21764296e+01] [ 1.20410119e-02 8.23159584e-05 9.99927501e-01 1.79767333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.48, Y:22.19, Z:0.18 [[ 8.35161638e-01 -5.49901940e-01 -1.06251999e-02 7.24767419e+01] [ 5.49856057e-01 8.35229219e-01 -7.10410685e-03 2.21917374e+01] [ 1.27810395e-02 9.07469906e-05 9.99918315e-01 1.79284960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951858064 meters Centerline goodness [0,1] 0.9999782201507166 Centerline is valid? [True, True] Translation: X:72.50, Y:22.21, Z:0.18 [[ 8.35176933e-01 -5.49865337e-01 -1.12961359e-02 7.25006824e+01] [ 5.49813444e-01 8.35253316e-01 -7.55483989e-03 2.22062552e+01] [ 1.35892796e-02 9.88606194e-05 9.99907657e-01 1.78884116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98185806400001 meters Centerline goodness [0,1] 0.9999782518866488 Centerline is valid? [True, True] Translation: X:72.52, Y:22.22, Z:0.18 [[ 8.35044458e-01 -5.50069275e-01 -1.11600151e-02 7.25249890e+01] [ 5.50018619e-01 8.35119024e-01 -7.46561168e-03 2.22193532e+01] [ 1.34265446e-02 9.59015450e-05 9.99909855e-01 1.79329457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.011858064 meters Centerline goodness [0,1] 0.9999125415427672 Centerline is valid? [True, True] Translation: X:72.55, Y:22.23, Z:0.18 [[ 8.34686166e-01 -5.50615473e-01 -1.10274556e-02 7.25491432e+01] [ 5.50566010e-01 8.34759003e-01 -7.38074651e-03 2.22335892e+01] [ 1.32692211e-02 8.92647553e-05 9.99911956e-01 1.80416532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.041858064 meters Centerline goodness [0,1] 0.9999563080283997 Centerline is valid? [True, True] Translation: X:72.57, Y:22.25, Z:0.18 [[ 8.34409826e-01 -5.51039372e-01 -1.07635228e-02 7.25728883e+01] [ 5.50992228e-01 8.34479241e-01 -7.20845156e-03 2.22478768e+01] [ 1.29540770e-02 8.41853862e-05 9.99916089e-01 1.80628264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.071858064 meters Centerline goodness [0,1] 0.9998686946055367 Centerline is valid? [True, True] Translation: X:72.60, Y:22.26, Z:0.18 [[ 8.34058704e-01 -5.51569426e-01 -1.08280608e-02 7.25972835e+01] [ 5.51521701e-01 8.34128984e-01 -7.25610701e-03 2.22614846e+01] [ 1.30342461e-02 8.01086897e-05 9.99915047e-01 1.80517169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101858064 meters Centerline goodness [0,1] 0.9998913137988001 Centerline is valid? [True, True] Translation: X:72.62, Y:22.28, Z:0.18 [[ 8.33621729e-01 -5.52217565e-01 -1.14268550e-02 7.26204626e+01] [ 5.52164439e-01 8.33700039e-01 -7.66008992e-03 2.22758704e+01] [ 1.37566057e-02 7.61144174e-05 9.99905371e-01 1.79446787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.131858064 meters Centerline goodness [0,1] 0.9998466828744771 Centerline is valid? [True, True] Translation: X:72.65, Y:22.29, Z:0.18 [[ 8.33143392e-01 -5.52934490e-01 -1.16420501e-02 7.26452186e+01] [ 5.52879357e-01 8.33224726e-01 -7.80842153e-03 2.22893909e+01] [ 1.40179896e-02 6.88856495e-05 9.99901741e-01 1.80522893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161858064 meters Centerline goodness [0,1] 0.9999561259186136 Centerline is valid? [True, True] Translation: X:72.67, Y:22.30, Z:0.18 [[ 8.32561222e-01 -5.53807658e-01 -1.17851827e-02 7.26681823e+01] [ 5.53751209e-01 8.32644627e-01 -7.90715825e-03 2.23031553e+01] [ 1.41919138e-02 5.71341523e-05 9.99899288e-01 1.79070973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.191858064 meters Centerline goodness [0,1] 0.99986781811773 Centerline is valid? [True, True] Translation: X:72.69, Y:22.32, Z:0.18 [[ 8.31395531e-01 -5.55553297e-01 -1.19166126e-02 7.26938971e+01] [ 5.55495701e-01 8.31480928e-01 -7.99952086e-03 2.23154648e+01] [ 1.43525963e-02 3.11388288e-05 9.99896996e-01 1.80304164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.72, Y:22.33, Z:0.18 [[ 8.30602496e-01 -5.56750682e-01 -1.13212764e-02 7.27180807e+01] [ 5.56698748e-01 8.30679648e-01 -7.60437964e-03 2.23300464e+01] [ 1.36380974e-02 1.36763394e-05 9.99906997e-01 1.80625280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.74, Y:22.34, Z:0.18 [[ 8.29924886e-01 -5.57767300e-01 -1.09691701e-02 7.27427494e+01] [ 5.57718576e-01 8.29997373e-01 -7.37228206e-03 2.23443260e+01] [ 1.32164002e-02 7.30408703e-07 9.99912660e-01 1.81555022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281858064 meters Centerline goodness [0,1] 0.9999115435647944 Centerline is valid? [True, True] Translation: X:72.77, Y:22.36, Z:0.18 [[ 8.29429246e-01 -5.58506267e-01 -1.08570406e-02 7.27661882e+01] [ 5.58458565e-01 8.29500301e-01 -7.29947167e-03 2.23577637e+01] [ 1.30827191e-02 -8.81202289e-06 9.99914418e-01 1.82206974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.79, Y:22.37, Z:0.18 [[ 8.28307851e-01 -5.60166806e-01 -1.09203167e-02 7.27909871e+01] [ 5.60118639e-01 8.28379834e-01 -7.34582054e-03 2.23705927e+01] [ 1.31610549e-02 -3.20720913e-05 9.99913389e-01 1.82859138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.81, Y:22.38, Z:0.18 [[ 8.27889795e-01 -5.60784161e-01 -1.09367141e-02 7.28144315e+01] [ 5.60735870e-01 8.27962030e-01 -7.35944422e-03 2.23849843e+01] [ 1.31822438e-02 -3.97991535e-05 9.99913110e-01 1.82573732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.371858064 meters Centerline goodness [0,1] 0.9999777837021239 Centerline is valid? [True, True] Translation: X:72.84, Y:22.40, Z:0.18 [[ 8.27617244e-01 -5.61185026e-01 -1.10029105e-02 7.28380889e+01] [ 5.61136133e-01 8.27690380e-01 -7.40778094e-03 2.23994939e+01] [ 1.32641389e-02 -4.33233935e-05 9.99912027e-01 1.82347443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:22.41, Z:0.18 [[ 8.27196007e-01 -5.61809022e-01 -1.08345650e-02 7.28620894e+01] [ 5.61761612e-01 8.27266958e-01 -7.29876029e-03 2.24143503e+01] [ 1.30635870e-02 -4.89373144e-05 9.99914667e-01 1.82150572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.89, Y:22.43, Z:0.18 [[ 8.26686258e-01 -5.62553854e-01 -1.10901948e-02 7.28870244e+01] [ 5.62504217e-01 8.26760641e-01 -7.47314515e-03 2.24277187e+01] [ 1.33729831e-02 -6.03349222e-05 9.99910576e-01 1.82319693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:22.44, Z:0.18 [[ 8.26401143e-01 -5.62979195e-01 -1.07506408e-02 7.29108170e+01] [ 5.62932541e-01 8.26471066e-01 -7.24792552e-03 2.24427840e+01] [ 1.29655248e-02 -6.21915974e-05 9.99915942e-01 1.83959475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:22.46, Z:0.18 [[ 8.26372092e-01 -5.63028026e-01 -1.04214714e-02 7.29337811e+01] [ 5.62984158e-01 8.26437801e-01 -7.02847858e-03 2.24568149e+01] [ 1.25699284e-02 -5.89847793e-05 9.99920994e-01 1.84045870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521858064 meters Centerline goodness [0,1] 0.9999556176907884 Centerline is valid? [True, True] Translation: X:72.96, Y:22.47, Z:0.18 [[ 8.26692764e-01 -5.62563551e-01 -1.00660348e-02 7.29566717e+01] [ 5.62522570e-01 8.26754043e-01 -6.79043177e-03 2.24711336e+01] [ 1.21421844e-02 -4.87709489e-05 9.99926280e-01 1.84760801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.551858064 meters Centerline goodness [0,1] 0.9998890269886364 Centerline is valid? [True, True] Translation: X:72.98, Y:22.49, Z:0.19 [[ 8.27010677e-01 -5.62102142e-01 -9.72220125e-03 7.29797287e+01] [ 5.62063843e-01 8.27067821e-01 -6.56173000e-03 2.24874821e+01] [ 1.17292823e-02 -3.78770195e-05 9.99931209e-01 1.86301454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.581858064 meters Centerline goodness [0,1] 0.9999113416228916 Centerline is valid? [True, True] Translation: X:73.00, Y:22.50, Z:0.19 [[ 8.27405714e-01 -5.61524484e-01 -9.48880399e-03 7.30030112e+01] [ 5.61487919e-01 8.27460122e-01 -6.40808011e-03 2.25035540e+01] [ 1.14499008e-02 -2.57667099e-05 9.99934447e-01 1.86759471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.03, Y:22.52, Z:0.19 [[ 8.28751143e-01 -5.59543437e-01 -9.09315002e-03 7.30253499e+01] [ 5.59509707e-01 8.28801027e-01 -6.14376369e-03 2.25196543e+01] [ 1.09741147e-02 3.94546997e-06 9.99939783e-01 1.86180196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:22.54, Z:0.19 [[ 8.29135423e-01 -5.58973101e-01 -9.13909203e-03 7.30485268e+01] [ 5.58938957e-01 8.29185789e-01 -6.17817679e-03 2.25356710e+01] [ 1.10314399e-02 1.43506557e-05 9.99939152e-01 1.86716200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:22.55, Z:0.19 [[ 8.29632792e-01 -5.58234504e-01 -9.14707529e-03 7.30709863e+01] [ 5.58200231e-01 8.29683215e-01 -6.18584342e-03 2.25512535e+01] [ 1.10423261e-02 2.60790117e-05 9.99939031e-01 1.86722089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:22.57, Z:0.19 [[ 8.30053233e-01 -5.57609926e-01 -9.09954170e-03 7.30942123e+01] [ 5.57575937e-01 8.30103108e-01 -6.15673518e-03 2.25670108e+01] [ 1.09866145e-02 3.67324514e-05 9.99939645e-01 1.87433434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:22.58, Z:0.19 [[ 8.30450765e-01 -5.57011951e-01 -9.44527150e-03 7.31175200e+01] [ 5.56975269e-01 8.30504476e-01 -6.39267323e-03 2.25831237e+01] [ 1.14051356e-02 4.80177455e-05 9.99934958e-01 1.87218445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:22.60, Z:0.19 [[ 8.31220803e-01 -5.55853800e-01 -9.92624516e-03 7.31411809e+01] [ 5.55813168e-01 8.31280066e-01 -6.72110469e-03 2.25995393e+01] [ 1.19874413e-02 6.95842634e-05 9.99928146e-01 1.87383787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.791858064 meters Centerline goodness [0,1] 0.9999778073679538 Centerline is valid? [True, True] Translation: X:73.16, Y:22.61, Z:0.19 [[ 8.31394747e-01 -5.55591575e-01 -1.00387937e-02 7.31639198e+01] [ 5.55549970e-01 8.31455349e-01 -6.79956600e-03 2.26149668e+01] [ 1.21245903e-02 7.60718925e-05 9.99926492e-01 1.87429288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:22.63, Z:0.19 [[ 8.31407203e-01 -5.55572816e-01 -1.00453518e-02 7.31867197e+01] [ 5.55531135e-01 8.31467883e-01 -6.80574190e-03 2.26303558e+01] [ 1.21334726e-02 7.78371670e-05 9.99926384e-01 1.86985289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.851858064 meters Centerline goodness [0,1] 0.9999554882934212 Centerline is valid? [True, True] Translation: X:73.21, Y:22.64, Z:0.19 [[ 8.30841788e-01 -5.56417249e-01 -1.00880626e-02 7.32110535e+01] [ 5.56375232e-01 8.30903027e-01 -6.83814002e-03 2.26449484e+01] [ 1.21870608e-02 6.86643071e-05 9.99925733e-01 1.87172358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.23, Y:22.66, Z:0.19 [[ 8.30655817e-01 -5.56691567e-01 -1.02670720e-02 7.32335579e+01] [ 5.56648036e-01 8.30719264e-01 -6.96197600e-03 2.26594672e+01] [ 1.24047278e-02 6.78603937e-05 9.99923056e-01 1.87241002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.911858064 meters Centerline goodness [0,1] 0.9999554118827333 Centerline is valid? [True, True] Translation: X:73.26, Y:22.67, Z:0.19 [[ 8.30174632e-01 -5.57405396e-01 -1.04549009e-02 7.32576996e+01] [ 5.57360269e-01 8.30240460e-01 -7.09295210e-03 2.26742790e+01] [ 1.26337315e-02 6.12425365e-05 9.99920189e-01 1.87421241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.28, Y:22.69, Z:0.19 [[ 8.29385610e-01 -5.58567764e-01 -1.10255696e-02 7.32824751e+01] [ 5.58517618e-01 8.29458890e-01 -7.48466088e-03 2.26885306e+01] [ 1.33259470e-02 4.96951742e-05 9.99911204e-01 1.88005269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.31, Y:22.70, Z:0.19 [[ 8.29026214e-01 -5.59094136e-01 -1.13702357e-02 7.33050780e+01] [ 5.59040807e-01 8.29104182e-01 -7.72217794e-03 2.27027172e+01] [ 1.37445343e-02 4.54622276e-05 9.99905538e-01 1.87442276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001858064 meters Centerline goodness [0,1] 0.9999776361399978 Centerline is valid? [True, True] Translation: X:73.33, Y:22.72, Z:0.19 [[ 8.28445157e-01 -5.59951065e-01 -1.15510290e-02 7.33288528e+01] [ 5.59896049e-01 8.28525680e-01 -7.84925079e-03 2.27173823e+01] [ 1.39655205e-02 3.52982824e-05 9.99902477e-01 1.87513415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.35, Y:22.73, Z:0.19 [[ 8.27776092e-01 -5.60927788e-01 -1.21143726e-02 7.33529827e+01] [ 5.60867305e-01 8.27864733e-01 -8.23706370e-03 2.27319488e+01] [ 1.46494598e-02 2.38888682e-05 9.99892691e-01 1.87913990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:22.75, Z:0.19 [[ 8.27326846e-01 -5.61592345e-01 -1.20136439e-02 7.33769312e+01] [ 5.61532863e-01 8.27414067e-01 -8.17352484e-03 2.27468907e+01] [ 1.45304469e-02 1.61206829e-05 9.99894427e-01 1.88249540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:22.76, Z:0.19 [[ 8.25733803e-01 -5.63938067e-01 -1.17278500e-02 7.34020720e+01] [ 5.63881550e-01 8.25817084e-01 -7.98387121e-03 2.27604289e+01] [ 1.41874678e-02 -2.05658811e-05 9.99899353e-01 1.89112966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:22.77, Z:0.19 [[ 8.24578355e-01 -5.65626126e-01 -1.17312763e-02 7.34262741e+01] [ 5.65569677e-01 8.24661800e-01 -7.99099477e-03 2.27748010e+01] [ 1.41942509e-02 -4.56528464e-05 9.99899256e-01 1.89678172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:22.79, Z:0.19 [[ 8.22309787e-01 -5.68922505e-01 -1.15670478e-02 7.34524471e+01] [ 5.68867892e-01 8.22391132e-01 -7.88341427e-03 2.27880624e+01] [ 1.39976893e-02 -9.75133722e-05 9.99902023e-01 1.90228940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:22.80, Z:0.19 [[ 8.21215351e-01 -5.70494505e-01 -1.18897410e-02 7.34770064e+01] [ 5.70436904e-01 8.21301409e-01 -8.10766725e-03 2.28028509e+01] [ 1.43904406e-02 -1.24206238e-04 9.99896445e-01 1.90663539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:22.82, Z:0.19 [[ 8.19195290e-01 -5.73389193e-01 -1.19962891e-02 7.35019035e+01] [ 5.73330832e-01 8.19283103e-01 -8.18252643e-03 2.28160167e+01] [ 1.45201292e-02 -1.74755317e-04 9.99894562e-01 1.90239880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.52, Y:22.83, Z:0.19 [[ 8.19035690e-01 -5.73617184e-01 -1.19943785e-02 7.35246682e+01] [ 5.73558807e-01 8.19123492e-01 -8.18532663e-03 2.28316310e+01] [ 1.45201212e-02 -1.75406790e-04 9.99894562e-01 1.90333951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:22.85, Z:0.19 [[ 8.17624502e-01 -5.75624992e-01 -1.20848285e-02 7.35487052e+01] [ 5.75565916e-01 8.17713779e-01 -8.24938063e-03 2.28454243e+01] [ 1.46304805e-02 -2.10719678e-04 9.99892947e-01 1.90607980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:22.86, Z:0.19 [[ 8.16875214e-01 -5.76690582e-01 -1.19522909e-02 7.35731800e+01] [ 5.76632857e-01 8.16962620e-01 -8.16247850e-03 2.28610822e+01] [ 1.44717994e-02 -2.24357295e-04 9.99895253e-01 1.90825826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:22.88, Z:0.19 [[ 8.16364703e-01 -5.77417256e-01 -1.17466876e-02 7.35963999e+01] [ 5.77361508e-01 8.16449178e-01 -8.02675457e-03 2.28775979e+01] [ 1.42253600e-02 -2.29326144e-04 9.99898788e-01 1.91613695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.62, Y:22.89, Z:0.19 [[ 8.15980249e-01 -5.77953069e-01 -1.21030587e-02 7.36198830e+01] [ 5.77893911e-01 8.16069967e-01 -8.27266777e-03 2.28922912e+01] [ 1.46581564e-02 -2.43950413e-04 9.99892534e-01 1.90718428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:22.91, Z:0.19 [[ 8.15979687e-01 -5.77939680e-01 -1.27622870e-02 7.36421023e+01] [ 5.77873832e-01 8.16079446e-01 -8.72766919e-03 2.29087414e+01] [ 1.54591065e-02 -2.53390947e-04 9.99880469e-01 1.90580818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:22.92, Z:0.19 [[ 8.16049907e-01 -5.77835082e-01 -1.30064041e-02 7.36649778e+01] [ 5.77766615e-01 8.16153511e-01 -8.89858385e-03 2.29240773e+01] [ 1.57571363e-02 -2.52977521e-04 9.99875817e-01 1.90283833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.69, Y:22.94, Z:0.19 [[ 8.16139692e-01 -5.77709145e-01 -1.29671687e-02 7.36880563e+01] [ 5.77640998e-01 8.16242662e-01 -8.87658199e-03 2.29406836e+01] [ 1.57124389e-02 -2.45837373e-04 9.99876522e-01 1.90616510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.71, Y:22.96, Z:0.19 [[ 8.17092985e-01 -5.76357974e-01 -1.30590881e-02 7.37100159e+01] [ 5.76288647e-01 8.17197307e-01 -8.94190990e-03 2.29581486e+01] [ 1.58255927e-02 -2.19432335e-04 9.99874743e-01 1.90091260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.73, Y:22.97, Z:0.19 [[ 8.17469547e-01 -5.75821265e-01 -1.31685590e-02 7.37312341e+01] [ 5.75750669e-01 8.17575579e-01 -9.01890425e-03 2.29744807e+01] [ 1.59595691e-02 -2.09127072e-04 9.99872616e-01 1.89953232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:22.99, Z:0.19 [[ 8.17824626e-01 -5.75325240e-01 -1.27964472e-02 7.37541341e+01] [ 5.75258457e-01 8.17924710e-01 -8.76789083e-03 2.29917487e+01] [ 1.55109192e-02 -1.90667410e-04 9.99879680e-01 1.90230723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.78, Y:23.01, Z:0.19 [[ 8.18233550e-01 -5.74752451e-01 -1.23886040e-02 7.37771824e+01] [ 5.74689729e-01 8.18327313e-01 -8.49261702e-03 2.30086887e+01] [ 1.50190855e-02 -1.70659331e-04 9.99887193e-01 1.90575924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.80, Y:23.02, Z:0.19 [[ 8.18081843e-01 -5.74968412e-01 -1.23864262e-02 7.37998925e+01] [ 5.74905667e-01 8.18175590e-01 -8.49579284e-03 2.30243702e+01] [ 1.50190841e-02 -1.70772775e-04 9.99887193e-01 1.90669766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.82, Y:23.04, Z:0.19 [[ 8.18387585e-01 -5.74541561e-01 -1.19898564e-02 7.38226792e+01] [ 5.74482662e-01 8.18475394e-01 -8.22794812e-03 2.30415254e+01] [ 1.45407006e-02 -1.54314031e-04 9.99894267e-01 1.91131552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.661858064 meters Centerline goodness [0,1] 0.9999553252323088 Centerline is valid? [True, True] Translation: X:73.85, Y:23.06, Z:0.19 [[ 8.18718408e-01 -5.74084322e-01 -1.12853418e-02 7.38451511e+01] [ 5.74032047e-01 8.18796173e-01 -7.74834108e-03 2.30602998e+01] [ 1.36885959e-02 -1.34438405e-04 9.99906298e-01 1.92424721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.87, Y:23.08, Z:0.19 [[ 8.18919358e-01 -5.73808171e-01 -1.07363407e-02 7.38682523e+01] [ 5.73760784e-01 8.18989724e-01 -7.37519947e-03 2.30779647e+01] [ 1.30249025e-02 -1.20397681e-04 9.99915165e-01 1.93394986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:23.09, Z:0.19 [[ 8.19118860e-01 -5.73531398e-01 -1.02970226e-02 7.38903933e+01] [ 5.73487761e-01 8.19183571e-01 -7.07565374e-03 2.30941754e+01] [ 1.24932614e-02 -1.09415024e-04 9.99921950e-01 1.93514699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751858064 meters Centerline goodness [0,1] 0.9998209649986572 Centerline is valid? [True, True] Translation: X:73.91, Y:23.11, Z:0.19 [[ 8.19256261e-01 -5.73336347e-01 -1.02280210e-02 7.39124018e+01] [ 5.73293234e-01 8.19320098e-01 -7.03176488e-03 2.31112921e+01] [ 1.24115896e-02 -1.02837836e-04 9.99922968e-01 1.93887188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.93, Y:23.13, Z:0.19 [[ 8.19918240e-01 -5.72403896e-01 -9.37332344e-03 7.39338086e+01] [ 5.72367605e-01 8.19971812e-01 -6.44605362e-03 2.31299722e+01] [ 1.13756072e-02 -7.97497465e-05 9.99935293e-01 1.93476093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811858064 meters Centerline goodness [0,1] 0.9998887083490996 Centerline is valid? [True, True] Translation: X:73.96, Y:23.15, Z:0.19 [[ 8.20264069e-01 -5.71913349e-01 -9.05415726e-03 7.39560114e+01] [ 5.71879426e-01 8.20314035e-01 -6.22944959e-03 2.31470300e+01] [ 1.09899577e-02 -6.80925867e-05 9.99939606e-01 1.93338000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84185806400001 meters Centerline goodness [0,1] 0.9999554952268631 Centerline is valid? [True, True] Translation: X:73.98, Y:23.16, Z:0.19 [[ 8.20417394e-01 -5.71693374e-01 -9.05460150e-03 7.39781786e+01] [ 5.71659409e-01 8.20467356e-01 -6.23200296e-03 2.31630347e+01] [ 1.09917998e-02 -6.33045107e-05 9.99939586e-01 1.93233998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.871858064 meters Centerline goodness [0,1] 0.9999778108150088 Centerline is valid? [True, True] Translation: X:74.00, Y:23.18, Z:0.19 [[ 8.21048058e-01 -5.70796929e-01 -8.42331756e-03 7.40006577e+01] [ 5.70767464e-01 8.21091264e-01 -5.79992752e-03 2.31811929e+01] [ 1.02268933e-02 -4.57363722e-05 9.99947703e-01 1.94772771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.02, Y:23.20, Z:0.20 [[ 8.21276722e-01 -5.70465232e-01 -8.60032383e-03 7.40228169e+01] [ 5.70434461e-01 8.21321750e-01 -5.92518002e-03 2.31981729e+01] [ 1.04437422e-02 -3.97086670e-05 9.99945462e-01 1.95398813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.04, Y:23.21, Z:0.20 [[ 8.21756407e-01 -5.69771626e-01 -8.75802512e-03 7.40445521e+01] [ 5.69739653e-01 8.21803075e-01 -6.03605762e-03 2.32148245e+01] [ 1.06365463e-02 -2.96251774e-05 9.99943430e-01 1.95206399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.961858064 meters Centerline goodness [0,1] 0.9999558186798622 Centerline is valid? [True, True] Translation: X:74.07, Y:23.23, Z:0.19 [[ 8.22022638e-01 -5.69384974e-01 -8.91818749e-03 7.40666944e+01] [ 5.69351766e-01 8.22071014e-01 -6.14943440e-03 2.32321186e+01] [ 1.08327790e-02 -2.26115043e-05 9.99941323e-01 1.94998506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.09, Y:23.25, Z:0.19 [[ 8.22974664e-01 -5.68000722e-01 -9.37459993e-03 7.40866976e+01] [ 5.67963904e-01 8.23028055e-01 -6.46716525e-03 2.32502359e+01] [ 1.13889133e-02 -2.12122474e-06 9.99935144e-01 1.93925864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.11, Y:23.27, Z:0.19 [[ 8.23294012e-01 -5.67537086e-01 -9.41414364e-03 7.41084280e+01] [ 5.67499887e-01 8.23347834e-01 -6.49791533e-03 2.32674694e+01] [ 1.14389227e-02 7.16932881e-06 9.99934573e-01 1.94219077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.13, Y:23.28, Z:0.19 [[ 8.23528226e-01 -5.67202691e-01 -9.07563981e-03 7.41310974e+01] [ 5.67168058e-01 8.23578234e-01 -6.26792778e-03 2.32847567e+01] [ 1.10296849e-02 1.44024396e-05 9.99939171e-01 1.94304923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.15, Y:23.30, Z:0.20 [[ 8.23754028e-01 -5.66881108e-01 -8.66670394e-03 7.41531832e+01] [ 5.66849470e-01 8.23799617e-01 -5.98905880e-03 2.33013598e+01] [ 1.05347117e-02 2.07947739e-05 9.99944508e-01 1.96341476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.18, Y:23.32, Z:0.20 [[ 8.23729855e-01 -5.66921256e-01 -8.33159901e-03 7.41752126e+01] [ 5.66891992e-01 8.23771989e-01 -5.76019801e-03 2.33171120e+01] [ 1.01289166e-02 2.17303138e-05 9.99948701e-01 1.96254448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141858064 meters Centerline goodness [0,1] 0.9999778132765353 Centerline is valid? [True, True] Translation: X:74.20, Y:23.33, Z:0.20 [[ 8.23551651e-01 -5.67184734e-01 -8.00967242e-03 7.41985382e+01] [ 5.67157672e-01 8.23590600e-01 -5.54058291e-03 2.33334985e+01] [ 9.73922496e-03 2.02090460e-05 9.99952572e-01 1.97295956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171858064 meters Centerline goodness [0,1] 0.999823251292475 Centerline is valid? [True, True] Translation: X:74.22, Y:23.35, Z:0.20 [[ 8.23360822e-01 -5.67468928e-01 -7.48152386e-03 7.42203956e+01] [ 5.67445311e-01 8.23394812e-01 -5.17719459e-03 2.33491702e+01] [ 9.09814499e-03 1.73435650e-05 9.99958611e-01 1.97673681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201858064 meters Centerline goodness [0,1] 0.9999778358969813 Centerline is valid? [True, True] Translation: X:74.24, Y:23.37, Z:0.20 [[ 8.23277631e-01 -5.67594104e-01 -7.13265574e-03 7.42429545e+01] [ 5.67572623e-01 8.23308528e-01 -4.93808199e-03 2.33653811e+01] [ 8.67520252e-03 1.71123068e-05 9.99962370e-01 1.98301489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.231858064 meters Centerline goodness [0,1] 0.9999556855446247 Centerline is valid? [True, True] Translation: X:74.27, Y:23.38, Z:0.20 [[ 8.23025955e-01 -5.67962074e-01 -6.88191990e-03 7.42656985e+01] [ 5.67942066e-01 8.23054726e-01 -4.76734805e-03 2.33817784e+01] [ 8.37186959e-03 1.51193733e-05 9.99964955e-01 1.98453327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.261858064 meters Centerline goodness [0,1] 0.9999779064115594 Centerline is valid? [True, True] Translation: X:74.29, Y:23.40, Z:0.20 [[ 8.23096193e-01 -5.67858466e-01 -7.02995093e-03 7.42879086e+01] [ 5.67837567e-01 8.23126213e-01 -4.87187437e-03 2.33977460e+01] [ 8.55307199e-03 1.81510137e-05 9.99963422e-01 1.98008163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.291858064 meters Centerline goodness [0,1] 0.9999334280134919 Centerline is valid? [True, True] Translation: X:74.31, Y:23.41, Z:0.20 [[ 8.23459251e-01 -5.67324616e-01 -7.59222889e-03 7.43106002e+01] [ 5.67300194e-01 8.23494250e-01 -5.26409786e-03 2.34136837e+01] [ 9.23860913e-03 2.76971561e-05 9.99957323e-01 1.97590794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.321858064 meters Centerline goodness [0,1] 0.9998889777067235 Centerline is valid? [True, True] Translation: X:74.33, Y:23.43, Z:0.20 [[ 8.23867733e-01 -5.66726127e-01 -7.96586754e-03 7.43328396e+01] [ 5.66699196e-01 8.23906242e-01 -5.52506060e-03 2.34297762e+01] [ 9.69432419e-03 3.76684230e-05 9.99953008e-01 1.96944318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.351858064 meters Centerline goodness [0,1] 0.99993355040202 Centerline is valid? [True, True] Translation: X:74.36, Y:23.45, Z:0.20 [[ 8.24134842e-01 -5.66333534e-01 -8.25169671e-03 7.43559989e+01] [ 5.66304589e-01 8.24176150e-01 -5.72600631e-03 2.34462371e+01] [ 1.00436810e-02 4.60275947e-05 9.99949560e-01 1.97259588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381858064 meters Centerline goodness [0,1] 0.9997115405951139 Centerline is valid? [True, True] Translation: X:74.38, Y:23.46, Z:0.20 [[ 8.24529910e-01 -5.65759937e-01 -8.13144997e-03 7.43777884e+01] [ 5.65731774e-01 8.24570003e-01 -5.64528352e-03 2.34624296e+01] [ 9.89882498e-03 5.44854963e-05 9.99951004e-01 1.97112320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.411858064 meters Centerline goodness [0,1] 0.9999333318518189 Centerline is valid? [True, True] Translation: X:74.40, Y:23.48, Z:0.20 [[ 8.24523757e-01 -5.65767486e-01 -8.22949749e-03 7.44004353e+01] [ 5.65738609e-01 8.24564823e-01 -5.71644854e-03 2.34782228e+01] [ 1.00199349e-02 5.76031585e-05 9.99949798e-01 1.97347413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.441858064 meters Centerline goodness [0,1] 0.999977783208549 Centerline is valid? [True, True] Translation: X:74.42, Y:23.49, Z:0.20 [[ 8.24320109e-01 -5.66066050e-01 -8.09844875e-03 7.44236203e+01] [ 5.66038067e-01 8.24359887e-01 -5.62880326e-03 2.34940435e+01] [ 9.86231073e-03 5.59054411e-05 9.99951365e-01 1.97904346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.471858064 meters Centerline goodness [0,1] 0.9999556855446247 Centerline is valid? [True, True] Translation: X:74.45, Y:23.51, Z:0.20 [[ 8.24079977e-01 -5.66418953e-01 -7.85882851e-03 7.44469170e+01] [ 5.66392586e-01 8.24117447e-01 -5.46552965e-03 2.35095055e+01] [ 9.57237727e-03 5.28513418e-05 9.99954182e-01 1.98391310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:23.52, Z:0.20 [[ 8.23269500e-01 -5.67603768e-01 -7.30020236e-03 7.44710052e+01] [ 5.67581036e-01 8.23301865e-01 -5.08000303e-03 2.35237438e+01] [ 8.89369908e-03 3.87551394e-05 9.99960450e-01 1.99768489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531858064 meters Centerline goodness [0,1] 0.9998889185106193 Centerline is valid? [True, True] Translation: X:74.49, Y:23.54, Z:0.20 [[ 8.22609798e-01 -5.68563510e-01 -6.97530097e-03 7.44944672e+01] [ 5.68542767e-01 8.22639370e-01 -4.85677693e-03 2.35389168e+01] [ 8.49954334e-03 2.94753702e-05 9.99963878e-01 2.00087124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:23.55, Z:0.20 [[ 8.22093205e-01 -5.69312391e-01 -6.79440039e-03 7.45170704e+01] [ 5.69292720e-01 8.22121281e-01 -4.73268254e-03 2.35540143e+01] [ 8.28019596e-03 2.27034826e-05 9.99965718e-01 2.00423629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59185806400001 meters Centerline goodness [0,1] 0.9998891008295258 Centerline is valid? [True, True] Translation: X:74.54, Y:23.57, Z:0.20 [[ 8.21434125e-01 -5.70260871e-01 -6.96549305e-03 7.45404097e+01] [ 5.70240211e-01 8.21463657e-01 -4.85409507e-03 2.35695006e+01] [ 8.48999987e-03 1.53151110e-05 9.99963959e-01 2.00459881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.621858064 meters Centerline goodness [0,1] 0.9999114770061523 Centerline is valid? [True, True] Translation: X:74.56, Y:23.58, Z:0.20 [[ 8.20729789e-01 -5.71266022e-01 -7.59901492e-03 7.45633026e+01] [ 5.71241457e-01 8.20764968e-01 -5.29769862e-03 2.35833601e+01] [ 9.26340045e-03 7.10671818e-06 9.99957094e-01 1.99731764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.651858064 meters Centerline goodness [0,1] 0.9996211445890533 Centerline is valid? [True, True] Translation: X:74.59, Y:23.60, Z:0.20 [[ 8.20119295e-01 -5.72137982e-01 -7.90389131e-03 7.45870516e+01] [ 5.72111421e-01 8.20157381e-01 -5.51287706e-03 2.35987547e+01] [ 9.63656115e-03 -6.89645440e-07 9.99953567e-01 1.99693449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.681858064 meters Centerline goodness [0,1] 0.9998890442269711 Centerline is valid? [True, True] Translation: X:74.61, Y:23.61, Z:0.20 [[ 8.19642154e-01 -5.72816244e-01 -8.26372064e-03 7.46100242e+01] [ 5.72787223e-01 8.19683811e-01 -5.76603473e-03 2.36135664e+01] [ 1.00765164e-02 -7.26847078e-06 9.99949231e-01 1.98910818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.711858064 meters Centerline goodness [0,1] 0.9999777515740761 Centerline is valid? [True, True] Translation: X:74.63, Y:23.63, Z:0.20 [[ 8.19159329e-01 -5.73498034e-01 -8.83164786e-03 7.46335128e+01] [ 5.73464894e-01 8.19206936e-01 -6.16528430e-03 2.36286959e+01] [ 1.07707256e-02 -1.42898527e-05 9.99941994e-01 1.98543872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741858064 meters Centerline goodness [0,1] 0.9999330551402494 Centerline is valid? [True, True] Translation: X:74.66, Y:23.64, Z:0.20 [[ 8.18258694e-01 -5.74769376e-01 -9.63707522e-03 7.46574799e+01] [ 5.74729960e-01 8.18315442e-01 -6.73124805e-03 2.36441390e+01] [ 1.17550827e-02 -3.08136190e-05 9.99930906e-01 1.98301457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.771858064 meters Centerline goodness [0,1] 0.999888599246931 Centerline is valid? [True, True] Translation: X:74.68, Y:23.66, Z:0.20 [[ 8.17850275e-01 -5.75341241e-01 -1.01677704e-02 7.46805909e+01] [ 5.75297358e-01 8.17913476e-01 -7.10602570e-03 2.36598246e+01] [ 1.24047461e-02 -3.78263922e-05 9.99923057e-01 1.97888947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801858064 meters Centerline goodness [0,1] 0.9998662147698893 Centerline is valid? [True, True] Translation: X:74.70, Y:23.68, Z:0.20 [[ 8.17633834e-01 -5.75642822e-01 -1.05001843e-02 7.47039071e+01] [ 5.75595991e-01 8.17701253e-01 -7.34275177e-03 2.36760833e+01] [ 1.28128162e-02 -4.01816727e-05 9.99917912e-01 1.98152907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.831858064 meters Centerline goodness [0,1] 0.9999108932947204 Centerline is valid? [True, True] Translation: X:74.73, Y:23.69, Z:0.20 [[ 8.17779991e-01 -5.75428834e-01 -1.08417354e-02 7.47258191e+01] [ 5.75378852e-01 8.17851855e-01 -7.58426049e-03 2.36916184e+01] [ 1.32311356e-02 -3.58487864e-05 9.99912464e-01 1.98061095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861858064 meters Centerline goodness [0,1] 0.9999554535937814 Centerline is valid? [True, True] Translation: X:74.75, Y:23.71, Z:0.20 [[ 8.18464124e-01 -5.74454288e-01 -1.08971458e-02 7.47473908e+01] [ 5.74403656e-01 8.18536664e-01 -7.62687657e-03 2.37090625e+01] [ 1.33010053e-02 -1.70355416e-05 9.99911538e-01 1.98639760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:23.73, Z:0.20 [[ 8.18800349e-01 -5.73981442e-01 -1.05495163e-02 7.47692977e+01] [ 5.73933917e-01 8.18868307e-01 -7.38607885e-03 2.37257671e+01] [ 1.28781368e-02 -7.00128573e-06 9.99917073e-01 1.98795714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921858064 meters Centerline goodness [0,1] 0.9999109151243848 Centerline is valid? [True, True] Translation: X:74.79, Y:23.74, Z:0.20 [[ 8.18793649e-01 -5.73993479e-01 -1.04137446e-02 7.47919961e+01] [ 5.73947125e-01 8.18859870e-01 -7.29462306e-03 2.37428895e+01] [ 1.27144636e-02 -4.14773772e-06 9.99919168e-01 1.99097879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951858064 meters Centerline goodness [0,1] 0.9999777580071174 Centerline is valid? [True, True] Translation: X:74.81, Y:23.76, Z:0.20 [[ 8.18946970e-01 -5.73788543e-01 -9.62122113e-03 7.48142841e+01] [ 5.73748917e-01 8.19003485e-01 -6.74331443e-03 2.37604317e+01] [ 1.17490502e-02 2.25171842e-06 9.99930978e-01 2.00613955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.981858064 meters Centerline goodness [0,1] 0.9999333170330525 Centerline is valid? [True, True] Translation: X:74.84, Y:23.78, Z:0.20 [[ 8.18759897e-01 -5.74064057e-01 -9.09339963e-03 7.48372176e+01] [ 5.74028636e-01 8.18810392e-01 -6.37700929e-03 2.37771105e+01] [ 1.11065819e-02 1.36768508e-06 9.99938320e-01 2.01385569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.011858064 meters Centerline goodness [0,1] 0.9999778290173821 Centerline is valid? [True, True] Translation: X:74.86, Y:23.79, Z:0.20 [[ 8.18678518e-01 -5.74184739e-01 -8.79594094e-03 7.48589036e+01] [ 5.74151582e-01 8.18725769e-01 -6.17056069e-03 2.37926963e+01] [ 1.07445053e-02 1.50207424e-06 9.99942276e-01 2.01932984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.041858064 meters Centerline goodness [0,1] 0.9999555841790846 Centerline is valid? [True, True] Translation: X:74.88, Y:23.81, Z:0.20 [[ 8.18572507e-01 -5.74340031e-01 -8.51932496e-03 7.48816920e+01] [ 5.74308906e-01 8.18616839e-01 -5.97931219e-03 2.38096601e+01] [ 1.04082212e-02 1.77637574e-06 9.99945833e-01 2.02384194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.071858064 meters Centerline goodness [0,1] 0.9999114652501107 Centerline is valid? [True, True] Translation: X:74.90, Y:23.83, Z:0.20 [[ 8.19332886e-01 -5.73251420e-01 -8.74244172e-03 7.49030418e+01] [ 5.73218542e-01 8.19379527e-01 -6.13953769e-03 2.38275446e+01] [ 1.06828765e-02 1.89954335e-05 9.99942936e-01 2.02623557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101858064 meters Centerline goodness [0,1] 0.9999557336048339 Centerline is valid? [True, True] Translation: X:74.92, Y:23.85, Z:0.20 [[ 8.20008009e-01 -5.72280718e-01 -9.03574296e-03 7.49243802e+01] [ 5.72245516e-01 8.20057790e-01 -6.34751145e-03 2.38455496e+01] [ 1.10423898e-02 3.43468339e-05 9.99939030e-01 2.00653468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.131858064 meters Centerline goodness [0,1] 0.9997342898897303 Centerline is valid? [True, True] Translation: X:74.95, Y:23.86, Z:0.20 [[ 8.20385459e-01 -5.71734245e-01 -9.36226089e-03 7.49466114e+01] [ 5.71696382e-01 8.20438877e-01 -6.57995180e-03 2.38627365e+01] [ 1.14431466e-02 4.57260940e-05 9.99934524e-01 2.02064298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161858064 meters Centerline goodness [0,1] 0.9998012850235146 Centerline is valid? [True, True] Translation: X:74.97, Y:23.88, Z:0.20 [[ 8.20872663e-01 -5.71028608e-01 -9.71599693e-03 7.49692956e+01] [ 5.70987737e-01 8.20930159e-01 -6.83221796e-03 2.38811828e+01] [ 1.18775468e-02 6.06658554e-05 9.99929458e-01 2.01327321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.191858064 meters Centerline goodness [0,1] 0.9999778599419931 Centerline is valid? [True, True] Translation: X:74.99, Y:23.90, Z:0.20 [[ 8.21247238e-01 -5.70471446e-01 -1.07379603e-02 7.49906956e+01] [ 5.70421449e-01 8.21317432e-01 -7.55295636e-03 2.38991572e+01] [ 1.31280199e-02 7.76816786e-05 9.99913821e-01 2.00033405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.01, Y:23.91, Z:0.20 [[ 8.20760176e-01 -5.71167838e-01 -1.09560404e-02 7.50139584e+01] [ 5.71115802e-01 8.20833294e-01 -7.71006669e-03 2.39149546e+01] [ 1.33968248e-02 7.09478935e-05 9.99910256e-01 2.00042516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251858064 meters Centerline goodness [0,1] 0.9999336796728198 Centerline is valid? [True, True] Translation: X:75.04, Y:23.93, Z:0.20 [[ 8.20186301e-01 -5.71987689e-01 -1.11586475e-02 7.50364248e+01] [ 5.71933750e-01 8.20262202e-01 -7.85530435e-03 2.39303698e+01] [ 1.36461542e-02 6.08058787e-05 9.99906885e-01 2.00212555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.06, Y:23.94, Z:0.20 [[ 8.18719703e-01 -5.74118670e-01 -9.26286868e-03 7.50606061e+01] [ 5.74081625e-01 8.18772100e-01 -6.52195601e-03 2.39447106e+01] [ 1.13285552e-02 2.20111830e-05 9.99935830e-01 2.02589082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311858064 meters Centerline goodness [0,1] 0.9999556019268764 Centerline is valid? [True, True] Translation: X:75.08, Y:23.96, Z:0.20 [[ 8.17389026e-01 -5.76022603e-01 -8.55218908e-03 7.50839882e+01] [ 5.75991100e-01 8.17433765e-01 -6.02425350e-03 2.39600352e+01] [ 1.04609543e-02 -1.82609669e-06 9.99945283e-01 2.03700385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34185806400001 meters Centerline goodness [0,1] 0.9999114064230343 Centerline is valid? [True, True] Translation: X:75.11, Y:23.97, Z:0.20 [[ 8.16191846e-01 -5.77717037e-01 -8.59625515e-03 7.51064200e+01] [ 5.77685280e-01 8.16237113e-01 -6.05748056e-03 2.39745913e+01] [ 1.05160922e-02 -2.18638229e-05 9.99944704e-01 2.04190669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.371858064 meters Centerline goodness [0,1] 0.9998001687463919 Centerline is valid? [True, True] Translation: X:75.13, Y:23.99, Z:0.20 [[ 8.13829395e-01 -5.81033725e-01 -9.02924058e-03 7.51319096e+01] [ 5.80998860e-01 8.13879479e-01 -6.36538766e-03 2.39892763e+01] [ 1.10472185e-02 -6.56389016e-05 9.99938975e-01 2.04406384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.401858064 meters Centerline goodness [0,1] 0.999557991513437 Centerline is valid? [True, True] Translation: X:75.16, Y:24.00, Z:0.20 [[ 8.12582157e-01 -5.82775893e-01 -9.08270893e-03 7.51563990e+01] [ 5.82740686e-01 8.12632912e-01 -6.40640907e-03 2.40046085e+01] [ 1.11144090e-02 -8.71303343e-05 9.99938229e-01 2.04646522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.431858064 meters Centerline goodness [0,1] 0.9999115337830367 Centerline is valid? [True, True] Translation: X:75.18, Y:24.02, Z:0.20 [[ 8.11539664e-01 -5.84218765e-01 -9.58166911e-03 7.51808447e+01] [ 5.84179661e-01 8.11596218e-01 -6.76030387e-03 2.40184219e+01] [ 1.17259428e-02 -1.11161484e-04 9.99931243e-01 2.03653827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.461858064 meters Centerline goodness [0,1] 0.9998671537695117 Centerline is valid? [True, True] Translation: X:75.20, Y:24.04, Z:0.20 [[ 8.10375250e-01 -5.85819118e-01 -1.03882258e-02 7.52049384e+01] [ 5.85773244e-01 8.10441818e-01 -7.33254483e-03 2.40351680e+01] [ 1.27145976e-02 -1.43031884e-04 9.99919156e-01 2.04807550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.491858064 meters Centerline goodness [0,1] 0.9998671537695117 Centerline is valid? [True, True] Translation: X:75.23, Y:24.05, Z:0.20 [[ 8.10211418e-01 -5.86045719e-01 -1.03862436e-02 7.52274443e+01] [ 5.85999827e-01 8.10277974e-01 -7.33535212e-03 2.40511411e+01] [ 1.27145961e-02 -1.43150885e-04 9.99919156e-01 2.04901391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521858064 meters Centerline goodness [0,1] 0.9997559622850805 Centerline is valid? [True, True] Translation: X:75.25, Y:24.07, Z:0.20 [[ 8.09318898e-01 -5.87249607e-01 -1.18668112e-02 7.52515577e+01] [ 5.87189760e-01 8.09405873e-01 -8.38566438e-03 2.40669438e+01] [ 1.45295448e-02 -1.81393389e-04 9.99894424e-01 2.04238935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.551858064 meters Centerline goodness [0,1] 0.9999557189036 Centerline is valid? [True, True] Translation: X:75.28, Y:24.08, Z:0.20 [[ 8.09032626e-01 -5.87620077e-01 -1.29944658e-02 7.52753641e+01] [ 5.87548285e-01 8.09136951e-01 -9.18737248e-03 2.40839891e+01] [ 1.59129870e-02 -2.01992017e-04 9.99873360e-01 2.04654115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581858064 meters Centerline goodness [0,1] 0.9999113455528713 Centerline is valid? [True, True] Translation: X:75.30, Y:24.10, Z:0.21 [[ 8.08971804e-01 -5.87687558e-01 -1.37096772e-02 7.52987452e+01] [ 5.87607570e-01 8.09087937e-01 -9.69814095e-03 2.41010313e+01] [ 1.67918112e-02 -2.10387538e-04 9.99858985e-01 2.05018880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.611858064 meters Centerline goodness [0,1] 0.9998665628822417 Centerline is valid? [True, True] Translation: X:75.32, Y:24.12, Z:0.21 [[ 8.09094402e-01 -5.87488154e-01 -1.49638544e-02 7.53218694e+01] [ 5.87392723e-01 8.09232736e-01 -1.05909551e-02 2.41180340e+01] [ 1.83313014e-02 -2.20576710e-04 9.99831943e-01 2.05388802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641858064 meters Centerline goodness [0,1] 0.9994905417977229 Centerline is valid? [True, True] Translation: X:75.34, Y:24.13, Z:0.21 [[ 8.10070958e-01 -5.86093506e-01 -1.67166106e-02 7.53447576e+01] [ 5.85974031e-01 8.10243395e-01 -1.18353765e-02 2.41340063e+01] [ 2.04811606e-02 -2.08004929e-04 9.99790217e-01 2.05147967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671858064 meters Centerline goodness [0,1] 0.9998449578063745 Centerline is valid? [True, True] Translation: X:75.37, Y:24.15, Z:0.21 [[ 8.10217924e-01 -5.85876164e-01 -1.72057017e-02 7.53671824e+01] [ 5.85749409e-01 8.10400567e-01 -1.21881620e-02 2.41510106e+01] [ 2.10842640e-02 -2.03162333e-04 9.99777682e-01 2.06303611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701858064 meters Centerline goodness [0,1] 0.9998225810028609 Centerline is valid? [True, True] Translation: X:75.39, Y:24.17, Z:0.21 [[ 8.10570507e-01 -5.85351585e-01 -1.84112751e-02 7.53900610e+01] [ 5.85206150e-01 8.10779552e-01 -1.30491242e-02 2.41681041e+01] [ 2.25658109e-02 -1.97156192e-04 9.99745340e-01 2.07538011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.731858064 meters Centerline goodness [0,1] 0.9998447514914947 Centerline is valid? [True, True] Translation: X:75.41, Y:24.19, Z:0.21 [[ 8.10726438e-01 -5.85112530e-01 -1.91303222e-02 7.54132435e+01] [ 5.84955279e-01 8.10952088e-01 -1.35658403e-02 2.41855600e+01] [ 2.34513179e-02 -1.92197587e-04 9.99724962e-01 2.08672169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.761858064 meters Centerline goodness [0,1] 0.9999120492524186 Centerline is valid? [True, True] Translation: X:75.44, Y:24.20, Z:0.21 [[ 8.11414762e-01 -5.84128958e-01 -1.99861026e-02 7.54355982e+01] [ 5.83956913e-01 8.11660848e-01 -1.41771364e-02 2.42029733e+01] [ 2.45032130e-02 -1.67485007e-04 9.99699737e-01 2.09918360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.791858064 meters Centerline goodness [0,1] 0.9999119718309859 Centerline is valid? [True, True] Translation: X:75.46, Y:24.22, Z:0.21 [[ 8.11545984e-01 -5.83934997e-01 -2.03232909e-02 7.54577289e+01] [ 5.83756949e-01 8.11800402e-01 -1.44198043e-02 2.42190325e+01] [ 2.49186841e-02 -1.61528018e-04 9.99689468e-01 2.10464921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.821858064 meters Centerline goodness [0,1] 0.9997576398528213 Centerline is valid? [True, True] Translation: X:75.48, Y:24.24, Z:0.21 [[ 8.11662583e-01 -5.83757723e-01 -2.07550314e-02 7.54815026e+01] [ 5.83571799e-01 8.11927889e-01 -1.47329258e-02 2.42361036e+01] [ 2.54520481e-02 -1.53886381e-04 9.99676032e-01 2.11621136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.851858064 meters Centerline goodness [0,1] 0.9999119911991199 Centerline is valid? [True, True] Translation: X:75.50, Y:24.25, Z:0.22 [[ 8.11555645e-01 -5.83894302e-01 -2.10921497e-02 7.55047707e+01] [ 5.83702133e-01 8.11829675e-01 -1.49799638e-02 2.42536821e+01] [ 2.58699486e-02 -1.54458599e-04 9.99665305e-01 2.16373016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.881858064 meters Centerline goodness [0,1] 0.9999780937150868 Centerline is valid? [True, True] Translation: X:75.53, Y:24.27, Z:0.22 [[ 8.11388093e-01 -5.84123974e-01 -2.11789069e-02 7.55275848e+01] [ 5.83930073e-01 8.11664437e-01 -1.50503049e-02 2.42701281e+01] [ 2.59814095e-02 -1.55362485e-04 9.99662414e-01 2.16978287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.911858064 meters Centerline goodness [0,1] 0.999912319158264 Centerline is valid? [True, True] Translation: X:75.55, Y:24.29, Z:0.22 [[ 8.11366660e-01 -5.84143139e-01 -2.14694126e-02 7.55507361e+01] [ 5.83943793e-01 8.11650645e-01 -1.52603447e-02 2.42864415e+01] [ 2.63398883e-02 -1.55195308e-04 9.99653033e-01 2.15819113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.941858064 meters Centerline goodness [0,1] 0.9999781272556267 Centerline is valid? [True, True] Translation: X:75.57, Y:24.30, Z:0.22 [[ 8.11264549e-01 -5.84270342e-01 -2.18631801e-02 7.55739593e+01] [ 5.84063464e-01 8.11559082e-01 -1.55475763e-02 2.43039957e+01] [ 2.68272501e-02 -1.56287243e-04 9.99640072e-01 2.17805402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.971858064 meters Centerline goodness [0,1] 0.999978083632857 Centerline is valid? [True, True] Translation: X:75.60, Y:24.32, Z:0.22 [[ 8.12130654e-01 -5.83041521e-01 -2.25029956e-02 7.55954310e+01] [ 5.82821784e-01 8.12442349e-01 -1.60061670e-02 2.43214210e+01] [ 2.76146466e-02 -1.16137211e-04 9.99618636e-01 2.17661987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001858064 meters Centerline goodness [0,1] 0.9999781606936163 Centerline is valid? [True, True] Translation: X:75.62, Y:24.34, Z:0.22 [[ 8.12599459e-01 -5.82401180e-01 -2.21581875e-02 7.56178528e+01] [ 5.82187689e-01 8.12901506e-01 -1.57682294e-02 2.43394235e+01] [ 2.71958594e-02 -8.69692935e-05 9.99630120e-01 2.18503006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031858064 meters Centerline goodness [0,1] 0.9998906554114637 Centerline is valid? [True, True] Translation: X:75.64, Y:24.36, Z:0.22 [[ 8.13414276e-01 -5.81275503e-01 -2.18175441e-02 7.56405030e+01] [ 5.81067912e-01 8.13706819e-01 -1.55336411e-02 2.43576451e+01] [ 2.67824095e-02 -4.21893053e-05 9.99641286e-01 2.19063665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061858064 meters Centerline goodness [0,1] 0.9999561008801774 Centerline is valid? [True, True] Translation: X:75.66, Y:24.38, Z:0.22 [[ 8.14258165e-01 -5.80096326e-01 -2.17230937e-02 7.56618564e+01] [ 5.79889874e-01 8.14547882e-01 -1.54751899e-02 2.43753433e+01] [ 2.66716008e-02 3.79769619e-06 9.99644250e-01 2.19353579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:24.40, Z:0.22 [[ 8.16155516e-01 -5.77459341e-01 -2.07577215e-02 7.56827648e+01] [ 5.77269787e-01 8.16419439e-01 -1.47950119e-02 2.43963993e+01] [ 2.54905252e-02 9.22251161e-05 9.99675060e-01 2.18557345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:24.41, Z:0.22 [[ 8.16957727e-01 -5.76343851e-01 -2.01949865e-02 7.57044611e+01] [ 5.76163891e-01 8.17207286e-01 -1.44021406e-02 2.44146487e+01] [ 2.48040753e-02 1.30318037e-04 9.99692323e-01 2.18769224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.151858064 meters Centerline goodness [0,1] 0.9999121747722033 Centerline is valid? [True, True] Translation: X:75.73, Y:24.43, Z:0.22 [[ 8.17451061e-01 -5.75667816e-01 -1.95020161e-02 7.57260436e+01] [ 5.75499726e-01 8.17683645e-01 -1.39112133e-02 2.44327916e+01] [ 2.39547174e-02 1.48331142e-04 9.99713034e-01 2.17610659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:24.45, Z:0.22 [[ 8.17638847e-01 -5.75432857e-01 -1.85402968e-02 7.57493513e+01] [ 5.75280742e-01 8.17849011e-01 -1.32311728e-02 2.44506683e+01] [ 2.27768150e-02 1.52445190e-04 9.99740563e-01 2.18092877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.211858064 meters Centerline goodness [0,1] 0.9999782158806231 Centerline is valid? [True, True] Translation: X:75.77, Y:24.47, Z:0.22 [[ 8.17675990e-01 -5.75425619e-01 -1.70684694e-02 7.57717355e+01] [ 5.75296641e-01 8.17854105e-01 -1.21835352e-02 2.44677055e+01] [ 2.09702361e-02 1.42751054e-04 9.99780090e-01 2.18263467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:24.48, Z:0.22 [[ 8.17120343e-01 -5.76229619e-01 -1.65460335e-02 7.57956153e+01] [ 5.76108473e-01 8.17287839e-01 -1.18159355e-02 2.44841838e+01] [ 2.03315640e-02 1.22731175e-04 9.99793285e-01 2.19568321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:24.50, Z:0.22 [[ 8.16581268e-01 -5.76995924e-01 -1.64540577e-02 7.58171798e+01] [ 5.76876179e-01 8.16747019e-01 -1.17550950e-02 2.44999078e+01] [ 2.02214445e-02 1.07036429e-04 9.99795520e-01 2.19372776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:24.52, Z:0.22 [[ 8.15749307e-01 -5.78201676e-01 -1.53587136e-02 7.58398913e+01] [ 5.78097458e-01 8.15893876e-01 -1.09778218e-02 2.45177770e+01] [ 1.88784753e-02 7.63171949e-05 9.99821783e-01 2.19631680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:24.54, Z:0.22 [[ 8.15162896e-01 -5.79041088e-01 -1.48617193e-02 7.58633233e+01] [ 5.78943553e-01 8.15298359e-01 -1.06276783e-02 2.45355717e+01] [ 1.82705978e-02 5.91924867e-05 9.99833077e-01 2.19882506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.89, Y:24.55, Z:0.22 [[ 8.14589338e-01 -5.79864289e-01 -1.41992209e-02 7.58864012e+01] [ 5.79775292e-01 8.14713081e-01 -1.01590391e-02 2.45526074e+01] [ 1.74591550e-02 4.30874840e-05 9.99847576e-01 2.19396544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391858064 meters Centerline goodness [0,1] 0.9999782163551606 Centerline is valid? [True, True] Translation: X:75.91, Y:24.57, Z:0.22 [[ 8.14114309e-01 -5.80540428e-01 -1.38095593e-02 7.59085939e+01] [ 5.80456304e-01 8.14231424e-01 -9.88268507e-03 2.45696800e+01] [ 1.69814754e-02 2.97895604e-05 9.99855804e-01 2.18231135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:24.59, Z:0.22 [[ 8.12797825e-01 -5.82399218e-01 -1.30708353e-02 7.59315246e+01] [ 5.82324028e-01 8.12902916e-01 -9.35816873e-03 2.45870762e+01] [ 1.60755103e-02 -5.16226027e-06 9.99870781e-01 2.18316854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:24.60, Z:0.22 [[ 8.12002966e-01 -5.83502931e-01 -1.32481274e-02 7.59532801e+01] [ 5.83425788e-01 8.12111032e-01 -9.48797958e-03 2.46031762e+01] [ 1.62952143e-02 -2.50316165e-05 9.99867224e-01 2.17736659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.481858064 meters Centerline goodness [0,1] 0.9999345264076822 Centerline is valid? [True, True] Translation: X:75.98, Y:24.62, Z:0.22 [[ 8.11111209e-01 -5.84740806e-01 -1.32964791e-02 7.59761303e+01] [ 5.84663184e-01 8.11220185e-01 -9.52753149e-03 2.46197743e+01] [ 1.63575087e-02 -4.60742142e-05 9.99866206e-01 2.17507672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.511858064 meters Centerline goodness [0,1] 0.9999781883220276 Centerline is valid? [True, True] Translation: X:76.00, Y:24.64, Z:0.22 [[ 8.09972123e-01 -5.86314435e-01 -1.34366188e-02 7.59993760e+01] [ 5.86235299e-01 8.10083562e-01 -9.63310771e-03 2.46370488e+01] [ 1.65328141e-02 -7.44715245e-05 9.99863321e-01 2.17860155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:24.65, Z:0.22 [[ 8.07620768e-01 -5.89555720e-01 -1.31433551e-02 7.60215780e+01] [ 5.89480390e-01 8.07727698e-01 -9.42524061e-03 2.46538266e+01] [ 1.61729565e-02 -1.35730048e-04 9.99869200e-01 2.16105455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.04, Y:24.67, Z:0.22 [[ 8.05857919e-01 -5.91971878e-01 -1.27400592e-02 7.60440619e+01] [ 5.91901376e-01 8.05958599e-01 -9.13770138e-03 2.46710810e+01] [ 1.56772225e-02 -1.77169527e-04 9.99877089e-01 2.16096038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.601858064 meters Centerline goodness [0,1] 0.9999128919860627 Centerline is valid? [True, True] Translation: X:76.07, Y:24.69, Z:0.22 [[ 8.03970328e-01 -5.94547937e-01 -1.20192386e-02 7.60674686e+01] [ 5.94485418e-01 8.04060138e-01 -8.62449854e-03 2.46886830e+01] [ 1.47918684e-02 -2.11421149e-04 9.99890572e-01 2.15923300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.631858064 meters Centerline goodness [0,1] 0.9999346803692737 Centerline is valid? [True, True] Translation: X:76.09, Y:24.71, Z:0.22 [[ 8.01626643e-01 -5.97721613e-01 -1.11174677e-02 7.60910947e+01] [ 5.97668372e-01 8.01703693e-01 -7.98154742e-03 2.47055940e+01] [ 1.36836584e-02 -2.46337779e-04 9.99906344e-01 2.15552693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661858064 meters Centerline goodness [0,1] 0.9999564384039031 Centerline is valid? [True, True] Translation: X:76.12, Y:24.72, Z:0.22 [[ 7.97850885e-01 -6.02775820e-01 -9.76097354e-03 7.61153192e+01] [ 6.02735117e-01 7.97910538e-01 -7.01087549e-03 2.47226169e+01] [ 1.20143699e-02 -2.89648316e-04 9.99927783e-01 2.16573090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.691858064 meters Centerline goodness [0,1] 0.9999782362670845 Centerline is valid? [True, True] Translation: X:76.14, Y:24.74, Z:0.22 [[ 7.96139947e-01 -6.05041488e-01 -9.27268463e-03 7.61386130e+01] [ 6.05004889e-01 7.96193886e-01 -6.66189126e-03 2.47387588e+01] [ 1.14135754e-02 -3.06221789e-04 9.99934816e-01 2.16973408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721858064 meters Centerline goodness [0,1] 0.9999782637047342 Centerline is valid? [True, True] Translation: X:76.16, Y:24.75, Z:0.22 [[ 7.94406570e-01 -6.07325833e-01 -8.57517106e-03 7.61615916e+01] [ 6.07294654e-01 7.94452789e-01 -6.16188945e-03 2.47541678e+01] [ 1.05548432e-02 -3.12610072e-04 9.99944247e-01 2.16929833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.18, Y:24.77, Z:0.22 [[ 7.92874814e-01 -6.09333752e-01 -7.86810162e-03 7.61847806e+01] [ 6.09307580e-01 7.92913792e-01 -5.65603110e-03 2.47716052e+01] [ 9.68513695e-03 -3.09569350e-04 9.99953050e-01 2.16676532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.21, Y:24.79, Z:0.22 [[ 7.91421786e-01 -6.11239880e-01 -6.11279984e-03 7.62059813e+01] [ 6.11224130e-01 7.91445351e-01 -4.39545857e-03 2.47909150e+01] [ 7.52462658e-03 -2.57629094e-04 9.99971656e-01 2.16961595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.23, Y:24.81, Z:0.22 [[ 7.91373433e-01 -6.11309097e-01 -5.41095081e-03 7.62268634e+01] [ 6.11296752e-01 7.91391898e-01 -3.89159571e-03 2.48073444e+01] [ 6.66115049e-03 -2.27991196e-04 9.99977788e-01 2.16608466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.25, Y:24.83, Z:0.22 [[ 7.92574920e-01 -6.09755092e-01 -4.87066134e-03 7.62470963e+01] [ 6.09745053e-01 7.92589863e-01 -3.50420422e-03 2.48286358e+01] [ 5.99714317e-03 -1.92517276e-04 9.99981998e-01 2.15355309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.27, Y:24.85, Z:0.21 [[ 7.93566002e-01 -6.08464521e-01 -4.89142900e-03 7.62682311e+01] [ 6.08454365e-01 7.93581056e-01 -3.52038684e-03 2.48475823e+01] [ 6.02377589e-03 -1.82552017e-04 9.99981840e-01 2.14115252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:24.87, Z:0.21 [[ 7.94770233e-01 -6.06887573e-01 -5.26788668e-03 7.62892563e+01] [ 6.06875752e-01 7.94787670e-01 -3.79216547e-03 2.48686245e+01] [ 6.48826948e-03 -1.83052456e-04 9.99978934e-01 2.13430993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.31, Y:24.89, Z:0.21 [[ 7.96111903e-01 -6.05131210e-01 -4.69642688e-03 7.63104453e+01] [ 6.05121778e-01 7.96125742e-01 -3.38193373e-03 2.48891647e+01] [ 5.78545998e-03 -1.49512485e-04 9.99983253e-01 2.13004669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.33, Y:24.91, Z:0.21 [[ 7.98645455e-01 -6.01791422e-01 -3.53872139e-03 7.63285712e+01] [ 6.01786030e-01 7.98653289e-01 -2.54922360e-03 2.49129080e+01] [ 4.36031237e-03 -9.36272559e-05 9.99990489e-01 2.13154672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.35, Y:24.93, Z:0.21 [[ 7.99864583e-01 -6.00173263e-01 -2.95023231e-03 7.63497138e+01] [ 6.00169501e-01 7.99870021e-01 -2.12595874e-03 2.49317818e+01] [ 3.63574597e-03 -7.01603525e-05 9.99993388e-01 2.13337211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.37, Y:24.95, Z:0.21 [[ 8.00925643e-01 -5.98758036e-01 -2.63220086e-03 7.63701023e+01] [ 5.98755033e-01 8.00929966e-01 -1.89704945e-03 2.49521678e+01] [ 3.24408215e-03 -5.66479639e-05 9.99994736e-01 2.13232423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.39, Y:24.97, Z:0.21 [[ 8.01639220e-01 -5.97802672e-01 -2.55453251e-03 7.63912178e+01] [ 5.97799836e-01 8.01643289e-01 -1.84195517e-03 2.49727045e+01] [ 3.14894957e-03 -5.05156101e-05 9.99995041e-01 2.12910074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.41, Y:24.99, Z:0.21 [[ 8.02262037e-01 -5.96969674e-01 -1.68302375e-03 7.64118738e+01] [ 5.96968440e-01 8.02263802e-01 -1.21408268e-03 2.49910590e+01] [ 2.07499957e-03 -3.06996151e-05 9.99997847e-01 2.13077819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.43, Y:25.01, Z:0.21 [[ 8.03498346e-01 -5.95306532e-01 -7.35260678e-04 7.64323358e+01] [ 5.95306296e-01 8.03498682e-01 -5.29851912e-04 2.50129445e+01] [ 9.06205290e-04 -1.19701765e-05 9.99999589e-01 2.12514774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.45, Y:25.03, Z:0.21 [[ 8.03915423e-01 -5.94743622e-01 1.32797099e-04 7.64543598e+01] [ 5.94743614e-01 8.03915434e-01 9.62518724e-05 2.50297718e+01] [-1.64002825e-04 1.60186204e-06 9.99999987e-01 2.12682132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.47, Y:25.05, Z:0.21 [[ 8.04493456e-01 -5.93961116e-01 6.86516737e-04 7.64745526e+01] [ 5.93960909e-01 8.04493749e-01 4.96141647e-04 2.50497292e+01] [-8.46987270e-04 8.62139656e-06 9.99999641e-01 2.11439583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.50, Y:25.07, Z:0.21 [[ 8.04589120e-01 -5.93831188e-01 9.31908424e-04 7.64963457e+01] [ 5.93830805e-01 8.04589660e-01 6.74444849e-04 2.50678696e+01] [-1.15031027e-03 1.07449427e-05 9.99999338e-01 2.10700273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.52, Y:25.09, Z:0.21 [[ 8.04633242e-01 -5.93769839e-01 1.65088463e-03 7.65177257e+01] [ 5.93768639e-01 8.04634935e-01 1.19362969e-03 2.50850717e+01] [-2.03710076e-03 1.98093909e-05 9.99997925e-01 2.10409793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.54, Y:25.10, Z:0.21 [[ 8.04646332e-01 -5.93750196e-01 2.23271916e-03 7.65400938e+01] [ 5.93747998e-01 8.04649430e-01 1.61559289e-03 2.51028437e+01] [-2.75581479e-03 2.56916400e-05 9.99996202e-01 2.10576862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.56, Y:25.12, Z:0.21 [[ 8.04781760e-01 -5.93558860e-01 3.76810383e-03 7.65609259e+01] [ 5.93552596e-01 8.04790581e-01 2.72721362e-03 2.51230082e+01] [-4.65129627e-03 4.17560273e-05 9.99989182e-01 2.09409914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:25.14, Z:0.21 [[ 8.04795624e-01 -5.93540546e-01 3.69092086e-03 7.65828716e+01] [ 5.93534532e-01 8.04804087e-01 2.67220066e-03 2.51392097e+01] [-4.55652763e-03 4.01135854e-05 9.99989618e-01 2.10099987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.351858064 meters Centerline goodness [0,1] 0.9999785485981509 Centerline is valid? [True, True] Translation: X:76.61, Y:25.16, Z:0.21 [[ 8.04505440e-01 -5.93921412e-01 5.32476900e-03 7.66051191e+01] [ 5.93908891e-01 8.04523059e-01 3.85693143e-03 2.51573474e+01] [-6.57461361e-03 5.95053303e-05 9.99978385e-01 2.09450463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:25.17, Z:0.21 [[ 8.04562166e-01 -5.93852447e-01 4.35788098e-03 7.66277445e+01] [ 5.93844057e-01 8.04573967e-01 3.15713818e-03 2.51740667e+01] [-5.38111182e-03 4.77877870e-05 9.99985521e-01 2.09446173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:25.19, Z:0.21 [[ 8.04400479e-01 -5.94071451e-01 4.35673321e-03 7.66500249e+01] [ 5.94063055e-01 8.04412276e-01 3.15872219e-03 2.51903025e+01] [-5.38111635e-03 4.72965977e-05 9.99985521e-01 2.09540112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:25.21, Z:0.21 [[ 8.04099530e-01 -5.94478133e-01 4.43786688e-03 7.66718438e+01] [ 5.94469428e-01 8.04111775e-01 3.21748835e-03 2.52068287e+01] [-5.48126748e-03 5.09953115e-05 9.99984976e-01 2.09302454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:25.22, Z:0.21 [[ 8.03378839e-01 -5.95449110e-01 4.77483540e-03 7.66945585e+01] [ 5.95439036e-01 8.03393026e-01 3.46409697e-03 2.52246931e+01] [-5.89876292e-03 6.01411863e-05 9.99982600e-01 2.08137399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:25.24, Z:0.21 [[ 8.02884283e-01 -5.96118778e-01 4.38532943e-03 7.67171534e+01] [ 5.96110279e-01 8.02896257e-01 3.18356714e-03 2.52414187e+01] [-5.41874873e-03 5.81039340e-05 9.99985317e-01 2.07429374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:25.26, Z:0.21 [[ 8.02301410e-01 -5.96900724e-01 4.68754049e-03 7.67400098e+01] [ 5.96891026e-01 8.02315101e-01 3.40316894e-03 2.52574842e+01] [-5.79223853e-03 6.75836157e-05 9.99983223e-01 2.07589096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:25.28, Z:0.21 [[ 8.01703192e-01 -5.97704237e-01 4.65152756e-03 7.67630772e+01] [ 5.97694688e-01 8.01716683e-01 3.37927083e-03 2.52750583e+01] [-5.74901174e-03 7.10211024e-05 9.99983472e-01 2.06994971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:25.29, Z:0.21 [[ 8.01008123e-01 -5.98638007e-01 4.30379589e-03 7.67859829e+01] [ 5.98629846e-01 8.01019682e-01 3.12681579e-03 2.52900666e+01] [-5.31925599e-03 7.17758276e-05 9.99985850e-01 2.07519370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.81, Y:25.31, Z:0.21 [[ 8.00624448e-01 -5.99153874e-01 3.88959249e-03 7.68082813e+01] [ 5.99147202e-01 8.00633893e-01 2.82837185e-03 2.53067443e+01] [-4.80876953e-03 6.59748034e-05 9.99988436e-01 2.07183939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.83, Y:25.32, Z:0.21 [[ 8.00371315e-01 -5.99492657e-01 3.78331736e-03 7.68315427e+01] [ 5.99486340e-01 8.00380254e-01 2.75275434e-03 2.53232858e+01] [-4.67834852e-03 6.48214733e-05 9.99989054e-01 2.07089540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:25.34, Z:0.21 [[ 8.00521155e-01 -5.99295573e-01 3.27065255e-03 7.68549538e+01] [ 5.99290845e-01 8.00527835e-01 2.38097283e-03 2.53409805e+01] [-4.04515488e-03 5.40530064e-05 9.99991817e-01 2.07226569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:25.36, Z:0.21 [[ 8.00959343e-01 -5.98709509e-01 3.32479713e-03 7.68775176e+01] [ 5.98704618e-01 8.00966242e-01 2.42055432e-03 2.53578035e+01] [-4.11225915e-03 5.18057986e-05 9.99991543e-01 2.07772179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:25.37, Z:0.21 [[ 8.01303571e-01 -5.98246788e-01 3.65632062e-03 7.68999974e+01] [ 5.98240858e-01 8.01311911e-01 2.66401415e-03 2.53749815e+01] [-4.52359117e-03 5.26763349e-05 9.99989767e-01 2.08269684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:25.39, Z:0.21 [[ 8.01955941e-01 -5.97372127e-01 3.63473214e-03 7.69227644e+01] [ 5.97366253e-01 8.01964176e-01 2.64951326e-03 2.53930180e+01] [-4.49767033e-03 4.64734199e-05 9.99989884e-01 2.08783389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:25.41, Z:0.21 [[ 8.03400569e-01 -5.95433216e-01 2.60991126e-03 7.69447819e+01] [ 5.95430173e-01 8.03404808e-01 1.90376470e-03 2.54116040e+01] [-3.23037999e-03 2.45342677e-05 9.99994782e-01 2.08773791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:25.43, Z:0.21 [[ 8.04161741e-01 -5.94406377e-01 2.22552511e-03 7.69672826e+01] [ 5.94404161e-01 8.04164820e-01 1.62315757e-03 2.54285881e+01] [-2.75450421e-03 1.75801696e-05 9.99996206e-01 2.08842202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:25.45, Z:0.21 [[ 8.04639606e-01 -5.93760200e-01 1.98218658e-03 7.69893615e+01] [ 5.93758436e-01 8.04642048e-01 1.44733208e-03 2.54454537e+01] [-2.45431886e-03 1.23592866e-05 9.99996988e-01 2.08791164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:25.46, Z:0.21 [[ 8.04957860e-01 -5.93330502e-01 1.32660924e-03 7.70117900e+01] [ 5.93329709e-01 8.04958953e-01 9.69610989e-04 2.54622267e+01] [-1.64316576e-03 6.62068688e-06 9.99998650e-01 2.08396740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921858064 meters Centerline goodness [0,1] 0.9999788779993241 Centerline is valid? [True, True] Translation: X:77.03, Y:25.48, Z:0.21 [[ 8.05412108e-01 -5.92714295e-01 1.04878033e-03 7.70338519e+01] [ 5.92713799e-01 8.05412791e-01 7.67232523e-04 2.54791888e+01] [-1.29945078e-03 3.68821230e-06 9.99999156e-01 2.07703632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:25.50, Z:0.21 [[ 8.05683804e-01 -5.92345676e-01 4.56232347e-04 7.70563175e+01] [ 5.92345581e-01 8.05683933e-01 3.34611112e-04 2.54964576e+01] [-5.65784517e-04 6.56461109e-07 9.99999840e-01 2.07389419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.981858064 meters Centerline goodness [0,1] 0.9999367075254753 Centerline is valid? [True, True] Translation: X:77.08, Y:25.51, Z:0.21 [[ 8.06095949e-01 -5.91784842e-01 -1.47195484e-04 7.70781804e+01] [ 5.91784832e-01 8.06095962e-01 -1.07099703e-04 2.55127572e+01] [ 1.82033666e-04 -7.75418381e-07 9.99999983e-01 2.06958114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:25.53, Z:0.21 [[ 8.07611230e-01 -5.89714268e-01 -1.08784350e-03 7.71000195e+01] [ 5.89713732e-01 8.07611963e-01 -7.94961450e-04 2.55294763e+01] [ 1.34735553e-03 5.03546242e-07 9.99999092e-01 2.06481489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:25.55, Z:0.21 [[ 8.08369191e-01 -5.88674101e-01 -1.43310512e-03 7.71226099e+01] [ 5.88673169e-01 8.08370461e-01 -1.04738347e-03 2.55467476e+01] [ 1.77504737e-03 3.04199927e-06 9.99998425e-01 2.06166249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.071858064 meters Centerline goodness [0,1] 0.9999788418001396 Centerline is valid? [True, True] Translation: X:77.15, Y:25.56, Z:0.21 [[ 8.09084423e-01 -5.87689978e-01 -1.69899729e-03 7.71450014e+01] [ 5.87688664e-01 8.09086207e-01 -1.24261256e-03 2.55640856e+01] [ 2.10490622e-03 6.89701703e-06 9.99997785e-01 2.05956082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:25.58, Z:0.21 [[ 8.09783962e-01 -5.86724741e-01 -2.00334205e-03 7.71678285e+01] [ 5.86722909e-01 8.09786440e-01 -1.46619892e-03 2.55810744e+01] [ 2.48253441e-03 1.18976968e-05 9.99996918e-01 2.05675718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:25.60, Z:0.21 [[ 8.10853160e-01 -5.85244421e-01 -2.47387043e-03 7.71900971e+01] [ 5.85241617e-01 8.10856934e-01 -1.81196941e-03 2.55975540e+01] [ 3.06639998e-03 2.14291908e-05 9.99995298e-01 2.05385019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.21, Y:25.61, Z:0.21 [[ 8.10931347e-01 -5.85136613e-01 -2.34421084e-03 7.72134463e+01] [ 5.85134094e-01 8.10934735e-01 -1.71717299e-03 2.56139820e+01] [ 2.90578278e-03 2.08317245e-05 9.99995778e-01 2.05544847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.24, Y:25.63, Z:0.21 [[ 8.10582717e-01 -5.85619528e-01 -2.32983535e-03 7.72365550e+01] [ 5.85617038e-01 8.10586065e-01 -1.70760588e-03 2.56297632e+01] [ 2.88853942e-03 1.97645372e-05 9.99995828e-01 2.05680560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:25.64, Z:0.21 [[ 8.10142668e-01 -5.86228536e-01 -2.22732435e-03 7.72598512e+01] [ 5.86226261e-01 8.10145730e-01 -1.63334328e-03 2.56449705e+01] [ 2.76196975e-03 1.75250590e-05 9.99996186e-01 2.06105025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.28, Y:25.66, Z:0.21 [[ 8.09458289e-01 -5.87173817e-01 -2.04639601e-03 7.72832881e+01] [ 5.87171897e-01 8.09460876e-01 -1.50141692e-03 2.56599062e+01] [ 2.53807021e-03 1.37481387e-05 9.99996779e-01 2.06814152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.31, Y:25.67, Z:0.21 [[ 8.07918092e-01 -5.89293032e-01 -1.44226314e-03 7.73087740e+01] [ 5.89292081e-01 8.07919379e-01 -1.05841216e-03 2.56732324e+01] [ 1.78894725e-03 5.19608628e-06 9.99998400e-01 2.07705195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.33, Y:25.69, Z:0.21 [[ 8.06955966e-01 -5.90610000e-01 -1.37715985e-03 7.73311383e+01] [ 5.90609133e-01 8.06957142e-01 -1.01149410e-03 2.56880844e+01] [ 1.70870751e-03 2.86801608e-06 9.99998540e-01 2.07685156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.35, Y:25.70, Z:0.21 [[ 8.06187968e-01 -5.91655964e-01 -2.04495219e-03 7.73546710e+01] [ 5.91654056e-01 8.06190561e-01 -1.50243755e-03 2.57034599e+01] [ 2.53754729e-03 1.34281256e-06 9.99996780e-01 2.07098897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:25.72, Z:0.21 [[ 8.05400683e-01 -5.92726484e-01 -2.24821804e-03 7.73787389e+01] [ 5.92724180e-01 8.05403821e-01 -1.65277998e-03 2.57188184e+01] [ 2.79036986e-03 -1.42306510e-06 9.99996107e-01 2.06887296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.40, Y:25.73, Z:0.21 [[ 8.04029576e-01 -5.94583968e-01 -2.51910979e-03 7.74030725e+01] [ 5.94581081e-01 8.04033522e-01 -1.85318396e-03 2.57311489e+01] [ 3.12732219e-03 -7.80030683e-06 9.99995110e-01 2.06299694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.43, Y:25.75, Z:0.21 [[ 8.03308597e-01 -5.95555546e-01 -2.98156537e-03 7.74265482e+01] [ 5.95551505e-01 8.03314130e-01 -2.19408157e-03 2.57462027e+01] [ 3.70183104e-03 -1.31511553e-05 9.99993148e-01 2.06426529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.45, Y:25.76, Z:0.21 [[ 8.02534503e-01 -5.96597704e-01 -3.09056451e-03 7.74501569e+01] [ 5.96593365e-01 8.02540453e-01 -2.27552942e-03 2.57609295e+01] [ 3.83787867e-03 -1.76194064e-05 9.99992635e-01 2.06438451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.47, Y:25.78, Z:0.21 [[ 8.01877775e-01 -5.97478308e-01 -3.42144414e-03 7.74737540e+01] [ 5.97472995e-01 8.01885074e-01 -2.51982528e-03 2.57761892e+01] [ 4.24914592e-03 -2.36285896e-05 9.99990972e-01 2.06417339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.50, Y:25.79, Z:0.21 [[ 8.00684020e-01 -5.99069263e-01 -4.59548048e-03 7.74990539e+01] [ 5.99059694e-01 8.00697206e-01 -3.38625573e-03 2.57893255e+01] [ 5.70819011e-03 -4.16462781e-05 9.99983707e-01 2.05381874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:25.81, Z:0.20 [[ 8.00086918e-01 -5.99858689e-01 -5.52059074e-03 7.75230517e+01] [ 5.99844888e-01 8.00105962e-01 -4.06935657e-03 2.58054730e+01] [ 6.85809645e-03 -5.56591802e-05 9.99976481e-01 2.04757267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:25.82, Z:0.20 [[ 7.99369547e-01 -6.00806881e-01 -6.27845275e-03 7.75473798e+01] [ 6.00789042e-01 7.99394200e-01 -4.63040823e-03 2.58213288e+01] [ 7.80093984e-03 -7.06182863e-05 9.99969570e-01 2.04362589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.57, Y:25.83, Z:0.20 [[ 7.98268166e-01 -6.02262338e-01 -6.92897649e-03 7.75734343e+01] [ 6.02240643e-01 7.98298232e-01 -5.11281226e-03 2.58346409e+01] [ 8.61064395e-03 -9.15159922e-05 9.99962924e-01 2.04127880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.60, Y:25.85, Z:0.20 [[ 7.97794798e-01 -6.02885909e-01 -7.21385735e-03 7.75973495e+01] [ 6.02862404e-01 7.97827406e-01 -5.32464184e-03 2.58489773e+01] [ 8.96556464e-03 -1.00991821e-04 9.99959803e-01 2.04687631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.62, Y:25.86, Z:0.21 [[ 7.97202795e-01 -6.03671699e-01 -6.94137437e-03 7.76213321e+01] [ 6.03649948e-01 7.97233008e-01 -5.12559303e-03 2.58638386e+01] [ 8.62806822e-03 -1.04023182e-04 9.99962772e-01 2.05545103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:25.88, Z:0.21 [[ 7.96707814e-01 -6.04322385e-01 -7.14936883e-03 7.76462561e+01] [ 6.04299313e-01 7.96739883e-01 -5.28192729e-03 2.58791718e+01] [ 8.88817419e-03 -1.12205931e-04 9.99960493e-01 2.05979492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.67, Y:25.89, Z:0.21 [[ 7.95648965e-01 -6.05715831e-01 -7.14536188e-03 7.76721151e+01] [ 6.05692818e-01 7.95681039e-01 -5.28154665e-03 2.58923573e+01] [ 8.88454539e-03 -1.25637248e-04 9.99960524e-01 2.07095091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.70, Y:25.91, Z:0.21 [[ 7.95083961e-01 -6.06465613e-01 -6.39957404e-03 7.76954235e+01] [ 6.06447157e-01 7.95109707e-01 -4.73276222e-03 2.59083045e+01] [ 7.95862098e-03 -1.18060151e-04 9.99968323e-01 2.08175251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:25.92, Z:0.21 [[ 7.94835115e-01 -6.06797918e-01 -5.78165267e-03 7.77192177e+01] [ 6.06782849e-01 7.94856135e-01 -4.27774397e-03 2.59217745e+01] [ 7.19130822e-03 -1.08106560e-04 9.99974136e-01 2.08757290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:25.94, Z:0.21 [[ 7.94602886e-01 -6.07107056e-01 -5.22267680e-03 7.77427912e+01] [ 6.07094755e-01 7.94620043e-01 -3.86590783e-03 2.59369037e+01] [ 6.49706359e-03 -9.87981778e-05 9.99978889e-01 2.09915346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:25.95, Z:0.21 [[ 7.95088244e-01 -6.06478327e-01 -4.32701915e-03 7.77662828e+01] [ 6.06469866e-01 7.95100015e-01 -3.20445938e-03 2.59532468e+01] [ 5.38384815e-03 -7.63787450e-05 9.99985504e-01 2.11654406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:25.97, Z:0.21 [[ 7.95771251e-01 -6.05582756e-01 -4.20020234e-03 7.77895709e+01] [ 6.05574765e-01 7.95782333e-01 -3.11175044e-03 2.59692509e+01] [ 5.22686923e-03 -6.72950041e-05 9.99986338e-01 2.11746528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:25.98, Z:0.21 [[ 7.96638160e-01 -6.04436227e-01 -4.94867879e-03 7.78134445e+01] [ 6.04425107e-01 7.96653527e-01 -3.66699225e-03 2.59843184e+01] [ 6.15884537e-03 -6.98397491e-05 9.99981032e-01 2.10993683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:26.00, Z:0.21 [[ 7.98580018e-01 -6.01859871e-01 -5.88639449e-03 7.78368840e+01] [ 6.01844057e-01 7.98601710e-01 -4.36343508e-03 2.60015341e+01] [ 7.32706118e-03 -5.81394699e-05 9.99973155e-01 2.10332886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.971858064 meters Centerline goodness [0,1] 0.9999782551970079 Centerline is valid? [True, True] Translation: X:77.86, Y:26.02, Z:0.21 [[ 7.99307159e-01 -6.00891294e-01 -6.14152042e-03 7.78594558e+01] [ 6.00874031e-01 7.99330752e-01 -4.55504448e-03 2.60175705e+01] [ 7.64619271e-03 -4.94004708e-05 9.99970766e-01 2.10147898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.88, Y:26.03, Z:0.21 [[ 8.00074851e-01 -5.99866717e-01 -6.33682728e-03 7.78823220e+01] [ 5.99848285e-01 8.00099944e-01 -4.70261018e-03 2.60339353e+01] [ 7.89103448e-03 -3.86948338e-05 9.99968865e-01 2.09707313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.91, Y:26.05, Z:0.21 [[ 8.00581014e-01 -5.99189079e-01 -6.51819862e-03 7.79051564e+01] [ 5.99169532e-01 8.00607548e-01 -4.84002819e-03 2.60505747e+01] [ 8.11861105e-03 -3.06713364e-05 9.99967043e-01 2.09566111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:26.07, Z:0.21 [[ 8.01312142e-01 -5.98200776e-01 -7.39483536e-03 7.79290416e+01] [ 5.98175544e-01 8.01346262e-01 -5.49430955e-03 2.60654491e+01] [ 9.21252390e-03 -2.07527079e-05 9.99957564e-01 2.08357085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.95, Y:26.08, Z:0.21 [[ 8.01256123e-01 -5.98270882e-01 -7.78317034e-03 7.79514297e+01] [ 5.98242907e-01 8.01293923e-01 -5.78555044e-03 2.60800439e+01] [ 9.69793346e-03 -2.05187318e-05 9.99952974e-01 2.08312350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.121858064 meters Centerline goodness [0,1] 0.9999781811834526 Centerline is valid? [True, True] Translation: X:77.98, Y:26.10, Z:0.21 [[ 8.01266924e-01 -5.98255591e-01 -7.84628571e-03 7.79750174e+01] [ 5.98227130e-01 8.01305340e-01 -5.83552853e-03 2.60955932e+01] [ 9.77840820e-03 -1.80449777e-05 9.99952190e-01 2.08785019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.151858064 meters Centerline goodness [0,1] 0.9999564061205807 Centerline is valid? [True, True] Translation: X:78.00, Y:26.11, Z:0.21 [[ 8.01041145e-01 -5.98558300e-01 -7.81314899e-03 7.79973709e+01] [ 5.98530067e-01 8.01079248e-01 -5.81361057e-03 2.61103340e+01] [ 9.73873637e-03 -1.94633169e-05 9.99952577e-01 2.08541749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:26.12, Z:0.21 [[ 8.01175251e-01 -5.98386626e-01 -7.18769944e-03 7.80217125e+01] [ 5.98362702e-01 8.01207492e-01 -5.35091196e-03 2.61249293e+01] [ 8.96075279e-03 -1.38330236e-05 9.99959852e-01 2.10092013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:26.14, Z:0.21 [[ 8.01318606e-01 -5.98194594e-01 -7.19160428e-03 7.80448958e+01] [ 5.98170607e-01 8.01350877e-01 -5.35699052e-03 2.61410375e+01] [ 8.96752116e-03 -9.15012044e-06 9.99959791e-01 2.10917679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.241858064 meters Centerline goodness [0,1] 0.9999122941653693 Centerline is valid? [True, True] Translation: X:78.07, Y:26.16, Z:0.21 [[ 8.01744914e-01 -5.97628660e-01 -6.71407107e-03 7.80682124e+01] [ 5.97607708e-01 8.01773026e-01 -5.00417544e-03 2.61568520e+01] [ 8.37379974e-03 -3.08417278e-07 9.99964939e-01 2.11152760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.271858064 meters Centerline goodness [0,1] 0.9999342696259942 Centerline is valid? [True, True] Translation: X:78.09, Y:26.17, Z:0.21 [[ 8.01946093e-01 -5.97362151e-01 -6.39724580e-03 7.80906134e+01] [ 5.97343107e-01 8.01971609e-01 -4.76989129e-03 2.61723288e+01] [ 7.97976203e-03 3.84499971e-06 9.99968161e-01 2.11314121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.301858064 meters Centerline goodness [0,1] 0.9999342696259942 Centerline is valid? [True, True] Translation: X:78.11, Y:26.19, Z:0.21 [[ 8.01780613e-01 -5.97584251e-01 -6.39623843e-03 7.81126824e+01] [ 5.97565203e-01 8.01806125e-01 -4.77124191e-03 2.61888808e+01] [ 7.97976218e-03 3.31973835e-06 9.99968161e-01 2.11408099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:26.20, Z:0.21 [[ 8.01598660e-01 -5.97834146e-01 -5.82438732e-03 7.81359072e+01] [ 5.97818341e-01 8.01619819e-01 -4.34709069e-03 2.62044482e+01] [ 7.26778356e-03 2.69651150e-06 9.99973589e-01 2.12251651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361858064 meters Centerline goodness [0,1] 0.9999558888398765 Centerline is valid? [True, True] Translation: X:78.16, Y:26.22, Z:0.21 [[ 8.01535441e-01 -5.97920422e-01 -5.66626347e-03 7.81591201e+01] [ 5.97905448e-01 8.01555469e-01 -4.23150690e-03 2.62199260e+01] [ 7.07192886e-03 3.81294639e-06 9.99974994e-01 2.12782789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391858064 meters Centerline goodness [0,1] 0.9999559082892416 Centerline is valid? [True, True] Translation: X:78.18, Y:26.23, Z:0.21 [[ 8.01159826e-01 -5.98426591e-01 -5.34298527e-03 7.81816259e+01] [ 5.98413278e-01 8.01177642e-01 -3.99170022e-03 2.62347626e+01] [ 6.66941990e-03 6.76519305e-07 9.99977759e-01 2.12785469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421858064 meters Centerline goodness [0,1] 0.9999779205581683 Centerline is valid? [True, True] Translation: X:78.20, Y:26.25, Z:0.21 [[ 8.01049315e-01 -5.98571528e-01 -5.66761030e-03 7.82045526e+01] [ 5.98556538e-01 8.01069364e-01 -4.23606082e-03 2.62509355e+01] [ 7.07573438e-03 9.08417586e-07 9.99974967e-01 2.12650375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:26.27, Z:0.21 [[ 8.01225839e-01 -5.98331297e-01 -6.06749950e-03 7.82264662e+01] [ 5.98314096e-01 8.01248812e-01 -4.53686484e-03 2.62662897e+01] [ 7.57612499e-03 4.78285402e-06 9.99971301e-01 2.12479156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:26.28, Z:0.21 [[ 8.01428374e-01 -5.98055966e-01 -6.45157750e-03 7.82497546e+01] [ 5.98036492e-01 8.01454342e-01 -4.82620799e-03 2.62828000e+01] [ 8.05698728e-03 9.58125090e-06 9.99967542e-01 2.12148411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.511858064 meters Centerline goodness [0,1] 0.9999779181203904 Centerline is valid? [True, True] Translation: X:78.27, Y:26.30, Z:0.21 [[ 8.01711002e-01 -5.97665677e-01 -7.43023582e-03 7.82733744e+01] [ 5.97639802e-01 8.01745432e-01 -5.56143129e-03 2.62994486e+01] [ 9.28103422e-03 1.80559923e-05 9.99956930e-01 2.11930986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:26.32, Z:0.21 [[ 8.01923351e-01 -5.97374468e-01 -7.91731720e-03 7.82962024e+01] [ 5.97345042e-01 8.01962433e-01 -5.92931881e-03 2.63150731e+01] [ 9.89141464e-03 2.54890352e-05 9.99951078e-01 2.11233824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.571858064 meters Centerline goodness [0,1] 0.9998895125292792 Centerline is valid? [True, True] Translation: X:78.32, Y:26.33, Z:0.21 [[ 8.01692451e-01 -5.97682009e-01 -8.08887826e-03 7.83194248e+01] [ 5.97651274e-01 8.01733257e-01 -6.06128596e-03 2.63317001e+01] [ 1.01078443e-02 2.49588049e-05 9.99948914e-01 2.11076004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.34, Y:26.35, Z:0.21 [[ 8.01291851e-01 -5.98221512e-01 -7.89883918e-03 7.83415104e+01] [ 5.98192210e-01 8.01330782e-01 -5.92098072e-03 2.63472532e+01] [ 9.87164102e-03 1.94095373e-05 9.99951274e-01 2.11315797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.631858064 meters Centerline goodness [0,1] 0.9999556452507152 Centerline is valid? [True, True] Translation: X:78.36, Y:26.36, Z:0.21 [[ 8.00685932e-01 -5.99038345e-01 -7.42292868e-03 7.83644331e+01] [ 5.99012480e-01 8.00720339e-01 -5.56668849e-03 2.63631874e+01] [ 9.27834983e-03 1.07422481e-05 9.99956955e-01 2.11938248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.661858064 meters Centerline goodness [0,1] 0.9999115474768918 Centerline is valid? [True, True] Translation: X:78.39, Y:26.38, Z:0.21 [[ 7.99594975e-01 -6.00498060e-01 -7.06789745e-03 7.83887460e+01] [ 6.00474641e-01 7.99626213e-01 -5.30339042e-03 2.63781480e+01] [ 8.83635173e-03 -3.52884655e-06 9.99960959e-01 2.13091930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.691858064 meters Centerline goodness [0,1] 0.999977892246811 Centerline is valid? [True, True] Translation: X:78.41, Y:26.39, Z:0.21 [[ 7.98806954e-01 -6.01547993e-01 -6.88927206e-03 7.84122709e+01] [ 6.01525757e-01 7.98836662e-01 -5.17226527e-03 2.63942344e+01] [ 8.61476888e-03 -1.24331239e-05 9.99962892e-01 2.13250779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:26.41, Z:0.21 [[ 7.97844245e-01 -6.02826657e-01 -6.67703428e-03 7.84350524e+01] [ 6.02805790e-01 7.97872184e-01 -5.01578576e-03 2.64099965e+01] [ 8.35106928e-03 -2.31391202e-05 9.99965129e-01 2.13933137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.46, Y:26.43, Z:0.21 [[ 7.96886225e-01 -6.04095869e-01 -6.36599003e-03 7.84581241e+01] [ 6.04076920e-01 7.96911651e-01 -4.78488551e-03 2.64258764e+01] [ 7.96366120e-03 -3.25383021e-05 9.99968289e-01 2.14607459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781858064 meters Centerline goodness [0,1] 0.9998895369388476 Centerline is valid? [True, True] Translation: X:78.48, Y:26.44, Z:0.21 [[ 7.95255677e-01 -6.06238036e-01 -6.62212533e-03 7.84825407e+01] [ 6.06217590e-01 7.95283246e-01 -4.97919527e-03 2.64400958e+01] [ 8.28504289e-03 -5.47155598e-05 9.99965677e-01 2.14892930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811858064 meters Centerline goodness [0,1] 0.9999332220367279 Centerline is valid? [True, True] Translation: X:78.51, Y:26.46, Z:0.22 [[ 7.94190150e-01 -6.07630502e-01 -6.86873598e-03 7.85064443e+01] [ 6.07608540e-01 7.94219849e-01 -5.16660343e-03 2.64564059e+01] [ 8.59467229e-03 -7.02370859e-05 9.99963063e-01 2.15041397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:26.47, Z:0.22 [[ 7.93195731e-01 -6.08927432e-01 -6.92209065e-03 7.85297256e+01] [ 6.08905163e-01 7.93225930e-01 -5.20836460e-03 2.64721994e+01] [ 8.66229787e-03 -8.36441722e-05 9.99962478e-01 2.15472369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:26.49, Z:0.22 [[ 7.92282128e-01 -6.10116782e-01 -6.82219037e-03 7.85537345e+01] [ 6.10095178e-01 7.92311494e-01 -5.13513235e-03 2.64890683e+01] [ 8.53833026e-03 -9.37118628e-05 9.99963543e-01 2.15591503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.58, Y:26.50, Z:0.22 [[ 7.91344414e-01 -6.11325605e-01 -7.41778734e-03 7.85772964e+01] [ 6.11300101e-01 7.91379171e-01 -5.58521567e-03 2.65047462e+01] [ 9.28466774e-03 -1.14664933e-04 9.99956890e-01 2.15122148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:26.52, Z:0.21 [[ 7.91150132e-01 -6.11569023e-01 -8.04972530e-03 7.85999009e+01] [ 6.11538974e-01 7.91191073e-01 -6.06377796e-03 2.65218701e+01] [ 1.00772896e-02 -1.25362009e-04 9.99949215e-01 2.14934400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:26.54, Z:0.21 [[ 7.90947983e-01 -6.11823194e-01 -8.58297001e-03 7.86223891e+01] [ 6.11789020e-01 7.90994539e-01 -6.46795438e-03 2.65383219e+01] [ 1.07463269e-02 -1.35151343e-04 9.99942247e-01 2.14019707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.991858064 meters Centerline goodness [0,1] 0.9999777456325804 Centerline is valid? [True, True] Translation: X:78.65, Y:26.56, Z:0.21 [[ 7.90442011e-01 -6.12472544e-01 -8.87748965e-03 7.86455538e+01] [ 6.12435992e-01 7.90491848e-01 -6.69284578e-03 2.65560447e+01] [ 1.11167675e-02 -1.46587701e-04 9.99938196e-01 2.13882392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.67, Y:26.57, Z:0.21 [[ 7.90028891e-01 -6.13011828e-01 -8.41729119e-03 7.86681521e+01] [ 6.12978961e-01 7.90073717e-01 -6.34940257e-03 2.65730985e+01] [ 1.05425394e-02 -1.43410944e-04 9.99944416e-01 2.14772038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.69, Y:26.59, Z:0.22 [[ 7.89664506e-01 -6.13484277e-01 -8.18594067e-03 7.86910139e+01] [ 6.13453181e-01 7.89706921e-01 -6.17844850e-03 2.65900919e+01] [ 1.02548750e-02 -1.42789854e-04 9.99947407e-01 2.15579882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:26.61, Z:0.22 [[ 7.89274206e-01 -6.13989531e-01 -7.94256707e-03 7.87138452e+01] [ 6.13960248e-01 7.89314156e-01 -5.99819069e-03 2.66071971e+01] [ 9.95200691e-03 -1.42203250e-04 9.99950467e-01 2.16335155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:26.62, Z:0.22 [[ 7.89248945e-01 -6.14033750e-01 -6.97535565e-03 7.87360500e+01] [ 6.14011142e-01 7.89279759e-01 -5.27064509e-03 2.66243591e+01] [ 8.74186100e-03 -1.23095009e-04 9.99961782e-01 2.17415561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141858064 meters Centerline goodness [0,1] 0.999977709916858 Centerline is valid? [True, True] Translation: X:78.76, Y:26.64, Z:0.22 [[ 7.89375958e-01 -6.13871525e-01 -6.88094831e-03 7.87581930e+01] [ 6.13849492e-01 7.89405940e-01 -5.20227401e-03 2.66415543e+01] [ 8.62538934e-03 -1.17316591e-04 9.99962794e-01 2.18065478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.78, Y:26.66, Z:0.22 [[ 7.89757211e-01 -6.13385133e-01 -6.49822042e-03 7.87798137e+01] [ 6.13365453e-01 7.89783938e-01 -4.91453320e-03 2.66589784e+01] [ 8.14669171e-03 -1.04495880e-04 9.99966810e-01 2.18106712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.80, Y:26.68, Z:0.22 [[ 7.90692130e-01 -6.12182283e-01 -6.22957104e-03 7.88009488e+01] [ 6.12164146e-01 7.90716666e-01 -4.71304172e-03 2.66788561e+01] [ 7.81106628e-03 -8.69550449e-05 9.99969489e-01 2.17797251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.82, Y:26.70, Z:0.22 [[ 7.91139024e-01 -6.11604708e-01 -6.22302490e-03 7.88225820e+01] [ 6.11586572e-01 7.91163494e-01 -4.71067365e-03 2.66973804e+01] [ 7.80450031e-03 -7.91207105e-05 9.99969541e-01 2.17791665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.84, Y:26.72, Z:0.22 [[ 7.91901723e-01 -6.10617261e-01 -6.18243328e-03 7.88448754e+01] [ 6.10599310e-01 7.91925853e-01 -4.68248340e-03 2.67157490e+01] [ 7.75523394e-03 -6.69228269e-05 9.99969925e-01 2.17932540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.87, Y:26.73, Z:0.22 [[ 7.92516341e-01 -6.09816616e-01 -6.44543595e-03 7.88664092e+01] [ 6.09797057e-01 7.92542549e-01 -4.88442093e-03 2.67334203e+01] [ 8.08688328e-03 -5.94244705e-05 9.99967299e-01 2.17859660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.89, Y:26.75, Z:0.22 [[ 7.94593338e-01 -6.07108137e-01 -6.41389607e-03 7.88872285e+01] [ 6.07088667e-01 7.94619223e-01 -4.86221910e-03 2.67520662e+01] [ 8.04849789e-03 -3.03167096e-05 9.99967610e-01 2.17290046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.351858064 meters Centerline goodness [0,1] 0.9999338157430286 Centerline is valid? [True, True] Translation: X:78.91, Y:26.77, Z:0.22 [[ 7.95489878e-01 -6.05931649e-01 -6.53386302e-03 7.89086764e+01] [ 6.05911387e-01 7.95516711e-01 -4.95522752e-03 2.67700812e+01] [ 8.20032640e-03 -1.71086751e-05 9.99966377e-01 2.17484024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.381858064 meters Centerline goodness [0,1] 0.9999336092238919 Centerline is valid? [True, True] Translation: X:78.93, Y:26.79, Z:0.22 [[ 7.96429747e-01 -6.04694179e-01 -6.67901866e-03 7.89302605e+01] [ 6.04672938e-01 7.96457752e-01 -5.06832278e-03 2.67879431e+01] [ 8.38434146e-03 -2.05880666e-06 9.99964851e-01 2.17820815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.411858064 meters Centerline goodness [0,1] 0.9999557453587945 Centerline is valid? [True, True] Translation: X:78.95, Y:26.81, Z:0.22 [[ 7.97348552e-01 -6.03479424e-01 -6.91888294e-03 7.89504886e+01] [ 6.03456562e-01 7.97378571e-01 -5.25289250e-03 2.68052947e+01] [ 8.68698153e-03 1.31409167e-05 9.99962267e-01 2.16942880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.97, Y:26.83, Z:0.22 [[ 7.99110270e-01 -6.01139673e-01 -7.33963811e-03 7.89717648e+01] [ 6.01113822e-01 7.99143974e-01 -5.57501932e-03 2.68251367e+01] [ 9.21679286e-03 4.30972726e-05 9.99957524e-01 2.16612473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.471858064 meters Centerline goodness [0,1] 0.9999336723413663 Centerline is valid? [True, True] Translation: X:78.99, Y:26.84, Z:0.22 [[ 7.99719773e-01 -6.00323852e-01 -7.71738089e-03 7.89935465e+01] [ 6.00295217e-01 7.99757007e-01 -5.86374985e-03 2.68428274e+01] [ 9.69217834e-03 5.66498676e-05 9.99953028e-01 2.16052563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:26.86, Z:0.22 [[ 8.00027427e-01 -5.99913749e-01 -7.72075485e-03 7.90149058e+01] [ 5.99885057e-01 8.00064678e-01 -5.86764306e-03 2.68600784e+01] [ 9.69718300e-03 6.27099209e-05 9.99952979e-01 2.15419149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:26.88, Z:0.22 [[ 8.00144608e-01 -5.99750278e-01 -8.25892416e-03 7.90375389e+01] [ 5.99717406e-01 8.00187227e-01 -6.27968441e-03 2.68760884e+01] [ 1.03749281e-02 7.16350423e-05 9.99946176e-01 2.15527140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561858064 meters Centerline goodness [0,1] 0.9998009598159984 Centerline is valid? [True, True] Translation: X:79.06, Y:26.89, Z:0.22 [[ 8.00103283e-01 -5.99804404e-01 -8.33146605e-03 7.90607663e+01] [ 5.99770915e-01 8.00146656e-01 -6.33864698e-03 2.68920535e+01] [ 1.04683431e-02 7.46012397e-05 9.99945203e-01 2.16248000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59185806400001 meters Centerline goodness [0,1] 0.99993352095198 Centerline is valid? [True, True] Translation: X:79.08, Y:26.91, Z:0.22 [[ 8.00046032e-01 -5.99883861e-01 -8.10549222e-03 7.90822842e+01] [ 5.99852145e-01 8.00087087e-01 -6.16900433e-03 2.69081894e+01] [ 1.01857858e-02 7.33905459e-05 9.99948121e-01 2.16392062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.621858064 meters Centerline goodness [0,1] 0.9999778736585906 Centerline is valid? [True, True] Translation: X:79.10, Y:26.92, Z:0.22 [[ 7.99882410e-01 -6.00105475e-01 -7.84535254e-03 7.91049477e+01] [ 6.00075744e-01 7.99920880e-01 -5.97384246e-03 2.69243461e+01] [ 9.86059687e-03 7.05657366e-05 9.99951381e-01 2.16567189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.651858064 meters Centerline goodness [0,1] 0.9999114828830025 Centerline is valid? [True, True] Translation: X:79.13, Y:26.94, Z:0.22 [[ 7.99956691e-01 -6.00009559e-01 -7.60403165e-03 7.91274353e+01] [ 5.99981593e-01 7.99992828e-01 -5.79345906e-03 2.69408145e+01] [ 9.55930159e-03 7.22373161e-05 9.99954306e-01 2.16767906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:26.96, Z:0.22 [[ 8.00030945e-01 -5.99910277e-01 -7.62542066e-03 7.91497818e+01] [ 5.99882116e-01 8.00067281e-01 -5.81315937e-03 2.69573457e+01] [ 9.58822362e-03 7.63538980e-05 9.99954029e-01 2.16911137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:26.97, Z:0.22 [[ 7.99905166e-01 -6.00075852e-01 -7.79081423e-03 7.91714637e+01] [ 6.00046443e-01 7.99943101e-01 -5.94146083e-03 2.69728405e+01] [ 9.79753527e-03 7.77548497e-05 9.99952000e-01 2.16632406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.741858064 meters Centerline goodness [0,1] 0.9999779380942926 Centerline is valid? [True, True] Translation: X:79.19, Y:26.99, Z:0.22 [[ 7.99555522e-01 -6.00543544e-01 -7.64326491e-03 7.91947139e+01] [ 6.00515234e-01 7.99592050e-01 -5.83163043e-03 2.69893862e+01] [ 9.61364186e-03 7.28152985e-05 9.99953785e-01 2.16913157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.771858064 meters Centerline goodness [0,1] 0.9998677015346622 Centerline is valid? [True, True] Translation: X:79.22, Y:27.00, Z:0.22 [[ 7.98557509e-01 -6.01865970e-01 -7.95353159e-03 7.92174915e+01] [ 6.01835358e-01 7.98597114e-01 -6.07056055e-03 2.70035602e+01] [ 1.00053312e-02 6.09751813e-05 9.99949944e-01 2.16391497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:27.02, Z:0.22 [[ 7.97974849e-01 -6.02647185e-01 -7.24645156e-03 7.92398917e+01] [ 6.02621784e-01 7.98007749e-01 -5.53329703e-03 2.70197308e+01] [ 9.11735038e-03 4.85622851e-05 9.99958435e-01 2.17816020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.26, Y:27.04, Z:0.22 [[ 7.97274061e-01 -6.03574795e-01 -7.17901894e-03 7.92632716e+01] [ 6.03549874e-01 7.97306381e-01 -5.48493114e-03 2.70357237e+01] [ 9.03444380e-03 4.00973479e-05 9.99959188e-01 2.18366584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861858064 meters Centerline goodness [0,1] 0.9999110854246782 Centerline is valid? [True, True] Translation: X:79.29, Y:27.05, Z:0.22 [[ 7.95826821e-01 -6.05484146e-01 -6.97280042e-03 7.92869374e+01] [ 6.05460694e-01 7.95857367e-01 -5.32919718e-03 2.70499183e+01] [ 8.77609899e-03 1.93614665e-05 9.99961489e-01 2.18411965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891858064 meters Centerline goodness [0,1] 0.9999555743130678 Centerline is valid? [True, True] Translation: X:79.31, Y:27.07, Z:0.22 [[ 7.95013475e-01 -6.06552006e-01 -6.94537502e-03 7.93106427e+01] [ 6.06528759e-01 7.95043812e-01 -5.31045454e-03 2.70657767e+01] [ 8.74294429e-03 9.31323005e-06 9.99961780e-01 2.18409062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921858064 meters Centerline goodness [0,1] 0.9999332799572992 Centerline is valid? [True, True] Translation: X:79.33, Y:27.08, Z:0.22 [[ 7.94221310e-01 -6.07587609e-01 -7.05745486e-03 7.93342337e+01] [ 6.07563619e-01 7.94252666e-01 -5.39920397e-03 2.70816792e+01] [ 8.88589176e-03 3.10029874e-07 9.99960520e-01 2.18712810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951858064 meters Centerline goodness [0,1] 0.9999777817276928 Centerline is valid? [True, True] Translation: X:79.36, Y:27.10, Z:0.22 [[ 7.93578037e-01 -6.08427433e-01 -7.06808343e-03 7.93564821e+01] [ 6.08403386e-01 7.93609513e-01 -5.40933154e-03 2.70969278e+01] [ 8.90048395e-03 -7.51918679e-06 9.99960390e-01 2.18560148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.981858064 meters Centerline goodness [0,1] 0.9999776516336656 Centerline is valid? [True, True] Translation: X:79.38, Y:27.11, Z:0.22 [[ 7.92251622e-01 -6.10146226e-01 -7.67797243e-03 7.93803899e+01] [ 6.10117907e-01 7.92288825e-01 -5.87849693e-03 2.71126962e+01] [ 9.66991447e-03 -2.72197502e-05 9.99953245e-01 2.17516233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:27.13, Z:0.22 [[ 7.91671841e-01 -6.10889202e-01 -8.37133973e-03 7.94029292e+01] [ 6.10855560e-01 7.91716099e-01 -6.41121008e-03 2.71288797e+01] [ 1.05442634e-02 -3.81049334e-05 9.99944407e-01 2.16787393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.041858064 meters Centerline goodness [0,1] 0.9999776940063795 Centerline is valid? [True, True] Translation: X:79.42, Y:27.14, Z:0.22 [[ 7.91125935e-01 -6.11594333e-01 -8.49280438e-03 7.94246262e+01] [ 6.11559733e-01 7.91171517e-01 -6.50564457e-03 2.71445193e+01] [ 1.06980803e-02 -4.70730359e-05 9.99942773e-01 2.16107407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:27.16, Z:0.22 [[ 7.90491746e-01 -6.12414578e-01 -8.43710093e-03 7.94471801e+01] [ 6.12380446e-01 7.90536768e-01 -6.46589981e-03 2.71610890e+01] [ 1.06296498e-02 -5.54751937e-05 9.99943502e-01 2.16167477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:27.18, Z:0.22 [[ 7.89275736e-01 -6.13981350e-01 -8.40914319e-03 7.94715400e+01] [ 6.13947498e-01 7.89320528e-01 -6.44773089e-03 2.71770987e+01] [ 1.05962959e-02 -7.37348718e-05 9.99943855e-01 2.16872717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.131858064 meters Centerline goodness [0,1] 0.9999553232363848 Centerline is valid? [True, True] Translation: X:79.49, Y:27.19, Z:0.22 [[ 7.88747226e-01 -6.14659834e-01 -8.43219649e-03 7.94946673e+01] [ 6.14625812e-01 7.88792293e-01 -6.46755336e-03 2.71933554e+01] [ 1.06265969e-02 -8.13808462e-05 9.99943533e-01 2.17028478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161858064 meters Centerline goodness [0,1] 0.999955240247969 Centerline is valid? [True, True] Translation: X:79.52, Y:27.21, Z:0.22 [[ 7.88060500e-01 -6.15536548e-01 -8.68366345e-03 7.95178834e+01] [ 6.15500505e-01 7.88108336e-01 -6.66176025e-03 2.72094315e+01] [ 1.09442245e-02 -9.49291204e-05 9.99940106e-01 2.16810007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.191858064 meters Centerline goodness [0,1] 0.9999552011468507 Centerline is valid? [True, True] Translation: X:79.54, Y:27.23, Z:0.22 [[ 7.87724924e-01 -6.15957036e-01 -9.29375460e-03 7.95409172e+01] [ 6.15915747e-01 7.87779740e-01 -7.13254674e-03 2.72269404e+01] [ 1.17147739e-02 -1.05684965e-04 9.99931374e-01 2.16508036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221858064 meters Centerline goodness [0,1] 0.9999552011468507 Centerline is valid? [True, True] Translation: X:79.56, Y:27.24, Z:0.22 [[ 7.87564813e-01 -6.16161768e-01 -9.29196912e-03 7.95627449e+01] [ 6.16120467e-01 7.87619619e-01 -7.13487246e-03 2.72438187e+01] [ 1.17147728e-02 -1.05797851e-04 9.99931374e-01 2.16601872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.59, Y:27.26, Z:0.22 [[ 7.87395685e-01 -6.16376241e-01 -9.40026685e-03 7.95851677e+01] [ 6.16333941e-01 7.87451788e-01 -7.22191898e-03 2.72608931e+01] [ 1.18536762e-02 -1.07195665e-04 9.99929737e-01 2.16260112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:27.28, Z:0.22 [[ 7.87089072e-01 -6.16764085e-01 -9.63619385e-03 7.96065492e+01] [ 6.16719613e-01 7.87148049e-01 -7.40730500e-03 2.72785893e+01] [ 1.21536709e-02 -1.12620917e-04 9.99926135e-01 2.17204023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311858064 meters Centerline goodness [0,1] 0.9998879426266248 Centerline is valid? [True, True] Translation: X:79.63, Y:27.30, Z:0.22 [[ 7.86854515e-01 -6.17072422e-01 -9.03313572e-03 7.96285488e+01] [ 6.17033319e-01 7.86906357e-01 -6.94762159e-03 2.72962110e+01] [ 1.13954176e-02 -1.06978289e-04 9.99935064e-01 2.18104279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:27.31, Z:0.22 [[ 7.86752934e-01 -6.17206187e-01 -8.73746933e-03 7.96499233e+01] [ 6.17169577e-01 7.86801444e-01 -6.72317948e-03 2.73121019e+01] [ 1.10242415e-02 -1.03019060e-04 9.99939226e-01 2.18133999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.67, Y:27.33, Z:0.22 [[ 7.86451133e-01 -6.17593642e-01 -8.52697132e-03 7.96718142e+01] [ 6.17558762e-01 7.86497351e-01 -6.56448476e-03 2.73290714e+01] [ 1.07606244e-02 -1.03259382e-04 9.99942097e-01 2.18291053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:27.35, Z:0.22 [[ 7.86252678e-01 -6.17849178e-01 -8.31375983e-03 7.96939563e+01] [ 6.17815998e-01 7.86296625e-01 -6.40393122e-03 2.73470212e+01] [ 1.04937449e-02 -1.01265752e-04 9.99944934e-01 2.18662888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:27.36, Z:0.22 [[ 7.85870886e-01 -6.18337055e-01 -8.13860964e-03 7.97153477e+01] [ 6.18305261e-01 7.85913021e-01 -6.27121084e-03 2.73633111e+01] [ 1.02739613e-02 -1.03783139e-04 9.99947216e-01 2.18571317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.461858064 meters Centerline goodness [0,1] 0.9999552362407395 Centerline is valid? [True, True] Translation: X:79.74, Y:27.38, Z:0.22 [[ 7.85519320e-01 -6.18787369e-01 -7.84792507e-03 7.97373077e+01] [ 6.18757801e-01 7.85558516e-01 -6.04994898e-03 2.73800575e+01] [ 9.90863638e-03 -1.03613049e-04 9.99950903e-01 2.19194535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.76, Y:27.40, Z:0.22 [[ 7.84981979e-01 -6.19468742e-01 -7.85935982e-03 7.97593318e+01] [ 6.19439088e-01 7.85021315e-01 -6.06222237e-03 2.73971186e+01] [ 9.92512224e-03 -1.09659366e-04 9.99950739e-01 2.19853450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.78, Y:27.41, Z:0.22 [[ 7.84382058e-01 -6.20225216e-01 -8.09129770e-03 7.97818811e+01] [ 6.20193792e-01 7.84423780e-01 -6.24448214e-03 2.74149211e+01] [ 1.02199916e-02 -1.20112848e-04 9.99947767e-01 2.20150441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:27.43, Z:0.22 [[ 7.84147526e-01 -6.20519295e-01 -8.27415343e-03 7.98027442e+01] [ 6.20486429e-01 7.84191168e-01 -6.38775861e-03 2.74314542e+01] [ 1.04522455e-02 -1.25054797e-04 9.99945366e-01 2.19791603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:27.45, Z:0.22 [[ 7.83534958e-01 -6.21291500e-01 -8.35712990e-03 7.98252687e+01] [ 6.21257985e-01 7.83579514e-01 -6.45459462e-03 2.74498450e+01] [ 1.05586606e-02 -1.34533159e-04 9.99944247e-01 2.19725178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.611858064 meters Centerline goodness [0,1] 0.9999776441394111 Centerline is valid? [True, True] Translation: X:79.85, Y:27.47, Z:0.22 [[ 7.82945714e-01 -6.22034001e-01 -8.34927173e-03 7.98484164e+01] [ 6.22000557e-01 7.82990218e-01 -6.45185804e-03 2.74678284e+01] [ 1.05506732e-02 -1.41797069e-04 9.99944330e-01 2.20026920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.87, Y:27.48, Z:0.22 [[ 7.82051483e-01 -6.23166512e-01 -7.67954089e-03 7.98712496e+01] [ 6.23138256e-01 7.82089175e-01 -5.93602289e-03 2.74845005e+01] [ 9.70521648e-03 -1.43140217e-04 9.99952893e-01 2.19979148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.89, Y:27.50, Z:0.22 [[ 7.81386880e-01 -6.24000460e-01 -7.61378331e-03 7.98938846e+01] [ 6.23972703e-01 7.81423959e-01 -5.88750007e-03 2.75019231e+01] [ 9.62339544e-03 -1.50377638e-04 9.99953683e-01 2.19937210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701858064 meters Centerline goodness [0,1] 0.9999553491694946 Centerline is valid? [True, True] Translation: X:79.92, Y:27.52, Z:0.22 [[ 7.80705022e-01 -6.24852236e-01 -7.70401152e-03 7.99161619e+01] [ 6.24823838e-01 7.80743016e-01 -5.95938181e-03 2.75184361e+01] [ 9.73858624e-03 -1.61130738e-04 9.99952566e-01 2.19497548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.94, Y:27.54, Z:0.22 [[ 7.80328710e-01 -6.25317318e-01 -8.08431109e-03 7.99386463e+01] [ 6.25286059e-01 7.80370567e-01 -6.25488659e-03 2.75356551e+01] [ 1.02200473e-02 -1.74139432e-04 9.99947759e-01 2.19721350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.761858064 meters Centerline goodness [0,1] 0.9999776501352167 Centerline is valid? [True, True] Translation: X:79.96, Y:27.55, Z:0.22 [[ 7.80166354e-01 -6.25510403e-01 -8.78611080e-03 7.99601520e+01] [ 6.25473458e-01 7.80215803e-01 -6.80099593e-03 2.75539243e+01] [ 1.11091562e-02 -1.89570909e-04 9.99938273e-01 2.19717704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.98, Y:27.57, Z:0.22 [[ 7.80230210e-01 -6.25419628e-01 -9.54500890e-03 7.99815919e+01] [ 6.25375966e-01 7.80288567e-01 -7.39278050e-03 2.75714084e+01] [ 1.20714514e-02 -2.01148471e-04 9.99927117e-01 2.19009116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:27.59, Z:0.22 [[ 7.80489230e-01 -6.25084294e-01 -1.03046689e-02 8.00022196e+01] [ 6.25033340e-01 7.80557225e-01 -7.98390783e-03 2.75882025e+01] [ 1.30339991e-02 -2.09407537e-04 9.99915032e-01 2.17982222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:27.61, Z:0.22 [[ 7.81507310e-01 -6.23798145e-01 -1.10543444e-02 8.00229139e+01] [ 6.23739354e-01 7.81585462e-01 -8.56643859e-03 2.76064514e+01] [ 1.39836434e-02 -2.00295290e-04 9.99902204e-01 2.17197897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881858064 meters Centerline goodness [0,1] 0.9999553282258605 Centerline is valid? [True, True] Translation: X:80.04, Y:27.62, Z:0.22 [[ 7.82161629e-01 -6.22975092e-01 -1.11902065e-02 8.00444857e+01] [ 6.22914742e-01 7.82241650e-01 -8.67323763e-03 2.76240366e+01] [ 1.41566566e-02 -1.86670923e-04 9.99899772e-01 2.17226676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:27.64, Z:0.22 [[ 7.82621097e-01 -6.22398839e-01 -1.11312162e-02 8.00663916e+01] [ 6.22339015e-01 7.82700233e-01 -8.63106969e-03 2.76429793e+01] [ 1.40843732e-02 -1.72532866e-04 9.99900795e-01 2.17836341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.09, Y:27.66, Z:0.22 [[ 7.83634298e-01 -6.21142533e-01 -9.96197427e-03 8.00874731e+01] [ 6.21094492e-01 7.83697605e-01 -7.72633529e-03 2.76608447e+01] [ 1.26063309e-02 -1.32706019e-04 9.99920528e-01 2.18724399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.11, Y:27.68, Z:0.22 [[ 7.84125459e-01 -6.20530343e-01 -9.45294789e-03 8.01092228e+01] [ 6.20487026e-01 7.84182428e-01 -7.33278090e-03 2.76781529e+01] [ 1.19630487e-02 -1.15611337e-04 9.99928433e-01 2.19872079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001858064 meters Centerline goodness [0,1] 0.999910514541387 Centerline is valid? [True, True] Translation: X:80.13, Y:27.70, Z:0.22 [[ 7.84379631e-01 -6.20208398e-01 -9.49402644e-03 8.01307892e+01] [ 6.20164640e-01 7.84437079e-01 -7.36806167e-03 2.76964576e+01] [ 1.20172001e-02 -1.08501994e-04 9.99927785e-01 2.20870258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:27.71, Z:0.22 [[ 7.85941646e-01 -6.18245416e-01 -8.26648413e-03 8.01517964e+01] [ 6.18212110e-01 7.85985115e-01 -6.41760449e-03 2.77141151e+01] [ 1.04649880e-02 -6.65779643e-05 9.99945238e-01 2.22919404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:27.73, Z:0.22 [[ 7.86654991e-01 -6.17334956e-01 -8.45444319e-03 8.01739939e+01] [ 6.17300032e-01 7.86700419e-01 -6.56662553e-03 2.77318699e+01] [ 1.07049215e-02 -5.32593068e-05 9.99942699e-01 2.23218891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:27.75, Z:0.22 [[ 7.87057704e-01 -6.16821366e-01 -8.46003276e-03 8.01959126e+01] [ 6.16786327e-01 7.87103170e-01 -6.57467485e-03 2.77501561e+01] [ 1.07143185e-02 -4.33840380e-05 9.99942599e-01 2.23463260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.121858064 meters Centerline goodness [0,1] 0.9999776146131805 Centerline is valid? [True, True] Translation: X:80.22, Y:27.77, Z:0.22 [[ 7.87502049e-01 -6.16248942e-01 -8.81842965e-03 8.02174336e+01] [ 6.16210791e-01 7.87551421e-01 -6.85710711e-03 2.77687199e+01] [ 1.11706518e-02 -3.40256096e-05 9.99937606e-01 2.23241975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:27.79, Z:0.22 [[ 7.87969257e-01 -6.15653513e-01 -8.67187582e-03 8.02383233e+01] [ 6.15616559e-01 7.88016974e-01 -6.74543946e-03 2.77866128e+01] [ 1.09864388e-02 -2.33514274e-05 9.99939647e-01 2.22438378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:27.80, Z:0.22 [[ 7.88396571e-01 -6.15096369e-01 -9.34366299e-03 8.02593912e+01] [ 6.15053386e-01 7.88451937e-01 -7.27151767e-03 2.78048990e+01] [ 1.18397133e-02 -1.40119674e-05 9.99929908e-01 2.22401334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.211858064 meters Centerline goodness [0,1] 0.9999554019400156 Centerline is valid? [True, True] Translation: X:80.28, Y:27.82, Z:0.22 [[ 7.88178676e-01 -6.15378025e-01 -9.17941465e-03 8.02808944e+01] [ 6.15336531e-01 7.88232127e-01 -7.14613942e-03 2.78207532e+01] [ 1.16330867e-02 -1.59944555e-05 9.99932333e-01 2.22115169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241858064 meters Centerline goodness [0,1] 0.9999330655957162 Centerline is valid? [True, True] Translation: X:80.30, Y:27.84, Z:0.22 [[ 7.87634870e-01 -6.16069624e-01 -9.46201327e-03 8.03035968e+01] [ 6.16025543e-01 7.87691702e-01 -7.36967376e-03 2.78372658e+01] [ 1.19933815e-02 -2.42298331e-05 9.99928077e-01 2.23204015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.271858064 meters Centerline goodness [0,1] 0.9998221075804408 Centerline is valid? [True, True] Translation: X:80.33, Y:27.85, Z:0.22 [[ 7.86655178e-01 -6.17320735e-01 -9.42030950e-03 8.03262337e+01] [ 6.17277093e-01 7.86711579e-01 -7.34039866e-03 2.78525006e+01] [ 1.19424469e-02 -4.05786560e-05 9.99928686e-01 2.23473457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.301858064 meters Centerline goodness [0,1] 0.9999776780731713 Centerline is valid? [True, True] Translation: X:80.35, Y:27.87, Z:0.22 [[ 7.86045311e-01 -6.18090255e-01 -9.85930379e-03 8.03493556e+01] [ 6.18042466e-01 7.86107139e-01 -7.68605301e-03 2.78701697e+01] [ 1.25011436e-02 -5.18824992e-05 9.99921856e-01 2.23604151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.331858064 meters Centerline goodness [0,1] 0.9997772381991936 Centerline is valid? [True, True] Translation: X:80.37, Y:27.89, Z:0.22 [[ 7.85440503e-01 -6.18858514e-01 -9.86690530e-03 8.03719013e+01] [ 6.18810659e-01 7.85502473e-01 -7.69627225e-03 2.78875418e+01] [ 1.25133821e-02 -6.07822272e-05 9.99921703e-01 2.23799449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361858064 meters Centerline goodness [0,1] 0.999621127702251 Centerline is valid? [True, True] Translation: X:80.40, Y:27.90, Z:0.22 [[ 7.83796062e-01 -6.20935250e-01 -1.01561961e-02 8.03957018e+01] [ 6.20884667e-01 7.83861854e-01 -7.92616253e-03 2.79043022e+01] [ 1.28826884e-02 -9.33314436e-05 9.99917010e-01 2.23105589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391858064 meters Centerline goodness [0,1] 0.9999331416727953 Centerline is valid? [True, True] Translation: X:80.42, Y:27.92, Z:0.22 [[ 7.83573686e-01 -6.21225833e-01 -9.52596805e-03 8.04178421e+01] [ 6.21181325e-01 7.83631582e-01 -7.43667478e-03 2.79205529e+01] [ 1.20847039e-02 -9.01707880e-05 9.99926973e-01 2.24491347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421858064 meters Centerline goodness [0,1] 0.9997546997301697 Centerline is valid? [True, True] Translation: X:80.44, Y:27.94, Z:0.22 [[ 7.82547228e-01 -6.22519917e-01 -9.42280400e-03 8.04412736e+01] [ 6.22476424e-01 7.82603949e-01 -7.35934970e-03 2.79369711e+01] [ 1.19556654e-02 -1.06434636e-04 9.99928523e-01 2.24742009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451858064 meters Centerline goodness [0,1] 0.9996879527471303 Centerline is valid? [True, True] Translation: X:80.46, Y:27.95, Z:0.22 [[ 7.82019444e-01 -6.23181068e-01 -9.53655466e-03 8.04635452e+01] [ 6.23136543e-01 7.82077581e-01 -7.45024573e-03 2.79532312e+01] [ 1.21011777e-02 -1.16338678e-04 9.99926771e-01 2.24538831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.481858064 meters Centerline goodness [0,1] 0.9999333170330525 Centerline is valid? [True, True] Translation: X:80.49, Y:27.97, Z:0.23 [[ 7.81497368e-01 -6.23840700e-01 -9.20028690e-03 8.04857049e+01] [ 6.23799266e-01 7.81551513e-01 -7.19083528e-03 2.79701826e+01] [ 1.16764339e-02 -1.19513373e-04 9.99931821e-01 2.25214843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.511858064 meters Centerline goodness [0,1] 0.9996884735202493 Centerline is valid? [True, True] Translation: X:80.51, Y:27.99, Z:0.23 [[ 7.80887730e-01 -6.24611210e-01 -8.67119119e-03 8.05080022e+01] [ 6.24574428e-01 7.80935862e-01 -6.77959883e-03 2.79854813e+01] [ 1.10062576e-02 -1.21698736e-04 9.99939422e-01 2.25515957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.541858064 meters Centerline goodness [0,1] 0.999645602144107 Centerline is valid? [True, True] Translation: X:80.53, Y:28.00, Z:0.23 [[ 7.80708537e-01 -6.24834714e-01 -8.70399148e-03 8.05291180e+01] [ 6.24797632e-01 7.80757046e-01 -6.80846109e-03 2.80033272e+01] [ 1.10498655e-02 -1.22809564e-04 9.99938941e-01 2.26606197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.571858064 meters Centerline goodness [0,1] 0.9998217587950895 Centerline is valid? [True, True] Translation: X:80.55, Y:28.02, Z:0.23 [[ 7.80474983e-01 -6.25123253e-01 -8.92861270e-03 8.05510279e+01] [ 6.25084204e-01 7.80526042e-01 -6.98820120e-03 2.80206322e+01] [ 1.13375018e-02 -1.27018553e-04 9.99935720e-01 2.26692855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601858064 meters Centerline goodness [0,1] 0.999977734235839 Centerline is valid? [True, True] Translation: X:80.57, Y:28.04, Z:0.23 [[ 7.80354346e-01 -6.25272358e-01 -9.03174385e-03 8.05727575e+01] [ 6.25232366e-01 7.80406600e-01 -7.07298509e-03 2.80377990e+01] [ 1.14709746e-02 -1.27503924e-04 9.99934198e-01 2.26874138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.631858064 meters Centerline goodness [0,1] 0.9998439868057413 Centerline is valid? [True, True] Translation: X:80.59, Y:28.05, Z:0.23 [[ 7.80569142e-01 -6.25000361e-01 -9.29315240e-03 8.05941822e+01] [ 6.24957971e-01 7.80624451e-01 -7.28022404e-03 2.80539617e+01] [ 1.18046046e-02 -1.25111428e-04 9.99930315e-01 2.26249862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661858064 meters Centerline goodness [0,1] 0.9997109312461087 Centerline is valid? [True, True] Translation: X:80.62, Y:28.07, Z:0.23 [[ 7.80585582e-01 -6.24970318e-01 -9.91215395e-03 8.06159240e+01] [ 6.24922042e-01 7.80648503e-01 -7.76892147e-03 2.80723437e+01] [ 1.25932535e-02 -1.30015396e-04 9.99920693e-01 2.26553338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.691858064 meters Centerline goodness [0,1] 0.9997996571911938 Centerline is valid? [True, True] Translation: X:80.64, Y:28.09, Z:0.23 [[ 7.80744698e-01 -6.24768029e-01 -1.01304716e-02 8.06374482e+01] [ 6.24717529e-01 7.80810408e-01 -7.94455621e-03 2.80903592e+01] [ 1.28734824e-02 -1.26013023e-04 9.99917125e-01 2.26392376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721858064 meters Centerline goodness [0,1] 0.9998886513450918 Centerline is valid? [True, True] Translation: X:80.66, Y:28.11, Z:0.23 [[ 7.80396955e-01 -6.25198968e-01 -1.03365128e-02 8.06583506e+01] [ 6.25146367e-01 7.80465395e-01 -8.11090206e-03 2.81091311e+01] [ 1.31382181e-02 -1.32110139e-04 9.99913681e-01 2.27145355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751858064 meters Centerline goodness [0,1] 0.9997340130776904 Centerline is valid? [True, True] Translation: X:80.68, Y:28.13, Z:0.23 [[ 7.79995353e-01 -6.25697653e-01 -1.04735836e-02 8.06805949e+01] [ 6.25643661e-01 7.80065656e-01 -8.22083793e-03 2.81253712e+01] [ 1.33138419e-02 -1.40515811e-04 9.99911357e-01 2.26766928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781858064 meters Centerline goodness [0,1] 0.9997993132051911 Centerline is valid? [True, True] Translation: X:80.70, Y:28.14, Z:0.23 [[ 7.79327886e-01 -6.26528803e-01 -1.04739938e-02 8.07025233e+01] [ 6.26474862e-01 7.79398252e-01 -8.22263949e-03 2.81420530e+01] [ 1.33151329e-02 -1.53561576e-04 9.99911338e-01 2.27125911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811858064 meters Centerline goodness [0,1] 0.9997550984059133 Centerline is valid? [True, True] Translation: X:80.73, Y:28.16, Z:0.23 [[ 7.78803390e-01 -6.27178854e-01 -1.05813702e-02 8.07251149e+01] [ 6.27123814e-01 7.78875252e-01 -8.31040586e-03 2.81598071e+01] [ 1.34536782e-02 -1.63656982e-04 9.99909482e-01 2.27497639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84185806400001 meters Centerline goodness [0,1] 0.999866423260163 Centerline is valid? [True, True] Translation: X:80.75, Y:28.18, Z:0.23 [[ 7.77734811e-01 -6.28507724e-01 -1.03249503e-02 8.07474755e+01] [ 6.28455409e-01 7.77803323e-01 -8.11110190e-03 2.81761517e+01] [ 1.31286708e-02 -1.80484560e-04 9.99913799e-01 2.27236978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.871858064 meters Centerline goodness [0,1] 0.999910925043424 Centerline is valid? [True, True] Translation: X:80.77, Y:28.20, Z:0.23 [[ 7.77192511e-01 -6.29180119e-01 -1.02067974e-02 8.07684797e+01] [ 6.29129003e-01 7.77259508e-01 -8.02211385e-03 2.81955506e+01] [ 1.29806849e-02 -1.86665493e-04 9.99915730e-01 2.29157132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.901858064 meters Centerline goodness [0,1] 0.9997106288258208 Centerline is valid? [True, True] Translation: X:80.79, Y:28.21, Z:0.23 [[ 7.76730960e-01 -6.29752945e-01 -1.00121900e-02 8.07901383e+01] [ 6.29703779e-01 7.76795463e-01 -7.87146283e-03 2.82122666e+01] [ 1.27345007e-02 -1.90705009e-04 9.99918895e-01 2.28985237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.931858064 meters Centerline goodness [0,1] 0.999955595026643 Centerline is valid? [True, True] Translation: X:80.81, Y:28.23, Z:0.23 [[ 7.76004154e-01 -6.30652173e-01 -9.76679379e-03 8.08121240e+01] [ 6.30605418e-01 7.76065589e-01 -7.68175622e-03 2.82304984e+01] [ 1.24241888e-02 -1.97918344e-04 9.99922797e-01 2.29651440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.83, Y:28.25, Z:0.23 [[ 7.75404948e-01 -6.31388799e-01 -9.76476582e-03 8.08334091e+01] [ 6.31342096e-01 7.75466402e-01 -7.68223231e-03 2.82480909e+01] [ 1.24227233e-02 -2.08066772e-04 9.99922813e-01 2.29268231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.991858064 meters Centerline goodness [0,1] 0.999867086083913 Centerline is valid? [True, True] Translation: X:80.86, Y:28.27, Z:0.23 [[ 7.74959030e-01 -6.31935214e-01 -9.81768870e-03 8.08561917e+01] [ 6.31888008e-01 7.75021186e-01 -7.72704827e-03 2.82665611e+01] [ 1.24919106e-02 -2.15533917e-04 9.99921950e-01 2.28913938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.88, Y:28.28, Z:0.23 [[ 7.74512902e-01 -6.32479619e-01 -9.96468825e-03 8.08781720e+01] [ 6.32431007e-01 7.74576968e-01 -7.84482986e-03 2.82844655e+01] [ 1.26801130e-02 -2.26055878e-04 9.99919579e-01 2.28720643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:28.30, Z:0.23 [[ 7.73768897e-01 -6.33405218e-01 -8.91760602e-03 8.09002060e+01] [ 6.33366334e-01 7.73820252e-01 -7.02170059e-03 2.83016151e+01] [ 1.13482059e-02 -2.14937912e-04 9.99935584e-01 2.29357122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081858064 meters Centerline goodness [0,1] 0.9999120086231549 Centerline is valid? [True, True] Translation: X:80.92, Y:28.32, Z:0.23 [[ 7.73353490e-01 -6.33920947e-01 -8.28324358e-03 8.09217441e+01] [ 6.33887398e-01 7.73397822e-01 -6.52500698e-03 2.83192303e+01] [ 1.05425811e-02 -2.04506788e-04 9.99944405e-01 2.30359526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:28.34, Z:0.23 [[ 7.73033841e-01 -6.34313524e-01 -8.06429542e-03 8.09437318e+01] [ 6.34281711e-01 7.73075877e-01 -6.35602307e-03 2.83368464e+01] [ 1.02660236e-02 -2.01614165e-04 9.99947283e-01 2.30973624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:28.35, Z:0.23 [[ 7.72863280e-01 -6.34521351e-01 -8.06258655e-03 8.09653526e+01] [ 6.34489526e-01 7.72905308e-01 -6.35819042e-03 2.83539965e+01] [ 1.02660235e-02 -2.01614810e-04 9.99947283e-01 2.31067427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.99, Y:28.37, Z:0.23 [[ 7.72499357e-01 -6.34970380e-01 -7.57358870e-03 8.09867714e+01] [ 6.34942289e-01 7.72536458e-01 -5.97578854e-03 2.83716013e+01] [ 9.64532211e-03 -1.92498943e-04 9.99953464e-01 2.31376095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201858064 meters Centerline goodness [0,1] 0.9999115943950847 Centerline is valid? [True, True] Translation: X:81.01, Y:28.39, Z:0.23 [[ 7.72945554e-01 -6.34425040e-01 -7.74853666e-03 8.10077694e+01] [ 6.34395587e-01 7.72984368e-01 -6.11604022e-03 2.83906681e+01] [ 9.86966677e-03 -1.88271375e-04 9.99951276e-01 2.29767488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:28.41, Z:0.23 [[ 7.73664537e-01 -6.33547477e-01 -7.79605685e-03 8.10292332e+01] [ 6.33517593e-01 7.73703795e-01 -6.15600669e-03 2.84099034e+01] [ 9.93196128e-03 -1.76255104e-04 9.99950661e-01 2.30078531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.05, Y:28.43, Z:0.23 [[ 7.74308611e-01 -6.32761898e-01 -7.65216476e-03 8.10501644e+01] [ 6.32733040e-01 7.74346405e-01 -6.04531052e-03 2.84307582e+01] [ 9.75066843e-03 -1.60841480e-04 9.99952448e-01 2.30097803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.291858064 meters Centerline goodness [0,1] 0.9999118068570169 Centerline is valid? [True, True] Translation: X:81.07, Y:28.45, Z:0.23 [[ 7.76320720e-01 -6.30291930e-01 -7.63034046e-03 8.10696245e+01] [ 6.30263087e-01 7.76358208e-01 -6.03113171e-03 2.84521632e+01] [ 9.72525109e-03 -1.27029415e-04 9.99952701e-01 2.30978019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:28.47, Z:0.23 [[ 7.77420791e-01 -6.28942137e-01 -6.97873322e-03 8.10906164e+01] [ 6.28917941e-01 7.77452107e-01 -5.51771205e-03 2.84702875e+01] [ 8.89595245e-03 -9.94664593e-05 9.99960425e-01 2.31169874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:28.49, Z:0.23 [[ 7.78423812e-01 -6.27703490e-01 -6.68565803e-03 8.11123866e+01] [ 6.27681221e-01 7.78452518e-01 -5.28797393e-03 2.84894944e+01] [ 8.52374701e-03 -8.01771690e-05 9.99963669e-01 2.31549837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:28.51, Z:0.23 [[ 7.79259389e-01 -6.26666879e-01 -6.58995215e-03 8.11340384e+01] [ 6.26645183e-01 7.79287251e-01 -5.21489811e-03 2.85081317e+01] [ 8.40346961e-03 -6.58034621e-05 9.99964688e-01 2.31731669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.411858064 meters Centerline goodness [0,1] 0.999890583626934 Centerline is valid? [True, True] Translation: X:81.15, Y:28.53, Z:0.23 [[ 7.80772526e-01 -6.24776948e-01 -6.93016251e-03 8.11541353e+01] [ 6.24752865e-01 7.80803280e-01 -5.48584521e-03 2.85269815e+01] [ 8.83852325e-03 -4.64416605e-05 9.99960938e-01 2.30637444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:28.55, Z:0.23 [[ 7.80961670e-01 -6.24541116e-01 -6.87494123e-03 8.11757858e+01] [ 6.24517386e-01 7.80991929e-01 -5.44437276e-03 2.85452733e+01] [ 8.76950825e-03 -4.16738847e-05 9.99961546e-01 2.30153321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.471858064 meters Centerline goodness [0,1] 0.9999343803315981 Centerline is valid? [True, True] Translation: X:81.20, Y:28.56, Z:0.23 [[ 7.80988071e-01 -6.24513366e-01 -6.37875955e-03 8.11974601e+01] [ 6.24492914e-01 7.81014119e-01 -5.05422073e-03 2.85632396e+01] [ 8.13832967e-03 -3.62040372e-05 9.99966883e-01 2.30770355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501858064 meters Centerline goodness [0,1] 0.9999781057056532 Centerline is valid? [True, True] Translation: X:81.22, Y:28.58, Z:0.23 [[ 7.80724669e-01 -6.24847231e-01 -5.91014747e-03 8.12184716e+01] [ 6.24829670e-01 7.80747038e-01 -4.68467418e-03 2.85797391e+01] [ 7.54153582e-03 -3.53947932e-05 9.99971562e-01 2.31126890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.24, Y:28.60, Z:0.23 [[ 7.80306154e-01 -6.25372965e-01 -5.56414770e-03 8.12406868e+01] [ 6.25357401e-01 7.80325992e-01 -4.41220997e-03 2.85975441e+01] [ 7.10112591e-03 -3.67063514e-05 9.99974786e-01 2.31188956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561858064 meters Centerline goodness [0,1] 0.9999781420765027 Centerline is valid? [True, True] Translation: X:81.26, Y:28.61, Z:0.23 [[ 7.79839858e-01 -6.25955426e-01 -5.44074941e-03 8.12625820e+01] [ 6.25940542e-01 7.79858836e-01 -4.31676626e-03 2.86143851e+01] [ 6.94511977e-03 -3.91992462e-05 9.99975882e-01 2.31301591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59185806400001 meters Centerline goodness [0,1] 0.9999780855539971 Centerline is valid? [True, True] Translation: X:81.29, Y:28.63, Z:0.23 [[ 7.78610273e-01 -6.27486081e-01 -5.22115566e-03 8.12861767e+01] [ 6.27472395e-01 7.78627777e-01 -4.14466623e-03 2.86314983e+01] [ 6.66605720e-03 -4.90513467e-05 9.99977780e-01 2.31424583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:28.65, Z:0.23 [[ 7.78120157e-01 -6.28098140e-01 -4.66341334e-03 8.13075815e+01] [ 6.28087224e-01 7.78134130e-01 -3.70343996e-03 2.86479175e+01] [ 5.95488483e-03 -4.73090553e-05 9.99982268e-01 2.31663782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:28.67, Z:0.23 [[ 7.77435192e-01 -6.28949582e-01 -4.11661936e-03 8.13299842e+01] [ 6.28941080e-01 7.77446089e-01 -3.27054674e-03 2.86654067e+01] [ 5.25745863e-03 -4.64728890e-05 9.99986178e-01 2.31663410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:28.68, Z:0.23 [[ 7.76707163e-01 -6.29848781e-01 -4.06163758e-03 8.13530532e+01] [ 6.29840508e-01 7.76717781e-01 -3.22854877e-03 2.86829018e+01] [ 5.18824364e-03 -5.05469218e-05 9.99986540e-01 2.31683035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.38, Y:28.70, Z:0.23 [[ 7.75745981e-01 -6.31035746e-01 -3.47269839e-03 8.13761981e+01] [ 6.31029705e-01 7.75753753e-01 -2.76157927e-03 2.87002488e+01] [ 4.43661404e-03 -4.90918213e-05 9.99990157e-01 2.31830983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.40, Y:28.72, Z:0.23 [[ 7.73910801e-01 -6.33288115e-01 -2.86985744e-03 8.13987158e+01] [ 6.33284001e-01 7.73916120e-01 -2.28309822e-03 2.87184433e+01] [ 3.66688791e-03 -5.05204311e-05 9.99993276e-01 2.31483051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.771858064 meters Centerline goodness [0,1] 0.9999781081021913 Centerline is valid? [True, True] Translation: X:81.42, Y:28.74, Z:0.23 [[ 7.73108208e-01 -6.34266330e-01 -3.14990324e-03 8.14210510e+01] [ 6.34261377e-01 7.73114622e-01 -2.50724759e-03 2.87363145e+01] [ 4.02549898e-03 -5.94882746e-05 9.99991896e-01 2.31074436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:28.75, Z:0.23 [[ 7.72606246e-01 -6.34877996e-01 -3.08510705e-03 8.14433707e+01] [ 6.34873246e-01 7.72612404e-01 -2.45678730e-03 2.87530841e+01] [ 3.94335217e-03 -6.05227142e-05 9.99992223e-01 2.30502105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:28.77, Z:0.23 [[ 7.71460979e-01 -6.36268716e-01 -3.17463284e-03 8.14657509e+01] [ 6.36263695e-01 7.71467508e-01 -2.52867426e-03 2.87715412e+01] [ 4.05804241e-03 -6.91301051e-05 9.99991764e-01 2.29028843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:28.79, Z:0.23 [[ 7.70834313e-01 -6.37028158e-01 -3.09655168e-03 8.14882733e+01] [ 6.37023382e-01 7.70840529e-01 -2.46768810e-03 2.87893339e+01] [ 3.95893434e-03 -7.03971681e-05 9.99992161e-01 2.28683454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891858064 meters Centerline goodness [0,1] 0.9999559713813979 Centerline is valid? [True, True] Translation: X:81.51, Y:28.81, Z:0.23 [[ 7.70042156e-01 -6.37985652e-01 -3.06370794e-03 8.15108675e+01] [ 6.37980980e-01 7.70048247e-01 -2.44271927e-03 2.88077379e+01] [ 3.91762277e-03 -7.35905807e-05 9.99992323e-01 2.28213446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921858064 meters Centerline goodness [0,1] 0.9999338099020386 Centerline is valid? [True, True] Translation: X:81.53, Y:28.83, Z:0.23 [[ 7.68431830e-01 -6.39923742e-01 -3.18226284e-03 8.15331205e+01] [ 6.39918712e-01 7.68438415e-01 -2.53855602e-03 2.88262554e+01] [ 4.06985528e-03 -8.56822849e-05 9.99991714e-01 2.27048984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:28.84, Z:0.23 [[ 7.67617811e-01 -6.40898848e-01 -3.40049913e-03 8.15549235e+01] [ 6.40893109e-01 7.67625337e-01 -2.71390289e-03 2.88430946e+01] [ 4.34964652e-03 -9.61162622e-05 9.99990536e-01 2.26555566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:28.86, Z:0.23 [[ 7.67027833e-01 -6.41606830e-01 -2.99649307e-03 8.15775135e+01] [ 6.41602378e-01 7.67033681e-01 -2.39193815e-03 2.88610236e+01] [ 3.83309496e-03 -8.78739448e-05 9.99992650e-01 2.26232970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:28.88, Z:0.23 [[ 7.65978557e-01 -6.42860679e-01 -2.64529560e-03 8.15995300e+01] [ 6.42857214e-01 7.65983120e-01 -2.11253684e-03 2.88772630e+01] [ 3.38431865e-03 -8.23894418e-05 9.99994270e-01 2.26781818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.62, Y:28.89, Z:0.23 [[ 7.65635493e-01 -6.43270820e-01 -2.22358895e-03 8.16218779e+01] [ 6.43268371e-01 7.65638718e-01 -1.77625750e-03 2.88947114e+01] [ 2.84508041e-03 -7.03986534e-05 9.99995950e-01 2.27237448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:28.91, Z:0.23 [[ 7.65368452e-01 -6.43591033e-01 -1.30934942e-03 8.16433345e+01] [ 6.43590185e-01 7.65369571e-01 -1.04553571e-03 2.89136150e+01] [ 1.67503361e-03 -4.24643900e-05 9.99998596e-01 2.27887580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.101858064 meters Centerline goodness [0,1] 0.9998902449732198 Centerline is valid? [True, True] Translation: X:81.67, Y:28.93, Z:0.23 [[ 7.65609506e-01 -6.43304752e-01 -1.03933926e-03 8.16658878e+01] [ 6.43304217e-01 7.65610211e-01 -8.30254065e-04 2.89320288e+01] [ 1.32983513e-03 -3.29609221e-05 9.99999115e-01 2.28827431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:28.95, Z:0.23 [[ 7.66352593e-01 -6.42420122e-01 2.99370866e-04 8.16868161e+01] [ 6.42420077e-01 7.66352652e-01 2.40643903e-04 2.89518806e+01] [-3.84018142e-04 7.90377587e-06 9.99999926e-01 2.29926749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.161858064 meters Centerline goodness [0,1] 0.9998687348224639 Centerline is valid? [True, True] Translation: X:81.71, Y:28.97, Z:0.23 [[ 7.67240950e-01 -6.41358410e-01 8.45313289e-04 8.17084402e+01] [ 6.41358052e-01 7.67241416e-01 6.77878104e-04 2.89714002e+01] [-1.08332219e-03 2.20526435e-05 9.99999413e-01 2.29802799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.73, Y:28.99, Z:0.23 [[ 7.68197673e-01 -6.40211663e-01 1.16674602e-03 8.17299996e+01] [ 6.40210980e-01 7.68198558e-01 9.35696454e-04 2.89912268e+01] [-1.49533640e-03 2.81637759e-05 9.99998882e-01 2.29723124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221858064 meters Centerline goodness [0,1] 0.9998030720756204 Centerline is valid? [True, True] Translation: X:81.75, Y:29.01, Z:0.23 [[ 7.70487044e-01 -6.37454792e-01 1.05046272e-03 8.17504759e+01] [ 6.37454236e-01 7.70487760e-01 8.42234228e-04 2.90125724e+01] [-1.34625492e-03 2.06913520e-05 9.99999094e-01 2.29015826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251858064 meters Centerline goodness [0,1] 0.9999129412788926 Centerline is valid? [True, True] Translation: X:81.77, Y:29.03, Z:0.23 [[ 7.71478939e-01 -6.36254611e-01 5.62500454e-04 8.17718360e+01] [ 6.36254451e-01 7.71479144e-01 4.51989994e-04 2.90313151e+01] [-7.21538087e-04 9.19265631e-06 9.99999740e-01 2.28975948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281858064 meters Centerline goodness [0,1] 0.9998036734871951 Centerline is valid? [True, True] Translation: X:81.79, Y:29.05, Z:0.23 [[ 7.72420398e-01 -6.35111451e-01 4.17273387e-04 8.17925840e+01] [ 6.35111363e-01 7.72420510e-01 3.34939449e-04 2.90498800e+01] [-5.35034402e-04 6.30100777e-06 9.99999857e-01 2.29050535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311858064 meters Centerline goodness [0,1] 0.9999563194793282 Centerline is valid? [True, True] Translation: X:81.81, Y:29.07, Z:0.23 [[ 7.73915920e-01 -6.33288306e-01 2.67638268e-04 8.18137196e+01] [ 6.33288269e-01 7.73915966e-01 2.15762558e-04 2.90703443e+01] [-3.43769434e-04 2.51009689e-06 9.99999941e-01 2.28083979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34185806400001 meters Centerline goodness [0,1] 0.9999564355572982 Centerline is valid? [True, True] Translation: X:81.84, Y:29.09, Z:0.23 [[ 7.74617514e-01 -6.32429983e-01 -1.56631973e-04 8.18351806e+01] [ 6.32429970e-01 7.74617530e-01 -1.25295403e-04 2.90879315e+01] [ 2.00570441e-04 -2.00274025e-06 9.99999980e-01 2.27984434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.371858064 meters Centerline goodness [0,1] 0.9999782125582815 Centerline is valid? [True, True] Translation: X:81.86, Y:29.11, Z:0.23 [[ 7.75088653e-01 -6.31852238e-01 -5.74265428e-04 8.18567673e+01] [ 6.31852071e-01 7.75088866e-01 -4.59812231e-04 2.91058182e+01] [ 7.35640126e-04 -6.45555721e-06 9.99999729e-01 2.27749768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.401858064 meters Centerline goodness [0,1] 0.9998261700925645 Centerline is valid? [True, True] Translation: X:81.88, Y:29.12, Z:0.23 [[ 7.76540260e-01 -6.30065069e-01 -1.79829787e-03 8.18779896e+01] [ 6.30063415e-01 7.76542342e-01 -1.44353436e-03 2.91243343e+01] [ 2.30597502e-03 -1.20791476e-05 9.99997341e-01 2.26403703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.431858064 meters Centerline goodness [0,1] 0.9999782840018241 Centerline is valid? [True, True] Translation: X:81.90, Y:29.14, Z:0.23 [[ 7.77236126e-01 -6.29203678e-01 -2.59531298e-03 8.18987057e+01] [ 6.29200228e-01 7.77240459e-01 -2.08384125e-03 2.91414393e+01] [ 3.32834283e-03 -1.33348150e-05 9.99994461e-01 2.25762023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.461858064 meters Centerline goodness [0,1] 0.9998697068403909 Centerline is valid? [True, True] Translation: X:81.92, Y:29.16, Z:0.23 [[ 7.77700919e-01 -6.28627085e-01 -3.04440991e-03 8.19198567e+01] [ 6.28622330e-01 7.77706878e-01 -2.44519930e-03 2.91593158e+01] [ 3.90477704e-03 -1.21503042e-05 9.99992376e-01 2.25079030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.491858064 meters Centerline goodness [0,1] 0.9999782778694934 Centerline is valid? [True, True] Translation: X:81.94, Y:29.18, Z:0.22 [[ 7.78030619e-01 -6.28218051e-01 -3.23043994e-03 8.19411234e+01] [ 6.28212688e-01 7.78037326e-01 -2.59602290e-03 2.91766961e+01] [ 4.14427130e-03 -9.61804668e-06 9.99991412e-01 2.24699987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521858064 meters Centerline goodness [0,1] 0.9999347159053816 Centerline is valid? [True, True] Translation: X:81.96, Y:29.19, Z:0.23 [[ 7.78375685e-01 -6.27791114e-01 -3.09984735e-03 8.19635102e+01] [ 6.27786169e-01 7.78381858e-01 -2.49178214e-03 2.91936439e+01] [ 3.97718362e-03 -6.49866425e-06 9.99992091e-01 2.25206144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.551858064 meters Centerline goodness [0,1] 0.9999346732574091 Centerline is valid? [True, True] Translation: X:81.99, Y:29.21, Z:0.23 [[ 7.78276361e-01 -6.27914656e-01 -3.01504679e-03 8.19859430e+01] [ 6.27909974e-01 7.78282201e-01 -2.42493824e-03 2.92099531e+01] [ 3.86921152e-03 -5.90584765e-06 9.99992515e-01 2.26254011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:29.23, Z:0.23 [[ 7.78169682e-01 -6.28044436e-01 -3.48315799e-03 8.20078210e+01] [ 6.28038181e-01 7.78177478e-01 -2.80299559e-03 2.92254729e+01] [ 4.47092088e-03 -6.35002055e-06 9.99990005e-01 2.26986874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:29.24, Z:0.23 [[ 7.78010691e-01 -6.28240058e-01 -3.71416268e-03 8.20304517e+01] [ 6.28232943e-01 7.78019556e-01 -2.98992956e-03 2.92425015e+01] [ 4.76808472e-03 -7.16219393e-06 9.99988633e-01 2.27270264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641858064 meters Centerline goodness [0,1] 0.9998691413491527 Centerline is valid? [True, True] Translation: X:82.05, Y:29.26, Z:0.23 [[ 7.78216152e-01 -6.27984890e-01 -3.82078552e-03 8.20520192e+01] [ 6.27977350e-01 7.78225532e-01 -3.07722340e-03 2.92586897e+01] [ 4.90588265e-03 -4.62181227e-06 9.99987966e-01 2.26592834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671858064 meters Centerline goodness [0,1] 0.9998693322879917 Centerline is valid? [True, True] Translation: X:82.07, Y:29.28, Z:0.23 [[ 7.78364571e-01 -6.27800016e-01 -3.96668137e-03 8.20740130e+01] [ 6.27791882e-01 7.78374678e-01 -3.19585669e-03 2.92760714e+01] [ 5.09392322e-03 -2.70874038e-06 9.99987026e-01 2.26519069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701858064 meters Centerline goodness [0,1] 0.9998692354633424 Centerline is valid? [True, True] Translation: X:82.10, Y:29.29, Z:0.23 [[ 7.78399562e-01 -6.27758509e-01 -3.65739411e-03 8.20955772e+01] [ 6.27751586e-01 7.78408154e-01 -2.94822670e-03 2.92934979e+01] [ 4.69771980e-03 -1.03658109e-06 9.99988966e-01 2.26350135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.731858064 meters Centerline goodness [0,1] 0.9998693180580663 Centerline is valid? [True, True] Translation: X:82.12, Y:29.31, Z:0.23 [[ 7.78919914e-01 -6.27108647e-01 -4.30253223e-03 8.21178775e+01] [ 6.27099045e-01 7.78931797e-01 -3.47042981e-03 2.93100515e+01] [ 5.52771570e-03 5.07304206e-06 9.99984722e-01 2.25811769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.14, Y:29.33, Z:0.23 [[ 7.78933166e-01 -6.27087698e-01 -4.91344764e-03 8.21404017e+01] [ 6.27075159e-01 7.78948663e-01 -3.96561267e-03 2.93272391e+01] [ 6.31411038e-03 7.84627078e-06 9.99980066e-01 2.25308947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.791858064 meters Centerline goodness [0,1] 0.9999345364086674 Centerline is valid? [True, True] Translation: X:82.16, Y:29.34, Z:0.22 [[ 7.79075497e-01 -6.26906364e-01 -5.45728395e-03 8.21629357e+01] [ 6.26890872e-01 7.79094610e-01 -4.40717179e-03 2.93440250e+01] [ 7.01462455e-03 1.23980554e-05 9.99975397e-01 2.24824406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:29.36, Z:0.22 [[ 7.79254697e-01 -6.26687178e-01 -5.02960816e-03 8.21849653e+01] [ 6.26674005e-01 7.79270929e-01 -4.06338653e-03 2.93597692e+01] [ 6.46589966e-03 1.44883522e-05 9.99979096e-01 2.24234221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.851858064 meters Centerline goodness [0,1] 0.9999781892734847 Centerline is valid? [True, True] Translation: X:82.21, Y:29.38, Z:0.22 [[ 7.79228813e-01 -6.26720192e-01 -4.92527641e-03 8.22065380e+01] [ 6.26707554e-01 7.79244378e-01 -3.98006167e-03 2.93767785e+01] [ 6.33237897e-03 1.46708007e-05 9.99979950e-01 2.24084796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.881858064 meters Centerline goodness [0,1] 0.9999781013905616 Centerline is valid? [True, True] Translation: X:82.23, Y:29.39, Z:0.22 [[ 7.78776667e-01 -6.27283837e-01 -4.67885545e-03 8.22284018e+01] [ 6.27272433e-01 7.78790722e-01 -3.78233592e-03 2.93937247e+01] [ 6.01644740e-03 1.06779144e-05 9.99981901e-01 2.23418032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:29.41, Z:0.22 [[ 7.78411959e-01 -6.27736739e-01 -4.62679998e-03 8.22507834e+01] [ 6.27725584e-01 7.78425710e-01 -3.74231151e-03 2.94108078e+01] [ 5.95080648e-03 8.69931299e-06 9.99982294e-01 2.23118019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:29.42, Z:0.22 [[ 7.76535467e-01 -6.30057361e-01 -4.51555107e-03 8.22746533e+01] [ 6.30046767e-01 7.76548596e-01 -3.65384439e-03 2.94246902e+01] [ 5.80867640e-03 -7.66859751e-06 9.99983129e-01 2.22165886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.971858064 meters Centerline goodness [0,1] 0.999977991989084 Centerline is valid? [True, True] Translation: X:82.30, Y:29.44, Z:0.22 [[ 7.75007721e-01 -6.31935898e-01 -4.47794693e-03 8.22983234e+01] [ 6.31925503e-01 7.75020658e-01 -3.62477498e-03 2.94399210e+01] [ 5.76112681e-03 -2.05002693e-05 9.99983404e-01 2.22376775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.32, Y:29.45, Z:0.22 [[ 7.73508502e-01 -6.33775158e-01 -3.69402347e-03 8.23221873e+01] [ 6.33768099e-01 7.73517323e-01 -2.99145600e-03 2.94548069e+01] [ 4.75330165e-03 -2.72375829e-05 9.99988703e-01 2.22669663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:29.47, Z:0.22 [[ 7.71846261e-01 -6.35800647e-01 -3.29942772e-03 8.23460422e+01] [ 6.35795030e-01 7.71853313e-01 -2.67268631e-03 2.94712597e+01] [ 4.24596990e-03 -3.48568129e-05 9.99990985e-01 2.23192943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:29.49, Z:0.22 [[ 7.71667293e-01 -6.36017852e-01 -3.29875059e-03 8.23674388e+01] [ 6.36012234e-01 7.71674343e-01 -2.67352183e-03 2.94886854e+01] [ 4.24596881e-03 -3.49763787e-05 9.99990985e-01 2.23286774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.39, Y:29.50, Z:0.22 [[ 7.68945823e-01 -6.39311461e-01 -1.78229201e-03 8.23923677e+01] [ 6.39309829e-01 7.68947888e-01 -1.44480187e-03 2.95037813e+01] [ 2.29416807e-03 -2.84624437e-05 9.99997368e-01 2.23790660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.121858064 meters Centerline goodness [0,1] 0.9999778692515381 Centerline is valid? [True, True] Translation: X:82.42, Y:29.52, Z:0.22 [[ 7.67600036e-01 -6.40928094e-01 -1.16736151e-03 8.24156226e+01] [ 6.40927396e-01 7.67600924e-01 -9.46410619e-04 2.95205476e+01] [ 1.50264892e-03 -2.17291447e-05 9.99998871e-01 2.24571847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:29.54, Z:0.23 [[ 7.65989775e-01 -6.42852725e-01 -1.98094621e-04 8.24398320e+01] [ 6.42852705e-01 7.65989801e-01 -1.60254068e-04 2.95354586e+01] [ 2.54758223e-04 -4.59268540e-06 9.99999968e-01 2.25624416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.46, Y:29.55, Z:0.23 [[ 7.65566991e-01 -6.43356135e-01 2.56391967e-04 8.24626262e+01] [ 6.43356101e-01 7.65567034e-01 2.08569077e-04 2.95514933e+01] [-3.30469433e-04 5.27773507e-06 9.99999945e-01 2.25829621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.49, Y:29.57, Z:0.23 [[ 7.65325431e-01 -6.43643118e-01 7.22052837e-04 8.24851829e+01] [ 6.43642849e-01 7.65325772e-01 5.87854520e-04 2.95684698e+01] [-9.30974161e-04 1.48441317e-05 9.99999567e-01 2.26245041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.51, Y:29.59, Z:0.23 [[ 7.65308408e-01 -6.43663083e-01 9.35518728e-04 8.25074450e+01] [ 6.43662633e-01 7.65308980e-01 7.61729850e-04 2.95860529e+01] [-1.20625827e-03 1.92001891e-05 9.99999272e-01 2.26191428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.53, Y:29.60, Z:0.23 [[ 7.65702680e-01 -6.43193781e-01 1.08004542e-03 8.25300710e+01] [ 6.43193180e-01 7.65703441e-01 8.79517159e-04 2.96044922e+01] [-1.39269446e-03 2.12292027e-05 9.99999030e-01 2.25678761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301858064 meters Centerline goodness [0,1] 0.9999777377056479 Centerline is valid? [True, True] Translation: X:82.55, Y:29.62, Z:0.22 [[ 7.67194162e-01 -6.41414177e-01 9.85833888e-04 8.25520841e+01] [ 6.41413674e-01 7.67194795e-01 8.03185600e-04 2.96239836e+01] [-1.27150126e-03 1.61280334e-05 9.99999192e-01 2.24207486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:29.64, Z:0.22 [[ 7.67998826e-01 -6.40450729e-01 8.16077582e-04 8.25733081e+01] [ 6.40450385e-01 7.67999260e-01 6.64551231e-04 2.96416078e+01] [-1.05235930e-03 1.22826362e-05 9.99999446e-01 2.23565990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:29.66, Z:0.22 [[ 7.68547943e-01 -6.39791603e-01 8.73617612e-04 8.25950853e+01] [ 6.39791208e-01 7.68548440e-01 7.11502136e-04 2.96586185e+01] [-1.12663055e-03 1.21093638e-05 9.99999365e-01 2.23875825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.62, Y:29.68, Z:0.22 [[ 7.69377992e-01 -6.38791748e-01 1.61475001e-03 8.26178645e+01] [ 6.38790393e-01 7.69379687e-01 1.31610767e-03 2.96771021e+01] [-2.08307458e-03 1.89025154e-05 9.99997830e-01 2.24321926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421858064 meters Centerline goodness [0,1] 0.9999778339318172 Centerline is valid? [True, True] Translation: X:82.64, Y:29.69, Z:0.22 [[ 7.69329290e-01 -6.38850247e-01 1.67470626e-03 8.26395995e+01] [ 6.38848788e-01 7.69331113e-01 1.36583977e-03 2.96949488e+01] [-2.16097070e-03 1.91035201e-05 9.99997665e-01 2.24149598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:29.71, Z:0.22 [[ 7.69139144e-01 -6.39078636e-01 1.86361423e-03 8.26613463e+01] [ 6.39076828e-01 7.69141402e-01 1.52061153e-03 2.97127336e+01] [-2.40517320e-03 2.14308207e-05 9.99997107e-01 2.23726838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.68, Y:29.73, Z:0.22 [[ 7.68242294e-01 -6.40157212e-01 1.58792419e-03 8.26843550e+01] [ 6.40155900e-01 7.68243935e-01 1.29637330e-03 2.97298288e+01] [-2.04979585e-03 2.05902395e-05 9.99997899e-01 2.23184173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.71, Y:29.75, Z:0.22 [[ 7.67516393e-01 -6.41025713e-01 2.14981449e-03 8.27075203e+01] [ 6.41023312e-01 7.67519403e-01 1.75467271e-03 2.97461432e+01] [-2.77481466e-03 3.13411370e-05 9.99996150e-01 2.23776504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:29.76, Z:0.22 [[ 7.66569481e-01 -6.42157088e-01 2.34635944e-03 8.27295956e+01] [ 6.42154229e-01 7.66573071e-01 1.91649275e-03 2.97642998e+01] [-3.02934536e-03 3.75997827e-05 9.99995411e-01 2.23546471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:29.78, Z:0.22 [[ 7.65550794e-01 -6.43368808e-01 2.92541482e-03 8.27517853e+01] [ 6.43364375e-01 7.65556382e-01 2.38894251e-03 2.97819585e+01] [-3.77654109e-03 5.32508408e-05 9.99992867e-01 2.23092103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.77, Y:29.80, Z:0.22 [[ 7.63974849e-01 -6.45240662e-01 2.63001116e-03 8.27747783e+01] [ 6.45237089e-01 7.63979374e-01 2.14813146e-03 2.97983225e+01] [-3.39533605e-03 5.58623420e-05 9.99994234e-01 2.22585535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:29.82, Z:0.22 [[ 7.62974143e-01 -6.46425689e-01 2.07046559e-03 8.27975709e+01] [ 6.46423474e-01 7.62976951e-01 1.69272941e-03 2.98159440e+01] [-2.67394130e-03 4.68887924e-05 9.99996424e-01 2.22589860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:29.83, Z:0.22 [[ 7.62195478e-01 -6.47344384e-01 1.81731617e-03 8.28202284e+01] [ 6.47342678e-01 7.62197643e-01 1.48662303e-03 2.98335702e+01] [-2.34751117e-03 4.33289659e-05 9.99997244e-01 2.22339421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.84, Y:29.85, Z:0.22 [[ 7.61122924e-01 -6.48605794e-01 1.55511770e-03 8.28426977e+01] [ 6.48604546e-01 7.61124511e-01 1.27291901e-03 2.98516947e+01] [-2.00926085e-03 3.98085673e-05 9.99997981e-01 2.21737344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.86, Y:29.87, Z:0.22 [[ 7.60698580e-01 -6.49104183e-01 1.19544750e-03 8.28640115e+01] [ 6.49103445e-01 7.60699519e-01 9.79470585e-04 2.98694902e+01] [-1.54515479e-03 3.08872053e-05 9.99998806e-01 2.21733698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.89, Y:29.89, Z:0.22 [[ 7.60474474e-01 -6.49366750e-01 1.18250005e-03 8.28850982e+01] [ 6.49366028e-01 7.60475393e-01 9.68402285e-04 2.98866375e+01] [-1.52811043e-03 3.14301419e-05 9.99998832e-01 2.21581576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:29.91, Z:0.22 [[ 7.59942129e-01 -6.49990679e-01 2.79991497e-04 8.29066554e+01] [ 6.49990638e-01 7.59942180e-01 2.30502202e-04 2.99051052e+01] [-3.62601631e-04 6.82351735e-06 9.99999934e-01 2.20169796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:29.92, Z:0.22 [[ 7.59710406e-01 -6.50261538e-01 -1.77533292e-04 8.29275524e+01] [ 6.50261522e-01 7.59710427e-01 -1.44907545e-04 2.99227129e+01] [ 2.29101696e-04 -5.35529898e-06 9.99999974e-01 2.19472219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:29.94, Z:0.22 [[ 7.59471505e-01 -6.50540254e-01 -6.41673785e-04 8.29479392e+01] [ 6.50540043e-01 7.59471775e-01 -5.24712706e-04 2.99414098e+01] [ 8.28679866e-04 -1.89301433e-05 9.99999656e-01 2.18848293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.871858064 meters Centerline goodness [0,1] 0.999933011789925 Centerline is valid? [True, True] Translation: X:82.97, Y:29.96, Z:0.22 [[ 7.59014096e-01 -6.51073767e-01 -7.42401294e-04 8.29699763e+01] [ 6.51073484e-01 7.59014459e-01 -6.07724010e-04 2.99595532e+01] [ 9.59166477e-04 -2.20867068e-05 9.99999540e-01 2.18903475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:29.98, Z:0.22 [[ 7.58304262e-01 -6.51900732e-01 -2.85885422e-04 8.29915774e+01] [ 6.51900690e-01 7.58304316e-01 -2.34097126e-04 2.99765580e+01] [ 3.69396236e-04 -8.85205547e-06 9.99999932e-01 2.19913853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:29.99, Z:0.22 [[ 7.57938184e-01 -6.52326332e-01 -2.55096215e-04 8.30133224e+01] [ 6.52326299e-01 7.57938227e-01 -2.08884703e-04 2.99937871e+01] [ 3.29608165e-04 -8.08427789e-06 9.99999946e-01 2.20549371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:30.01, Z:0.22 [[ 7.57560196e-01 -6.52765207e-01 -3.66354407e-04 8.30347360e+01] [ 6.52765138e-01 7.57560285e-01 -2.99505866e-04 3.00118557e+01] [ 4.73042557e-04 -1.22496625e-05 9.99999888e-01 2.20319029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:30.03, Z:0.22 [[ 7.56990387e-01 -6.53425770e-01 -5.63103491e-04 8.30560004e+01] [ 6.53425607e-01 7.56990597e-01 -4.61334637e-04 3.00315656e+01] [ 7.27711987e-04 -1.87203548e-05 9.99999735e-01 2.19941006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:30.05, Z:0.22 [[ 7.56289122e-01 -6.54237458e-01 -3.34720040e-04 8.30769509e+01] [ 6.54237401e-01 7.56289196e-01 -2.74528831e-04 3.00493345e+01] [ 4.32752194e-04 -1.13632004e-05 9.99999906e-01 2.20266030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:30.07, Z:0.22 [[ 7.55996165e-01 -6.54575952e-01 -3.48557490e-04 8.30967026e+01] [ 6.54575890e-01 7.55996246e-01 -2.85195375e-04 3.00691123e+01] [ 4.50190188e-04 -1.25507193e-05 9.99999899e-01 2.20474166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:30.09, Z:0.22 [[ 7.55616411e-01 -6.55014379e-01 -4.54891355e-05 8.31174464e+01] [ 6.55014378e-01 7.55616413e-01 -3.62985492e-05 3.00891521e+01] [ 5.81484090e-05 -2.36825833e-06 9.99999998e-01 2.20106649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.111858064 meters Centerline goodness [0,1] 0.9999777609749588 Centerline is valid? [True, True] Translation: X:83.14, Y:30.11, Z:0.22 [[ 7.55620761e-01 -6.55009355e-01 -1.00025018e-04 8.31391294e+01] [ 6.55009350e-01 7.55620768e-01 -8.17136989e-05 3.01056290e+01] [ 1.29104218e-04 -3.77275470e-06 9.99999992e-01 2.20319252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:30.12, Z:0.22 [[ 7.55451249e-01 -6.55204091e-01 -1.00451148e-03 8.31595912e+01] [ 6.55203572e-01 7.55451916e-01 -8.25350797e-04 3.01246774e+01] [ 1.29963334e-03 -3.46472207e-05 9.99999155e-01 2.19523389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:30.14, Z:0.22 [[ 7.55709985e-01 -6.54904917e-01 -1.40284600e-03 8.31811939e+01] [ 6.54903902e-01 7.55711286e-01 -1.15406702e-03 3.01426631e+01] [ 1.81595072e-03 -4.65893509e-05 9.99998350e-01 2.19409298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:30.16, Z:0.22 [[ 7.55741051e-01 -6.54868106e-01 -1.79683111e-03 8.32013336e+01] [ 6.54866439e-01 7.55743184e-01 -1.47870139e-03 3.01607002e+01] [ 2.32629724e-03 -5.91690492e-05 9.99997292e-01 2.18980105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.231858064 meters Centerline goodness [0,1] 0.999955536782197 Centerline is valid? [True, True] Translation: X:83.22, Y:30.18, Z:0.22 [[ 7.56318076e-01 -6.54198828e-01 -2.61952241e-03 8.32214228e+01] [ 6.54195278e-01 7.56322607e-01 -2.15664531e-03 3.01823391e+01] [ 3.39207885e-03 -8.25693626e-05 9.99994243e-01 2.17821629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:30.20, Z:0.22 [[ 7.56536123e-01 -6.53945602e-01 -2.87127947e-03 8.32424749e+01] [ 6.53941331e-01 7.56541567e-01 -2.36516041e-03 3.02029419e+01] [ 3.71892852e-03 -8.83190308e-05 9.99993081e-01 2.17224396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:30.22, Z:0.22 [[ 7.56849664e-01 -6.53580960e-01 -3.24269433e-03 8.32630694e+01] [ 6.53575503e-01 7.56856605e-01 -2.67256857e-03 3.02227186e+01] [ 4.20099455e-03 -9.66129523e-05 9.99991171e-01 2.17102701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:30.24, Z:0.22 [[ 7.57089916e-01 -6.53301911e-01 -3.38709348e-03 8.32839833e+01] [ 6.53295949e-01 7.57097486e-01 -2.79283177e-03 3.02406678e+01] [ 4.38892229e-03 -9.83496820e-05 9.99990364e-01 2.17517449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:30.26, Z:0.22 [[ 7.57474715e-01 -6.52857992e-01 -2.91514798e-03 8.33049452e+01] [ 6.52853571e-01 7.57480320e-01 -2.40413536e-03 3.02609233e+01] [ 3.77772621e-03 -8.20930264e-05 9.99992861e-01 2.18024526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.33, Y:30.28, Z:0.22 [[ 7.57434679e-01 -6.52905850e-01 -2.58045607e-03 8.33251975e+01] [ 6.52902383e-01 7.57439071e-01 -2.12904357e-03 3.02784602e+01] [ 3.34460324e-03 -7.21744842e-05 9.99994404e-01 2.18372132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:30.30, Z:0.22 [[ 7.57228448e-01 -6.53146113e-01 -2.28751387e-03 8.33460943e+01] [ 6.53143388e-01 7.57231901e-01 -1.88765517e-03 3.02973818e+01] [ 2.96509312e-03 -6.46883633e-05 9.99995602e-01 2.18967752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:30.32, Z:0.22 [[ 7.56864393e-01 -6.53569596e-01 -1.75303472e-03 8.33664727e+01] [ 6.53567996e-01 7.56866422e-01 -1.44712096e-03 3.03163308e+01] [ 2.27260738e-03 -5.04530569e-05 9.99997416e-01 2.19559596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.39, Y:30.34, Z:0.22 [[ 7.56492787e-01 -6.54001163e-01 -1.06872818e-03 8.33881138e+01] [ 6.54000568e-01 7.56493542e-01 -8.82335690e-04 3.03360593e+01] [ 1.38553453e-03 -3.14682532e-05 9.99999040e-01 2.20376361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:30.35, Z:0.22 [[ 7.56192290e-01 -6.54348372e-01 -1.19503462e-03 8.34096113e+01] [ 6.54347629e-01 7.56193234e-01 -9.87156571e-04 3.03541032e+01] [ 1.54962139e-03 -3.54878830e-05 9.99998799e-01 2.20607999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:30.37, Z:0.22 [[ 7.55898683e-01 -6.54686724e-01 -1.57335738e-03 8.34307429e+01] [ 6.54685432e-01 7.55900319e-01 -1.30110533e-03 3.03721568e+01] [ 2.04111773e-03 -4.65503533e-05 9.99997916e-01 2.20292900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:30.39, Z:0.22 [[ 7.55757596e-01 -6.54848651e-01 -1.92346769e-03 8.34509756e+01] [ 6.54846721e-01 7.55760042e-01 -1.59089247e-03 3.03915067e+01] [ 2.49547381e-03 -5.72474428e-05 9.99996885e-01 2.19760742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:30.41, Z:0.22 [[ 7.55919947e-01 -6.54660205e-01 -2.24689151e-03 8.34729102e+01] [ 6.54657567e-01 7.55923284e-01 -1.85978450e-03 3.04078262e+01] [ 2.91600451e-03 -6.50963307e-05 9.99995746e-01 2.19438839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.49, Y:30.43, Z:0.22 [[ 7.55894654e-01 -6.54687848e-01 -2.66342723e-03 8.34929772e+01] [ 6.54684138e-01 7.55899343e-01 -2.20518625e-03 3.04279194e+01] [ 3.45699153e-03 -7.68150591e-05 9.99994022e-01 2.19113506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.51, Y:30.45, Z:0.22 [[ 7.56186863e-01 -6.54347186e-01 -3.34494254e-03 8.35137121e+01] [ 6.54341324e-01 7.56194255e-01 -2.77128899e-03 3.04478070e+01] [ 4.34281148e-03 -9.31218029e-05 9.99990566e-01 2.18734763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:30.47, Z:0.22 [[ 7.56023260e-01 -6.54534323e-01 -3.69464260e-03 8.35344710e+01] [ 6.54527166e-01 7.56032280e-01 -3.06270133e-03 3.04664549e+01] [ 4.79791221e-03 -1.02770506e-04 9.99988485e-01 2.18531805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:30.48, Z:0.22 [[ 7.55748882e-01 -6.54850198e-01 -3.85283601e-03 8.35560322e+01] [ 6.54842412e-01 7.55758696e-01 -3.19529785e-03 3.04846206e+01] [ 5.00425575e-03 -1.08157647e-04 9.99987473e-01 2.18658539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:30.50, Z:0.22 [[ 7.55250361e-01 -6.55423408e-01 -4.12902775e-03 8.35776264e+01] [ 6.55414468e-01 7.55261638e-01 -3.42539341e-03 3.05046092e+01] [ 5.36357929e-03 -1.19194912e-04 9.99985609e-01 2.18968032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.60, Y:30.52, Z:0.22 [[ 7.53600256e-01 -6.57322241e-01 -3.75844568e-03 8.35992732e+01] [ 6.57314851e-01 7.53609618e-01 -3.11922079e-03 3.05217260e+01] [ 4.88273402e-03 -1.19836577e-04 9.99988072e-01 2.19258455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.62, Y:30.54, Z:0.22 [[ 7.52661096e-01 -6.58398681e-01 -3.52852444e-03 8.36218375e+01] [ 6.58392177e-01 7.52669358e-01 -2.92908779e-03 3.05385140e+01] [ 4.58431976e-03 -1.18542460e-04 9.99989485e-01 2.18979898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.64, Y:30.56, Z:0.22 [[ 7.51827802e-01 -6.59349165e-01 -3.69252102e-03 8.36436274e+01] [ 6.59342051e-01 7.51836858e-01 -3.06578187e-03 3.05567095e+01] [ 4.79759412e-03 -1.29694338e-04 9.99988483e-01 2.18982992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:30.57, Z:0.22 [[ 7.50784929e-01 -6.60538428e-01 -3.31282359e-03 8.36650576e+01] [ 6.60532711e-01 7.50792228e-01 -2.75098571e-03 3.05737183e+01] [ 4.30437398e-03 -1.22829738e-04 9.99990729e-01 2.18856321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.68, Y:30.59, Z:0.22 [[ 7.50529771e-01 -6.60825972e-01 -3.75467087e-03 8.36838782e+01] [ 6.60818627e-01 7.50539149e-01 -3.11894017e-03 3.05949207e+01] [ 4.87910415e-03 -1.40298995e-04 9.99988087e-01 2.18588565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921858064 meters Centerline goodness [0,1] 0.9998913563078528 Centerline is valid? [True, True] Translation: X:83.70, Y:30.61, Z:0.22 [[ 7.50585493e-01 -6.60763531e-01 -3.60191121e-03 8.37045342e+01] [ 6.60756764e-01 7.50594123e-01 -2.99343494e-03 3.06116881e+01] [ 4.68152602e-03 -1.33158357e-04 9.99989033e-01 2.18338433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951858064 meters Centerline goodness [0,1] 0.9998913563078528 Centerline is valid? [True, True] Translation: X:83.73, Y:30.63, Z:0.22 [[ 7.50404455e-01 -6.60969124e-01 -3.60142790e-03 8.37257100e+01] [ 6.60962357e-01 7.50413085e-01 -2.99401630e-03 3.06293857e+01] [ 4.68151096e-03 -1.33685100e-04 9.99989033e-01 2.18432450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.75, Y:30.65, Z:0.22 [[ 7.50683663e-01 -6.60651425e-01 -3.70586451e-03 8.37469957e+01] [ 6.60644247e-01 7.50692798e-01 -3.08253227e-03 3.06488260e+01] [ 4.81844513e-03 -1.34251458e-04 9.99988382e-01 2.18666198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.011858064 meters Centerline goodness [0,1] 0.9999127856270713 Centerline is valid? [True, True] Translation: X:83.77, Y:30.67, Z:0.22 [[ 7.51656287e-01 -6.59543658e-01 -3.87149787e-03 8.37677499e+01] [ 6.59535802e-01 7.51666246e-01 -3.22193258e-03 3.06683784e+01] [ 5.03507947e-03 -1.31605568e-04 9.99987315e-01 2.18734240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:30.69, Z:0.22 [[ 7.52355221e-01 -6.58743757e-01 -4.27609000e-03 8.37887286e+01] [ 6.58734149e-01 7.52367360e-01 -3.56048756e-03 3.06880299e+01] [ 5.56263950e-03 -1.38055104e-04 9.99984519e-01 2.18415416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.81, Y:30.71, Z:0.22 [[ 7.53481952e-01 -6.57452232e-01 -4.63795617e-03 8.38095200e+01] [ 6.57440896e-01 7.53496213e-01 -3.86337678e-03 3.07070390e+01] [ 6.03466810e-03 -1.38197382e-04 9.99981782e-01 2.17949189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:30.73, Z:0.22 [[ 7.55973313e-01 -6.54580416e-01 -5.36933117e-03 8.38292408e+01] [ 6.54565137e-01 7.55992369e-01 -4.47435044e-03 3.07286560e+01] [ 6.98799556e-03 -1.32087461e-04 9.99975575e-01 2.16735441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.85, Y:30.75, Z:0.22 [[ 7.57215863e-01 -6.53139784e-01 -5.70604908e-03 8.38498847e+01] [ 6.53122470e-01 7.57237352e-01 -4.75733181e-03 3.07496036e+01] [ 7.42803617e-03 -1.24421750e-04 9.99972404e-01 2.16904177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.87, Y:30.77, Z:0.22 [[ 7.58505388e-01 -6.51642062e-01 -5.67445604e-03 8.38707818e+01] [ 6.51624880e-01 7.58526606e-01 -4.73332812e-03 3.07691751e+01] [ 7.38866158e-03 -1.07361856e-04 9.99972698e-01 2.16793110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.89, Y:30.79, Z:0.22 [[ 7.60471960e-01 -6.49345537e-01 -5.72460598e-03 8.38914394e+01] [ 6.49327967e-01 7.60493502e-01 -4.77754122e-03 3.07895022e+01] [ 7.45580072e-03 -8.39606296e-05 9.99972202e-01 2.17414663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:30.81, Z:0.22 [[ 7.61152193e-01 -6.48548890e-01 -5.62816741e-03 8.39131875e+01] [ 6.48531874e-01 7.61172997e-01 -4.69856851e-03 3.08073482e+01] [ 7.33126045e-03 -7.37202374e-05 9.99973123e-01 2.17324200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251858064 meters Centerline goodness [0,1] 0.9999783042610432 Centerline is valid? [True, True] Translation: X:83.94, Y:30.83, Z:0.22 [[ 7.61668980e-01 -6.47945684e-01 -5.17257498e-03 8.39351216e+01] [ 6.47931288e-01 7.61686541e-01 -4.31958027e-03 3.08267356e+01] [ 6.73873414e-03 -6.13828697e-05 9.99977293e-01 2.18128737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:30.84, Z:0.22 [[ 7.62365404e-01 -6.47132046e-01 -4.37112485e-03 8.39561531e+01] [ 6.47121746e-01 7.62377934e-01 -3.65140572e-03 3.08442598e+01] [ 5.69539078e-03 -4.49445497e-05 9.99983780e-01 2.19373390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311858064 meters Centerline goodness [0,1] 0.9999348010344903 Centerline is valid? [True, True] Translation: X:83.98, Y:30.86, Z:0.22 [[ 7.62463825e-01 -6.47016880e-01 -4.25113415e-03 8.39776380e+01] [ 6.47007130e-01 7.62475675e-01 -3.55224755e-03 3.08616616e+01] [ 5.53975051e-03 -4.20538494e-05 9.99984655e-01 2.19826920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34185806400001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.00, Y:30.88, Z:0.22 [[ 7.62468418e-01 -6.47014481e-01 -3.76470807e-03 8.39989074e+01] [ 6.47006827e-01 7.62477711e-01 -3.14734126e-03 3.08797314e+01] [ 4.90688137e-03 -3.60435087e-05 9.99987961e-01 2.20361873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.371858064 meters Centerline goodness [0,1] 0.9998912830771238 Centerline is valid? [True, True] Translation: X:84.02, Y:30.90, Z:0.22 [[ 7.62208918e-01 -6.47321408e-01 -3.54408098e-03 8.40210138e+01] [ 6.47314621e-01 7.62217156e-01 -2.96444586e-03 3.08971772e+01] [ 4.62030860e-03 -3.46083655e-05 9.99989326e-01 2.20464130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:30.92, Z:0.22 [[ 7.61856801e-01 -6.47734399e-01 -3.78987564e-03 8.40431391e+01] [ 6.47726634e-01 7.61866226e-01 -3.17185116e-03 3.09150913e+01] [ 4.94189536e-03 -3.83070111e-05 9.99987788e-01 2.20217756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:30.93, Z:0.22 [[ 7.61456774e-01 -6.48204296e-01 -3.84344695e-03 8.40653755e+01] [ 6.48196307e-01 7.61466473e-01 -3.21845577e-03 3.09329341e+01] [ 5.01287285e-03 -4.05931675e-05 9.99987435e-01 2.19871369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.461858064 meters Centerline goodness [0,1] 0.9999347726827995 Centerline is valid? [True, True] Translation: X:84.09, Y:30.95, Z:0.22 [[ 7.60994543e-01 -6.48744349e-01 -4.25144043e-03 8.40874329e+01] [ 6.48734571e-01 7.61006417e-01 -3.56217923e-03 3.09499940e+01] [ 5.54631710e-03 -4.72574327e-05 9.99984618e-01 2.19586995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.491858064 meters Centerline goodness [0,1] 0.9999782594517034 Centerline is valid? [True, True] Translation: X:84.11, Y:30.97, Z:0.22 [[ 7.59732263e-01 -6.50216381e-01 -5.05432385e-03 8.41107050e+01] [ 6.50202582e-01 7.59749072e-01 -4.23666483e-03 3.09656822e+01] [ 6.59476673e-03 -6.76034545e-05 9.99978252e-01 2.19336268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.521858064 meters Centerline goodness [0,1] 0.9999563709343164 Centerline is valid? [True, True] Translation: X:84.13, Y:30.98, Z:0.22 [[ 7.59015390e-01 -6.51047899e-01 -5.68070838e-03 8.41335726e+01] [ 6.51030478e-01 7.59036644e-01 -4.76336239e-03 3.09833533e+01] [ 7.41304289e-03 -8.28489304e-05 9.99972520e-01 2.19117111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:31.00, Z:0.22 [[ 7.58158498e-01 -6.52040502e-01 -6.23503136e-03 8.41560574e+01] [ 6.52019528e-01 7.58184129e-01 -5.23084584e-03 3.10013516e+01] [ 8.13802517e-03 -9.95519763e-05 9.99966881e-01 2.19104009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.581858064 meters Centerline goodness [0,1] 0.9999781411209233 Centerline is valid? [True, True] Translation: X:84.18, Y:31.02, Z:0.22 [[ 7.57126866e-01 -6.53235670e-01 -6.48590795e-03 8.41790444e+01] [ 6.53212994e-01 7.57154638e-01 -5.44408924e-03 3.10183040e+01] [ 8.46710857e-03 -1.14813124e-04 9.99964147e-01 2.19133325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:31.03, Z:0.22 [[ 7.54737723e-01 -6.55991785e-01 -6.76367964e-03 8.42028806e+01] [ 6.55967220e-01 7.54768014e-01 -5.67900440e-03 3.10326761e+01] [ 8.83038929e-03 -1.50593279e-04 9.99961000e-01 2.19711940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.23, Y:31.05, Z:0.22 [[ 7.53493445e-01 -6.57423121e-01 -6.51671393e-03 8.42274694e+01] [ 6.57400360e-01 7.53521608e-01 -5.47287852e-03 3.10468573e+01] [ 8.50848164e-03 -1.60311992e-04 9.99963789e-01 2.19323535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:31.07, Z:0.22 [[ 7.52336586e-01 -6.58749818e-01 -6.19184264e-03 8.42485044e+01] [ 6.58729306e-01 7.52362047e-01 -5.20111614e-03 3.10660086e+01] [ 8.08474172e-03 -1.65758243e-04 9.99967304e-01 2.20415084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701858064 meters Centerline goodness [0,1] 0.99997814876322 Centerline is valid? [True, True] Translation: X:84.27, Y:31.08, Z:0.22 [[ 7.50352878e-01 -6.61014899e-01 -5.46456731e-03 8.42712259e+01] [ 6.60998975e-01 7.50372758e-01 -4.59119644e-03 3.10831504e+01] [ 7.13531169e-03 -1.67055929e-04 9.99974529e-01 2.21654756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:31.10, Z:0.22 [[ 7.49489032e-01 -6.61995289e-01 -5.33190704e-03 8.42935262e+01] [ 6.61980146e-01 7.49507977e-01 -4.48081072e-03 3.10992452e+01] [ 6.96258245e-03 -1.71298115e-04 9.99975746e-01 2.21953534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:31.12, Z:0.22 [[ 7.49019045e-01 -6.62526307e-01 -5.41873350e-03 8.43166129e+01] [ 6.62510675e-01 7.49038624e-01 -4.55467447e-03 3.11155675e+01] [ 7.07643234e-03 -1.78430868e-04 9.99974946e-01 2.22228519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.791858064 meters Centerline goodness [0,1] 0.9999339759672521 Centerline is valid? [True, True] Translation: X:84.34, Y:31.13, Z:0.22 [[ 7.48779777e-01 -6.62794478e-01 -5.68553266e-03 8.43388212e+01] [ 6.62777270e-01 7.48801338e-01 -4.77979031e-03 3.11320746e+01] [ 7.42535309e-03 -1.89231496e-04 9.99972414e-01 2.22506117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.821858064 meters Centerline goodness [0,1] 0.9999558946764875 Centerline is valid? [True, True] Translation: X:84.36, Y:31.15, Z:0.22 [[ 7.48870836e-01 -6.62689125e-01 -5.96615864e-03 8.43603014e+01] [ 6.62670157e-01 7.48894576e-01 -5.01771373e-03 3.11499463e+01] [ 7.79320816e-03 -1.95975810e-04 9.99969613e-01 2.22087620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:31.17, Z:0.22 [[ 7.49302021e-01 -6.62197386e-01 -6.41113809e-03 8.43818076e+01] [ 6.62175450e-01 7.49329420e-01 -5.39385290e-03 3.11673309e+01] [ 8.37584967e-03 -2.03673371e-04 9.99964901e-01 2.21859878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:31.19, Z:0.22 [[ 7.49898110e-01 -6.61520157e-01 -6.62619698e-03 8.44033290e+01] [ 6.61496679e-01 7.49927358e-01 -5.57685907e-03 3.11869152e+01] [ 8.65837108e-03 -2.01131217e-04 9.99962495e-01 2.21919689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.911858064 meters Centerline goodness [0,1] 0.9999338755537922 Centerline is valid? [True, True] Translation: X:84.42, Y:31.21, Z:0.22 [[ 7.52126420e-01 -6.58985456e-01 -6.63459308e-03 8.44241094e+01] [ 6.58961806e-01 7.52155662e-01 -5.58560915e-03 3.12054269e+01] [ 8.67108194e-03 -1.70859224e-04 9.99962391e-01 2.21384157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:31.23, Z:0.22 [[ 7.53311599e-01 -6.57630704e-01 -6.59488889e-03 8.44451237e+01] [ 6.57607266e-01 7.53340450e-01 -5.55423860e-03 3.12257965e+01] [ 8.62083441e-03 -1.52774485e-04 9.99962828e-01 2.21944223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.971858064 meters Centerline goodness [0,1] 0.9999558917583751 Centerline is valid? [True, True] Translation: X:84.47, Y:31.24, Z:0.22 [[ 7.54436091e-01 -6.56339509e-01 -6.68081864e-03 8.44664041e+01] [ 6.56315381e-01 7.54465659e-01 -5.62942126e-03 3.12447950e+01] [ 8.73525982e-03 -1.37685456e-04 9.99961837e-01 2.21693751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001858064 meters Centerline goodness [0,1] 0.9999559267502589 Centerline is valid? [True, True] Translation: X:84.49, Y:31.26, Z:0.22 [[ 7.55511201e-01 -6.55103009e-01 -6.54771713e-03 8.44872834e+01] [ 6.55079773e-01 7.55539564e-01 -5.51891933e-03 3.12629349e+01] [ 8.56252001e-03 -1.19671679e-04 9.99963334e-01 2.21768826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031858064 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:84.51, Y:31.28, Z:0.22 [[ 7.57098272e-01 -6.53268546e-01 -6.51259999e-03 8.45084344e+01] [ 6.53245473e-01 7.57126276e-01 -5.49130753e-03 3.12819390e+01] [ 8.51815907e-03 -9.68670157e-05 9.99963715e-01 2.22238483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061858064 meters Centerline goodness [0,1] 0.9999120589205233 Centerline is valid? [True, True] Translation: X:84.53, Y:31.30, Z:0.22 [[ 7.57644419e-01 -6.52639740e-01 -6.02534965e-03 8.45303699e+01] [ 6.52619951e-01 7.57668373e-01 -5.08286078e-03 3.13008498e+01] [ 7.88249380e-03 -8.12622929e-05 9.99968929e-01 2.22783835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09185806400001 meters Centerline goodness [0,1] 0.9998676051987025 Centerline is valid? [True, True] Translation: X:84.55, Y:31.32, Z:0.22 [[ 7.58037918e-01 -6.52190139e-01 -5.15149745e-03 8.45519528e+01] [ 6.52175651e-01 7.58055419e-01 -4.34769297e-03 3.13204373e+01] [ 6.74064304e-03 -6.39650743e-05 9.99977280e-01 2.23755106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.121858064 meters Centerline goodness [0,1] 0.9999780118296356 Centerline is valid? [True, True] Translation: X:84.57, Y:31.34, Z:0.22 [[ 7.59021644e-01 -6.51049173e-01 -4.59546191e-03 8.45734861e+01] [ 6.51037615e-01 7.59035554e-01 -3.87970446e-03 3.13382030e+01] [ 6.01399736e-03 -4.70389087e-05 9.99981915e-01 2.24768431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.151858064 meters Centerline goodness [0,1] 0.9999780113461454 Centerline is valid? [True, True] Translation: X:84.59, Y:31.36, Z:0.22 [[ 7.59351246e-01 -6.50666943e-01 -4.26774868e-03 8.45939408e+01] [ 6.50656962e-01 7.59363238e-01 -3.60418832e-03 3.13569327e+01] [ 5.58589766e-03 -3.99955058e-05 9.99984398e-01 2.24869524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.181858064 meters Centerline goodness [0,1] 0.9999559432549123 Centerline is valid? [True, True] Translation: X:84.62, Y:31.38, Z:0.22 [[ 7.59535787e-01 -6.50449693e-01 -4.53706781e-03 8.46151133e+01] [ 6.50438395e-01 7.59549337e-01 -3.83386657e-03 3.13750707e+01] [ 5.93986418e-03 -3.91242439e-05 9.99982358e-01 2.24684669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:31.39, Z:0.22 [[ 7.59844617e-01 -6.50083420e-01 -5.26356918e-03 8.46363688e+01] [ 6.50068187e-01 7.59862846e-01 -4.45045551e-03 3.13933039e+01] [ 6.89275800e-03 -4.00242123e-05 9.99976244e-01 2.22867263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.241858064 meters Centerline goodness [0,1] 0.9999558995391502 Centerline is valid? [True, True] Translation: X:84.66, Y:31.41, Z:0.22 [[ 7.59788526e-01 -6.50146640e-01 -5.54459395e-03 8.46579602e+01] [ 6.50129719e-01 7.59808755e-01 -4.69075301e-03 3.14114359e+01] [ 7.26250834e-03 -4.07249946e-05 9.99973627e-01 2.22173162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.271858064 meters Centerline goodness [0,1] 0.9999338711810607 Centerline is valid? [True, True] Translation: X:84.68, Y:31.43, Z:0.22 [[ 7.59410846e-01 -6.50585287e-01 -5.82681877e-03 8.46794731e+01] [ 6.50566591e-01 7.59433198e-01 -4.93233027e-03 3.14290603e+01] [ 7.63398112e-03 -4.50685200e-05 9.99970860e-01 2.22018361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.301858064 meters Centerline goodness [0,1] 0.9998898654155378 Centerline is valid? [True, True] Translation: X:84.70, Y:31.45, Z:0.22 [[ 7.58694619e-01 -6.51417392e-01 -6.15276107e-03 8.47015146e+01] [ 6.51396549e-01 7.58719565e-01 -5.21122375e-03 3.14465739e+01] [ 8.06290199e-03 -5.41599049e-05 9.99967493e-01 2.21838453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.72, Y:31.46, Z:0.22 [[ 7.58024545e-01 -6.52192412e-01 -6.62169677e-03 8.47240670e+01] [ 6.52168284e-01 7.58053464e-01 -5.61032440e-03 3.14636910e+01] [ 8.67861118e-03 -6.56970189e-05 9.99962338e-01 2.21462383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.75, Y:31.48, Z:0.22 [[ 7.56151249e-01 -6.54353258e-01 -7.55661803e-03 8.47469764e+01] [ 6.54321931e-01 7.56189000e-01 -6.40361144e-03 3.14805425e+01] [ 9.90445544e-03 -1.02362112e-04 9.99950944e-01 2.20004877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.77, Y:31.50, Z:0.22 [[ 7.54948864e-01 -6.55734054e-01 -8.06614017e-03 8.47695604e+01] [ 6.55698412e-01 7.54991943e-01 -6.83802021e-03 3.14980108e+01] [ 1.05737936e-02 -1.26599706e-04 9.99944088e-01 2.19362121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:31.51, Z:0.22 [[ 7.52642846e-01 -6.58374339e-01 -8.48389765e-03 8.47934000e+01] [ 6.58335054e-01 7.52690641e-01 -7.19413514e-03 3.15134397e+01] [ 1.11221843e-02 -1.70632872e-04 9.99938132e-01 2.19069540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.82, Y:31.53, Z:0.22 [[ 7.51107292e-01 -6.60123625e-01 -8.63916679e-03 8.48159457e+01] [ 6.60082991e-01 7.51156948e-01 -7.32705662e-03 3.15306948e+01] [ 1.13261333e-02 -1.99161396e-04 9.99935837e-01 2.19832928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.84, Y:31.55, Z:0.22 [[ 7.49414396e-01 -6.62047678e-01 -8.42230450e-03 8.48390741e+01] [ 6.62009165e-01 7.49461689e-01 -7.14433589e-03 3.15468675e+01] [ 1.10420855e-02 -2.21574608e-04 9.99939010e-01 2.19831736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:31.56, Z:0.22 [[ 7.47676539e-01 -6.64008789e-01 -8.49244497e-03 8.48625092e+01] [ 6.63969728e-01 7.47724726e-01 -7.20653437e-03 3.15640076e+01] [ 1.11352132e-02 -2.50569701e-04 9.99937970e-01 2.20180357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.88, Y:31.58, Z:0.22 [[ 7.44551890e-01 -6.67510723e-01 -8.48040203e-03 8.48842397e+01] [ 6.67471976e-01 7.44600123e-01 -7.19844470e-03 3.15826504e+01] [ 1.11195474e-02 -3.00815090e-04 9.99938131e-01 2.21791084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:31.60, Z:0.22 [[ 7.43318083e-01 -6.68884994e-01 -8.43163114e-03 8.49063660e+01] [ 6.68846762e-01 7.43365834e-01 -7.15858297e-03 3.15989415e+01] [ 1.10560552e-02 -3.18365024e-04 9.99938829e-01 2.22187351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.93, Y:31.62, Z:0.22 [[ 7.42367491e-01 -6.69943761e-01 -8.11576927e-03 8.49289439e+01] [ 6.69908374e-01 7.42411783e-01 -6.89318275e-03 3.16173981e+01] [ 1.06432875e-02 -3.19547012e-04 9.99943308e-01 2.22875254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:31.64, Z:0.22 [[ 7.41656468e-01 -6.70734644e-01 -7.79234437e-03 8.49506275e+01] [ 6.70702046e-01 7.41697335e-01 -6.62030938e-03 3.16357568e+01] [ 1.02200319e-02 -3.16346048e-04 9.99947724e-01 2.23431401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:31.65, Z:0.22 [[ 7.41544967e-01 -6.70866554e-01 -7.00918428e-03 8.49712188e+01] [ 6.70840173e-01 7.41578037e-01 -5.95621310e-03 3.16537388e+01] [ 9.19368128e-03 -2.85242557e-04 9.99957697e-01 2.23648096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.691858064 meters Centerline goodness [0,1] 0.9999334958989138 Centerline is valid? [True, True] Translation: X:84.99, Y:31.67, Z:0.22 [[ 7.41789052e-01 -6.70592173e-01 -7.42569032e-03 8.49918664e+01] [ 6.70562524e-01 7.41826159e-01 -6.31276817e-03 3.16738119e+01] [ 9.74186424e-03 -2.96647332e-04 9.99952503e-01 2.23577691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:31.69, Z:0.22 [[ 7.42285150e-01 -6.70037890e-01 -7.87290342e-03 8.50139271e+01] [ 6.70004512e-01 7.42326837e-01 -6.69491565e-03 3.16912697e+01] [ 1.03301146e-02 -3.05344343e-04 9.99946596e-01 2.22708012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751858064 meters Centerline goodness [0,1] 0.9998890245255798 Centerline is valid? [True, True] Translation: X:85.03, Y:31.71, Z:0.22 [[ 7.43930473e-01 -6.68203598e-01 -8.44998439e-03 8.50333414e+01] [ 6.68164997e-01 7.43978402e-01 -7.18851254e-03 3.17125563e+01] [ 1.10899958e-02 -2.98230261e-04 9.99938460e-01 2.21885465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:31.73, Z:0.22 [[ 7.44874071e-01 -6.67152087e-01 -8.40900763e-03 8.50544705e+01] [ 6.67113753e-01 7.44921483e-01 -7.15718747e-03 3.17328350e+01] [ 1.10389830e-02 -2.78561274e-04 9.99939030e-01 2.21889898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:31.75, Z:0.22 [[ 7.45817738e-01 -6.66096990e-01 -8.40844501e-03 8.50763513e+01] [ 6.66058572e-01 7.45865089e-01 -7.15867380e-03 3.17501446e+01] [ 1.10399367e-02 -2.61450986e-04 9.99939024e-01 2.21570138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84185806400001 meters Centerline goodness [0,1] 0.9998675087223424 Centerline is valid? [True, True] Translation: X:85.10, Y:31.77, Z:0.22 [[ 7.46685112e-01 -6.65127858e-01 -8.14103694e-03 8.50965670e+01] [ 6.65091759e-01 7.46729453e-01 -6.93371304e-03 3.17712223e+01] [ 1.06909578e-02 -2.37236276e-04 9.99942822e-01 2.22694030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.871858064 meters Centerline goodness [0,1] 0.9998675087223424 Centerline is valid? [True, True] Translation: X:85.12, Y:31.79, Z:0.22 [[ 7.46500536e-01 -6.65335031e-01 -8.13918838e-03 8.51175310e+01] [ 6.65298920e-01 7.46544868e-01 -6.93588271e-03 3.17891730e+01] [ 1.06909550e-02 -2.37353075e-04 9.99942822e-01 2.22787883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.901858064 meters Centerline goodness [0,1] 0.9999559306348192 Centerline is valid? [True, True] Translation: X:85.14, Y:31.81, Z:0.22 [[ 7.48159948e-01 -6.63473022e-01 -7.76151312e-03 8.51377444e+01] [ 6.63440050e-01 7.48200180e-01 -6.61740368e-03 3.18104006e+01] [ 1.01976343e-02 -1.98422257e-04 9.99947983e-01 2.23271671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:31.83, Z:0.22 [[ 7.48694146e-01 -6.62872984e-01 -7.51550455e-03 8.51587164e+01] [ 6.62842008e-01 7.48731844e-01 -6.41079207e-03 3.18300270e+01] [ 9.87663845e-03 -1.81869630e-04 9.99951208e-01 2.23782629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:31.85, Z:0.22 [[ 7.49297246e-01 -6.62192941e-01 -7.35834295e-03 8.51795886e+01] [ 6.62163198e-01 7.49333357e-01 -6.27851516e-03 3.18480517e+01] [ 9.67144025e-03 -1.67949778e-04 9.99953216e-01 2.23761420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:31.87, Z:0.22 [[ 7.49699835e-01 -6.61743657e-01 -6.74458900e-03 8.52004669e+01] [ 6.61718631e-01 7.49730159e-01 -5.75695035e-03 3.18678896e+01] [ 8.86624716e-03 -1.47035475e-04 9.99960683e-01 2.24710095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.22, Y:31.89, Z:0.23 [[ 7.49522779e-01 -6.61948141e-01 -6.34527986e-03 8.52216292e+01] [ 6.61925983e-01 7.49549624e-01 -5.41794336e-03 3.18853894e+01] [ 8.34249967e-03 -1.39233642e-04 9.99965191e-01 2.25222830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.051858064 meters Centerline goodness [0,1] 0.9999779687155761 Centerline is valid? [True, True] Translation: X:85.24, Y:31.90, Z:0.23 [[ 7.49228793e-01 -6.62282513e-01 -6.17158387e-03 8.52431892e+01] [ 6.62261544e-01 7.49254199e-01 -5.27188709e-03 3.19038022e+01] [ 8.11556376e-03 -1.37353061e-04 9.99967059e-01 2.25561485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:31.92, Z:0.23 [[ 7.48552594e-01 -6.63048151e-01 -6.01355221e-03 8.52656208e+01] [ 6.63028254e-01 7.48576736e-01 -5.13862143e-03 3.19209108e+01] [ 7.90875873e-03 -1.40626617e-04 9.99968715e-01 2.25152356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.29, Y:31.94, Z:0.23 [[ 7.48234902e-01 -6.63407216e-01 -5.94960196e-03 8.52857390e+01] [ 6.63387735e-01 7.48258542e-01 -5.08595461e-03 3.19399595e+01] [ 7.82589948e-03 -1.41404225e-04 9.99969367e-01 2.25144153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141858064 meters Centerline goodness [0,1] 0.9999115983026874 Centerline is valid? [True, True] Translation: X:85.31, Y:31.96, Z:0.22 [[ 7.48163929e-01 -6.63486237e-01 -6.06206203e-03 8.53070989e+01] [ 6.63465992e-01 7.48188474e-01 -5.18499682e-03 3.19586431e+01] [ 7.97573898e-03 -1.42744405e-04 9.99968183e-01 2.24407849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171858064 meters Centerline goodness [0,1] 0.9999559044007408 Centerline is valid? [True, True] Translation: X:85.33, Y:31.98, Z:0.22 [[ 7.48129695e-01 -6.63521395e-01 -6.42790124e-03 8.53277770e+01] [ 6.63498608e-01 7.48157293e-01 -5.50107162e-03 3.19777251e+01] [ 8.45915992e-03 -1.49388493e-04 9.99964210e-01 2.24378809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.35, Y:32.00, Z:0.22 [[ 7.47889045e-01 -6.63790559e-01 -6.63858842e-03 8.53491243e+01] [ 6.63766235e-01 7.47918492e-01 -5.68462134e-03 3.19955177e+01] [ 8.73852101e-03 -1.55004819e-04 9.99961806e-01 2.23893074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.37, Y:32.01, Z:0.22 [[ 7.47649378e-01 -6.64058801e-01 -6.80565226e-03 8.53706337e+01] [ 6.64033219e-01 7.47680335e-01 -5.83099809e-03 3.20137602e+01] [ 8.96057797e-03 -1.59637084e-04 9.99959840e-01 2.24228215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:32.03, Z:0.22 [[ 7.47543709e-01 -6.64175566e-01 -7.01579106e-03 8.53914798e+01] [ 6.64148365e-01 7.47576612e-01 -6.01326757e-03 3.20308480e+01] [ 9.23870670e-03 -1.64345822e-04 9.99957309e-01 2.23826461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:32.05, Z:0.22 [[ 7.47375918e-01 -6.64353323e-01 -7.99367365e-03 8.54119233e+01] [ 6.64317986e-01 7.47418643e-01 -6.85467355e-03 3.20506188e+01] [ 1.05285459e-02 -1.87323240e-04 9.99944556e-01 2.22648852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.321858064 meters Centerline goodness [0,1] 0.9999779317650175 Centerline is valid? [True, True] Translation: X:85.43, Y:32.07, Z:0.22 [[ 7.47373003e-01 -6.64349331e-01 -8.57678075e-03 8.54326056e+01] [ 6.64308601e-01 7.47422189e-01 -7.35901154e-03 3.20693622e+01] [ 1.12994306e-02 -1.97702660e-04 9.99936140e-01 2.22045459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:32.09, Z:0.22 [[ 7.47262765e-01 -6.64466337e-01 -9.10204614e-03 8.54537399e+01] [ 6.64420442e-01 7.47318167e-01 -7.81236528e-03 3.20872149e+01] [ 1.19931782e-02 -2.09695845e-04 9.99928057e-01 2.21108869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.381858064 meters Centerline goodness [0,1] 0.999933885754584 Centerline is valid? [True, True] Translation: X:85.48, Y:32.11, Z:0.22 [[ 7.47108755e-01 -6.64629459e-01 -9.80765204e-03 8.54759720e+01] [ 6.64576140e-01 7.47173093e-01 -8.42162705e-03 3.21060959e+01] [ 1.29252751e-02 -2.26060232e-04 9.99916440e-01 2.21165301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.411858064 meters Centerline goodness [0,1] 0.9999337016574585 Centerline is valid? [True, True] Translation: X:85.50, Y:32.12, Z:0.22 [[ 7.46367451e-01 -6.65457279e-01 -1.01112399e-02 8.54984538e+01] [ 6.65400625e-01 7.46435898e-01 -8.68669631e-03 3.21242219e+01] [ 1.33280177e-02 -2.44557970e-04 9.99911148e-01 2.21965568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.441858064 meters Centerline goodness [0,1] 0.9999779556025836 Centerline is valid? [True, True] Translation: X:85.52, Y:32.14, Z:0.22 [[ 7.45886575e-01 -6.66000913e-01 -9.79796478e-03 8.55199162e+01] [ 6.65947702e-01 7.45950886e-01 -8.42219571e-03 3.21419820e+01] [ 1.29179905e-02 -2.42929414e-04 9.99916530e-01 2.22268180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:32.16, Z:0.22 [[ 7.45520844e-01 -6.66408254e-01 -9.93527963e-03 8.55419184e+01] [ 6.66353545e-01 7.45587001e-01 -8.54264478e-03 3.21591931e+01] [ 1.31005043e-02 -2.51689056e-04 9.99914153e-01 2.22105784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:32.18, Z:0.22 [[ 7.44713256e-01 -6.67326113e-01 -8.83319322e-03 8.55642236e+01] [ 6.67282919e-01 7.44765602e-01 -7.59631533e-03 3.21762254e+01] [ 1.16478781e-02 -2.37162234e-04 9.99932133e-01 2.21694442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:32.19, Z:0.22 [[ 7.43996735e-01 -6.68124114e-01 -8.88962803e-03 8.55860305e+01] [ 6.68080402e-01 7.44049800e-01 -7.64661030e-03 3.21943836e+01] [ 1.17232107e-02 -2.49933174e-04 9.99931250e-01 2.21936926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:32.21, Z:0.22 [[ 7.43305744e-01 -6.68900872e-01 -8.25795398e-03 8.56066722e+01] [ 6.68863167e-01 7.43351576e-01 -7.10624742e-03 3.22143997e+01] [ 1.08919382e-02 -2.41326724e-04 9.99940652e-01 2.22847766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.63, Y:32.23, Z:0.22 [[ 7.42760069e-01 -6.69508395e-01 -8.12337204e-03 8.56293959e+01] [ 6.69471919e-01 7.42804449e-01 -6.99281349e-03 3.22310718e+01] [ 1.07158242e-02 -2.44386844e-04 9.99942554e-01 2.22846013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.65, Y:32.25, Z:0.22 [[ 7.42347876e-01 -6.69967602e-01 -7.93996646e-03 8.56508503e+01] [ 6.69932748e-01 7.42390297e-01 -6.83812794e-03 3.22498993e+01] [ 1.04758782e-02 -2.42973790e-04 9.99945097e-01 2.22761806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.651858064 meters Centerline goodness [0,1] 0.9999558098941647 Centerline is valid? [True, True] Translation: X:85.67, Y:32.27, Z:0.22 [[ 7.42187380e-01 -6.70147289e-01 -7.77841038e-03 8.56720694e+01] [ 6.70113811e-01 7.42228101e-01 -6.70274711e-03 3.22680258e+01] [ 1.02651826e-02 -2.37725901e-04 9.99947283e-01 2.22812515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.69, Y:32.29, Z:0.22 [[ 7.41780592e-01 -6.70606583e-01 -6.95450395e-03 8.56931993e+01] [ 6.70579822e-01 7.41813160e-01 -5.99479156e-03 3.22853005e+01] [ 9.17908923e-03 -2.16729993e-04 9.99957848e-01 2.22661493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.71, Y:32.30, Z:0.22 [[ 7.41563315e-01 -6.70844969e-01 -7.13282563e-03 8.57139995e+01] [ 6.70816804e-01 7.41597585e-01 -6.15122648e-03 3.23036597e+01] [ 9.41620559e-03 -2.23295390e-04 9.99955642e-01 2.22619725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:32.32, Z:0.22 [[ 7.41521216e-01 -6.70891118e-01 -7.16896839e-03 8.57355563e+01] [ 6.70862637e-01 7.41555836e-01 -6.18582769e-03 3.23216835e+01] [ 9.46620720e-03 -2.22470562e-04 9.99955170e-01 2.22139319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.76, Y:32.34, Z:0.22 [[ 7.41227070e-01 -6.71211705e-01 -7.56821301e-03 8.57576841e+01] [ 6.71179946e-01 7.41265668e-01 -6.53371119e-03 3.23404495e+01] [ 9.99555990e-03 -2.36669197e-04 9.99950015e-01 2.21310233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:32.36, Z:0.22 [[ 7.41152663e-01 -6.71292696e-01 -7.67114147e-03 8.57789698e+01] [ 6.71260036e-01 7.41192323e-01 -6.62609314e-03 3.23582586e+01] [ 1.01338391e-02 -2.38384122e-04 9.99948623e-01 2.20645294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:32.38, Z:0.22 [[ 7.40818115e-01 -6.71662249e-01 -7.63837423e-03 8.58004329e+01] [ 6.71629850e-01 7.40857453e-01 -6.60141007e-03 3.23763463e+01] [ 1.00928644e-02 -2.39715975e-04 9.99949037e-01 2.20355055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.82, Y:32.39, Z:0.22 [[ 7.40499224e-01 -6.72012194e-01 -7.77888064e-03 8.58219286e+01] [ 6.71978573e-01 7.40540040e-01 -6.72653533e-03 3.23943396e+01] [ 1.02808863e-02 -2.46246922e-04 9.99947120e-01 2.19994955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:32.41, Z:0.22 [[ 7.40239318e-01 -6.72296067e-01 -7.98435248e-03 8.58434863e+01] [ 6.72260624e-01 7.40282334e-01 -6.90799870e-03 3.24125986e+01] [ 1.05548954e-02 -2.53993532e-04 9.99944263e-01 2.19784044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.86, Y:32.43, Z:0.22 [[ 7.39634333e-01 -6.72966391e-01 -7.56899273e-03 8.58647900e+01] [ 6.72934556e-01 7.39673019e-01 -6.55050922e-03 3.24309733e+01] [ 1.00068523e-02 -2.48455240e-04 9.99949899e-01 2.19536734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951858064 meters Centerline goodness [0,1] 0.9999778579810907 Centerline is valid? [True, True] Translation: X:85.88, Y:32.45, Z:0.22 [[ 7.39300407e-01 -6.73343251e-01 -6.61626740e-03 8.58848995e+01] [ 6.73318921e-01 7.39329979e-01 -5.72824173e-03 3.24500439e+01] [ 8.74867775e-03 -2.19966588e-04 9.99961705e-01 2.20439565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:32.47, Z:0.22 [[ 7.38598033e-01 -6.74126785e-01 -5.10132121e-03 8.59054296e+01] [ 6.74112326e-01 7.38615629e-01 -4.41866176e-03 3.24704174e+01] [ 6.74665382e-03 -1.75248622e-04 9.99977226e-01 2.22322549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:32.49, Z:0.22 [[ 7.38364270e-01 -6.74388774e-01 -4.24095656e-03 8.59262346e+01] [ 6.74378776e-01 7.38376435e-01 -3.67516239e-03 3.24894490e+01] [ 5.60991065e-03 -1.46402494e-04 9.99984254e-01 2.22724362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:32.51, Z:0.22 [[ 7.38049403e-01 -6.74736774e-01 -3.65563727e-03 8.59472110e+01] [ 6.74729342e-01 7.38058446e-01 -3.16954498e-03 3.25087661e+01] [ 4.83668252e-03 -1.27284949e-04 9.99988295e-01 2.22882436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.97, Y:32.53, Z:0.22 [[ 7.38025466e-01 -6.74764143e-01 -3.42975777e-03 8.59673929e+01] [ 6.74757594e-01 7.38033425e-01 -2.97516815e-03 3.25266899e+01] [ 4.53881266e-03 -1.18505241e-04 9.99989693e-01 2.22664658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:32.55, Z:0.22 [[ 7.37973919e-01 -6.74819582e-01 -3.60928793e-03 8.59880502e+01] [ 6.74812324e-01 7.37982734e-01 -3.13231224e-03 3.25461419e+01] [ 4.77733781e-03 -1.24027233e-04 9.99988581e-01 2.22717513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.131858064 meters Centerline goodness [0,1] 0.9999338799259455 Centerline is valid? [True, True] Translation: X:86.01, Y:32.57, Z:0.22 [[ 7.37929867e-01 -6.74868386e-01 -3.48896486e-03 8.60095171e+01] [ 6.74861596e-01 7.37938106e-01 -3.02952670e-03 3.25650169e+01] [ 4.61917191e-03 -1.18990155e-04 9.99989324e-01 2.22780120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:32.58, Z:0.22 [[ 7.37827537e-01 -6.74981209e-01 -3.30035333e-03 8.60305229e+01] [ 6.74975129e-01 7.37834910e-01 -2.86721415e-03 3.25842907e+01] [ 4.37043157e-03 -1.12146855e-04 9.99990443e-01 2.22938615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:32.60, Z:0.22 [[ 7.38044100e-01 -6.74744360e-01 -3.30994089e-03 8.60513473e+01] [ 6.74738235e-01 7.38051514e-01 -2.87690441e-03 3.26029083e+01] [ 4.38408191e-03 -1.10061347e-04 9.99990384e-01 2.22875556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:32.62, Z:0.22 [[ 7.38880291e-01 -6.73827412e-01 -3.54043280e-03 8.60710265e+01] [ 6.73820392e-01 7.38888765e-01 -3.07779682e-03 3.26226254e+01] [ 4.68988988e-03 -1.11492406e-04 9.99988996e-01 2.22205769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:32.64, Z:0.22 [[ 7.39083677e-01 -6.73601239e-01 -4.08531965e-03 8.60917209e+01] [ 6.73591883e-01 7.39094957e-01 -3.55254843e-03 3.26429128e+01] [ 5.41244017e-03 -1.26207600e-04 9.99985345e-01 2.22185237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:32.66, Z:0.22 [[ 7.39370798e-01 -6.73288648e-01 -3.63588849e-03 8.61112610e+01] [ 6.73281227e-01 7.39379729e-01 -3.16313904e-03 3.26641322e+01] [ 4.81800785e-03 -1.09242830e-04 9.99988387e-01 2.23680274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311858064 meters Centerline goodness [0,1] 0.999978075464252 Centerline is valid? [True, True] Translation: X:86.13, Y:32.68, Z:0.22 [[ 7.39170692e-01 -6.73508061e-01 -3.68503879e-03 8.61313658e+01] [ 6.73500434e-01 7.39179869e-01 -3.20726473e-03 3.26821332e+01] [ 4.88402514e-03 -1.11159130e-04 9.99988067e-01 2.23902162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.15, Y:32.70, Z:0.22 [[ 7.38487569e-01 -6.74257934e-01 -3.51421460e-03 8.61534083e+01] [ 6.74251002e-01 7.38495922e-01 -3.05925647e-03 3.26994672e+01] [ 4.65796110e-03 -1.10239845e-04 9.99989146e-01 2.23959406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.17, Y:32.72, Z:0.22 [[ 7.36944148e-01 -6.75945067e-01 -3.40443143e-03 8.61733815e+01] [ 6.75938576e-01 7.36952002e-01 -2.96441608e-03 3.27203079e+01] [ 4.51268498e-03 -1.16577453e-04 9.99989811e-01 2.24522041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.20, Y:32.74, Z:0.23 [[ 7.35915501e-01 -6.77066964e-01 -2.94987557e-03 8.61952804e+01] [ 6.77062096e-01 7.35921406e-01 -2.56971560e-03 3.27391128e+01] [ 3.91074611e-03 -1.06155390e-04 9.99992347e-01 2.25348873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:32.76, Z:0.23 [[ 7.34623926e-01 -6.78470402e-01 -2.36652044e-03 8.62165220e+01] [ 6.78467274e-01 7.34627733e-01 -2.06232484e-03 3.27585942e+01] [ 3.13773791e-03 -9.05734994e-05 9.99995073e-01 2.26176711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.24, Y:32.78, Z:0.23 [[ 7.32833691e-01 -6.80405630e-01 -1.72042692e-03 8.62377094e+01] [ 6.80403980e-01 7.32835707e-01 -1.49995777e-03 3.27771797e+01] [ 2.28136999e-03 -7.13657387e-05 9.99997395e-01 2.27586852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:32.80, Z:0.23 [[ 7.31902006e-01 -6.81408127e-01 -1.55498839e-03 8.62573221e+01] [ 6.81406782e-01 7.31903654e-01 -1.35591507e-03 3.27977989e+01] [ 2.06203323e-03 -6.71826726e-05 9.99997872e-01 2.27617450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.28, Y:32.82, Z:0.23 [[ 7.31367472e-01 -6.81981450e-01 -1.70984512e-03 8.62783601e+01] [ 6.81979824e-01 7.31369467e-01 -1.49101178e-03 3.28177000e+01] [ 2.26737088e-03 -7.56023571e-05 9.99997427e-01 2.27614882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.30, Y:32.84, Z:0.23 [[ 7.30925148e-01 -6.82455550e-01 -1.68848109e-03 8.62989626e+01] [ 6.82453964e-01 7.30927094e-01 -1.47335897e-03 3.28358710e+01] [ 2.23965859e-03 -7.53954905e-05 9.99997489e-01 2.27506406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:32.86, Z:0.23 [[ 7.30681963e-01 -6.82716540e-01 -1.41222495e-03 8.63177294e+01] [ 6.82715432e-01 7.30683325e-01 -1.23206034e-03 3.28566781e+01] [ 1.87303719e-03 -6.39035024e-05 9.99998244e-01 2.27426838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.611858064 meters Centerline goodness [0,1] 0.9999783254221124 Centerline is valid? [True, True] Translation: X:86.34, Y:32.88, Z:0.23 [[ 7.30767478e-01 -6.82624983e-01 -1.42289017e-03 8.63375893e+01] [ 6.82623856e-01 7.30768861e-01 -1.24214111e-03 3.28783057e+01] [ 1.88772038e-03 -6.35824432e-05 9.99998216e-01 2.27007275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:32.90, Z:0.23 [[ 7.31343892e-01 -6.82006675e-01 -1.73409881e-03 8.63576325e+01] [ 6.82004996e-01 7.31345944e-01 -1.51506501e-03 3.28975659e+01] [ 2.30151058e-03 -7.46305107e-05 9.99997349e-01 2.26497933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671858064 meters Centerline goodness [0,1] 0.9999567520813061 Centerline is valid? [True, True] Translation: X:86.38, Y:32.92, Z:0.22 [[ 7.33306841e-01 -6.79890233e-01 -3.21684641e-03 8.63751734e+01] [ 6.79884432e-01 7.33313886e-01 -2.81136782e-03 3.29197274e+01] [ 4.27037966e-03 -1.25488541e-04 9.99990874e-01 2.24667438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:32.94, Z:0.22 [[ 7.34400364e-01 -6.78705319e-01 -3.89800661e-03 8.63947086e+01] [ 6.78696779e-01 7.34410695e-01 -3.40771469e-03 3.29416578e+01] [ 5.17557183e-03 -1.42937618e-04 9.99986596e-01 2.24608100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.42, Y:32.96, Z:0.22 [[ 7.34211514e-01 -6.78909615e-01 -3.89713627e-03 8.64154344e+01] [ 6.78901072e-01 7.34221843e-01 -3.40870982e-03 3.29598737e+01] [ 5.17556845e-03 -1.43055996e-04 9.99986596e-01 2.24701960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:32.98, Z:0.22 [[ 7.35343704e-01 -6.77683457e-01 -3.84321072e-03 8.64352212e+01] [ 6.77675123e-01 7.35353735e-01 -3.36329700e-03 3.29817973e+01] [ 5.10537009e-03 -1.31269028e-04 9.99986959e-01 2.24589787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:33.00, Z:0.23 [[ 7.37968706e-01 -6.74822818e-01 -4.04391118e-03 8.64525053e+01] [ 6.74813541e-01 7.37979777e-01 -3.54024189e-03 3.30042262e+01] [ 5.37336068e-03 -1.16298299e-04 9.99985557e-01 2.25062711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:33.03, Z:0.23 [[ 7.39032268e-01 -6.73658444e-01 -3.95057658e-03 8.64724692e+01] [ 6.73649570e-01 7.39042820e-01 -3.45945932e-03 3.30259362e+01] [ 5.25013924e-03 -1.04652142e-04 9.99986212e-01 2.25341852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:33.05, Z:0.23 [[ 7.39778194e-01 -6.72840136e-01 -3.79148222e-03 8.64922251e+01] [ 6.72831944e-01 7.39787904e-01 -3.32164033e-03 3.30475739e+01] [ 5.03982561e-03 -9.37532686e-05 9.99987296e-01 2.25747124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:33.07, Z:0.23 [[ 7.40241441e-01 -6.72330262e-01 -3.82466136e-03 8.65127853e+01] [ 6.72321910e-01 7.40251316e-01 -3.35236159e-03 3.30671794e+01] [ 5.08510476e-03 -8.98466546e-05 9.99987067e-01 2.25840509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:33.09, Z:0.23 [[ 7.39998314e-01 -6.72598114e-01 -3.77788051e-03 8.65297706e+01] [ 6.72589960e-01 7.40007952e-01 -3.31304856e-03 3.30896816e+01] [ 5.02401184e-03 -8.93141500e-05 9.99987376e-01 2.26056698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:33.11, Z:0.23 [[ 7.39443268e-01 -6.73206807e-01 -4.03094928e-03 8.65506163e+01] [ 6.73197523e-01 7.39454248e-01 -3.53698788e-03 3.31099967e+01] [ 5.36182689e-03 -9.82231970e-05 9.99985620e-01 2.25904466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:33.13, Z:0.23 [[ 7.38638460e-01 -6.74088677e-01 -4.20481808e-03 8.65710380e+01] [ 6.74078581e-01 7.38650421e-01 -3.69096713e-03 3.31286880e+01] [ 5.59392979e-03 -1.08087523e-04 9.99984348e-01 2.25654211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:33.15, Z:0.23 [[ 7.36883167e-01 -6.76008538e-01 -3.95672046e-03 8.65915729e+01] [ 6.75999620e-01 7.36893781e-01 -3.47415720e-03 3.31495968e+01] [ 5.26424263e-03 -1.14693570e-04 9.99986137e-01 2.25777528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:33.17, Z:0.23 [[ 7.36090744e-01 -6.76870599e-01 -4.07542775e-03 8.66131534e+01] [ 6.76861142e-01 7.36102015e-01 -3.58016462e-03 3.31690869e+01] [ 5.42323875e-03 -1.23172642e-04 9.99985287e-01 2.26187125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:33.19, Z:0.23 [[ 7.35214274e-01 -6.77819936e-01 -4.48394802e-03 8.66341417e+01] [ 6.77808493e-01 7.35227934e-01 -3.94106426e-03 3.31888951e+01] [ 5.96805577e-03 -1.41731350e-04 9.99982181e-01 2.26105973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.091858064 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:86.65, Y:33.21, Z:0.23 [[ 7.34579969e-01 -6.78506074e-01 -4.66653660e-03 8.66541994e+01] [ 6.78493686e-01 7.34594775e-01 -4.10300508e-03 3.32076815e+01] [ 6.21192727e-03 -1.52230275e-04 9.99980694e-01 2.25829364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:33.23, Z:0.22 [[ 7.33902402e-01 -6.79236005e-01 -5.07091437e-03 8.66737316e+01] [ 6.79221383e-01 7.33919901e-01 -4.46002645e-03 3.32287598e+01] [ 6.75105552e-03 -1.71049349e-04 9.99977197e-01 2.24984893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:33.25, Z:0.22 [[ 7.33850683e-01 -6.79289792e-01 -5.34363070e-03 8.66935158e+01] [ 6.79273542e-01 7.33870116e-01 -4.70193317e-03 3.32473909e+01] [ 7.11550609e-03 -1.79270087e-04 9.99974668e-01 2.24882929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:33.27, Z:0.22 [[ 7.33719510e-01 -6.79430853e-01 -5.42191887e-03 8.67138315e+01] [ 6.79414111e-01 7.33739520e-01 -4.77303278e-03 3.32669221e+01] [ 7.22122188e-03 -1.81660920e-04 9.99973910e-01 2.24748124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:33.29, Z:0.22 [[ 7.33550846e-01 -6.79610077e-01 -5.77062844e-03 8.67339682e+01] [ 6.79591097e-01 7.33573518e-01 -5.08283010e-03 3.32860894e+01] [ 7.68752276e-03 -1.93153391e-04 9.99970432e-01 2.24501935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:33.31, Z:0.22 [[ 7.33296619e-01 -6.79881944e-01 -6.05068006e-03 8.67535962e+01] [ 6.79861072e-01 7.33321553e-01 -5.33128670e-03 3.33054538e+01] [ 8.06173967e-03 -2.04207319e-04 9.99967483e-01 2.23659562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:33.32, Z:0.22 [[ 7.32917540e-01 -6.80288838e-01 -6.24308430e-03 8.67748630e+01] [ 6.80266617e-01 7.32944098e-01 -5.50270140e-03 3.33243776e+01] [ 8.31925814e-03 -2.13935463e-04 9.99965371e-01 2.23842509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:33.34, Z:0.22 [[ 7.32483029e-01 -6.80757544e-01 -6.14644932e-03 8.67961731e+01] [ 6.80736001e-01 7.32508785e-01 -5.42000436e-03 3.33433218e+01] [ 8.19203698e-03 -2.14048119e-04 9.99966422e-01 2.23947720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:33.37, Z:0.22 [[ 7.31995185e-01 -6.81278295e-01 -6.55238089e-03 8.68133659e+01] [ 6.81253808e-01 7.32024474e-01 -5.78085965e-03 3.33679849e+01] [ 8.73487738e-03 -2.32273009e-04 9.99961823e-01 2.24425847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:33.39, Z:0.22 [[ 7.31902855e-01 -6.81378575e-01 -6.43802921e-03 8.68335656e+01] [ 6.81354912e-01 7.31931135e-01 -5.68308689e-03 3.33874439e+01] [ 8.58452767e-03 -2.27115308e-04 9.99963126e-01 2.24360736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:33.41, Z:0.22 [[ 7.31829280e-01 -6.81453599e-01 -6.84812704e-03 8.68541878e+01] [ 6.81426803e-01 7.31861281e-01 -6.04797783e-03 3.34054336e+01] [ 9.13329528e-03 -2.40410053e-04 9.99958262e-01 2.23739964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:33.42, Z:0.22 [[ 7.31830818e-01 -6.81452261e-01 -6.81686252e-03 8.68776472e+01] [ 6.81425681e-01 7.31862528e-01 -6.02334809e-03 3.34205369e+01] [ 9.09363041e-03 -2.37113422e-04 9.99958624e-01 2.22988904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:33.44, Z:0.23 [[ 7.31549402e-01 -6.81761616e-01 -6.04750663e-03 8.68944912e+01] [ 6.81740685e-01 7.31574367e-01 -5.34641036e-03 3.34439787e+01] [ 8.06917821e-03 -2.11668010e-04 9.99967421e-01 2.25025007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.91, Y:33.46, Z:0.23 [[ 7.31455486e-01 -6.81866821e-01 -5.52354683e-03 8.69146486e+01] [ 6.81849350e-01 7.31476316e-01 -4.88500347e-03 3.34617616e+01] [ 7.37126548e-03 -1.93064226e-04 9.99972813e-01 2.25369370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:33.48, Z:0.23 [[ 7.31162564e-01 -6.82186140e-01 -4.83469750e-03 8.69341073e+01] [ 6.82172752e-01 7.31178529e-01 -4.27740838e-03 3.34816998e+01] [ 6.45301572e-03 -1.70618017e-04 9.99979165e-01 2.25956914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.95, Y:33.50, Z:0.23 [[ 7.31469184e-01 -6.81858403e-01 -4.68520245e-03 8.69538612e+01] [ 6.81845810e-01 7.31484171e-01 -4.14731780e-03 3.35030944e+01] [ 6.25503492e-03 -1.60950487e-04 9.99980424e-01 2.26319877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:33.52, Z:0.23 [[ 7.31827198e-01 -6.81476463e-01 -4.33388212e-03 8.69747115e+01] [ 6.81465673e-01 7.31840016e-01 -3.83764809e-03 3.35218725e+01] [ 5.78697520e-03 -1.44896646e-04 9.99983245e-01 2.26139400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:33.54, Z:0.23 [[ 7.33037671e-01 -6.80170400e-01 -4.89888150e-03 8.69939224e+01] [ 6.80156574e-01 7.33054025e-01 -4.33943813e-03 3.35437044e+01] [ 6.54270217e-03 -1.51034837e-04 9.99978585e-01 2.25676000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:33.56, Z:0.22 [[ 7.33493929e-01 -6.79675750e-01 -5.24710802e-03 8.70146189e+01] [ 6.79659863e-01 7.33512680e-01 -4.64973441e-03 3.35624135e+01] [ 7.00913199e-03 -1.55696757e-04 9.99975424e-01 2.24915682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:33.58, Z:0.22 [[ 7.34070719e-01 -6.79051038e-01 -5.46508440e-03 8.70354611e+01] [ 6.79033773e-01 7.34091046e-01 -4.84478789e-03 3.35826037e+01] [ 7.30172777e-03 -1.54559949e-04 9.99973330e-01 2.24571477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.06, Y:33.60, Z:0.22 [[ 7.34937264e-01 -6.78110100e-01 -5.82325786e-03 8.70555443e+01] [ 6.78090455e-01 7.34960317e-01 -5.16400152e-03 3.36018347e+01] [ 7.78162503e-03 -1.53478426e-04 9.99969711e-01 2.23970072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:33.62, Z:0.22 [[ 7.35039013e-01 -6.77995024e-01 -6.35591449e-03 8.70764674e+01] [ 6.77971596e-01 7.35066474e-01 -5.63865176e-03 3.36209620e+01] [ 8.49499748e-03 -1.64500468e-04 9.99963903e-01 2.23895891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.10, Y:33.64, Z:0.22 [[ 7.35158211e-01 -6.77864777e-01 -6.46137464e-03 8.70971838e+01] [ 6.77840533e-01 7.35186587e-01 -5.73538878e-03 3.36397969e+01] [ 8.63813400e-03 -1.63363470e-04 9.99962677e-01 2.23402305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.12, Y:33.66, Z:0.22 [[ 7.35140174e-01 -6.77883004e-01 -6.59986322e-03 8.71174187e+01] [ 6.77857681e-01 7.35169780e-01 -5.86158040e-03 3.36588762e+01] [ 8.82548572e-03 -1.64684745e-04 9.99961041e-01 2.23450943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:33.68, Z:0.22 [[ 7.35220539e-01 -6.77803579e-01 -5.75050053e-03 8.71380026e+01] [ 6.77784333e-01 7.35243013e-01 -5.10974827e-03 3.36791008e+01] [ 7.69142100e-03 -1.40807295e-04 9.99970411e-01 2.24444505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.16, Y:33.70, Z:0.23 [[ 7.35095260e-01 -6.77943350e-01 -5.27010591e-03 8.71585019e+01] [ 6.77927177e-01 7.35114139e-01 -4.68452075e-03 3.36963505e+01] [ 7.04996906e-03 -1.29179021e-04 9.99975140e-01 2.25248505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.18, Y:33.72, Z:0.23 [[ 7.34528367e-01 -6.78562431e-01 -4.59398731e-03 8.71804645e+01] [ 6.78550146e-01 7.34542724e-01 -4.08491792e-03 3.37155540e+01] [ 6.14635179e-03 -1.16762671e-04 9.99981104e-01 2.25954786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:33.73, Z:0.23 [[ 7.33060304e-01 -6.80152288e-01 -3.93142354e-03 8.72031214e+01] [ 6.80143305e-01 7.33070838e-01 -3.49734033e-03 3.37335317e+01] [ 5.26073597e-03 -1.10170036e-04 9.99986156e-01 2.26207634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:33.75, Z:0.23 [[ 7.31806741e-01 -6.81504152e-01 -3.31431507e-03 8.72251972e+01] [ 6.81497777e-01 7.31814239e-01 -2.94948835e-03 3.37508230e+01] [ 4.43555152e-03 -1.00242896e-04 9.99990158e-01 2.27010588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.25, Y:33.77, Z:0.23 [[ 7.30429938e-01 -6.82981147e-01 -2.97642610e-03 8.72475672e+01] [ 6.82976014e-01 7.30435996e-01 -2.64951185e-03 3.37694387e+01] [ 3.98365540e-03 -9.75448540e-05 9.99992060e-01 2.27289135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.27, Y:33.79, Z:0.23 [[ 7.28743967e-01 -6.84781715e-01 -2.49675191e-03 8.72700206e+01] [ 6.84778111e-01 7.28748239e-01 -2.22343831e-03 3.37872101e+01] [ 3.34207345e-03 -8.94037967e-05 9.99994411e-01 2.27544316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:33.81, Z:0.23 [[ 7.26153307e-01 -6.87528180e-01 -2.52525447e-03 8.72924732e+01] [ 6.87524506e-01 7.26157690e-01 -2.24993996e-03 3.38051634e+01] [ 3.38063007e-03 -1.02372989e-04 9.99994280e-01 2.27257921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:33.82, Z:0.23 [[ 7.25444350e-01 -6.88276699e-01 -2.38358065e-03 8.73136204e+01] [ 6.88273429e-01 7.25448259e-01 -2.12399793e-03 3.38229774e+01] [ 3.19106271e-03 -9.97129278e-05 9.99994904e-01 2.26807248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:33.84, Z:0.23 [[ 7.25740587e-01 -6.87962423e-01 -2.88177827e-03 8.73340440e+01] [ 6.87957638e-01 7.25746299e-01 -2.56855800e-03 3.38441070e+01] [ 3.85851130e-03 -1.18434579e-04 9.99992549e-01 2.27115775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.35, Y:33.87, Z:0.23 [[ 7.27000772e-01 -6.86630824e-01 -2.82651378e-03 8.73539013e+01] [ 6.86626206e-01 7.27006258e-01 -2.52052073e-03 3.38654327e+01] [ 3.78556043e-03 -1.08337921e-04 9.99992829e-01 2.26636193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141858064 meters Centerline goodness [0,1] 0.9999578468153268 Centerline is valid? [True, True] Translation: X:87.37, Y:33.88, Z:0.23 [[ 7.28979558e-01 -6.84526214e-01 -3.55893423e-03 8.73744148e+01] [ 6.84518860e-01 7.28988236e-01 -3.17523744e-03 3.38844180e+01] [ 4.76795445e-03 -1.21474420e-04 9.99988626e-01 2.25582051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.39, Y:33.91, Z:0.22 [[ 7.33669602e-01 -6.79491130e-01 -4.55178813e-03 8.73930103e+01] [ 6.79478996e-01 7.33683713e-01 -4.06239439e-03 3.39080309e+01] [ 6.09993377e-03 -1.12389150e-04 9.99981389e-01 2.24383380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:33.93, Z:0.22 [[ 7.36089328e-01 -6.76866607e-01 -4.90879175e-03 8.74131722e+01] [ 6.76852422e-01 7.36105690e-01 -4.38319202e-03 3.39279059e+01] [ 6.58022585e-03 -9.61067205e-05 9.99978345e-01 2.23795344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.43, Y:33.95, Z:0.22 [[ 7.38741119e-01 -6.73968734e-01 -5.26347101e-03 8.74330106e+01] [ 6.73952334e-01 7.38759866e-01 -4.70228249e-03 3.39495131e+01] [ 7.05763251e-03 -7.35591417e-05 9.99975092e-01 2.23648069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.45, Y:33.97, Z:0.22 [[ 7.43085107e-01 -6.69164408e-01 -6.59686465e-03 8.74516457e+01] [ 6.69138427e-01 7.43114388e-01 -5.89668526e-03 3.39723931e+01] [ 8.84807694e-03 -3.24766364e-05 9.99960854e-01 2.22174433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:33.99, Z:0.22 [[ 7.45043788e-01 -6.66978491e-01 -7.03175743e-03 8.74714342e+01] [ 6.66948854e-01 7.45076971e-01 -6.28759339e-03 3.39910585e+01] [ 9.43289008e-03 -5.29015853e-06 9.99955509e-01 2.21385384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.49, Y:34.01, Z:0.22 [[ 7.46083154e-01 -6.65818222e-01 -6.78398107e-03 8.74924605e+01] [ 6.65790564e-01 7.46113996e-01 -6.06872575e-03 3.40094879e+01] [ 9.10229141e-03 1.10634650e-05 9.99958573e-01 2.21837612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:34.03, Z:0.22 [[ 7.46833104e-01 -6.64989934e-01 -5.35757105e-03 8.75156298e+01] [ 6.64972645e-01 7.46852320e-01 -4.79516643e-03 3.40258808e+01] [ 7.19005178e-03 1.85508368e-05 9.99974151e-01 2.24004718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:34.04, Z:0.23 [[ 7.46765092e-01 -6.65073128e-01 -4.43072443e-03 8.75383910e+01] [ 6.65061293e-01 7.46778236e-01 -3.96766090e-03 3.40432277e+01] [ 5.94755322e-03 1.62073373e-05 9.99982313e-01 2.25407012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:34.06, Z:0.23 [[ 7.46371538e-01 -6.65519862e-01 -3.58344736e-03 8.75599039e+01] [ 6.65512119e-01 7.46380140e-01 -3.21022151e-03 3.40595776e+01] [ 4.81108012e-03 1.11903123e-05 9.99988427e-01 2.26243382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:34.08, Z:0.23 [[ 7.45564049e-01 -6.66426874e-01 -3.07749682e-03 8.75819748e+01] [ 6.66421168e-01 7.45570400e-01 -2.75772725e-03 3.40764445e+01] [ 4.13231409e-03 5.15326904e-06 9.99991462e-01 2.27326268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:34.09, Z:0.23 [[ 7.44679514e-01 -6.67415869e-01 -2.91180004e-03 8.76055372e+01] [ 6.67410763e-01 7.44685207e-01 -2.61067345e-03 3.40918131e+01] [ 3.91077930e-03 7.48351243e-07 9.99992353e-01 2.27685227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:34.11, Z:0.23 [[ 7.44389995e-01 -6.67739943e-01 -2.62754880e-03 8.76270342e+01] [ 6.67735783e-01 7.44394632e-01 -2.35703138e-03 3.41081158e+01] [ 3.52981723e-03 4.22218788e-08 9.99993770e-01 2.27747430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:34.12, Z:0.23 [[ 7.43766467e-01 -6.68435414e-01 -2.35384429e-03 8.76494704e+01] [ 6.68432077e-01 7.43770191e-01 -2.11192357e-03 3.41247821e+01] [ 3.16240372e-03 -2.60709368e-06 9.99995000e-01 2.27909098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:34.14, Z:0.23 [[ 7.42954865e-01 -6.69337284e-01 -2.38077516e-03 8.76720209e+01] [ 6.69333872e-01 7.42958680e-01 -2.13732083e-03 3.41413447e+01] [ 3.19940609e-03 -5.60055137e-06 9.99994882e-01 2.28026481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:34.16, Z:0.23 [[ 7.41000796e-01 -6.71497926e-01 -2.89055659e-03 8.76965009e+01] [ 6.71492906e-01 7.41006434e-01 -2.59674430e-03 3.41558145e+01] [ 3.88562944e-03 -1.67986514e-05 9.99992451e-01 2.27364216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:34.17, Z:0.23 [[ 7.39816123e-01 -6.72799972e-01 -3.50739045e-03 8.77191913e+01] [ 6.72792585e-01 7.39824437e-01 -3.15295425e-03 3.41724859e+01] [ 4.71616070e-03 -2.71398925e-05 9.99988878e-01 2.26611597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:34.19, Z:0.23 [[ 7.39626233e-01 -6.73008722e-01 -3.50650118e-03 8.77396484e+01] [ 6.73001333e-01 7.39634544e-01 -3.15394301e-03 3.41909737e+01] [ 4.71616056e-03 -2.71409766e-05 9.99988878e-01 2.26705380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:34.21, Z:0.23 [[ 7.37613113e-01 -6.75209029e-01 -4.43438199e-03 8.77646890e+01] [ 6.75197239e-01 7.37626440e-01 -3.99046953e-03 3.42056106e+01] [ 5.96531846e-03 -5.06598213e-05 9.99982206e-01 2.25945469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.79, Y:34.22, Z:0.23 [[ 7.36645537e-01 -6.76262858e-01 -4.67956983e-03 8.77876149e+01] [ 6.76249745e-01 7.36660398e-01 -4.21187279e-03 3.42216891e+01] [ 6.29558691e-03 -6.19006047e-05 9.99980181e-01 2.25876679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:34.24, Z:0.23 [[ 7.35623390e-01 -6.77371979e-01 -5.04282024e-03 8.78110409e+01] [ 6.77356771e-01 7.35640671e-01 -4.53963798e-03 3.42380790e+01] [ 6.78472723e-03 -7.63245494e-05 9.99976981e-01 2.25912267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:34.25, Z:0.23 [[ 7.34629399e-01 -6.78448479e-01 -5.22560054e-03 8.78352022e+01] [ 6.78432165e-01 7.34647979e-01 -4.70575869e-03 3.42548164e+01] [ 7.03159170e-03 -8.82268094e-05 9.99975274e-01 2.26141963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:34.27, Z:0.23 [[ 7.33560860e-01 -6.79604903e-01 -5.06357793e-03 8.78590512e+01] [ 6.79589598e-01 7.33578330e-01 -4.56201654e-03 3.42713899e+01] [ 6.81489985e-03 -9.46381122e-05 9.99976774e-01 2.26239059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.88, Y:34.28, Z:0.23 [[ 7.31716299e-01 -6.81585042e-01 -5.75222917e-03 8.78841617e+01] [ 6.81565336e-01 7.31738898e-01 -5.18444053e-03 3.42848789e+01] [ 7.74276695e-03 -1.26980369e-04 9.99970016e-01 2.25771458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:34.30, Z:0.23 [[ 7.31006241e-01 -6.82347277e-01 -5.66300423e-03 8.79071210e+01] [ 6.82328186e-01 7.31028164e-01 -5.10595117e-03 3.43024927e+01] [ 7.62384746e-03 -1.31545230e-04 9.99970929e-01 2.25853077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:34.32, Z:0.23 [[ 7.30338773e-01 -6.83060852e-01 -5.75749647e-03 8.79300835e+01] [ 6.83041121e-01 7.30361454e-01 -5.19365847e-03 3.43204564e+01] [ 7.75263827e-03 -1.39476686e-04 9.99969938e-01 2.25723816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:34.34, Z:0.23 [[ 7.29791169e-01 -6.83653616e-01 -4.75207346e-03 8.79528639e+01] [ 6.83640174e-01 7.29806631e-01 -4.28871748e-03 3.43366808e+01] [ 6.40009194e-03 -1.18840190e-04 9.99979512e-01 2.27240350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:34.35, Z:0.23 [[ 7.29484476e-01 -6.83984283e-01 -4.23088092e-03 8.79749188e+01] [ 6.83973622e-01 7.29496737e-01 -3.82034942e-03 3.43548033e+01] [ 5.69947279e-03 -1.06925355e-04 9.99983752e-01 2.27939864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:34.37, Z:0.23 [[ 7.29293033e-01 -6.84190413e-01 -3.89232289e-03 8.79970102e+01] [ 6.84181383e-01 7.29303413e-01 -3.51653245e-03 3.43721590e+01] [ 5.24466216e-03 -9.84722438e-05 9.99986242e-01 2.28576970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:34.39, Z:0.23 [[ 7.29933731e-01 -6.83508107e-01 -3.66277687e-03 8.80195380e+01] [ 6.83500095e-01 7.29942916e-01 -3.31054485e-03 3.43883860e+01] [ 4.93640228e-03 -8.70299870e-05 9.99987812e-01 2.29530297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.041858064 meters Centerline goodness [0,1] 0.9999782011596983 Centerline is valid? [True, True] Translation: X:88.04, Y:34.41, Z:0.23 [[ 7.30451834e-01 -6.82954013e-01 -3.73284151e-03 8.80413030e+01] [ 6.82945680e-01 7.30461367e-01 -3.37480628e-03 3.44071181e+01] [ 5.03153401e-03 -8.41945486e-05 9.99987338e-01 2.29946660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:34.43, Z:0.23 [[ 7.30979801e-01 -6.82388095e-01 -3.87540409e-03 8.80627125e+01] [ 6.82379096e-01 7.30990069e-01 -3.50544144e-03 3.44267926e+01] [ 5.22495341e-03 -8.20878551e-05 9.99986346e-01 2.30157235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:34.45, Z:0.23 [[ 7.31676586e-01 -6.81641533e-01 -3.76741343e-03 8.80842547e+01] [ 6.81633012e-01 7.31686282e-01 -3.40904338e-03 3.44451603e+01] [ 5.08031028e-03 -7.36761464e-05 9.99987092e-01 2.30148760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:34.46, Z:0.23 [[ 7.32800150e-01 -6.80435285e-01 -3.42975404e-03 8.81055997e+01] [ 6.80428207e-01 7.32808173e-01 -3.10427362e-03 3.44649330e+01] [ 4.62560910e-03 -5.88892216e-05 9.99989300e-01 2.30754605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.13, Y:34.48, Z:0.23 [[ 7.33056046e-01 -6.80160129e-01 -3.32139303e-03 8.81265813e+01] [ 6.80153482e-01 7.33063569e-01 -3.00748508e-03 3.44822983e+01] [ 4.48036367e-03 -5.44019127e-05 9.99989962e-01 2.30983430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:34.50, Z:0.23 [[ 7.33069614e-01 -6.80145709e-01 -3.27962703e-03 8.81491766e+01] [ 6.80139224e-01 7.33076948e-01 -2.97057718e-03 3.44999281e+01] [ 4.42464429e-03 -5.29631119e-05 9.99990210e-01 2.31243288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:34.52, Z:0.23 [[ 7.32940133e-01 -6.80286379e-01 -3.03376262e-03 8.81696408e+01] [ 6.80280826e-01 7.32946410e-01 -2.74910887e-03 3.45171262e+01] [ 4.09376674e-03 -4.88783155e-05 9.99991619e-01 2.31571772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:34.54, Z:0.23 [[ 7.32618864e-01 -6.80632710e-01 -2.95192848e-03 8.81905163e+01] [ 6.80627452e-01 7.32624810e-01 -2.67571224e-03 3.45358049e+01] [ 3.98383332e-03 -4.88862971e-05 9.99992063e-01 2.31645708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281858064 meters Centerline goodness [0,1] 0.9999780975534968 Centerline is valid? [True, True] Translation: X:88.21, Y:34.55, Z:0.23 [[ 7.31829115e-01 -6.81483331e-01 -2.57207242e-03 8.82126764e+01] [ 6.81479341e-01 7.31833633e-01 -2.33253167e-03 3.45532347e+01] [ 3.47191056e-03 -4.57996251e-05 9.99993972e-01 2.31715683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:34.57, Z:0.23 [[ 7.31212587e-01 -6.82144995e-01 -2.52170518e-03 8.82352515e+01] [ 6.82141162e-01 7.31216933e-01 -2.28724416e-03 3.45717395e+01] [ 3.40414568e-03 -4.76971837e-05 9.99994205e-01 2.32135794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:34.59, Z:0.23 [[ 7.30570577e-01 -6.82832518e-01 -2.52662366e-03 8.82570790e+01] [ 6.82828671e-01 7.30574944e-01 -2.29283076e-03 3.45890050e+01] [ 3.41150734e-03 -5.01763877e-05 9.99994180e-01 2.32528777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.28, Y:34.61, Z:0.23 [[ 7.29926569e-01 -6.83522375e-01 -2.08961337e-03 8.82794067e+01] [ 6.83519745e-01 7.29929559e-01 -1.89639311e-03 3.46078005e+01] [ 2.82149769e-03 -4.40642756e-05 9.99996019e-01 2.32687363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.401858064 meters Centerline goodness [0,1] 0.9999123402949749 Centerline is valid? [True, True] Translation: X:88.30, Y:34.63, Z:0.23 [[ 7.29537071e-01 -6.83938095e-01 -2.08424831e-03 8.83020462e+01] [ 6.83935478e-01 7.29540047e-01 -1.89241738e-03 3.46250499e+01] [ 2.81483895e-03 -4.49027278e-05 9.99996037e-01 2.33532148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:34.64, Z:0.23 [[ 7.29661099e-01 -6.83806085e-01 -1.97970241e-03 8.83228856e+01] [ 6.83803721e-01 7.29663783e-01 -1.79858417e-03 3.46426873e+01] [ 2.67439995e-03 -4.13709705e-05 9.99996423e-01 2.34088958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:34.66, Z:0.23 [[ 7.30222293e-01 -6.83205844e-01 -2.27558762e-03 8.83439213e+01] [ 6.83202716e-01 7.30225837e-01 -2.06792236e-03 3.46627217e+01] [ 3.07450951e-03 -4.46446376e-05 9.99995273e-01 2.34160611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.491858064 meters Centerline goodness [0,1] 0.999846413761327 Centerline is valid? [True, True] Translation: X:88.36, Y:34.68, Z:0.23 [[ 7.31347206e-01 -6.81997367e-01 -3.29491893e-03 8.83648088e+01] [ 6.81990787e-01 7.31354626e-01 -2.99620743e-03 3.46827644e+01] [ 4.45315978e-03 -5.58364233e-05 9.99990083e-01 2.32485787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.521858064 meters Centerline goodness [0,1] 0.999824110107073 Centerline is valid? [True, True] Translation: X:88.39, Y:34.70, Z:0.23 [[ 7.31972021e-01 -6.81320126e-01 -4.45500966e-03 8.83861860e+01] [ 6.81308071e-01 7.31985575e-01 -4.05351212e-03 3.47019150e+01] [ 6.02274219e-03 -6.81765807e-05 9.99981861e-01 2.31507715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.551858064 meters Centerline goodness [0,1] 0.9998253351382036 Centerline is valid? [True, True] Translation: X:88.41, Y:34.72, Z:0.23 [[ 7.32488188e-01 -6.80758867e-01 -5.33091249e-03 8.84062693e+01] [ 6.80741577e-01 7.32507583e-01 -4.85243852e-03 3.47195155e+01] [ 7.20827437e-03 -7.46198709e-05 9.99974017e-01 2.30912179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.581858064 meters Centerline goodness [0,1] 0.9999120743850702 Centerline is valid? [True, True] Translation: X:88.43, Y:34.74, Z:0.23 [[ 7.33038130e-01 -6.80163140e-01 -5.76218244e-03 8.84271648e+01] [ 6.80142903e-01 7.33060774e-01 -5.24723029e-03 3.47384438e+01] [ 7.79300255e-03 -7.26876058e-05 9.99969631e-01 2.30381928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.611858064 meters Centerline goodness [0,1] 0.9997145178645936 Centerline is valid? [True, True] Translation: X:88.45, Y:34.76, Z:0.23 [[ 7.33136587e-01 -6.80053084e-01 -6.20868595e-03 8.84477769e+01] [ 6.80029567e-01 7.33162872e-01 -5.65600742e-03 3.47562007e+01] [ 8.39836331e-03 -7.54640405e-05 9.99964730e-01 2.30130461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641858064 meters Centerline goodness [0,1] 0.9998466022396073 Centerline is valid? [True, True] Translation: X:88.47, Y:34.77, Z:0.23 [[ 7.33144888e-01 -6.80041695e-01 -6.47032191e-03 8.84687870e+01] [ 6.80016132e-01 7.33173436e-01 -5.89690605e-03 3.47749066e+01] [ 8.75401013e-03 -7.66367512e-05 9.99961680e-01 2.30443618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671858064 meters Centerline goodness [0,1] 0.9999779599753151 Centerline is valid? [True, True] Translation: X:88.49, Y:34.79, Z:0.23 [[ 7.33189131e-01 -6.79994074e-01 -6.46207050e-03 8.84899041e+01] [ 6.79968553e-01 7.33217604e-01 -5.89172698e-03 3.47920614e+01] [ 8.74444327e-03 -7.42545445e-05 9.99961764e-01 2.30575791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701858064 meters Centerline goodness [0,1] 0.9997577892766707 Centerline is valid? [True, True] Translation: X:88.51, Y:34.81, Z:0.23 [[ 7.32973458e-01 -6.80224393e-01 -6.68470509e-03 8.85115387e+01] [ 6.80197069e-01 7.33003935e-01 -6.09742390e-03 3.48098098e+01] [ 9.04753160e-03 -7.76669292e-05 9.99959067e-01 2.30988314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.731858064 meters Centerline goodness [0,1] 0.9997573404513468 Centerline is valid? [True, True] Translation: X:88.53, Y:34.83, Z:0.23 [[ 7.32837803e-01 -6.80369367e-01 -6.80285068e-03 8.85319506e+01] [ 6.80341044e-01 7.32869373e-01 -6.20857394e-03 3.48286983e+01] [ 9.20972443e-03 -7.83808413e-05 9.99957587e-01 2.32028282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.761858064 meters Centerline goodness [0,1] 0.9998678268531777 Centerline is valid? [True, True] Translation: X:88.55, Y:34.85, Z:0.23 [[ 7.32642423e-01 -6.80582571e-01 -6.51491919e-03 8.85527944e+01] [ 6.80556574e-01 7.32671385e-01 -5.94904765e-03 3.48470748e+01] [ 8.82211301e-03 -7.52463969e-05 9.99961082e-01 2.32456540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.791858064 meters Centerline goodness [0,1] 0.9997799053593045 Centerline is valid? [True, True] Translation: X:88.57, Y:34.86, Z:0.23 [[ 7.32682784e-01 -6.80542824e-01 -6.11582824e-03 8.85730874e+01] [ 6.80519897e-01 7.32708305e-01 -5.58662358e-03 3.48643562e+01] [ 8.28305473e-03 -6.87198884e-05 9.99965693e-01 2.32873141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.821858064 meters Centerline goodness [0,1] 0.9998899163364157 Centerline is valid? [True, True] Translation: X:88.59, Y:34.88, Z:0.23 [[ 7.32495075e-01 -6.80751525e-01 -5.32227230e-03 8.85936548e+01] [ 6.80734153e-01 7.32514408e-01 -4.86365684e-03 3.48832093e+01] [ 7.20958295e-03 -6.04478445e-05 9.99974009e-01 2.34155679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:34.90, Z:0.23 [[ 7.32301294e-01 -6.80961522e-01 -5.12059843e-03 8.86143486e+01] [ 6.80945429e-01 7.32319194e-01 -4.68193759e-03 3.49018197e+01] [ 6.93813187e-03 -5.82591380e-05 9.99975929e-01 2.34598795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881858064 meters Centerline goodness [0,1] 0.9997354672310033 Centerline is valid? [True, True] Translation: X:88.64, Y:34.92, Z:0.24 [[ 7.32171892e-01 -6.81100296e-01 -5.16788225e-03 8.86357491e+01] [ 6.81083889e-01 7.32190128e-01 -4.72785385e-03 3.49205349e+01] [ 7.00401503e-03 -5.81596442e-05 9.99975470e-01 2.35042965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.911858064 meters Centerline goodness [0,1] 0.9995581770384607 Centerline is valid? [True, True] Translation: X:88.66, Y:34.94, Z:0.24 [[ 7.32510701e-01 -6.80728333e-01 -6.08359192e-03 8.86570714e+01] [ 6.80705564e-01 7.32535960e-01 -5.56794285e-03 3.49373031e+01] [ 8.24670631e-03 -6.25571500e-05 9.99965993e-01 2.35625764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941858064 meters Centerline goodness [0,1] 0.9996024208154791 Centerline is valid? [True, True] Translation: X:88.68, Y:34.96, Z:0.24 [[ 7.32742367e-01 -6.80475132e-01 -6.49751836e-03 8.86779795e+01] [ 6.80449127e-01 7.32771172e-01 -5.94940270e-03 3.49558983e+01] [ 8.80961473e-03 -6.18512723e-05 9.99961193e-01 2.35415859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.971858064 meters Centerline goodness [0,1] 0.9999557267454731 Centerline is valid? [True, True] Translation: X:88.70, Y:34.97, Z:0.23 [[ 7.33119268e-01 -6.80055165e-01 -7.81739842e-03 8.86990724e+01] [ 6.80017466e-01 7.33160943e-01 -7.16087317e-03 3.49744327e+01] [ 1.06012000e-02 -6.61933648e-05 9.99943804e-01 2.34142014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001858064 meters Centerline goodness [0,1] 0.9996016465276856 Centerline is valid? [True, True] Translation: X:88.72, Y:34.99, Z:0.23 [[ 7.33188735e-01 -6.79969459e-01 -8.70711171e-03 8.87192975e+01] [ 6.79922638e-01 7.33240431e-01 -7.97974818e-03 3.49932811e+01] [ 1.18103914e-02 -6.95008871e-05 9.99930252e-01 2.33674379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031858064 meters Centerline goodness [0,1] 0.9999557140010186 Centerline is valid? [True, True] Translation: X:88.74, Y:35.01, Z:0.23 [[ 7.33393116e-01 -6.79742346e-01 -9.21303159e-03 8.87393361e+01] [ 6.79689867e-01 7.33450979e-01 -8.44667286e-03 3.50119088e+01] [ 1.24988683e-02 -6.72724868e-05 9.99921884e-01 2.32938231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061858064 meters Centerline goodness [0,1] 0.9997786288269541 Centerline is valid? [True, True] Translation: X:88.76, Y:35.03, Z:0.23 [[ 7.33582117e-01 -6.79534524e-01 -9.49248411e-03 8.87598522e+01] [ 6.79478740e-01 7.33643528e-01 -8.70721717e-03 3.50315948e+01] [ 1.28809542e-02 -6.24823291e-05 9.99917035e-01 2.32864407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.091858064 meters Centerline goodness [0,1] 0.9998674121052747 Centerline is valid? [True, True] Translation: X:88.78, Y:35.05, Z:0.23 [[ 7.33433602e-01 -6.79693834e-01 -9.56263301e-03 8.87812727e+01] [ 6.79637171e-01 7.33495936e-01 -8.77648948e-03 3.50493439e+01] [ 1.29794782e-02 -6.21485536e-05 9.99915761e-01 2.33380741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.121858064 meters Centerline goodness [0,1] 0.9999778692515381 Centerline is valid? [True, True] Translation: X:88.80, Y:35.07, Z:0.23 [[ 7.33397943e-01 -6.79737752e-01 -9.16767904e-03 8.88030248e+01] [ 6.79685619e-01 7.33455237e-01 -8.41864956e-03 3.50678994e+01] [ 1.24465561e-02 -5.69193403e-05 9.99922537e-01 2.34177641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.151858064 meters Centerline goodness [0,1] 0.9999557189036 Centerline is valid? [True, True] Translation: X:88.82, Y:35.09, Z:0.24 [[ 7.32913000e-01 -6.80264525e-01 -8.87187983e-03 8.88238317e+01] [ 6.80215687e-01 7.32966693e-01 -8.15151980e-03 3.50864818e+01] [ 1.20479822e-02 -6.04369986e-05 9.99927419e-01 2.35218335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.181858064 meters Centerline goodness [0,1] 0.9998895613376331 Centerline is valid? [True, True] Translation: X:88.84, Y:35.11, Z:0.24 [[ 7.32980306e-01 -6.80204845e-01 -7.82562684e-03 8.88441315e+01] [ 6.80166822e-01 7.33022078e-01 -7.19219617e-03 3.51050416e+01] [ 1.06285239e-02 -5.09935918e-05 9.99943514e-01 2.36010891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.211858064 meters Centerline goodness [0,1] 0.9998672625105084 Centerline is valid? [True, True] Translation: X:88.86, Y:35.12, Z:0.24 [[ 7.32924384e-01 -6.80267878e-01 -7.58033835e-03 8.88649171e+01] [ 6.80232175e-01 7.32963581e-01 -6.96970846e-03 3.51244540e+01] [ 1.02973807e-02 -4.81207645e-05 9.99946979e-01 2.36570607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241858064 meters Centerline goodness [0,1] 0.9997789566755084 Centerline is valid? [True, True] Translation: X:88.89, Y:35.14, Z:0.24 [[ 7.33092048e-01 -6.80093978e-01 -6.94479830e-03 8.88855713e+01] [ 6.80063970e-01 7.33124942e-01 -6.38876743e-03 3.51440249e+01] [ 9.43636710e-03 -3.93524983e-05 9.99955476e-01 2.37476813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.271858064 meters Centerline goodness [0,1] 0.999757238700565 Centerline is valid? [True, True] Translation: X:88.91, Y:35.16, Z:0.24 [[ 7.33293397e-01 -6.79877748e-01 -6.85870492e-03 8.89060300e+01] [ 6.79848438e-01 7.33325472e-01 -6.31304748e-03 3.51637613e+01] [ 9.32176352e-03 -3.35637927e-05 9.99956551e-01 2.37838749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301858064 meters Centerline goodness [0,1] 0.9997788295660636 Centerline is valid? [True, True] Translation: X:88.93, Y:35.18, Z:0.24 [[ 7.33989619e-01 -6.79119187e-01 -7.50795940e-03 8.89259076e+01] [ 6.79083985e-01 7.34028017e-01 -6.91463679e-03 3.51839381e+01] [ 1.02069151e-02 -2.32633683e-05 9.99947908e-01 2.37225550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.331858064 meters Centerline goodness [0,1] 0.9998448444010994 Centerline is valid? [True, True] Translation: X:88.95, Y:35.20, Z:0.24 [[ 7.34094146e-01 -6.78999841e-01 -8.06225619e-03 8.89468755e+01] [ 6.78959195e-01 7.34138417e-01 -7.42938004e-03 3.52032526e+01] [ 1.09633599e-02 -2.00785716e-05 9.99939900e-01 2.37225436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361858064 meters Centerline goodness [0,1] 0.9997342957730886 Centerline is valid? [True, True] Translation: X:88.97, Y:35.22, Z:0.24 [[ 7.34216176e-01 -6.78858395e-01 -8.82528696e-03 8.89672471e+01] [ 6.78809652e-01 7.34269214e-01 -8.13493475e-03 3.52216394e+01] [ 1.20026053e-02 -1.78892849e-05 9.99927966e-01 2.36496246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391858064 meters Centerline goodness [0,1] 0.9997116173828169 Centerline is valid? [True, True] Translation: X:88.99, Y:35.24, Z:0.24 [[ 7.34005691e-01 -6.79079011e-01 -9.34573945e-03 8.89874522e+01] [ 6.79024317e-01 7.34065186e-01 -8.61861705e-03 3.52410094e+01] [ 1.27131039e-02 -1.98703835e-05 9.99919185e-01 2.36510129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421858064 meters Centerline goodness [0,1] 0.9997117772259666 Centerline is valid? [True, True] Translation: X:89.01, Y:35.26, Z:0.24 [[ 7.33713895e-01 -6.79389595e-01 -9.67975564e-03 8.90076708e+01] [ 6.79330882e-01 7.33777744e-01 -8.93167490e-03 3.52603425e+01] [ 1.31708762e-02 -2.24629566e-05 9.99913260e-01 2.36150181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451858064 meters Centerline goodness [0,1] 0.9996444444444444 Centerline is valid? [True, True] Translation: X:89.03, Y:35.28, Z:0.24 [[ 7.33473502e-01 -6.79646314e-01 -9.87468187e-03 8.90278028e+01] [ 6.79585196e-01 7.33539969e-01 -9.11449412e-03 3.52787180e+01] [ 1.34381062e-02 -2.54477021e-05 9.99909704e-01 2.35539469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.481858064 meters Centerline goodness [0,1] 0.9995340167753961 Centerline is valid? [True, True] Translation: X:89.05, Y:35.30, Z:0.24 [[ 7.32566891e-01 -6.80623986e-01 -9.83565038e-03 8.90484316e+01] [ 6.80563382e-01 7.32632915e-01 -9.08271537e-03 3.52973431e+01] [ 1.33878351e-02 -4.00869238e-05 9.99910378e-01 2.36458843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.511858064 meters Centerline goodness [0,1] 0.9995569339831635 Centerline is valid? [True, True] Translation: X:89.07, Y:35.32, Z:0.24 [[ 7.32058736e-01 -6.81170447e-01 -9.84016816e-03 8.90693891e+01] [ 6.81109770e-01 7.32124866e-01 -9.09185691e-03 3.53160790e+01] [ 1.33973360e-02 -4.64613896e-05 9.99910251e-01 2.36672763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.541858064 meters Centerline goodness [0,1] 0.9995569339831635 Centerline is valid? [True, True] Translation: X:89.09, Y:35.33, Z:0.24 [[ 7.31873096e-01 -6.81369938e-01 -9.83768972e-03 8.90895973e+01] [ 6.81309242e-01 7.31939209e-01 -9.09453841e-03 3.53348624e+01] [ 1.33973359e-02 -4.64609454e-05 9.99910251e-01 2.36766548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.571858064 meters Centerline goodness [0,1] 0.9994901917322399 Centerline is valid? [True, True] Translation: X:89.11, Y:35.35, Z:0.24 [[ 7.31205422e-01 -6.82084849e-01 -9.94429433e-03 8.91099319e+01] [ 6.82022851e-01 7.31273037e-01 -9.19650350e-03 3.53531001e+01] [ 1.35447900e-02 -5.77027459e-05 9.99908263e-01 2.37107487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601858064 meters Centerline goodness [0,1] 0.9995557135240803 Centerline is valid? [True, True] Translation: X:89.13, Y:35.37, Z:0.24 [[ 7.30723318e-01 -6.82604537e-01 -9.72006014e-03 8.91310986e+01] [ 6.82545291e-01 7.30787960e-01 -8.99354139e-03 3.53721613e+01] [ 1.32423351e-02 -6.25908663e-05 9.99912314e-01 2.37747861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.631858064 meters Centerline goodness [0,1] 0.9999554962171785 Centerline is valid? [True, True] Translation: X:89.15, Y:35.39, Z:0.24 [[ 7.29890488e-01 -6.83495373e-01 -9.69284984e-03 8.91513740e+01] [ 6.83436491e-01 7.29954841e-01 -8.97175502e-03 3.53902449e+01] [ 1.32074957e-02 -7.60486385e-05 9.99912774e-01 2.37910834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661858064 meters Centerline goodness [0,1] 0.9997562650949459 Centerline is valid? [True, True] Translation: X:89.17, Y:35.41, Z:0.24 [[ 7.29675573e-01 -6.83724060e-01 -9.74517872e-03 8.91717288e+01] [ 6.83664504e-01 7.29740642e-01 -9.02452709e-03 3.54089219e+01] [ 1.32817393e-02 -7.74557965e-05 9.99911791e-01 2.38129031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.691858064 meters Centerline goodness [0,1] 0.9996004882920875 Centerline is valid? [True, True] Translation: X:89.19, Y:35.43, Z:0.24 [[ 7.29790841e-01 -6.83597725e-01 -9.97389958e-03 8.91922791e+01] [ 6.83535261e-01 7.29858989e-01 -9.24131924e-03 3.54279572e+01] [ 1.35968851e-02 -7.32819219e-05 9.99907555e-01 2.38197664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721858064 meters Centerline goodness [0,1] 0.9995574927539439 Centerline is valid? [True, True] Translation: X:89.21, Y:35.45, Z:0.24 [[ 7.30397491e-01 -6.82947323e-01 -1.01222214e-02 8.92120552e+01] [ 6.82882853e-01 7.30467625e-01 -9.38394413e-03 3.54477714e+01] [ 1.38026946e-02 -5.82821925e-05 9.99904737e-01 2.39568853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751858064 meters Centerline goodness [0,1] 0.9999336840709139 Centerline is valid? [True, True] Translation: X:89.23, Y:35.47, Z:0.24 [[ 7.31064908e-01 -6.82229698e-01 -1.03314467e-02 8.92317396e+01] [ 6.82162414e-01 7.31137905e-01 -9.58144320e-03 3.54666348e+01] [ 1.40904574e-02 -4.30677484e-05 9.99900724e-01 2.39090710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781858064 meters Centerline goodness [0,1] 0.9998894025525891 Centerline is valid? [True, True] Translation: X:89.25, Y:35.49, Z:0.24 [[ 7.33040934e-01 -6.80103598e-01 -1.04921186e-02 8.92502993e+01] [ 6.80033916e-01 7.33116018e-01 -9.73536355e-03 3.54875327e+01] [ 1.43129960e-02 1.42348927e-06 9.99897564e-01 2.41449971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811858064 meters Centerline goodness [0,1] 0.9998240946370852 Centerline is valid? [True, True] Translation: X:89.27, Y:35.51, Z:0.24 [[ 7.34167954e-01 -6.78878542e-01 -1.10154821e-02 8.92699042e+01] [ 6.78801544e-01 7.34250587e-01 -1.02244393e-02 3.55079479e+01] [ 1.50292766e-02 2.91294300e-05 9.99887054e-01 2.41018329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.841858064 meters Centerline goodness [0,1] 0.99953776055997 Centerline is valid? [True, True] Translation: X:89.29, Y:35.53, Z:0.24 [[ 7.35117500e-01 -6.77840432e-01 -1.16021855e-02 8.92899513e+01] [ 6.77754807e-01 7.35209049e-01 -1.07738090e-02 3.55283380e+01] [ 1.58329551e-02 5.65785095e-05 9.99874649e-01 2.40936087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.871858064 meters Centerline goodness [0,1] 0.9998458149779735 Centerline is valid? [True, True] Translation: X:89.31, Y:35.55, Z:0.24 [[ 7.36796929e-01 -6.75992370e-01 -1.28297241e-02 8.93083635e+01] [ 6.75887321e-01 7.36908613e-01 -1.19174620e-02 3.55496054e+01] [ 1.75104475e-02 1.09301553e-04 9.99846674e-01 2.37600525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.901858064 meters Centerline goodness [0,1] 0.9999337879891412 Centerline is valid? [True, True] Translation: X:89.33, Y:35.57, Z:0.24 [[ 7.37435061e-01 -6.75284147e-01 -1.34481193e-02 8.93298156e+01] [ 6.75168505e-01 7.37557660e-01 -1.24975046e-02 3.55687712e+01] [ 1.83581301e-02 1.36351533e-04 9.99831466e-01 2.40679791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:35.59, Z:0.24 [[ 7.37850499e-01 -6.74826656e-01 -1.36244368e-02 8.93493450e+01] [ 6.74707829e-01 7.37976261e-01 -1.26643054e-02 3.55881535e+01] [ 1.86007218e-02 1.51849914e-04 9.99826980e-01 2.40503828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:35.61, Z:0.24 [[ 7.38168864e-01 -6.74480473e-01 -1.35211206e-02 8.93701248e+01] [ 6.74363269e-01 7.38292669e-01 -1.25744258e-02 3.56072122e+01] [ 1.84637489e-02 1.63902517e-04 9.99829517e-01 2.42035459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.39, Y:35.63, Z:0.24 [[ 7.38029543e-01 -6.74630008e-01 -1.36654899e-02 8.93908332e+01] [ 6.74510180e-01 7.38156029e-01 -1.27158740e-02 3.56260810e+01] [ 1.86657739e-02 1.67178653e-04 9.99825765e-01 2.44293869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.021858064 meters Centerline goodness [0,1] 0.9996913035808784 Centerline is valid? [True, True] Translation: X:89.41, Y:35.65, Z:0.24 [[ 7.37698049e-01 -6.74990475e-01 -1.37640029e-02 8.94115285e+01] [ 6.74868839e-01 7.37826424e-01 -1.28147741e-02 3.56455530e+01] [ 1.88052955e-02 1.64537160e-04 9.99823151e-01 2.44212572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.051858064 meters Centerline goodness [0,1] 0.9996477943118781 Centerline is valid? [True, True] Translation: X:89.43, Y:35.67, Z:0.24 [[ 7.37137266e-01 -6.75593858e-01 -1.41982351e-02 8.94322130e+01] [ 6.75464392e-01 7.37273974e-01 -1.32265710e-02 3.56650152e+01] [ 1.94037793e-02 1.59396190e-04 9.99811716e-01 2.44195918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.081858064 meters Centerline goodness [0,1] 0.9995587034707972 Centerline is valid? [True, True] Translation: X:89.45, Y:35.68, Z:0.24 [[ 7.36627077e-01 -6.76146555e-01 -1.43661019e-02 8.94529113e+01] [ 6.76013965e-01 7.36767136e-01 -1.33905164e-02 3.56838309e+01] [ 1.96384233e-02 1.52131448e-04 9.99807136e-01 2.43923326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.111858064 meters Centerline goodness [0,1] 0.9995802032699955 Centerline is valid? [True, True] Translation: X:89.48, Y:35.70, Z:0.24 [[ 7.35195102e-01 -6.77676666e-01 -1.55723765e-02 8.94758431e+01] [ 6.77521056e-01 7.35359994e-01 -1.45223180e-02 3.57019309e+01] [ 2.12927387e-02 1.26124107e-04 9.99773276e-01 2.44763521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141858064 meters Centerline goodness [0,1] 0.999691528037898 Centerline is valid? [True, True] Translation: X:89.50, Y:35.72, Z:0.24 [[ 7.34243519e-01 -6.78699732e-01 -1.59100167e-02 8.94970979e+01] [ 6.78537361e-01 7.34415865e-01 -1.48454110e-02 3.57200852e+01] [ 2.17601451e-02 1.04606060e-04 9.99763215e-01 2.44767871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171858064 meters Centerline goodness [0,1] 0.999712770658418 Centerline is valid? [True, True] Translation: X:89.52, Y:35.74, Z:0.24 [[ 7.33091463e-01 -6.79931234e-01 -1.64445360e-02 8.95191049e+01] [ 6.79757903e-01 7.33275876e-01 -1.53519440e-02 3.57389700e+01] [ 2.24966478e-02 7.60758263e-05 9.99746916e-01 2.44964997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201858064 meters Centerline goodness [0,1] 0.9999116471185917 Centerline is valid? [True, True] Translation: X:89.54, Y:35.76, Z:0.25 [[ 7.30347659e-01 -6.82860351e-01 -1.71475014e-02 8.95425742e+01] [ 6.82672501e-01 7.30548931e-01 -1.60161073e-02 3.57568759e+01] [ 2.34638535e-02 -8.80121475e-06 9.99724686e-01 2.45279043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.231858064 meters Centerline goodness [0,1] 0.9998453175409908 Centerline is valid? [True, True] Translation: X:89.56, Y:35.77, Z:0.25 [[ 7.28861904e-01 -6.84445991e-01 -1.71467482e-02 8.95632142e+01] [ 6.84258467e-01 7.29063566e-01 -1.60208436e-02 3.57739707e+01] [ 2.34664715e-02 -5.58250604e-05 9.99724623e-01 2.45347347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.59, Y:35.79, Z:0.25 [[ 7.27312615e-01 -6.86090854e-01 -1.71959239e-02 8.95855151e+01] [ 6.85902535e-01 7.27515862e-01 -1.60742748e-02 3.57930087e+01] [ 2.35387203e-02 -1.03704924e-04 9.99722921e-01 2.46519875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.291858064 meters Centerline goodness [0,1] 0.9999778540582438 Centerline is valid? [True, True] Translation: X:89.61, Y:35.81, Z:0.25 [[ 7.24968068e-01 -6.88573656e-01 -1.69593895e-02 8.96078760e+01] [ 6.88391051e-01 7.25166387e-01 -1.58578788e-02 3.58106715e+01] [ 2.32176967e-02 -1.78236231e-04 9.99730417e-01 2.47999434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.63, Y:35.83, Z:0.25 [[ 7.23908700e-01 -6.89685831e-01 -1.70190852e-02 8.96293299e+01] [ 6.89502073e-01 7.24108701e-01 -1.59210650e-02 3.58303679e+01] [ 2.33042006e-02 -2.09297090e-04 9.99728398e-01 2.49148649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.65, Y:35.85, Z:0.25 [[ 7.23487516e-01 -6.90138285e-01 -1.65819746e-02 8.96500832e+01] [ 6.89963868e-01 7.23677485e-01 -1.55164235e-02 3.58484291e+01] [ 2.27084795e-02 -2.15024630e-04 9.99742106e-01 2.47999339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.67, Y:35.87, Z:0.25 [[ 7.23521928e-01 -6.90120594e-01 -1.57982874e-02 8.96699098e+01] [ 6.89962130e-01 7.23694360e-01 -1.47896400e-02 3.58699831e+01] [ 2.16397666e-02 -1.99591164e-04 9.99765813e-01 2.49201349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:35.89, Z:0.25 [[ 7.23948308e-01 -6.89675778e-01 -1.56897657e-02 8.96892619e+01] [ 6.89519209e-01 7.24118284e-01 -1.46959708e-02 3.58900771e+01] [ 2.14967013e-02 -1.79271647e-04 9.99768903e-01 2.48848944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:35.91, Z:0.25 [[ 7.24580736e-01 -6.89020700e-01 -1.52719548e-02 8.97089372e+01] [ 6.88872064e-01 7.24741646e-01 -1.43117465e-02 3.59107132e+01] [ 2.09293112e-02 -1.50407249e-04 9.99780947e-01 2.49473566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.73, Y:35.93, Z:0.25 [[ 7.25907498e-01 -6.87645346e-01 -1.42190810e-02 8.97283646e+01] [ 6.87516154e-01 7.26046739e-01 -1.33292947e-02 3.59312762e+01] [ 1.94895449e-02 -1.00012869e-04 9.99810056e-01 2.49820495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:35.95, Z:0.25 [[ 7.26330265e-01 -6.87209744e-01 -1.36789703e-02 8.97484913e+01] [ 6.87089996e-01 7.26459057e-01 -1.28287109e-02 3.59518033e+01] [ 1.87532270e-02 -8.08026294e-05 9.99824140e-01 2.50626257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:35.97, Z:0.25 [[ 7.26977009e-01 -6.86533935e-01 -1.32508102e-02 8.97691993e+01] [ 6.86421351e-01 7.27097760e-01 -1.24328693e-02 3.59727130e+01] [ 1.81702211e-02 -5.72288888e-05 9.99834906e-01 2.50926649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561858064 meters Centerline goodness [0,1] 0.9999336855368156 Centerline is valid? [True, True] Translation: X:89.79, Y:35.99, Z:0.25 [[ 7.27700795e-01 -6.85774814e-01 -1.28240960e-02 8.97885198e+01] [ 6.85669199e-01 7.27813783e-01 -1.20352168e-02 3.59929939e+01] [ 1.75870024e-02 -3.50507570e-05 9.99845336e-01 2.49640426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:36.01, Z:0.25 [[ 7.28000209e-01 -6.85460876e-01 -1.26127997e-02 8.98075652e+01] [ 6.85358611e-01 7.28109460e-01 -1.18401204e-02 3.60119527e+01] [ 1.72994381e-02 -2.46808070e-05 9.99850353e-01 2.48696843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.83, Y:36.03, Z:0.25 [[ 7.28170209e-01 -6.85284019e-01 -1.24080637e-02 8.98276147e+01] [ 6.85184924e-01 7.28275918e-01 -1.16536675e-02 3.60317966e+01] [ 1.70225661e-02 -1.59646433e-05 9.99855105e-01 2.48201658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.85, Y:36.05, Z:0.25 [[ 7.27890083e-01 -6.85585845e-01 -1.21687071e-02 8.98475386e+01] [ 6.85490471e-01 7.27991792e-01 -1.14352228e-02 3.60512358e+01] [ 1.66985458e-02 -1.79475164e-05 9.99860569e-01 2.48803412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.87, Y:36.07, Z:0.25 [[ 7.27622323e-01 -6.85871877e-01 -1.20632980e-02 8.98664498e+01] [ 6.85778131e-01 7.27722315e-01 -1.13396614e-02 3.60698777e+01] [ 1.65562860e-02 -2.17551753e-05 9.99862935e-01 2.47689698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.89, Y:36.09, Z:0.25 [[ 7.27118326e-01 -6.86411669e-01 -1.17456729e-02 8.98870502e+01] [ 6.86322778e-01 7.27213188e-01 -1.10464558e-02 3.60893533e+01] [ 1.61240244e-02 -2.92424498e-05 9.99869999e-01 2.47880486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:36.11, Z:0.25 [[ 7.26524322e-01 -6.87045222e-01 -1.14574217e-02 8.99073402e+01] [ 6.86960627e-01 7.26614658e-01 -1.07812855e-02 3.61086494e+01] [ 1.57323612e-02 -3.79314741e-05 9.99876238e-01 2.48032317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:36.13, Z:0.25 [[ 7.24975157e-01 -6.88695517e-01 -1.04645037e-02 8.99275668e+01] [ 6.88625044e-01 7.25050674e-01 -9.85235051e-03 3.61280306e+01] [ 1.43725651e-02 -6.34099382e-05 9.99896707e-01 2.49547312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801858064 meters Centerline goodness [0,1] 0.9999558498896247 Centerline is valid? [True, True] Translation: X:89.95, Y:36.15, Z:0.25 [[ 7.24133000e-01 -6.89586425e-01 -1.00975015e-02 8.99479364e+01] [ 6.89520822e-01 7.24203394e-01 -9.51207515e-03 3.61470142e+01] [ 1.38720427e-02 -7.44299915e-05 9.99903776e-01 2.50141365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.97, Y:36.17, Z:0.25 [[ 7.23176077e-01 -6.90594433e-01 -9.78216068e-03 8.99686730e+01] [ 6.90532887e-01 7.23242229e-01 -9.22008113e-03 3.61660576e+01] [ 1.34422084e-02 -8.71615504e-05 9.99909646e-01 2.50423114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.99, Y:36.18, Z:0.25 [[ 7.22199831e-01 -6.91618411e-01 -9.55922820e-03 8.99896920e+01] [ 6.91559686e-01 7.22263085e-01 -9.01316026e-03 3.61848550e+01] [ 1.31379452e-02 -1.01474038e-04 9.99913688e-01 2.50606062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:36.20, Z:0.25 [[ 7.19491146e-01 -6.94433457e-01 -9.72957576e-03 9.00106455e+01] [ 6.94372824e-01 7.19556912e-01 -9.17779673e-03 3.62047393e+01] [ 1.33743526e-02 -1.52609507e-04 9.99910548e-01 2.50505950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.03, Y:36.22, Z:0.25 [[ 7.17831430e-01 -6.96145780e-01 -9.95438725e-03 9.00314302e+01] [ 6.96082435e-01 7.17900423e-01 -9.39284174e-03 3.62231236e+01] [ 1.36850460e-02 -1.86597101e-04 9.99906338e-01 2.49428571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951858064 meters Centerline goodness [0,1] 0.9999778344231408 Centerline is valid? [True, True] Translation: X:90.05, Y:36.24, Z:0.25 [[ 7.16466881e-01 -6.97537298e-01 -1.08132449e-02 9.00523843e+01] [ 6.97462678e-01 7.16548439e-01 -1.02052550e-02 3.62421851e+01] [ 1.48667598e-02 -2.30107571e-04 9.99889457e-01 2.49034700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:36.26, Z:0.25 [[ 7.15022538e-01 -6.99008909e-01 -1.13716719e-02 9.00736951e+01] [ 6.98926498e-01 7.15112908e-01 -1.07367979e-02 3.62617471e+01] [ 1.56371468e-02 -2.70910330e-04 9.99877696e-01 2.49550007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:36.28, Z:0.25 [[ 7.12179736e-01 -7.01887457e-01 -1.24105606e-02 9.00962531e+01] [ 7.01789672e-01 7.12287770e-01 -1.17213277e-02 3.62789885e+01] [ 1.70669434e-02 -3.61911127e-04 9.99854284e-01 2.48956031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:36.30, Z:0.25 [[ 7.11095878e-01 -7.02977745e-01 -1.28429515e-02 9.01170105e+01] [ 7.02873110e-01 7.11211735e-01 -1.21350366e-02 3.62993117e+01] [ 1.76647185e-02 -3.97790773e-04 9.99843888e-01 2.50061260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:36.32, Z:0.25 [[ 7.09675366e-01 -7.04401677e-01 -1.33847854e-02 9.01381800e+01] [ 7.04288165e-01 7.09801436e-01 -1.26531588e-02 3.63184714e+01] [ 1.84134462e-02 -4.47110847e-04 9.99830358e-01 2.50472919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:36.34, Z:0.25 [[ 7.09559066e-01 -7.04517648e-01 -1.34467591e-02 9.01581507e+01] [ 7.04402978e-01 7.09686327e-01 -1.27185855e-02 3.63378565e+01] [ 1.85034490e-02 -4.47349537e-04 9.99828696e-01 2.50358356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.131858064 meters Centerline goodness [0,1] 0.9999778363882178 Centerline is valid? [True, True] Translation: X:90.18, Y:36.36, Z:0.25 [[ 7.09775061e-01 -7.04288531e-01 -1.40366986e-02 9.01772080e+01] [ 7.04163388e-01 7.09913698e-01 -1.32840106e-02 3.63579077e+01] [ 1.93206209e-02 -4.55469840e-04 9.99813236e-01 2.50771198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.20, Y:36.38, Z:0.25 [[ 7.10395081e-01 -7.03653882e-01 -1.44928861e-02 9.01971653e+01] [ 7.03520272e-01 7.10542759e-01 -1.37191474e-02 3.63779331e+01] [ 1.99513466e-02 -4.50024307e-04 9.99800851e-01 2.50941405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:36.40, Z:0.25 [[ 7.12235363e-01 -7.01775805e-01 -1.52153713e-02 9.02166801e+01] [ 7.01627980e-01 7.12397746e-01 -1.44093273e-02 3.63992085e+01] [ 2.09515135e-02 -4.12697779e-04 9.99780408e-01 2.51933502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221858064 meters Centerline goodness [0,1] 0.9999558713207714 Centerline is valid? [True, True] Translation: X:90.24, Y:36.42, Z:0.25 [[ 7.13396810e-01 -7.00585357e-01 -1.56572632e-02 9.02369939e+01] [ 7.00428378e-01 7.13568505e-01 -1.48349621e-02 3.64194588e+01] [ 2.15656871e-02 -3.83576826e-04 9.99767360e-01 2.52754429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:36.44, Z:0.25 [[ 7.14505274e-01 -6.99454645e-01 -1.56656789e-02 9.02575995e+01] [ 6.99297073e-01 7.14676907e-01 -1.48500224e-02 3.64399699e+01] [ 2.15828161e-02 -3.44544086e-04 9.99767005e-01 2.53616145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281858064 meters Centerline goodness [0,1] 0.9998891155859132 Centerline is valid? [True, True] Translation: X:90.28, Y:36.46, Z:0.25 [[ 7.15317797e-01 -6.98629213e-01 -1.54166206e-02 9.02781152e+01] [ 6.98476273e-01 7.15483841e-01 -1.46208526e-02 3.64603322e+01] [ 2.12448977e-02 -3.09587655e-04 9.99774254e-01 2.53470352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311858064 meters Centerline goodness [0,1] 0.999911492676019 Centerline is valid? [True, True] Translation: X:90.30, Y:36.48, Z:0.26 [[ 7.18165046e-01 -6.95715144e-01 -1.48123054e-02 9.02958286e+01] [ 6.95573199e-01 7.18317753e-01 -1.40545618e-02 3.64832324e+01] [ 2.04179134e-02 -2.09547599e-04 9.99791511e-01 2.56100979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.341858064 meters Centerline goodness [0,1] 0.9999558333149305 Centerline is valid? [True, True] Translation: X:90.32, Y:36.50, Z:0.26 [[ 7.19448041e-01 -6.94387920e-01 -1.48301461e-02 9.03154778e+01] [ 6.94245285e-01 7.19600853e-01 -1.40746935e-02 3.65031455e+01] [ 2.04450829e-02 -1.69748335e-04 9.99790963e-01 2.56266153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.371858064 meters Centerline goodness [0,1] 0.9999779793887078 Centerline is valid? [True, True] Translation: X:90.34, Y:36.52, Z:0.26 [[ 7.20894468e-01 -6.92893767e-01 -1.44704173e-02 9.03355037e+01] [ 6.92757550e-01 7.21039675e-01 -1.37391556e-02 3.65234924e+01] [ 1.99535203e-02 -1.20009535e-04 9.99800901e-01 2.57155776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.401858064 meters Centerline goodness [0,1] 0.9998896344693625 Centerline is valid? [True, True] Translation: X:90.35, Y:36.55, Z:0.26 [[ 7.23647131e-01 -6.90017160e-01 -1.45309759e-02 9.03548658e+01] [ 6.89879083e-01 7.23793008e-01 -1.38033831e-02 3.65456671e+01] [ 2.00419900e-02 -3.58377904e-05 9.99799139e-01 2.58998664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:36.57, Z:0.26 [[ 7.25386991e-01 -6.88184503e-01 -1.46902412e-02 9.03736823e+01] [ 6.88042849e-01 7.25535726e-01 -1.39623850e-02 3.65664806e+01] [ 2.02669918e-02 2.06170329e-05 9.99794603e-01 2.59139094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:36.59, Z:0.26 [[ 7.25192964e-01 -6.88389046e-01 -1.46863042e-02 9.03936325e+01] [ 6.88247350e-01 7.25341658e-01 -1.39665259e-02 3.65855405e+01] [ 2.02669917e-02 2.06163211e-05 9.99794603e-01 2.59232889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.41, Y:36.61, Z:0.26 [[ 7.26897139e-01 -6.86588341e-01 -1.47308695e-02 9.04129312e+01] [ 6.86445271e-01 7.27046383e-01 -1.40159555e-02 3.66071747e+01] [ 2.03332170e-02 7.62222668e-05 9.99793256e-01 2.59552401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.43, Y:36.63, Z:0.26 [[ 7.28402606e-01 -6.84989609e-01 -1.47945405e-02 9.04323940e+01] [ 6.84844827e-01 7.28552825e-01 -1.40834350e-02 3.66282657e+01] [ 2.04256109e-02 1.26446207e-04 9.99791367e-01 2.59644594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:36.65, Z:0.26 [[ 7.31307232e-01 -6.81880695e-01 -1.51145348e-02 9.04503499e+01] [ 6.81728847e-01 7.31463375e-01 -1.43913180e-02 3.66499739e+01] [ 2.08688905e-02 2.20460565e-04 9.99782197e-01 2.60050421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581858064 meters Centerline goodness [0,1] 0.9999559985039491 Centerline is valid? [True, True] Translation: X:90.47, Y:36.67, Z:0.26 [[ 7.32300704e-01 -6.80815009e-01 -1.50533310e-02 9.04705907e+01] [ 6.80664031e-01 7.32455363e-01 -1.43393640e-02 3.66704756e+01] [ 2.07883472e-02 2.54465437e-04 9.99783867e-01 2.60580728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.611858064 meters Centerline goodness [0,1] 0.9999117990783004 Centerline is valid? [True, True] Translation: X:90.49, Y:36.69, Z:0.26 [[ 7.32839893e-01 -6.80228388e-01 -1.53307276e-02 9.04893764e+01] [ 6.80071574e-01 7.33000178e-01 -1.46079868e-02 3.66905683e+01] [ 2.11741934e-02 2.79323476e-04 9.99775763e-01 2.60208888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641858064 meters Centerline goodness [0,1] 0.9999778942016491 Centerline is valid? [True, True] Translation: X:90.51, Y:36.71, Z:0.26 [[ 7.32921785e-01 -6.80139618e-01 -1.53543854e-02 9.05094920e+01] [ 6.79982140e-01 7.33082545e-01 -1.46380212e-02 3.67095274e+01] [ 2.12119300e-02 2.87816759e-04 9.99774960e-01 2.61566192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:36.73, Z:0.26 [[ 7.32554503e-01 -6.80531422e-01 -1.55204253e-02 9.05291299e+01] [ 6.80370514e-01 7.32718844e-01 -1.48006681e-02 3.67284943e+01] [ 2.14444277e-02 2.82656335e-04 9.99770002e-01 2.61792785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:36.75, Z:0.26 [[ 7.32216375e-01 -6.80890735e-01 -1.57158217e-02 9.05494861e+01] [ 6.80725667e-01 7.32384959e-01 -1.49946116e-02 3.67472015e+01] [ 2.17197235e-02 2.81136940e-04 9.99764059e-01 2.62612147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.57, Y:36.77, Z:0.26 [[ 7.31253184e-01 -6.81924432e-01 -1.57432684e-02 9.05692871e+01] [ 6.81758926e-01 7.31422590e-01 -1.50253792e-02 3.67669733e+01] [ 2.17611553e-02 2.54242572e-04 9.99763166e-01 2.62116301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:36.79, Z:0.26 [[ 7.30529715e-01 -6.82697298e-01 -1.58346177e-02 9.05898638e+01] [ 6.82529881e-01 7.30701268e-01 -1.51201525e-02 3.67867538e+01] [ 2.18928624e-02 2.38120971e-04 9.99760294e-01 2.62103884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:36.81, Z:0.26 [[ 7.29736260e-01 -6.83540016e-01 -1.60635767e-02 9.06108336e+01] [ 6.83367739e-01 7.29913007e-01 -1.53471464e-02 3.68059112e+01] [ 2.22154023e-02 2.22039060e-04 9.99753183e-01 2.62448701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.821858064 meters Centerline goodness [0,1] 0.9998677423621214 Centerline is valid? [True, True] Translation: X:90.63, Y:36.82, Z:0.26 [[ 7.28838229e-01 -6.84486960e-01 -1.65056947e-02 9.06309815e+01] [ 6.84305188e-01 7.29025076e-01 -1.57749230e-02 3.68240523e+01] [ 2.28307944e-02 2.02434376e-04 9.99739323e-01 2.63450028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.851858064 meters Centerline goodness [0,1] 0.9999119175548313 Centerline is valid? [True, True] Translation: X:90.65, Y:36.84, Z:0.26 [[ 7.28665759e-01 -6.84675096e-01 -1.63164058e-02 9.06512560e+01] [ 6.84497339e-01 7.28848388e-01 -1.56019321e-02 3.68436624e+01] [ 2.25744404e-02 2.00057360e-04 9.99745145e-01 2.64038430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:36.86, Z:0.27 [[ 7.28455587e-01 -6.84906100e-01 -1.60028831e-02 9.06716165e+01] [ 6.84734972e-01 7.28631317e-01 -1.53108217e-02 3.68625379e+01] [ 2.21466770e-02 1.95519880e-04 9.99754713e-01 2.66480484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.69, Y:36.88, Z:0.27 [[ 7.28794120e-01 -6.84546527e-01 -1.59744349e-02 9.06901913e+01] [ 6.84375823e-01 7.28969141e-01 -1.52880604e-02 3.68817639e+01] [ 2.21102588e-02 2.09331515e-04 9.99755516e-01 2.67509527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.71, Y:36.90, Z:0.27 [[ 7.28694041e-01 -6.84650424e-01 -1.60870119e-02 9.07103732e+01] [ 6.84477154e-01 7.28871560e-01 -1.54037170e-02 3.69012190e+01] [ 2.22715269e-02 2.13404636e-04 9.99751936e-01 2.68415598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.971858064 meters Centerline goodness [0,1] 0.9999780773868245 Centerline is valid? [True, True] Translation: X:90.73, Y:36.92, Z:0.27 [[ 7.28662425e-01 -6.84690376e-01 -1.58164427e-02 9.07307437e+01] [ 6.84522768e-01 7.28834031e-01 -1.51504169e-02 3.69212358e+01] [ 2.19009064e-02 2.12824374e-04 9.99760124e-01 2.68925993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.75, Y:36.94, Z:0.27 [[ 7.28266532e-01 -6.85118399e-01 -1.55125058e-02 9.07514727e+01] [ 6.84957121e-01 7.28431698e-01 -1.48662000e-02 3.69412420e+01] [ 2.14849081e-02 2.01154629e-04 9.99769152e-01 2.69206184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:36.96, Z:0.27 [[ 7.27111477e-01 -6.86355069e-01 -1.50206096e-02 9.07717516e+01] [ 6.86204055e-01 7.27266590e-01 -1.43979982e-02 3.69597615e+01] [ 2.08061266e-02 1.61746550e-04 9.99783516e-01 2.69680837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061858064 meters Centerline goodness [0,1] 0.9999563766440552 Centerline is valid? [True, True] Translation: X:90.79, Y:36.98, Z:0.27 [[ 7.25891837e-01 -6.87640157e-01 -1.52333275e-02 9.07908821e+01] [ 6.87485034e-01 7.26051649e-01 -1.46058543e-02 3.69785260e+01] [ 2.11037545e-02 1.29585697e-04 9.99777283e-01 2.67580342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.091858064 meters Centerline goodness [0,1] 0.9999562075760894 Centerline is valid? [True, True] Translation: X:90.81, Y:37.00, Z:0.27 [[ 7.24806842e-01 -6.88791384e-01 -1.48819248e-02 9.08128721e+01] [ 6.88643447e-01 7.24959599e-01 -1.42752697e-02 3.69974722e+01] [ 2.06214770e-02 9.84731735e-05 9.99787350e-01 2.70096846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:37.02, Z:0.27 [[ 7.23050401e-01 -6.90647112e-01 -1.43067804e-02 9.08348288e+01] [ 6.90510624e-01 7.23191927e-01 -1.37300366e-02 3.70165150e+01] [ 1.98291582e-02 4.85245555e-05 9.99803382e-01 2.70437499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:37.03, Z:0.27 [[ 7.22086786e-01 -6.91657655e-01 -1.41549374e-02 9.08547600e+01] [ 6.91524158e-01 7.22225511e-01 -1.35886171e-02 3.70347827e+01] [ 1.96217279e-02 2.36796778e-05 9.99807475e-01 2.70397752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.88, Y:37.05, Z:0.27 [[ 7.21120735e-01 -6.92674007e-01 -1.36968908e-02 9.08756893e+01] [ 6.92549082e-01 7.21250802e-01 -1.31548271e-02 3.70542850e+01] [ 1.89909002e-02 4.49422225e-07 9.99819657e-01 2.72082393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:37.07, Z:0.27 [[ 7.20377300e-01 -6.93449534e-01 -1.35753566e-02 9.08955367e+01] [ 6.93326883e-01 7.20505200e-01 -1.30418358e-02 3.70728921e+01] [ 1.88249700e-02 -1.71172330e-05 9.99822794e-01 2.71386569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.92, Y:37.09, Z:0.27 [[ 7.19241918e-01 -6.94618610e-01 -1.40018054e-02 9.09163538e+01] [ 6.94488236e-01 7.19378193e-01 -1.34575514e-02 3.70924960e+01] [ 1.94204591e-02 -4.48540661e-05 9.99811404e-01 2.71859813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.271858064 meters Centerline goodness [0,1] 0.9999564384039031 Centerline is valid? [True, True] Translation: X:90.94, Y:37.11, Z:0.27 [[ 7.18941153e-01 -6.94924312e-01 -1.42765336e-02 9.09363323e+01] [ 6.94788766e-01 7.19082887e-01 -1.37249028e-02 3.71117385e+01] [ 1.98037796e-02 -5.17777032e-05 9.99803885e-01 2.70617143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301858064 meters Centerline goodness [0,1] 0.9999133261105092 Centerline is valid? [True, True] Translation: X:90.96, Y:37.13, Z:0.27 [[ 7.18509866e-01 -6.95366979e-01 -1.44338911e-02 9.09564017e+01] [ 6.95228381e-01 7.18654827e-01 -1.38829933e-02 3.71313642e+01] [ 2.00267607e-02 -5.97830885e-05 9.99799443e-01 2.71174493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.331858064 meters Centerline goodness [0,1] 0.999934964989486 Centerline is valid? [True, True] Translation: X:90.98, Y:37.15, Z:0.27 [[ 7.18141672e-01 -6.95749434e-01 -1.43270344e-02 9.09763462e+01] [ 6.95612805e-01 7.18284568e-01 -1.37878268e-02 3.71515620e+01] [ 1.98837604e-02 -6.44555862e-05 9.99802296e-01 2.70969045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361858064 meters Centerline goodness [0,1] 0.9999565896857093 Centerline is valid? [True, True] Translation: X:91.00, Y:37.17, Z:0.27 [[ 7.17968766e-01 -6.95931343e-01 -1.41568484e-02 9.09958938e+01] [ 6.95797868e-01 7.18108321e-01 -1.36295722e-02 3.71708466e+01] [ 1.96513972e-02 -6.46977919e-05 9.99806891e-01 2.70448433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391858064 meters Centerline goodness [0,1] 0.99997830002387 Centerline is valid? [True, True] Translation: X:91.02, Y:37.19, Z:0.27 [[ 7.17598135e-01 -6.96315154e-01 -1.40755941e-02 9.10159740e+01] [ 6.96183143e-01 7.17736164e-01 -1.35584179e-02 3.71909210e+01] [ 1.95434948e-02 -6.96959590e-05 9.99809005e-01 2.70370784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:37.21, Z:0.27 [[ 7.16969168e-01 -6.96970191e-01 -1.37027289e-02 9.10350115e+01] [ 6.96845116e-01 7.17100095e-01 -1.32037164e-02 3.72098219e+01] [ 1.90288249e-02 -8.20221580e-05 9.99818932e-01 2.69722233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451858064 meters Centerline goodness [0,1] 0.9999350030331918 Centerline is valid? [True, True] Translation: X:91.06, Y:37.23, Z:0.27 [[ 7.16336936e-01 -6.97630405e-01 -1.31609935e-02 9.10550633e+01] [ 6.97515021e-01 7.16457821e-01 -1.26879966e-02 3.72292582e+01] [ 1.82808289e-02 -9.11100188e-05 9.99832888e-01 2.70149047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.481858064 meters Centerline goodness [0,1] 0.9999133223541649 Centerline is valid? [True, True] Translation: X:91.08, Y:37.25, Z:0.27 [[ 7.16119405e-01 -6.97863520e-01 -1.26295171e-02 9.10752686e+01] [ 6.97757185e-01 7.16230759e-01 -1.21823984e-02 3.72490996e+01] [ 1.75473001e-02 -8.82844528e-05 9.99846030e-01 2.71871981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.10, Y:37.27, Z:0.27 [[ 7.15847347e-01 -6.98147100e-01 -1.23774950e-02 9.10953094e+01] [ 6.98044946e-01 7.15954341e-01 -1.19429468e-02 3.72677182e+01] [ 1.71996550e-02 -9.07210973e-05 9.99852071e-01 2.70559275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.541858064 meters Centerline goodness [0,1] 0.9999349283126912 Centerline is valid? [True, True] Translation: X:91.11, Y:37.29, Z:0.27 [[ 7.15794902e-01 -6.98206369e-01 -1.20633508e-02 9.11146432e+01] [ 6.98109248e-01 7.15896542e-01 -1.16455154e-02 3.72876513e+01] [ 1.67670842e-02 -8.57362269e-05 9.99859419e-01 2.72011330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.571858064 meters Centerline goodness [0,1] 0.9999782665391637 Centerline is valid? [True, True] Translation: X:91.13, Y:37.31, Z:0.27 [[ 7.16174920e-01 -6.97821886e-01 -1.17515391e-02 9.11338333e+01] [ 6.97729568e-01 7.16271325e-01 -1.13507549e-02 3.73088705e+01] [ 1.63380957e-02 -7.02702654e-05 9.99866522e-01 2.71691407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:37.33, Z:0.27 [[ 7.16351478e-01 -6.97642408e-01 -1.16460441e-02 9.11528916e+01] [ 6.97551616e-01 7.16446136e-01 -1.12550831e-02 3.73289789e+01] [ 1.61957865e-02 -6.11214781e-05 9.99868838e-01 2.71625554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.631858064 meters Centerline goodness [0,1] 0.9998916951869341 Centerline is valid? [True, True] Translation: X:91.17, Y:37.35, Z:0.27 [[ 7.16957025e-01 -6.97028517e-01 -1.11297315e-02 9.11719013e+01] [ 6.96945441e-01 7.17043405e-01 -1.07613962e-02 3.73501993e+01] [ 1.54815006e-02 -4.13570657e-05 9.99880154e-01 2.69437031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.661858064 meters Centerline goodness [0,1] 0.9998699130585608 Centerline is valid? [True, True] Translation: X:91.19, Y:37.37, Z:0.27 [[ 7.17209729e-01 -6.96771074e-01 -1.09669695e-02 9.11912196e+01] [ 6.96690294e-01 7.17293573e-01 -1.06096527e-02 3.73709145e+01] [ 1.52590358e-02 -3.12351051e-05 9.99883574e-01 2.69749120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:37.39, Z:0.27 [[ 7.17237318e-01 -6.96753969e-01 -1.02242532e-02 9.12103514e+01] [ 6.96683721e-01 7.17310188e-01 -9.89377671e-03 3.73903111e+01] [ 1.42274892e-02 -2.68848600e-05 9.99898784e-01 2.67517072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721858064 meters Centerline goodness [0,1] 0.9999782518866488 Centerline is valid? [True, True] Translation: X:91.23, Y:37.41, Z:0.27 [[ 7.16636629e-01 -6.97392295e-01 -8.71377138e-03 9.12302684e+01] [ 6.97341278e-01 7.16689603e-01 -8.43540543e-03 3.74111084e+01] [ 1.21278561e-02 -3.13519565e-05 9.99926454e-01 2.68998413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:37.43, Z:0.27 [[ 7.16065992e-01 -6.97982293e-01 -8.37941019e-03 9.12504573e+01] [ 6.97935106e-01 7.16115017e-01 -8.11599124e-03 3.74309311e+01] [ 1.16654397e-02 -3.66992260e-05 9.99931956e-01 2.68969320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:37.45, Z:0.27 [[ 7.15190471e-01 -6.98882826e-01 -8.08616274e-03 9.12706466e+01] [ 6.98838895e-01 7.15236180e-01 -7.83623111e-03 3.74508970e+01] [ 1.12601235e-02 -4.65272209e-05 9.99936602e-01 2.68733966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811858064 meters Centerline goodness [0,1] 0.9999783634081959 Centerline is valid? [True, True] Translation: X:91.29, Y:37.47, Z:0.27 [[ 7.14480171e-01 -6.99612152e-01 -7.80528509e-03 9.12899501e+01] [ 6.99571232e-01 7.14522802e-01 -7.56688059e-03 3.74694905e+01] [ 1.08709358e-02 -5.39667679e-05 9.99940908e-01 2.68419338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:37.49, Z:0.27 [[ 7.12923260e-01 -7.01210426e-01 -6.66058057e-03 9.13093830e+01] [ 7.01180681e-01 7.12954370e-01 -6.45899681e-03 3.74883295e+01] [ 9.27780593e-03 -6.55013522e-05 9.99956958e-01 2.67471752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.871858064 meters Centerline goodness [0,1] 0.999847988012769 Centerline is valid? [True, True] Translation: X:91.33, Y:37.51, Z:0.27 [[ 7.11819436e-01 -7.02334766e-01 -6.24240788e-03 9.13297657e+01] [ 7.02308658e-01 7.11846804e-01 -6.05614543e-03 3.75079619e+01] [ 8.69707958e-03 -7.32150801e-05 9.99962177e-01 2.66816543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.901858064 meters Centerline goodness [0,1] 0.9999564649542882 Centerline is valid? [True, True] Translation: X:91.35, Y:37.53, Z:0.27 [[ 7.10620884e-01 -7.03549193e-01 -6.04085535e-03 9.13508631e+01] [ 7.03524764e-01 7.10646555e-01 -5.86352192e-03 3.75277615e+01] [ 8.41818916e-03 -8.31502079e-05 9.99964563e-01 2.66621459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:37.55, Z:0.27 [[ 7.08405962e-01 -7.05784834e-01 -5.36281171e-03 9.13720283e+01] [ 7.05765634e-01 7.08426255e-01 -5.20687377e-03 3.75458228e+01] [ 7.47408915e-03 -9.63077840e-05 9.99972064e-01 2.66166158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.961858064 meters Centerline goodness [0,1] 0.9999562391965516 Centerline is valid? [True, True] Translation: X:91.39, Y:37.56, Z:0.27 [[ 7.07575756e-01 -7.06622405e-01 -4.61804956e-03 9.13922328e+01] [ 7.06608180e-01 7.07590820e-01 -4.48461974e-03 3.75646066e+01] [ 6.43662226e-03 -8.99433923e-05 9.99979281e-01 2.65832921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.991858064 meters Centerline goodness [0,1] 0.9999128046387932 Centerline is valid? [True, True] Translation: X:91.41, Y:37.58, Z:0.27 [[ 7.06960284e-01 -7.07239235e-01 -4.45222795e-03 9.14122994e+01] [ 7.07226016e-01 7.06974297e-01 -4.32507499e-03 3.75849844e+01] [ 6.20647345e-03 -9.10751942e-05 9.99980736e-01 2.65810872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:37.60, Z:0.27 [[ 7.06631998e-01 -7.07573929e-01 -3.21790380e-03 9.14321366e+01] [ 7.07567022e-01 7.06639321e-01 -3.12705840e-03 3.76038167e+01] [ 4.48652236e-03 -6.72030830e-05 9.99989933e-01 2.65066507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:37.62, Z:0.26 [[ 7.06507608e-01 -7.07699537e-01 -2.89223662e-03 9.14520537e+01] [ 7.07693955e-01 7.06513526e-01 -2.81147713e-03 3.76240756e+01] [ 4.03308535e-03 -6.04883891e-05 9.99991865e-01 2.64777394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:37.64, Z:0.26 [[ 7.06698870e-01 -7.07511799e-01 -1.93946188e-03 9.14720174e+01] [ 7.07509287e-01 7.06701530e-01 -1.88590470e-03 3.76442600e+01] [ 2.70492051e-03 -3.94205685e-05 9.99996341e-01 2.64905735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:37.66, Z:0.26 [[ 7.07546066e-01 -7.06666581e-01 -9.52749353e-04 9.14914331e+01] [ 7.06665973e-01 7.07546707e-01 -9.26837060e-04 3.76638780e+01] [ 1.32907944e-03 -1.74956332e-05 9.99999117e-01 2.64638808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:37.68, Z:0.26 [[ 7.08022839e-01 -7.06189199e-01 -6.88314280e-04 9.15115751e+01] [ 7.06188883e-01 7.08023174e-01 -6.69007952e-04 3.76840135e+01] [ 9.59788651e-04 -1.24069823e-05 9.99999539e-01 2.64635463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:37.70, Z:0.27 [[ 7.08996686e-01 -7.05211715e-01 -3.68567287e-04 9.15313308e+01] [ 7.05211624e-01 7.08996782e-01 -3.58318488e-04 3.77036982e+01] [ 5.14003416e-04 -5.87131477e-06 9.99999868e-01 2.65153710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.55, Y:37.72, Z:0.27 [[ 7.09776010e-01 -7.04427431e-01 -9.70954353e-05 9.15512571e+01] [ 7.04427425e-01 7.09776017e-01 -9.34982354e-05 3.77239907e+01] [ 1.34778733e-04 -2.03388295e-06 9.99999991e-01 2.65237985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:37.74, Z:0.27 [[ 7.11926288e-01 -7.02253721e-01 8.19313793e-04 9.15711587e+01] [ 7.02253266e-01 7.11926760e-01 7.99871941e-04 3.77445827e+01] [-1.14500446e-03 5.91592476e-06 9.99999344e-01 2.65820784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.261858064 meters Centerline goodness [0,1] 0.999934576382074 Centerline is valid? [True, True] Translation: X:91.59, Y:37.76, Z:0.27 [[ 7.13017586e-01 -7.01144801e-01 1.37478494e-03 9.15899719e+01] [ 7.01143518e-01 7.13018912e-01 1.34136307e-03 3.77638595e+01] [-1.92073741e-03 7.50608984e-06 9.99998155e-01 2.66421043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:37.78, Z:0.27 [[ 7.13830886e-01 -7.00315546e-01 1.89804362e-03 9.16093056e+01] [ 7.00313093e-01 7.13833410e-01 1.85332149e-03 3.77843877e+01] [-2.65279680e-03 6.26667228e-06 9.99996481e-01 2.65798908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:37.80, Z:0.27 [[ 7.15481872e-01 -6.98628088e-01 2.11785863e-03 9.16277551e+01] [ 6.98625029e-01 7.15485006e-01 2.06754936e-03 3.78036491e+01] [-2.95974415e-03 2.94958613e-07 9.99995620e-01 2.65593258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:37.82, Z:0.27 [[ 7.15290623e-01 -6.98823900e-01 2.11692797e-03 9.16474377e+01] [ 6.98820839e-01 7.15293755e-01 2.06850260e-03 3.78229692e+01] [-2.95974441e-03 -2.27133012e-07 9.99995620e-01 2.65687224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381858064 meters Centerline goodness [0,1] 0.999934456315134 Centerline is valid? [True, True] Translation: X:91.67, Y:37.84, Z:0.27 [[ 7.15810478e-01 -6.98291304e-01 2.14835962e-03 9.16673628e+01] [ 6.98288145e-01 7.15813702e-01 2.10043638e-03 3.78423053e+01] [-3.00454171e-03 -3.34031089e-06 9.99995486e-01 2.65003481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.411858064 meters Centerline goodness [0,1] 0.9999128843975956 Centerline is valid? [True, True] Translation: X:91.69, Y:37.86, Z:0.27 [[ 7.16441935e-01 -6.97644044e-01 1.93427177e-03 9.16873913e+01] [ 6.97641480e-01 7.16444546e-01 1.89155654e-03 3.78611170e+01] [-2.70543161e-03 -5.76221047e-06 9.99996340e-01 2.65242520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.441858064 meters Centerline goodness [0,1] 0.9999343142406726 Centerline is valid? [True, True] Translation: X:91.71, Y:37.88, Z:0.27 [[ 7.16608880e-01 -6.97471511e-01 2.28115541e-03 9.17079901e+01] [ 6.97467939e-01 7.16612511e-01 2.23233705e-03 3.78798077e+01] [-3.19169600e-03 -8.67979092e-06 9.99994906e-01 2.65094337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.471858064 meters Centerline goodness [0,1] 0.9998910271778219 Centerline is valid? [True, True] Translation: X:91.73, Y:37.90, Z:0.27 [[ 7.17276334e-01 -6.96783738e-01 2.66155515e-03 9.17281647e+01] [ 6.96778871e-01 7.17281272e-01 2.60415815e-03 3.78983577e+01] [-3.72361871e-03 -1.33856152e-05 9.99993067e-01 2.65300051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501858064 meters Centerline goodness [0,1] 0.999780788285326 Centerline is valid? [True, True] Translation: X:91.75, Y:37.92, Z:0.27 [[ 7.17462901e-01 -6.96590804e-01 2.87011907e-03 9.17483662e+01] [ 6.96585135e-01 7.17468641e-01 2.81054040e-03 3.79177213e+01] [-4.01701703e-03 -1.71761921e-05 9.99991932e-01 2.65081350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531858064 meters Centerline goodness [0,1] 0.9999563318777293 Centerline is valid? [True, True] Translation: X:91.77, Y:37.94, Z:0.26 [[ 7.17601739e-01 -6.96449126e-01 2.52162766e-03 9.17687578e+01] [ 6.96444744e-01 7.17606169e-01 2.47084024e-03 3.79368053e+01] [-3.53035009e-03 -1.69049209e-05 9.99993768e-01 2.64903126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.79, Y:37.95, Z:0.26 [[ 7.18117763e-01 -6.95918555e-01 2.05998399e-03 9.17895425e+01] [ 6.95915628e-01 7.18120718e-01 2.01847066e-03 3.79548297e+01] [-2.88400837e-03 -1.59245907e-05 9.99995841e-01 2.64420067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.81, Y:37.97, Z:0.26 [[ 7.17912005e-01 -6.96130765e-01 2.07649701e-03 9.18106112e+01] [ 6.96127786e-01 7.17915008e-01 2.03651283e-03 3.79736549e+01] [-2.90842760e-03 -1.65297466e-05 9.99995770e-01 2.64241620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.83, Y:37.99, Z:0.26 [[ 7.17885750e-01 -6.96158176e-01 1.96050213e-03 9.18304117e+01] [ 6.96155521e-01 7.17888427e-01 1.92253716e-03 3.79923576e+01] [-2.74581175e-03 -1.53476555e-05 9.99996230e-01 2.64722022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.85, Y:38.01, Z:0.26 [[ 7.17534894e-01 -6.96520864e-01 1.53658085e-03 9.18523434e+01] [ 6.96519231e-01 7.17536539e-01 1.50837637e-03 3.80096323e+01] [-2.15316852e-03 -1.20545658e-05 9.99997682e-01 2.63804308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.681858064 meters Centerline goodness [0,1] 0.9998903989478299 Centerline is valid? [True, True] Translation: X:91.87, Y:38.03, Z:0.26 [[ 7.17176845e-01 -6.96890167e-01 1.21147741e-03 9.18742711e+01] [ 6.96889151e-01 7.17177868e-01 1.19029770e-03 3.80279348e+01] [-1.69835155e-03 -9.38848296e-06 9.99998558e-01 2.61866151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.711858064 meters Centerline goodness [0,1] 0.9999779822977674 Centerline is valid? [True, True] Translation: X:91.90, Y:38.05, Z:0.26 [[ 7.16731876e-01 -6.97348287e-01 8.85110944e-04 9.18953687e+01] [ 6.97347744e-01 7.16732423e-01 8.70515851e-04 3.80464068e+01] [-1.24144045e-03 -6.69633934e-06 9.99999229e-01 2.60999982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.741858064 meters Centerline goodness [0,1] 0.9999121767004786 Centerline is valid? [True, True] Translation: X:91.92, Y:38.06, Z:0.26 [[ 7.16407968e-01 -6.97681421e-01 5.08117647e-04 9.19158938e+01] [ 6.97681242e-01 7.16408148e-01 5.00076292e-04 3.80641972e+01] [-7.12913560e-04 -3.75448936e-06 9.99999746e-01 2.60531110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.771858064 meters Centerline goodness [0,1] 0.9999779648318716 Centerline is valid? [True, True] Translation: X:91.94, Y:38.08, Z:0.26 [[ 7.15987544e-01 -6.98112934e-01 4.10693049e-04 9.19367938e+01] [ 6.98112817e-01 7.15987662e-01 4.04128718e-04 3.80818784e+01] [-5.76178641e-04 -2.64104697e-06 9.99999834e-01 2.61027519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.801858064 meters Centerline goodness [0,1] 0.9999338376375626 Centerline is valid? [True, True] Translation: X:91.96, Y:38.10, Z:0.26 [[ 7.15204242e-01 -6.98915397e-01 4.00244160e-04 9.19609062e+01] [ 6.98915285e-01 7.15204354e-01 3.94849434e-04 3.80981144e+01] [-5.62222715e-04 -2.66122871e-06 9.99999842e-01 2.61746322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.831858064 meters Centerline goodness [0,1] 0.9999778902916271 Centerline is valid? [True, True] Translation: X:91.98, Y:38.12, Z:0.26 [[ 7.14564145e-01 -6.99569508e-01 7.65444954e-04 9.19823998e+01] [ 6.99569102e-01 7.14564555e-01 7.54314047e-04 3.81164648e+01] [-1.07465494e-03 -3.52413295e-06 9.99999423e-01 2.62092436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861858064 meters Centerline goodness [0,1] 0.999911758217516 Centerline is valid? [True, True] Translation: X:92.00, Y:38.13, Z:0.26 [[ 7.14093861e-01 -7.00049626e-01 6.92342908e-04 9.20028682e+01] [ 7.00049294e-01 7.14094197e-01 6.82001247e-04 3.81340752e+01] [-9.71832771e-04 -2.33874043e-06 9.99999528e-01 2.62442444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:38.15, Z:0.26 [[ 7.12722785e-01 -7.01445426e-01 7.38509302e-04 9.20255116e+01] [ 7.01445048e-01 7.12723168e-01 7.28403418e-04 3.81517975e+01] [-1.03728794e-03 -1.12601983e-06 9.99999462e-01 2.62159166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:38.17, Z:0.26 [[ 7.11702843e-01 -7.02480349e-01 6.50095739e-04 9.20471022e+01] [ 7.02480056e-01 7.11703140e-01 6.41732065e-04 3.81705720e+01] [-9.13479343e-04 -4.32440424e-08 9.99999583e-01 2.62223149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951858064 meters Centerline goodness [0,1] 0.9999778814890181 Centerline is valid? [True, True] Translation: X:92.07, Y:38.19, Z:0.26 [[ 7.10540780e-01 -7.03655898e-01 4.19639451e-04 9.20689716e+01] [ 7.03655776e-01 7.10540904e-01 4.14933087e-04 3.81889067e+01] [-5.90141109e-04 4.54844138e-07 9.99999826e-01 2.62196825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.09, Y:38.20, Z:0.26 [[ 7.07723335e-01 -7.06489648e-01 2.40305504e-04 9.20935040e+01] [ 7.06489608e-01 7.07723376e-01 2.38129470e-04 3.82048705e+01] [-3.38305828e-04 1.24355851e-06 9.99999943e-01 2.62842985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.12, Y:38.22, Z:0.26 [[ 7.06220780e-01 -7.07991673e-01 2.34525681e-05 9.21158488e+01] [ 7.07991673e-01 7.06220780e-01 2.42977466e-05 3.82234059e+01] [-3.37652934e-05 -5.55350606e-07 9.99999999e-01 2.63059709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.14, Y:38.24, Z:0.26 [[ 7.05072246e-01 -7.09135423e-01 2.83197358e-04 9.21374089e+01] [ 7.09135367e-01 7.05072303e-01 2.80053228e-04 3.82418729e+01] [-3.98270278e-04 3.36750397e-06 9.99999921e-01 2.63123275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.071858064 meters Centerline goodness [0,1] 0.9999777817276928 Centerline is valid? [True, True] Translation: X:92.16, Y:38.26, Z:0.26 [[ 7.03197933e-01 -7.10994128e-01 1.28232341e-04 9.21597560e+01] [ 7.10994117e-01 7.03197945e-01 1.27785168e-04 3.82604029e+01] [-1.81027223e-04 1.31417417e-06 9.99999984e-01 2.62507904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:38.28, Z:0.26 [[ 7.02435040e-01 -7.11747850e-01 1.14475294e-04 9.21811134e+01] [ 7.11747840e-01 7.02435049e-01 1.14255096e-04 3.82794191e+01] [-1.61732278e-04 1.22075976e-06 9.99999987e-01 2.62281812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.131858064 meters Centerline goodness [0,1] 0.9999554645052107 Centerline is valid? [True, True] Translation: X:92.20, Y:38.30, Z:0.26 [[ 7.02019368e-01 -7.12157851e-01 -3.22815771e-05 9.22022992e+01] [ 7.12157851e-01 7.02019369e-01 -3.05678139e-05 3.82983704e+01] [ 4.44314009e-05 -1.53038118e-06 9.99999999e-01 2.62473761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.161858064 meters Centerline goodness [0,1] 0.9999776930112204 Centerline is valid? [True, True] Translation: X:92.22, Y:38.32, Z:0.26 [[ 7.01918739e-01 -7.12256554e-01 -8.27350492e-04 9.22230420e+01] [ 7.12256086e-01 7.01919227e-01 -8.17234239e-04 3.83157787e+01] [ 1.16281366e-03 -1.56533960e-05 9.99999324e-01 2.61572135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:38.33, Z:0.26 [[ 7.02307809e-01 -7.11871919e-01 -1.45331461e-03 9.22438122e+01] [ 7.11870470e-01 7.02309312e-01 -1.43653968e-03 3.83346203e+01] [ 2.04330864e-03 -2.56787178e-05 9.99997912e-01 2.61128689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.26, Y:38.36, Z:0.26 [[ 7.02868733e-01 -7.11315953e-01 -2.27162426e-03 9.22639264e+01] [ 7.11312406e-01 7.02872402e-01 -2.24640328e-03 3.83556995e+01] [ 3.19456449e-03 -3.69078944e-05 9.99994897e-01 2.60687527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251858064 meters Centerline goodness [0,1] 0.9999553501663206 Centerline is valid? [True, True] Translation: X:92.28, Y:38.38, Z:0.26 [[ 7.04440618e-01 -7.09757364e-01 -2.81050083e-03 9.22843780e+01] [ 7.09751917e-01 7.04446224e-01 -2.78093357e-03 3.83758589e+01] [ 3.95363478e-03 -3.57557887e-05 9.99992184e-01 2.60286379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:38.40, Z:0.26 [[ 7.05293895e-01 -7.08908263e-01 -3.09797520e-03 9.23040860e+01] [ 7.08901629e-01 7.05300698e-01 -3.06701964e-03 3.83960689e+01] [ 4.35923964e-03 -3.30094415e-05 9.99990498e-01 2.60115652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:38.42, Z:0.26 [[ 7.06152632e-01 -7.08054011e-01 -2.82450856e-03 9.23235468e+01] [ 7.08048485e-01 7.06158280e-01 -2.79750349e-03 3.84159715e+01] [ 3.97533368e-03 -2.44245569e-05 9.99992098e-01 2.60223688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:38.44, Z:0.26 [[ 7.07889067e-01 -7.06318760e-01 -2.62268112e-03 9.23431111e+01] [ 7.06313981e-01 7.07893925e-01 -2.59828728e-03 3.84351954e+01] [ 3.69179908e-03 -1.31371846e-05 9.99993185e-01 2.61172127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:38.45, Z:0.26 [[ 7.08694606e-01 -7.05509208e-01 -2.95175794e-03 9.23629199e+01] [ 7.05503145e-01 7.08700753e-01 -2.92507840e-03 3.84548078e+01] [ 4.15558282e-03 -9.48722634e-06 9.99991365e-01 2.61672192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:38.47, Z:0.26 [[ 7.09553355e-01 -7.04644978e-01 -3.08084299e-03 9.23823727e+01] [ 7.04638357e-01 7.09560043e-01 -3.05458684e-03 3.84740596e+01] [ 4.33844236e-03 -3.48780556e-06 9.99990589e-01 2.61414909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.431858064 meters Centerline goodness [0,1] 0.9999554615298964 Centerline is valid? [True, True] Translation: X:92.40, Y:38.49, Z:0.26 [[ 7.10440485e-01 -7.03748372e-01 -3.54206475e-03 9.24014677e+01] [ 7.03739604e-01 7.10449315e-01 -3.51305447e-03 3.84930125e+01] [ 4.98876383e-03 3.12487839e-06 9.99987556e-01 2.61099939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:38.51, Z:0.26 [[ 7.12260199e-01 -7.01901519e-01 -4.43475576e-03 9.24220161e+01] [ 7.01887726e-01 7.12274004e-01 -4.40029628e-03 3.85129846e+01] [ 6.24733588e-03 2.14552678e-05 9.99980485e-01 2.60722780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:38.53, Z:0.26 [[ 7.12815595e-01 -7.01336777e-01 -4.54444133e-03 9.24424924e+01] [ 7.01322268e-01 7.12830081e-01 -4.51143039e-03 3.85329135e+01] [ 6.40344653e-03 2.87000441e-05 9.99979497e-01 2.60724765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:38.55, Z:0.26 [[ 7.13241567e-01 -7.00903485e-01 -4.55770327e-03 9.24627845e+01] [ 7.00888865e-01 7.13256128e-01 -4.52708105e-03 3.85523012e+01] [ 6.42385667e-03 3.44589115e-05 9.99979366e-01 2.61127856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.551858064 meters Centerline goodness [0,1] 0.9999776201239845 Centerline is valid? [True, True] Translation: X:92.48, Y:38.57, Z:0.26 [[ 7.13743020e-01 -7.00389926e-01 -4.98528260e-03 9.24836639e+01] [ 7.00372403e-01 7.13760429e-01 -4.95461355e-03 3.85721661e+01] [ 7.02845886e-03 4.47664787e-05 9.99975299e-01 2.61140760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:38.59, Z:0.26 [[ 7.13771923e-01 -7.00360446e-01 -4.98867038e-03 9.25029740e+01] [ 7.00342884e-01 7.13789355e-01 -4.96006350e-03 3.85908207e+01] [ 7.03469210e-03 4.65742688e-05 9.99975255e-01 2.61340481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.52, Y:38.61, Z:0.26 [[ 7.13460662e-01 -7.00678915e-01 -4.78975320e-03 9.25236037e+01] [ 7.00662718e-01 7.13476739e-01 -4.76433398e-03 3.86094985e+01] [ 6.75564585e-03 4.31633815e-05 9.99977179e-01 2.61905537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:38.63, Z:0.26 [[ 7.13058256e-01 -7.01088168e-01 -4.82741295e-03 9.25444351e+01] [ 7.01071707e-01 7.13074595e-01 -4.80451585e-03 3.86287807e+01] [ 6.81069475e-03 4.15370526e-05 9.99976806e-01 2.62700460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671858064 meters Centerline goodness [0,1] 0.9999550652676986 Centerline is valid? [True, True] Translation: X:92.56, Y:38.65, Z:0.26 [[ 7.12455274e-01 -7.01700825e-01 -4.84094174e-03 9.25647351e+01] [ 7.01684271e-01 7.12471719e-01 -4.82008808e-03 3.86472286e+01] [ 6.83129386e-03 3.72844999e-05 9.99976666e-01 2.62314121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:38.67, Z:0.26 [[ 7.11922369e-01 -7.02238527e-01 -5.25284215e-03 9.25851005e+01] [ 7.02219033e-01 7.11941746e-01 -5.23258045e-03 3.86667612e+01] [ 7.41423720e-03 3.65453355e-05 9.99972513e-01 2.61931001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:38.69, Z:0.26 [[ 7.11172837e-01 -7.02994702e-01 -5.62536381e-03 9.26057536e+01] [ 7.02972343e-01 7.11195084e-01 -5.60690176e-03 3.86861022e+01] [ 7.94235332e-03 3.30010600e-05 9.99968458e-01 2.61412170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.63, Y:38.70, Z:0.26 [[ 7.10578811e-01 -7.03591841e-01 -6.02277437e-03 9.26253988e+01] [ 7.03566211e-01 7.10604334e-01 -6.00558174e-03 3.87045886e+01] [ 8.50528789e-03 3.00185912e-05 9.99963829e-01 2.60836024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:38.72, Z:0.26 [[ 7.08947246e-01 -7.05231571e-01 -6.49874433e-03 9.26470483e+01] [ 7.05201771e-01 7.08977031e-01 -6.48324489e-03 3.87224304e+01] [ 9.17964944e-03 1.33526013e-05 9.99957866e-01 2.61596014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:38.74, Z:0.26 [[ 7.07826801e-01 -7.06359038e-01 -6.17486248e-03 9.26674222e+01] [ 7.06332147e-01 7.07853735e-01 -6.16346149e-03 3.87415050e+01] [ 8.72451619e-03 1.15935794e-06 9.99961941e-01 2.61892034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.851858064 meters Centerline goodness [0,1] 0.9999774347865331 Centerline is valid? [True, True] Translation: X:92.69, Y:38.76, Z:0.26 [[ 7.05812223e-01 -7.08373347e-01 -6.02555272e-03 9.26888341e+01] [ 7.08347786e-01 7.05837943e-01 -6.01769054e-03 3.87600979e+01] [ 8.51583533e-03 -2.08273934e-05 9.99963739e-01 2.63059568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.881858064 meters Centerline goodness [0,1] 0.9999774383502922 Centerline is valid? [True, True] Translation: X:92.71, Y:38.78, Z:0.26 [[ 7.04593802e-01 -7.09588092e-01 -5.68461200e-03 9.27082486e+01] [ 7.09565363e-01 7.04616732e-01 -5.67944404e-03 3.87784030e+01] [ 8.03553859e-03 -3.19027081e-05 9.99967714e-01 2.63566511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.73, Y:38.80, Z:0.26 [[ 7.03373173e-01 -7.10797574e-01 -5.74353191e-03 9.27283944e+01] [ 7.10774392e-01 7.03396621e-01 -5.74086737e-03 3.87977135e+01] [ 8.12057554e-03 -4.43833085e-05 9.99967027e-01 2.63907797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:38.82, Z:0.26 [[ 7.00717271e-01 -7.13416705e-01 -5.64906190e-03 9.27493348e+01] [ 7.13394345e-01 7.00740038e-01 -5.64868731e-03 3.88155015e+01] [ 7.98839173e-03 -7.18760610e-05 9.99968090e-01 2.64440187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:38.84, Z:0.27 [[ 6.99184969e-01 -7.14916052e-01 -5.95133319e-03 9.27698043e+01] [ 7.14891269e-01 6.99210291e-01 -5.95342282e-03 3.88358510e+01] [ 8.41743094e-03 -9.20123901e-05 9.99964569e-01 2.65137835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:38.86, Z:0.27 [[ 6.97583321e-01 -7.16478937e-01 -5.95344180e-03 9.27912698e+01] [ 7.16454168e-01 6.97608717e-01 -5.95844280e-03 3.88556931e+01] [ 8.42227165e-03 -1.08857879e-04 9.99964526e-01 2.65372265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:38.88, Z:0.27 [[ 6.94770921e-01 -7.19209730e-01 -5.54364731e-03 9.28127229e+01] [ 7.19188320e-01 6.94793025e-01 -5.55092554e-03 3.88755893e+01] [ 7.84396714e-03 -1.30304744e-04 9.99969227e-01 2.65832833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:38.90, Z:0.27 [[ 6.93329335e-01 -7.20600414e-01 -5.42922172e-03 9.28327686e+01] [ 7.20579901e-01 6.93350578e-01 -5.43897460e-03 3.88962559e+01] [ 7.68368136e-03 -1.41187410e-04 9.99970470e-01 2.66180231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:38.92, Z:0.27 [[ 6.92311266e-01 -7.21581531e-01 -5.02041601e-03 9.28524112e+01] [ 7.21564006e-01 6.92329455e-01 -5.03097580e-03 3.89154280e+01] [ 7.10604110e-03 -1.39550265e-04 9.99974742e-01 2.66438350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:38.94, Z:0.27 [[ 6.91326703e-01 -7.22527124e-01 -4.68455862e-03 9.28719769e+01] [ 7.22511877e-01 6.91342560e-01 -4.69590108e-03 3.89367347e+01] [ 6.63155065e-03 -1.38247427e-04 9.99978001e-01 2.66607178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.89, Y:38.96, Z:0.27 [[ 6.90842376e-01 -7.22993766e-01 -4.10191147e-03 9.28908043e+01] [ 7.22982076e-01 6.90854542e-01 -4.11328615e-03 3.89570855e+01] [ 5.80770442e-03 -1.23976098e-04 9.99983127e-01 2.67747283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:38.98, Z:0.27 [[ 6.90789919e-01 -7.23046436e-01 -3.62475302e-03 9.29096636e+01] [ 7.23037302e-01 6.90799420e-01 -3.63600845e-03 3.89778769e+01] [ 5.13298023e-03 -1.09113662e-04 9.99986820e-01 2.68742359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:39.00, Z:0.27 [[ 6.90698215e-01 -7.23135649e-01 -3.28760595e-03 9.29278087e+01] [ 7.23128128e-01 6.90706032e-01 -3.29951628e-03 3.89988276e+01] [ 4.65676711e-03 -9.83903345e-05 9.99989152e-01 2.69008515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:39.02, Z:0.27 [[ 6.91876438e-01 -7.22007525e-01 -3.48258112e-03 9.29455162e+01] [ 7.21999063e-01 6.91885196e-01 -3.49681271e-03 3.90208297e+01] [ 4.93427141e-03 -9.50579849e-05 9.99987822e-01 2.68760646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.96, Y:39.04, Z:0.27 [[ 6.91676916e-01 -7.22198670e-01 -3.48207444e-03 9.29649408e+01] [ 7.22190208e-01 6.91685674e-01 -3.49731719e-03 3.90404429e+01] [ 4.93425882e-03 -9.57064986e-05 9.99987822e-01 2.68854716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:39.06, Z:0.27 [[ 6.92617892e-01 -7.21294604e-01 -3.81434910e-03 9.29833466e+01] [ 7.21284425e-01 6.92628388e-01 -3.83320433e-03 3.90630428e+01] [ 5.40679607e-03 -9.62846907e-05 9.99985379e-01 2.68591741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.331858064 meters Centerline goodness [0,1] 0.9999554496246631 Centerline is valid? [True, True] Translation: X:93.00, Y:39.08, Z:0.27 [[ 6.93648695e-01 -7.20300355e-01 -4.34585267e-03 9.30023658e+01] [ 7.20287111e-01 6.93662302e-01 -4.36902504e-03 3.90840519e+01] [ 6.16156445e-03 -9.96931410e-05 9.99981012e-01 2.68181941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:39.11, Z:0.27 [[ 6.96191532e-01 -7.17841538e-01 -4.56904547e-03 9.30181093e+01] [ 7.17826837e-01 6.96206521e-01 -4.59492140e-03 3.91090695e+01] [ 6.47942470e-03 -8.08380841e-05 9.99979005e-01 2.68151065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.04, Y:39.13, Z:0.27 [[ 6.97383935e-01 -7.16684315e-01 -4.38632165e-03 9.30368385e+01] [ 7.16670729e-01 6.97397726e-01 -4.41328969e-03 3.91317687e+01] [ 6.22194625e-03 -6.57910056e-05 9.99980641e-01 2.68102004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:39.15, Z:0.27 [[ 6.98289908e-01 -7.15800864e-01 -4.50873694e-03 9.30555228e+01] [ 7.15786476e-01 6.98304461e-01 -4.53871700e-03 3.91539383e+01] [ 6.39728867e-03 -5.79526514e-05 9.99979535e-01 2.68180555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:39.18, Z:0.27 [[ 6.99122341e-01 -7.14987712e-01 -4.53029642e-03 9.30741626e+01] [ 7.14973155e-01 6.99137017e-01 -4.56267166e-03 3.91753571e+01] [ 6.42955210e-03 -4.91746337e-05 9.99979329e-01 2.68014001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.09, Y:39.20, Z:0.27 [[ 7.00142149e-01 -7.13989393e-01 -4.48526561e-03 9.30912191e+01] [ 7.13975093e-01 7.00156515e-01 -4.51905189e-03 3.91960940e+01] [ 6.36694305e-03 -3.83892293e-05 9.99979730e-01 2.68480533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.11, Y:39.22, Z:0.27 [[ 7.00241654e-01 -7.13892574e-01 -4.36094239e-03 9.31097959e+01] [ 7.13879043e-01 7.00255233e-01 -4.39549281e-03 3.92165990e+01] [ 6.19168241e-03 -3.52782183e-05 9.99980831e-01 2.68755437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:39.24, Z:0.27 [[ 7.00334176e-01 -7.13802485e-01 -4.24915187e-03 9.31282342e+01] [ 7.13789625e-01 7.00347065e-01 -4.28482369e-03 3.92364588e+01] [ 6.03439884e-03 -3.21920543e-05 9.99981792e-01 2.69191153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:39.26, Z:0.27 [[ 7.00354139e-01 -7.13783889e-01 -4.07916682e-03 9.31473863e+01] [ 7.13772027e-01 7.00366018e-01 -4.11520812e-03 3.92574995e+01] [ 5.79427908e-03 -2.94921300e-05 9.99983213e-01 2.69736982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.16, Y:39.28, Z:0.27 [[ 7.00981404e-01 -7.13165695e-01 -4.44550657e-03 9.31646503e+01] [ 7.13151580e-01 7.00995500e-01 -4.48698525e-03 3.92787678e+01] [ 6.31624405e-03 -2.50268162e-05 9.99980052e-01 2.68975288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.631858064 meters Centerline goodness [0,1] 0.9999336459347076 Centerline is valid? [True, True] Translation: X:93.18, Y:39.30, Z:0.27 [[ 7.01206347e-01 -7.12942577e-01 -4.74772815e-03 9.31833396e+01] [ 7.12926458e-01 7.01222419e-01 -4.79423970e-03 3.92996870e+01] [ 6.74723103e-03 -2.30297056e-05 9.99977237e-01 2.68519036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661858064 meters Centerline goodness [0,1] 0.9999557590638618 Centerline is valid? [True, True] Translation: X:93.20, Y:39.32, Z:0.27 [[ 7.01376715e-01 -7.12771771e-01 -5.20635166e-03 9.32017774e+01] [ 7.12752361e-01 7.01396038e-01 -5.26027059e-03 3.93205469e+01] [ 7.40108681e-03 -2.14081312e-05 9.99972611e-01 2.68024068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:39.34, Z:0.27 [[ 7.02345212e-01 -7.11815204e-01 -5.50630909e-03 9.32188680e+01] [ 7.11793445e-01 7.02366796e-01 -5.56561139e-03 3.93422728e+01] [ 7.82913547e-03 -1.03742076e-05 9.99969352e-01 2.67480376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721858064 meters Centerline goodness [0,1] 0.9999779822977674 Centerline is valid? [True, True] Translation: X:93.24, Y:39.36, Z:0.27 [[ 7.02628933e-01 -7.11533307e-01 -5.73887617e-03 9.32377917e+01] [ 7.11509642e-01 7.02652370e-01 -5.80319221e-03 3.93633963e+01] [ 8.16159949e-03 -5.77496924e-06 9.99966694e-01 2.67356105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751858064 meters Centerline goodness [0,1] 0.9999559218935955 Centerline is valid? [True, True] Translation: X:93.26, Y:39.38, Z:0.27 [[ 7.02851456e-01 -7.11311773e-01 -5.94915075e-03 9.32558730e+01] [ 7.11286314e-01 7.02876633e-01 -6.01819097e-03 3.93840393e+01] [ 8.46232914e-03 -1.65522087e-06 9.99964194e-01 2.67163440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.27, Y:39.40, Z:0.27 [[ 7.02434186e-01 -7.11720147e-01 -6.37544927e-03 9.32747928e+01] [ 7.11690907e-01 7.02463118e-01 -6.45137465e-03 3.94035056e+01] [ 9.07009129e-03 -5.68317736e-06 9.99958866e-01 2.67058861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:39.42, Z:0.27 [[ 7.01743140e-01 -7.12400536e-01 -6.48401864e-03 9.32945609e+01] [ 7.12370294e-01 7.01773095e-01 -6.56407361e-03 3.94235313e+01] [ 9.22655938e-03 -1.27286423e-05 9.99957434e-01 2.66978881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:39.44, Z:0.27 [[ 7.00455598e-01 -7.13660535e-01 -7.11309440e-03 9.33142021e+01] [ 7.13624176e-01 7.00491713e-01 -7.20385624e-03 3.94421774e+01] [ 1.01237716e-02 -3.00947051e-05 9.99948753e-01 2.67116413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:39.46, Z:0.27 [[ 6.99595228e-01 -7.14500748e-01 -7.42958326e-03 9.33338362e+01] [ 7.14461090e-01 6.99634676e-01 -7.52802154e-03 3.94625297e+01] [ 1.05767711e-02 -4.15802095e-05 9.99944064e-01 2.68144861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.901858064 meters Centerline goodness [0,1] 0.999978126298751 Centerline is valid? [True, True] Translation: X:93.35, Y:39.48, Z:0.27 [[ 6.98582418e-01 -7.15487739e-01 -7.73954482e-03 9.33540062e+01] [ 7.15444719e-01 6.98625287e-01 -7.84610736e-03 3.94830799e+01] [ 1.10208353e-02 -5.60638159e-05 9.99939267e-01 2.68068765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.37, Y:39.50, Z:0.27 [[ 6.96144766e-01 -7.17853556e-01 -8.29077667e-03 9.33744207e+01] [ 7.17804324e-01 6.96194127e-01 -8.40772014e-03 3.95020411e+01] [ 1.18075018e-02 -9.81649746e-05 9.99930284e-01 2.67352562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.39, Y:39.52, Z:0.27 [[ 6.94501160e-01 -7.19440945e-01 -8.53612366e-03 9.33949265e+01] [ 7.19388832e-01 6.94553605e-01 -8.66017207e-03 3.95218936e+01] [ 1.21592778e-02 -1.26292482e-04 9.99926065e-01 2.67994672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.991858064 meters Centerline goodness [0,1] 0.9999559733198318 Centerline is valid? [True, True] Translation: X:93.42, Y:39.54, Z:0.27 [[ 6.92489279e-01 -7.21379251e-01 -8.40085649e-03 9.34161120e+01] [ 7.21328869e-01 6.92540217e-01 -8.52702658e-03 3.95415668e+01] [ 1.19691510e-02 -1.54905816e-04 9.99928355e-01 2.68134139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:39.56, Z:0.27 [[ 6.90525346e-01 -7.23258802e-01 -8.45291230e-03 9.34368576e+01] [ 7.23207901e-01 6.90577056e-01 -8.58264763e-03 3.95609020e+01] [ 1.20448627e-02 -1.86677241e-04 9.99927441e-01 2.69104443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.46, Y:39.58, Z:0.27 [[ 6.86840803e-01 -7.26761011e-01 -8.25492007e-03 9.34586989e+01] [ 7.26712692e-01 6.86890366e-01 -8.38379717e-03 3.95793953e+01] [ 1.17632420e-02 -2.40621202e-04 9.99930782e-01 2.69582497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:39.60, Z:0.27 [[ 6.85100968e-01 -7.28401110e-01 -8.27571551e-03 9.34793333e+01] [ 7.28352647e-01 6.85150897e-01 -8.40659371e-03 3.95980305e+01] [ 1.17934861e-02 -2.68273813e-04 9.99930418e-01 2.69433381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:39.62, Z:0.27 [[ 6.83565519e-01 -7.29840139e-01 -8.45890979e-03 9.35002719e+01] [ 7.29789575e-01 6.83617791e-01 -8.59609804e-03 3.96180750e+01] [ 1.20564386e-02 -2.97227966e-04 9.99927274e-01 2.69565957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:39.64, Z:0.27 [[ 6.82300663e-01 -7.31021654e-01 -8.55256496e-03 9.35205238e+01] [ 7.30970005e-01 6.82354189e-01 -8.69552666e-03 3.96382114e+01] [ 1.21924968e-02 -3.18704850e-04 9.99925618e-01 2.69933668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:39.66, Z:0.27 [[ 6.80701921e-01 -7.32507147e-01 -8.84160565e-03 9.35410292e+01] [ 7.32452016e-01 6.80759248e-01 -8.99387298e-03 3.96586363e+01] [ 1.26070811e-02 -3.53905267e-04 9.99920465e-01 2.70153649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:39.68, Z:0.27 [[ 6.80557611e-01 -7.32638331e-01 -9.07822077e-03 9.35606192e+01] [ 7.32580156e-01 6.80618060e-01 -9.23961866e-03 3.96785787e+01] [ 1.29480998e-02 -3.62431592e-04 9.99916104e-01 2.70196495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.231858064 meters Centerline goodness [0,1] 0.9999558898127523 Centerline is valid? [True, True] Translation: X:93.58, Y:39.70, Z:0.27 [[ 6.80723613e-01 -7.32486170e-01 -8.90925189e-03 9.35798413e+01] [ 7.32430068e-01 6.80781822e-01 -9.07227193e-03 3.96996379e+01] [ 1.27105704e-02 -3.49694243e-04 9.99919156e-01 2.70534293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.261858064 meters Centerline goodness [0,1] 0.9999338566011112 Centerline is valid? [True, True] Translation: X:93.60, Y:39.72, Z:0.27 [[ 6.81821558e-01 -7.31467897e-01 -8.60688425e-03 9.35981558e+01] [ 7.31415430e-01 6.81875806e-01 -8.76664682e-03 3.97206035e+01] [ 1.22813468e-02 -3.17919154e-04 9.99924531e-01 2.70585687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.291858064 meters Centerline goodness [0,1] 0.9999559150924681 Centerline is valid? [True, True] Translation: X:93.62, Y:39.74, Z:0.27 [[ 6.82467539e-01 -7.30866272e-01 -8.51771836e-03 9.36172681e+01] [ 7.30814797e-01 6.82520624e-01 -8.67929561e-03 3.97423490e+01] [ 1.21569229e-02 -3.01537104e-04 9.99926056e-01 2.70788773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:39.76, Z:0.27 [[ 6.82973049e-01 -7.30393438e-01 -8.55803149e-03 9.36367631e+01] [ 7.30341386e-01 6.83026604e-01 -8.72461430e-03 3.97637636e+01] [ 1.22177642e-02 -2.91608148e-04 9.99925318e-01 2.70669969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:39.78, Z:0.27 [[ 6.84136246e-01 -7.29305221e-01 -8.45524541e-03 9.36553096e+01] [ 7.29254302e-01 6.84188441e-01 -8.62205494e-03 3.97848520e+01] [ 1.20730909e-02 -2.67363789e-04 9.99927082e-01 2.70920585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:39.81, Z:0.27 [[ 6.84450542e-01 -7.29014154e-01 -8.11285974e-03 9.36752217e+01] [ 7.28967219e-01 6.84498576e-01 -8.27609132e-03 3.98059581e+01] [ 1.15866287e-02 -2.49433611e-04 9.99932842e-01 2.71476903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:39.83, Z:0.27 [[ 6.84654088e-01 -7.28826187e-01 -7.82105253e-03 9.36946045e+01] [ 7.28782513e-01 6.84698717e-01 -7.98215024e-03 3.98269685e+01] [ 1.11726648e-02 -2.34834531e-04 9.99937556e-01 2.71825074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.441858064 meters Centerline goodness [0,1] 0.9999780055426033 Centerline is valid? [True, True] Translation: X:93.71, Y:39.85, Z:0.27 [[ 6.85701350e-01 -7.27845777e-01 -7.36091046e-03 9.37122133e+01] [ 7.27806997e-01 6.85740828e-01 -7.51606339e-03 3.98497505e+01] [ 1.05182118e-02 -2.03547330e-04 9.99944661e-01 2.72676060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:39.87, Z:0.27 [[ 6.86357510e-01 -7.27228072e-01 -7.25946093e-03 9.37313099e+01] [ 7.27190298e-01 6.86395874e-01 -7.41448489e-03 3.98696943e+01] [ 1.03748856e-02 -1.90022173e-04 9.99946161e-01 2.72476177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:39.89, Z:0.27 [[ 6.86972766e-01 -7.26650956e-01 -6.84157132e-03 9.37488589e+01] [ 7.26617352e-01 6.87006812e-01 -6.99029594e-03 3.98930568e+01] [ 9.77971133e-03 -1.69061498e-04 9.99952163e-01 2.73577594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:39.92, Z:0.27 [[ 6.88644202e-01 -7.25073641e-01 -6.11381384e-03 9.37658913e+01] [ 7.25046729e-01 6.88671328e-01 -6.24844827e-03 3.99154470e+01] [ 8.74099344e-03 -1.29843055e-04 9.99961788e-01 2.74072203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:39.94, Z:0.27 [[ 6.89765121e-01 -7.24009270e-01 -5.88686280e-03 9.37852993e+01] [ 7.23984268e-01 6.89790232e-01 -6.01788834e-03 3.99375937e+01] [ 8.41770741e-03 -1.11066578e-04 9.99964564e-01 2.74295782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.591858064 meters Centerline goodness [0,1] 0.9999563213872328 Centerline is valid? [True, True] Translation: X:93.80, Y:39.96, Z:0.27 [[ 6.90505819e-01 -7.23306885e-01 -5.37246412e-03 9.38039762e+01] [ 7.23286024e-01 6.90526713e-01 -5.49414606e-03 3.99600595e+01] [ 7.68378367e-03 -9.20883865e-05 9.99970475e-01 2.74927408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.621858064 meters Centerline goodness [0,1] 0.9998471515601458 Centerline is valid? [True, True] Translation: X:93.82, Y:39.98, Z:0.28 [[ 6.91169205e-01 -7.22673001e-01 -5.37250710e-03 9.38229723e+01] [ 7.22652100e-01 6.91190080e-01 -5.49688802e-03 3.99822008e+01] [ 7.68587617e-03 -8.31738109e-05 9.99970460e-01 2.75087555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.651858064 meters Centerline goodness [0,1] 0.9999130567087617 Centerline is valid? [True, True] Translation: X:93.84, Y:40.01, Z:0.27 [[ 6.92109042e-01 -7.21770447e-01 -5.70046101e-03 9.38405287e+01] [ 7.21746862e-01 6.92132513e-01 -5.83536755e-03 4.00054340e+01] [ 8.15727025e-03 -7.55791925e-05 9.99966726e-01 2.74115954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:40.03, Z:0.27 [[ 6.92116658e-01 -7.21757648e-01 -6.35841717e-03 9.38589424e+01] [ 7.21728271e-01 6.92145860e-01 -6.51249262e-03 4.00262974e+01] [ 9.10139348e-03 -8.16448013e-05 9.99958578e-01 2.73666002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:40.05, Z:0.27 [[ 6.91648206e-01 -7.22207284e-01 -6.27675474e-03 9.38767237e+01] [ 7.22178652e-01 6.91676681e-01 -6.43145067e-03 4.00472416e+01] [ 8.98632541e-03 -8.46369574e-05 9.99959619e-01 2.73585070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:40.07, Z:0.27 [[ 6.91067223e-01 -7.22763714e-01 -6.22150510e-03 9.38962715e+01] [ 7.22735580e-01 6.91095222e-01 -6.37775663e-03 4.00679642e+01] [ 8.90926352e-03 -8.90445319e-05 9.99960308e-01 2.73993624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:40.09, Z:0.27 [[ 6.90300739e-01 -7.23498261e-01 -5.92926117e-03 9.39155365e+01] [ 7.23472708e-01 6.90326197e-01 -6.08142860e-03 4.00883668e+01] [ 8.49302733e-03 -9.16439783e-05 9.99963929e-01 2.74665176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:40.11, Z:0.28 [[ 6.89481404e-01 -7.24280078e-01 -5.81049115e-03 9.39353334e+01] [ 7.24255541e-01 6.89505880e-01 -5.96260639e-03 4.01098867e+01] [ 8.32496484e-03 -9.71741889e-05 9.99965342e-01 2.75178199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.95, Y:40.13, Z:0.28 [[ 6.88402586e-01 -7.25308891e-01 -5.37509166e-03 9.39538813e+01] [ 7.25287910e-01 6.88423563e-01 -5.51776302e-03 4.01301061e+01] [ 7.70242233e-03 -1.00046661e-04 9.99970331e-01 2.75252163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:40.15, Z:0.28 [[ 6.87741216e-01 -7.25935712e-01 -5.41877062e-03 9.39730403e+01] [ 7.25914390e-01 6.87762555e-01 -5.56480044e-03 4.01519504e+01] [ 7.76651489e-03 -1.06420947e-04 9.99969835e-01 2.75249632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:40.17, Z:0.27 [[ 6.86986868e-01 -7.26649439e-01 -5.44400089e-03 9.39923152e+01] [ 7.26627919e-01 6.87008428e-01 -5.59342137e-03 4.01729041e+01] [ 7.80453100e-03 -1.13156015e-04 9.99969538e-01 2.74767528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921858064 meters Centerline goodness [0,1] 0.9998912641628428 Centerline is valid? [True, True] Translation: X:94.01, Y:40.19, Z:0.27 [[ 6.86382128e-01 -7.27218568e-01 -5.72080940e-03 9.40121717e+01] [ 7.27194801e-01 6.86405958e-01 -5.88075436e-03 4.01937497e+01] [ 8.20339142e-03 -1.23698158e-04 9.99966344e-01 2.74362216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.03, Y:40.21, Z:0.27 [[ 6.85398187e-01 -7.28145428e-01 -5.79327657e-03 9.40323457e+01] [ 7.28121063e-01 6.85422657e-01 -5.95819728e-03 4.02149349e+01] [ 8.30927712e-03 -1.34469082e-04 9.99965468e-01 2.74203050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:40.24, Z:0.27 [[ 6.85173279e-01 -7.28358151e-01 -5.65529159e-03 9.40517872e+01] [ 7.28334915e-01 6.85196605e-01 -5.81935720e-03 4.02353649e+01] [ 8.11356285e-03 -1.31678265e-04 9.99967076e-01 2.74491704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:40.26, Z:0.27 [[ 6.85387175e-01 -7.28157276e-01 -5.60377595e-03 9.40705185e+01] [ 7.28134436e-01 6.85410071e-01 -5.76866830e-03 4.02554571e+01] [ 8.04138227e-03 -1.26530969e-04 9.99967660e-01 2.74579447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:40.28, Z:0.27 [[ 6.86540660e-01 -7.27071437e-01 -5.38968181e-03 9.40890924e+01] [ 7.27050258e-01 6.86561807e-01 -5.55048101e-03 4.02780968e+01] [ 7.73594588e-03 -1.07938658e-04 9.99970071e-01 2.74910104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:40.30, Z:0.28 [[ 6.87285556e-01 -7.26368558e-01 -5.22328528e-03 9.41081382e+01] [ 7.26348627e-01 6.87305397e-01 -5.38173424e-03 4.02998216e+01] [ 7.49911470e-03 -9.51378850e-05 9.99971877e-01 2.75193416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.101858064 meters Centerline goodness [0,1] 0.9999351323300467 Centerline is valid? [True, True] Translation: X:94.13, Y:40.32, Z:0.27 [[ 6.89808758e-01 -7.23969880e-01 -5.61161777e-03 9.41257905e+01] [ 7.23946780e-01 6.89831580e-01 -5.78372785e-03 4.03216694e+01] [ 8.05831590e-03 -7.28464865e-05 9.99967529e-01 2.74689437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:40.34, Z:0.27 [[ 6.91084873e-01 -7.22749569e-01 -5.89571250e-03 9.41454891e+01] [ 7.22724015e-01 6.91110018e-01 -6.07799109e-03 4.03434834e+01] [ 8.46745141e-03 -6.05653112e-05 9.99964149e-01 2.74505406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.16, Y:40.36, Z:0.27 [[ 6.90883969e-01 -7.22941628e-01 -5.89436441e-03 9.41646404e+01] [ 7.22916069e-01 6.90909110e-01 -6.07929833e-03 4.03633323e+01] [ 8.46744791e-03 -6.10409888e-05 9.99964149e-01 2.74599356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.191858064 meters Centerline goodness [0,1] 0.9999351281219592 Centerline is valid? [True, True] Translation: X:94.18, Y:40.38, Z:0.27 [[ 6.91738159e-01 -7.22125336e-01 -5.77225271e-03 9.41833290e+01] [ 7.22100770e-01 6.91762240e-01 -5.95663266e-03 4.03836748e+01] [ 8.29446183e-03 -4.77180135e-05 9.99965599e-01 2.74577591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221858064 meters Centerline goodness [0,1] 0.9997619871905834 Centerline is valid? [True, True] Translation: X:94.20, Y:40.41, Z:0.27 [[ 6.93156776e-01 -7.20766424e-01 -5.42630513e-03 9.42028107e+01] [ 7.20744651e-01 6.93178015e-01 -5.60245279e-03 4.04054160e+01] [ 7.79945528e-03 -2.76022811e-05 9.99969583e-01 2.74634303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251858064 meters Centerline goodness [0,1] 0.9999783183730108 Centerline is valid? [True, True] Translation: X:94.22, Y:40.43, Z:0.27 [[ 6.93581297e-01 -7.20356369e-01 -5.62913152e-03 9.42215409e+01] [ 7.20332905e-01 6.93604139e-01 -5.81413513e-03 4.04250074e+01] [ 8.09263819e-03 -2.22732735e-05 9.99967254e-01 2.74525576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281858064 meters Centerline goodness [0,1] 0.9998044710943101 Centerline is valid? [True, True] Translation: X:94.24, Y:40.44, Z:0.27 [[ 6.93980867e-01 -7.19970917e-01 -5.69514381e-03 9.42407044e+01] [ 7.19946865e-01 6.94004235e-01 -5.88498618e-03 4.04449598e+01] [ 8.18947282e-03 -1.61331212e-05 9.99966466e-01 2.74720475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:40.47, Z:0.27 [[ 6.95098907e-01 -7.18892060e-01 -5.63166388e-03 9.42606993e+01] [ 7.18868480e-01 6.95121720e-01 -5.82261427e-03 4.04650974e+01] [ 8.10052305e-03 -1.13284004e-06 9.99967190e-01 2.74528881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.341858064 meters Centerline goodness [0,1] 0.9999782305816789 Centerline is valid? [True, True] Translation: X:94.28, Y:40.48, Z:0.27 [[ 6.95579321e-01 -7.18427212e-01 -5.63459870e-03 9.42801061e+01] [ 7.18403566e-01 6.95602142e-01 -5.82891491e-03 4.04848192e+01] [ 8.10709002e-03 6.55688085e-06 9.99967137e-01 2.74706878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.371858064 meters Centerline goodness [0,1] 0.999913307325531 Centerline is valid? [True, True] Translation: X:94.30, Y:40.50, Z:0.27 [[ 6.96403174e-01 -7.17628304e-01 -5.67773110e-03 9.42993777e+01] [ 7.17604247e-01 6.96426319e-01 -5.87601155e-03 4.05044860e+01] [ 8.17091357e-03 1.77091385e-05 9.99966617e-01 2.74614682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.401858064 meters Centerline goodness [0,1] 0.9999564459930314 Centerline is valid? [True, True] Translation: X:94.32, Y:40.52, Z:0.28 [[ 6.96777863e-01 -7.17267543e-01 -5.28033490e-03 9.43193130e+01] [ 7.17246707e-01 6.96797870e-01 -5.46715185e-03 4.05246662e+01] [ 7.60073668e-03 2.20875663e-05 9.99971114e-01 2.75569456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.431858064 meters Centerline goodness [0,1] 0.9999782684283728 Centerline is valid? [True, True] Translation: X:94.34, Y:40.54, Z:0.28 [[ 6.97373749e-01 -7.16688777e-01 -5.20114868e-03 9.43388220e+01] [ 7.16668523e-01 6.97393143e-01 -5.38817544e-03 4.05447842e+01] [ 7.48889029e-03 3.00725682e-05 9.99971957e-01 2.75946233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.461858064 meters Centerline goodness [0,1] 0.9998040581729514 Centerline is valid? [True, True] Translation: X:94.36, Y:40.56, Z:0.28 [[ 6.98629981e-01 -7.15464043e-01 -5.22991727e-03 9.43577788e+01] [ 7.15443515e-01 6.98649555e-01 -5.41988824e-03 4.05645657e+01] [ 7.53161453e-03 4.47860237e-05 9.99971636e-01 2.75499735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.491858064 meters Centerline goodness [0,1] 0.9999348873551244 Centerline is valid? [True, True] Translation: X:94.38, Y:40.58, Z:0.28 [[ 6.98923453e-01 -7.15173930e-01 -5.67945463e-03 9.43777918e+01] [ 7.15149693e-01 6.98946527e-01 -5.88811576e-03 4.05849492e+01] [ 8.18066198e-03 5.36819648e-05 9.99966536e-01 2.75235540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.521858064 meters Centerline goodness [0,1] 0.9999782258415713 Centerline is valid? [True, True] Translation: X:94.40, Y:40.60, Z:0.28 [[ 6.99310999e-01 -7.14794104e-01 -5.78926994e-03 9.43995019e+01] [ 7.14768879e-01 6.99334960e-01 -6.00536840e-03 4.06030518e+01] [ 8.34124078e-03 6.16301890e-05 9.99965209e-01 2.76256704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.551858064 meters Centerline goodness [0,1] 0.9998912192150379 Centerline is valid? [True, True] Translation: X:94.42, Y:40.62, Z:0.28 [[ 6.99223904e-01 -7.14880708e-01 -5.61295341e-03 9.44192721e+01] [ 7.14856982e-01 6.99246429e-01 -5.82465740e-03 4.06215727e+01] [ 8.08877284e-03 6.02807518e-05 9.99967284e-01 2.76655174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:40.64, Z:0.28 [[ 6.98585519e-01 -7.15505692e-01 -5.46591877e-03 9.44410697e+01] [ 7.15483193e-01 6.98606900e-01 -5.67449245e-03 4.06401593e+01] [ 7.87866022e-03 5.33452401e-05 9.99968961e-01 2.77823621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.46, Y:40.66, Z:0.28 [[ 6.97523661e-01 -7.16541693e-01 -5.36137913e-03 9.44632100e+01] [ 7.16520058e-01 6.97544264e-01 -5.56825805e-03 4.06580209e+01] [ 7.72968831e-03 4.24560568e-05 9.99970125e-01 2.77867547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641858064 meters Centerline goodness [0,1] 0.9999562545112535 Centerline is valid? [True, True] Translation: X:94.48, Y:40.68, Z:0.28 [[ 6.96915794e-01 -7.17131200e-01 -5.58729751e-03 9.44845544e+01] [ 7.17107701e-01 6.96938190e-01 -5.80555959e-03 4.06764961e+01] [ 8.05734893e-03 3.92920918e-05 9.99967538e-01 2.78433206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.51, Y:40.69, Z:0.28 [[ 6.96117842e-01 -7.17904400e-01 -5.76390469e-03 9.45050165e+01] [ 7.17879397e-01 6.96141704e-01 -5.99159434e-03 4.06943524e+01] [ 8.31388637e-03 3.30672969e-05 9.99965439e-01 2.78656283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:40.71, Z:0.28 [[ 6.95144353e-01 -7.18843057e-01 -6.24410551e-03 9.45273642e+01] [ 7.18813734e-01 6.95172396e-01 -6.49283544e-03 4.07101983e+01] [ 9.00805946e-03 2.51090963e-05 9.99959426e-01 2.78427008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.55, Y:40.73, Z:0.28 [[ 6.94468415e-01 -7.19492445e-01 -6.65150013e-03 9.45486952e+01] [ 7.19459168e-01 6.94500268e-01 -6.91977195e-03 4.07282512e+01] [ 9.59819225e-03 2.00803069e-05 9.99953936e-01 2.78833902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.761858064 meters Centerline goodness [0,1] 0.9999339657942814 Centerline is valid? [True, True] Translation: X:94.57, Y:40.75, Z:0.28 [[ 6.93755351e-01 -7.20181153e-01 -6.52830951e-03 9.45698003e+01] [ 7.20149093e-01 6.93786067e-01 -6.79540235e-03 4.07466173e+01] [ 9.42317088e-03 1.29905758e-05 9.99955601e-01 2.78642007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.791858064 meters Centerline goodness [0,1] 0.9998678355874708 Centerline is valid? [True, True] Translation: X:94.59, Y:40.76, Z:0.28 [[ 6.92832210e-01 -7.21067122e-01 -6.76276307e-03 9.45916642e+01] [ 7.21032731e-01 6.92865215e-01 -7.04231679e-03 4.07629547e+01] [ 9.76366638e-03 2.97038096e-06 9.99952334e-01 2.78057279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.821858064 meters Centerline goodness [0,1] 0.9999339221603049 Centerline is valid? [True, True] Translation: X:94.61, Y:40.78, Z:0.28 [[ 6.92406383e-01 -7.21477500e-01 -6.60437399e-03 9.46126564e+01] [ 7.21444690e-01 6.92437880e-01 -6.88059698e-03 4.07817987e+01] [ 9.53731463e-03 -5.21276629e-07 9.99954519e-01 2.78166684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.851858064 meters Centerline goodness [0,1] 0.99986753212346 Centerline is valid? [True, True] Translation: X:94.63, Y:40.80, Z:0.28 [[ 6.91972167e-01 -7.21891923e-01 -6.82428174e-03 9.46333751e+01] [ 7.21856872e-01 6.92005817e-01 -7.11373397e-03 4.08005351e+01] [ 9.85778976e-03 -3.64875350e-06 9.99951411e-01 2.77808447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.881858064 meters Centerline goodness [0,1] 0.9999779410142722 Centerline is valid? [True, True] Translation: X:94.65, Y:40.82, Z:0.28 [[ 6.91713547e-01 -7.22139662e-01 -6.83207701e-03 9.46543495e+01] [ 7.22104503e-01 6.91747287e-01 -7.12587606e-03 4.08196205e+01] [ 9.87194846e-03 -4.40856369e-06 9.99951271e-01 2.77732510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.911858064 meters Centerline goodness [0,1] 0.999977892246811 Centerline is valid? [True, True] Translation: X:94.68, Y:40.84, Z:0.28 [[ 6.91796046e-01 -7.22057632e-01 -7.14183890e-03 9.46764409e+01] [ 7.22019165e-01 6.91832910e-01 -7.45322141e-03 4.08369149e+01] [ 1.03226146e-02 -4.35450797e-07 9.99946720e-01 2.77609986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941858064 meters Centerline goodness [0,1] 0.9998894319011079 Centerline is valid? [True, True] Translation: X:94.70, Y:40.86, Z:0.28 [[ 6.91766266e-01 -7.22085357e-01 -7.22288148e-03 9.46962454e+01] [ 7.22045978e-01 6.91803973e-01 -7.54114437e-03 4.08553260e+01] [ 1.04421680e-02 1.45676277e-06 9.99945479e-01 2.76676264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:40.87, Z:0.28 [[ 6.91610468e-01 -7.22234499e-01 -7.23102741e-03 9.47162145e+01] [ 7.22195000e-01 6.91648269e-01 -7.55344629e-03 4.08746900e+01] [ 1.04566871e-02 1.83068569e-06 9.99945327e-01 2.76726747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001858064 meters Centerline goodness [0,1] 0.9999332844085663 Centerline is valid? [True, True] Translation: X:94.74, Y:40.89, Z:0.28 [[ 6.91885497e-01 -7.21969352e-01 -7.39688813e-03 9.47375726e+01] [ 7.21927957e-01 6.91925036e-01 -7.73104771e-03 4.08936339e+01] [ 1.06996716e-02 8.97944639e-06 9.99942757e-01 2.76377640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031858064 meters Centerline goodness [0,1] 0.999977752564017 Centerline is valid? [True, True] Translation: X:94.76, Y:40.91, Z:0.28 [[ 6.91711572e-01 -7.22139675e-01 -7.02782224e-03 9.47585524e+01] [ 7.22102276e-01 6.91747273e-01 -7.34933082e-03 4.09128208e+01] [ 1.01687202e-02 8.81074171e-06 9.99948297e-01 2.76902350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:40.93, Z:0.28 [[ 6.91547393e-01 -7.22302350e-01 -6.44344634e-03 9.47793447e+01] [ 7.22270886e-01 6.91577411e-01 -6.74185535e-03 4.09316660e+01] [ 9.32579990e-03 8.39880069e-06 9.99956514e-01 2.78068532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.091858064 meters Centerline goodness [0,1] 0.9999776371402375 Centerline is valid? [True, True] Translation: X:94.80, Y:40.95, Z:0.28 [[ 6.91129096e-01 -7.22712340e-01 -5.23899195e-03 9.48002277e+01] [ 7.22691530e-01 6.91148952e-01 -5.48441159e-03 4.09500904e+01] [ 7.58457573e-03 4.26131521e-06 9.99971237e-01 2.79991876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.121858064 meters Centerline goodness [0,1] 0.9999776959964314 Centerline is valid? [True, True] Translation: X:94.82, Y:40.97, Z:0.28 [[ 6.90970419e-01 -7.22865936e-01 -4.97179218e-03 9.48203053e+01] [ 7.22847178e-01 6.90988306e-01 -5.20750132e-03 4.09699468e+01] [ 7.19977557e-03 4.38342132e-06 9.99974081e-01 2.80009703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.151858064 meters Centerline goodness [0,1] 0.9998654497342633 Centerline is valid? [True, True] Translation: X:94.84, Y:40.99, Z:0.28 [[ 6.90891814e-01 -7.22941898e-01 -4.84907108e-03 9.48402947e+01] [ 7.22924038e-01 6.90908830e-01 -5.08172922e-03 4.09896760e+01] [ 7.02406100e-03 5.41507555e-06 9.99975331e-01 2.79887331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:41.01, Z:0.28 [[ 6.90812299e-01 -7.23016436e-01 -5.05965476e-03 9.48610742e+01] [ 7.22996971e-01 6.90830828e-01 -5.30539903e-03 4.10081005e+01] [ 7.33125618e-03 6.91983816e-06 9.99973126e-01 2.80512425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:41.03, Z:0.28 [[ 6.90696391e-01 -7.23127989e-01 -4.94031388e-03 9.48804648e+01] [ 7.23109419e-01 6.90714059e-01 -5.18240715e-03 4.10268751e+01] [ 7.15988791e-03 7.08241643e-06 9.99974368e-01 2.81057312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241858064 meters Centerline goodness [0,1] 0.9999775875207315 Centerline is valid? [True, True] Translation: X:94.90, Y:41.05, Z:0.28 [[ 6.90346286e-01 -7.23463767e-01 -4.70985283e-03 9.49004347e+01] [ 7.23446883e-01 6.90362352e-01 -4.94274827e-03 4.10465625e+01] [ 6.82740436e-03 4.87956630e-06 9.99976693e-01 2.82030380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:41.06, Z:0.28 [[ 6.89686045e-01 -7.24089603e-01 -5.23511426e-03 9.49200845e+01] [ 7.24068738e-01 6.89705913e-01 -5.49683623e-03 4.10645488e+01] [ 7.59089123e-03 5.08665664e-07 9.99971189e-01 2.82074161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.301858064 meters Centerline goodness [0,1] 0.9999775321290555 Centerline is valid? [True, True] Translation: X:94.94, Y:41.08, Z:0.28 [[ 6.89142496e-01 -7.24605012e-01 -5.49514445e-03 9.49401175e+01] [ 7.24582016e-01 6.89164405e-01 -5.77283958e-03 4.10843877e+01] [ 7.97008645e-03 -3.37376391e-06 9.99968238e-01 2.81871252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.331858064 meters Centerline goodness [0,1] 0.9999549092548754 Centerline is valid? [True, True] Translation: X:94.96, Y:41.10, Z:0.28 [[ 6.88484515e-01 -7.25226459e-01 -5.97131420e-03 9.49602130e+01] [ 7.25199297e-01 6.88510409e-01 -6.27668848e-03 4.11038113e+01] [ 8.66333254e-03 -8.99003294e-06 9.99962473e-01 2.81648452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361858064 meters Centerline goodness [0,1] 0.9999322370798699 Centerline is valid? [True, True] Translation: X:94.98, Y:41.12, Z:0.28 [[ 6.87070637e-01 -7.26560724e-01 -6.59196843e-03 9.49810117e+01] [ 7.26527657e-01 6.87102259e-01 -6.93175235e-03 4.11218236e+01] [ 9.56569540e-03 -2.66438744e-05 9.99954247e-01 2.81367769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:41.14, Z:0.28 [[ 6.86241516e-01 -7.27341547e-01 -6.84515960e-03 9.50005393e+01] [ 7.27305897e-01 6.86275653e-01 -7.20135517e-03 4.11417407e+01] [ 9.93551118e-03 -3.66560595e-05 9.99950641e-01 2.81635085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:41.16, Z:0.28 [[ 6.85303986e-01 -7.28223810e-01 -6.96635619e-03 9.50195385e+01] [ 7.28186901e-01 6.85339391e-01 -7.33187685e-03 4.11609774e+01] [ 1.01135656e-02 -4.82449025e-05 9.99948855e-01 2.81234521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:41.18, Z:0.28 [[ 6.84676252e-01 -7.28813070e-01 -7.06679893e-03 9.50388512e+01] [ 7.28775096e-01 6.84712718e-01 -7.43998854e-03 4.11803319e+01] [ 1.02610880e-02 -5.61236056e-05 9.99947352e-01 2.80698401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.06, Y:41.20, Z:0.28 [[ 6.83552623e-01 -7.29868303e-01 -6.93337521e-03 9.50582596e+01] [ 7.29831768e-01 6.83587782e-01 -7.30302768e-03 4.12005043e+01] [ 1.00698190e-02 -6.81937619e-05 9.99949296e-01 2.81263831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.511858064 meters Centerline goodness [0,1] 0.9999549529258075 Centerline is valid? [True, True] Translation: X:95.08, Y:41.22, Z:0.28 [[ 6.83052148e-01 -7.30338885e-01 -6.69892300e-03 9.50777065e+01] [ 7.30304764e-01 6.83084993e-01 -7.06001224e-03 4.12210148e+01] [ 9.73213524e-03 -6.98988628e-05 9.99952639e-01 2.81263062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:41.24, Z:0.28 [[ 6.83063081e-01 -7.30328212e-01 -6.74760875e-03 9.50962883e+01] [ 7.30293564e-01 6.83096405e-01 -7.11416663e-03 4.12404249e+01] [ 9.80494387e-03 -6.83106680e-05 9.99951928e-01 2.80680262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:41.26, Z:0.28 [[ 6.83227784e-01 -7.30171008e-01 -7.07770313e-03 9.51148673e+01] [ 7.30132843e-01 6.83264440e-01 -7.46576312e-03 4.12620076e+01] [ 1.02872266e-02 -6.68467174e-05 9.99947083e-01 2.80692864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601858064 meters Centerline goodness [0,1] 0.9999323486300598 Centerline is valid? [True, True] Translation: X:95.13, Y:41.28, Z:0.28 [[ 6.83475131e-01 -7.29938141e-01 -7.21497248e-03 9.51336823e+01] [ 7.29898422e-01 6.83513209e-01 -7.61488448e-03 4.12834558e+01] [ 1.04899236e-02 -6.16128605e-05 9.99944977e-01 2.80929070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.631858064 meters Centerline goodness [0,1] 0.9999097045080024 Centerline is valid? [True, True] Translation: X:95.15, Y:41.30, Z:0.28 [[ 6.83905203e-01 -7.29534760e-01 -7.25995363e-03 9.51514666e+01] [ 7.29494490e-01 6.83943734e-01 -7.66537091e-03 4.13032678e+01] [ 1.05575543e-02 -5.37091252e-05 9.99944266e-01 2.79953549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:41.32, Z:0.28 [[ 6.84315804e-01 -7.29152118e-01 -7.00501236e-03 9.51698480e+01] [ 7.29114571e-01 6.84351655e-01 -7.39961789e-03 4.13241562e+01] [ 1.01893389e-02 -4.37811196e-05 9.99948086e-01 2.79800787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.19, Y:41.35, Z:0.28 [[ 6.84707839e-01 -7.28780582e-01 -7.35112184e-03 9.51879361e+01] [ 7.28739165e-01 6.84747298e-01 -7.76969948e-03 4.13451241e+01] [ 1.06960669e-02 -3.70762487e-05 9.99942795e-01 2.80707382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:41.36, Z:0.28 [[ 6.84736432e-01 -7.28749871e-01 -7.72289562e-03 9.52061235e+01] [ 7.28704119e-01 6.84779982e-01 -8.16599270e-03 4.13647536e+01] [ 1.12394505e-02 -3.61531397e-05 9.99936835e-01 2.80684091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751858064 meters Centerline goodness [0,1] 0.9999548797545459 Centerline is valid? [True, True] Translation: X:95.22, Y:41.38, Z:0.28 [[ 6.84645152e-01 -7.28833215e-01 -7.94743123e-03 9.52248294e+01] [ 7.28784737e-01 6.84691276e-01 -8.40610906e-03 4.13847191e+01] [ 1.15681883e-02 -3.67647684e-05 9.99933086e-01 2.79886073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.24, Y:41.41, Z:0.28 [[ 6.83573782e-01 -7.29835269e-01 -8.20755484e-03 9.52429536e+01] [ 7.29783587e-01 6.83623052e-01 -8.68554925e-03 4.14056661e+01] [ 1.19498939e-02 -5.25250662e-05 9.99928596e-01 2.81635784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:41.43, Z:0.28 [[ 6.82436706e-01 -7.30900236e-01 -8.06150673e-03 9.52621308e+01] [ 7.30850395e-01 6.82484315e-01 -8.53577312e-03 4.14265187e+01] [ 1.17406505e-02 -6.66304923e-05 9.99931074e-01 2.81979215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:41.45, Z:0.28 [[ 6.81096617e-01 -7.32145790e-01 -8.36305081e-03 9.52817817e+01] [ 7.32092188e-01 6.81147953e-01 -8.85965343e-03 4.14477512e+01] [ 1.21830329e-02 -8.82441909e-05 9.99925780e-01 2.81876954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:41.47, Z:0.28 [[ 6.78318236e-01 -7.34721181e-01 -8.31607302e-03 9.53012154e+01] [ 7.34668344e-01 6.78369198e-01 -8.81220994e-03 4.14673800e+01] [ 1.21158851e-02 -1.32072898e-04 9.99926591e-01 2.82698675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.32, Y:41.49, Z:0.28 [[ 6.76562932e-01 -7.36335887e-01 -8.48883326e-03 9.53216070e+01] [ 7.36280914e-01 6.76616165e-01 -8.99891367e-03 4.14882898e+01] [ 1.23699049e-02 -1.61834495e-04 9.99923477e-01 2.83629339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:41.51, Z:0.28 [[ 6.74650426e-01 -7.38089598e-01 -8.39925256e-03 9.53416565e+01] [ 7.38035862e-01 6.74702682e-01 -8.90831294e-03 4.15087336e+01] [ 1.22421313e-02 -1.88952485e-04 9.99925044e-01 2.84284461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:41.53, Z:0.28 [[ 6.71424742e-01 -7.41024041e-01 -8.49631794e-03 9.53608487e+01] [ 7.40969256e-01 6.71478452e-01 -9.01385999e-03 4.15284351e+01] [ 1.23845814e-02 -2.43381771e-04 9.99923279e-01 2.84531920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.991858064 meters Centerline goodness [0,1] 0.9999549721953306 Centerline is valid? [True, True] Translation: X:95.38, Y:41.55, Z:0.28 [[ 6.70030766e-01 -7.42284811e-01 -8.48713903e-03 9.53801755e+01] [ 7.42230200e-01 6.70084465e-01 -9.00780847e-03 4.15497208e+01] [ 1.23734594e-02 -2.63902089e-04 9.99923411e-01 2.84252383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:41.57, Z:0.28 [[ 6.69191972e-01 -7.43039918e-01 -8.58987781e-03 9.53990557e+01] [ 7.42984009e-01 6.69247042e-01 -9.11920831e-03 4.15700828e+01] [ 1.25246861e-02 -2.79640863e-04 9.99921524e-01 2.83982398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:41.59, Z:0.28 [[ 6.68554663e-01 -7.43610582e-01 -8.82979770e-03 9.54174310e+01] [ 7.43551508e-01 6.68612903e-01 -9.37762591e-03 4.15928082e+01] [ 1.28770185e-02 -2.95953875e-04 9.99917044e-01 2.83258291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:41.61, Z:0.28 [[ 6.68352961e-01 -7.43791905e-01 -8.82733833e-03 9.54362948e+01] [ 7.43732816e-01 6.68411187e-01 -9.37994084e-03 4.16129605e+01] [ 1.28770158e-02 -2.96069966e-04 9.99917044e-01 2.83352148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.45, Y:41.63, Z:0.28 [[ 6.68512786e-01 -7.43650760e-01 -8.61409914e-03 9.54538874e+01] [ 7.43594443e-01 6.68568221e-01 -9.15634039e-03 4.16332915e+01] [ 1.25682324e-02 -2.84265635e-04 9.99920976e-01 2.83380580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.47, Y:41.66, Z:0.28 [[ 6.68922880e-01 -7.43281507e-01 -8.64767389e-03 9.54719637e+01] [ 7.43224671e-01 6.68978719e-01 -9.19579651e-03 4.16555177e+01] [ 1.26201753e-02 -2.75885898e-04 9.99920324e-01 2.83453581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171858064 meters Centerline goodness [0,1] 0.999977654130634 Centerline is valid? [True, True] Translation: X:95.49, Y:41.68, Z:0.28 [[ 6.70529749e-01 -7.41831638e-01 -8.69927391e-03 9.54874211e+01] [ 7.41773943e-01 6.70586132e-01 -9.25511920e-03 4.16804056e+01] [ 1.26993527e-02 -2.47061954e-04 9.99919329e-01 2.83624498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:41.70, Z:0.28 [[ 6.71633772e-01 -7.40829234e-01 -8.95112250e-03 9.55065887e+01] [ 7.40768019e-01 6.71693377e-01 -9.52630501e-03 4.17009391e+01] [ 1.30697749e-02 -2.32517108e-04 9.99914560e-01 2.82910027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.52, Y:41.73, Z:0.28 [[ 6.72900658e-01 -7.39678400e-01 -8.97602165e-03 9.55235461e+01] [ 7.39616687e-01 6.72960490e-01 -9.55698136e-03 4.17251341e+01] [ 1.31096006e-02 -2.07916354e-04 9.99914044e-01 2.84515890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.261858064 meters Centerline goodness [0,1] 0.9999555387590867 Centerline is valid? [True, True] Translation: X:95.54, Y:41.75, Z:0.28 [[ 6.74497276e-01 -7.38225837e-01 -8.71999038e-03 9.55407080e+01] [ 7.38167433e-01 6.74553618e-01 -9.28751920e-03 4.17468615e+01] [ 1.27383877e-02 -1.72406515e-04 9.99918849e-01 2.84968939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.291858064 meters Centerline goodness [0,1] 0.9998449612403101 Centerline is valid? [True, True] Translation: X:95.56, Y:41.77, Z:0.29 [[ 6.78552222e-01 -7.34509967e-01 -7.87337647e-03 9.55569081e+01] [ 7.34462061e-01 6.78597892e-01 -8.38932684e-03 4.17717253e+01] [ 1.15049009e-02 -9.00999475e-05 9.99933812e-01 2.86471666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.321858064 meters Centerline goodness [0,1] 0.9999116022099448 Centerline is valid? [True, True] Translation: X:95.57, Y:41.79, Z:0.29 [[ 6.80474491e-01 -7.32736339e-01 -7.20584821e-03 9.55747036e+01] [ 7.32696074e-01 6.80512641e-01 -7.68172087e-03 4.17942217e+01] [ 1.05323468e-02 -5.24815967e-05 9.99944532e-01 2.88032585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:41.82, Z:0.29 [[ 6.82085812e-01 -7.31242269e-01 -6.60979474e-03 9.55924848e+01] [ 7.31208286e-01 6.82117837e-01 -7.04969898e-03 4.18168298e+01] [ 9.66369677e-03 -2.46370274e-05 9.99953305e-01 2.89301512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:41.84, Z:0.29 [[ 6.85225395e-01 -7.28309991e-01 -5.54217167e-03 9.56078177e+01] [ 7.28285987e-01 6.85247807e-01 -5.91300590e-03 4.18401152e+01] [ 8.10426226e-03 1.54558382e-05 9.99967160e-01 2.90340477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:41.86, Z:0.29 [[ 6.86007966e-01 -7.27573007e-01 -5.53077642e-03 9.56258895e+01] [ 7.27549057e-01 6.86030260e-01 -5.90345961e-03 4.18615433e+01] [ 8.08947785e-03 2.59091446e-05 9.99967279e-01 2.90766344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:41.88, Z:0.29 [[ 6.86700225e-01 -7.26921215e-01 -5.32419553e-03 9.56449005e+01] [ 7.26898977e-01 6.86720864e-01 -5.68613491e-03 4.18827163e+01] [ 7.78960826e-03 3.45178364e-05 9.99969660e-01 2.91215795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.471858064 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:95.66, Y:41.90, Z:0.29 [[ 6.87299758e-01 -7.26355107e-01 -5.22517361e-03 9.56633294e+01] [ 7.26333651e-01 6.87319618e-01 -5.58297619e-03 4.19031997e+01] [ 7.64658760e-03 4.19587533e-05 9.99970764e-01 2.91392584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:41.92, Z:0.29 [[ 6.86641766e-01 -7.26979190e-01 -4.93380981e-03 9.56825551e+01] [ 7.26960059e-01 6.86659491e-01 -5.27417123e-03 4.19241155e+01] [ 7.22206006e-03 3.47835776e-05 9.99973920e-01 2.91378796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531858064 meters Centerline goodness [0,1] 0.9998465316144874 Centerline is valid? [True, True] Translation: X:95.70, Y:41.94, Z:0.29 [[ 6.86301503e-01 -7.27300376e-01 -4.94066935e-03 9.57006475e+01] [ 7.27281183e-01 6.86319286e-01 -5.28381209e-03 4.19447126e+01] [ 7.23379518e-03 3.30323312e-05 9.99973835e-01 2.90839962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:41.96, Z:0.29 [[ 6.84891818e-01 -7.28626150e-01 -5.20869593e-03 9.57203599e+01] [ 7.28604837e-01 6.84911624e-01 -5.57299491e-03 4.19646959e+01] [ 7.62812621e-03 2.18175692e-05 9.99970905e-01 2.89605765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:41.98, Z:0.29 [[ 6.83878828e-01 -7.29573393e-01 -5.69327587e-03 9.57402926e+01] [ 7.29547934e-01 6.83902525e-01 -6.09498094e-03 4.19845807e+01] [ 8.34038167e-03 1.47107787e-05 9.99965218e-01 2.89350934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:42.00, Z:0.29 [[ 6.82513480e-01 -7.30849907e-01 -5.81063500e-03 9.57601858e+01] [ 7.30823404e-01 6.82538214e-01 -6.22411725e-03 4.20041644e+01] [ 8.51487595e-03 1.49587406e-06 9.99963748e-01 2.89143634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.651858064 meters Centerline goodness [0,1] 0.9999558567108835 Centerline is valid? [True, True] Translation: X:95.78, Y:42.02, Z:0.29 [[ 6.80073138e-01 -7.33123479e-01 -5.52188356e-03 9.57811102e+01] [ 7.33099593e-01 6.80095555e-01 -5.91804946e-03 4.20235388e+01] [ 8.09406947e-03 -2.33841196e-05 9.99967242e-01 2.89562385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:42.04, Z:0.29 [[ 6.78955355e-01 -7.34159996e-01 -5.35961558e-03 9.57998549e+01] [ 7.34137507e-01 6.78976508e-01 -5.74651413e-03 4.20428351e+01] [ 7.85791386e-03 -3.30682737e-05 9.99969126e-01 2.89842238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.711858064 meters Centerline goodness [0,1] 0.9999780176298608 Centerline is valid? [True, True] Translation: X:95.82, Y:42.06, Z:0.29 [[ 6.77864604e-01 -7.35168148e-01 -5.23183999e-03 9.58184403e+01] [ 7.35146729e-01 6.77884793e-01 -5.61204178e-03 4.20634407e+01] [ 7.67237914e-03 -4.19655749e-05 9.99970566e-01 2.90027396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:42.09, Z:0.29 [[ 6.75813037e-01 -7.37050795e-01 -5.73272003e-03 9.58369855e+01] [ 7.37025117e-01 6.75837348e-01 -6.15270142e-03 4.20853743e+01] [ 8.40923977e-03 -6.70828172e-05 9.99964639e-01 2.89427136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:42.11, Z:0.29 [[ 6.74797260e-01 -7.37980076e-01 -5.83653184e-03 9.58569936e+01] [ 7.37953474e-01 6.74822496e-01 -6.26651415e-03 4.21052782e+01] [ 8.56318558e-03 -7.84623660e-05 9.99963332e-01 2.88761944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:42.13, Z:0.29 [[ 6.73712607e-01 -7.38971082e-01 -5.75004259e-03 9.58771425e+01] [ 7.38945278e-01 6.73737139e-01 -6.17613646e-03 4.21254584e+01] [ 8.43800349e-03 -8.80258220e-05 9.99964396e-01 2.89172419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.831858064 meters Centerline goodness [0,1] 0.9999779010408609 Centerline is valid? [True, True] Translation: X:95.90, Y:42.15, Z:0.29 [[ 6.72493481e-01 -7.40082755e-01 -5.48026756e-03 9.58969874e+01] [ 7.40059330e-01 6.72515804e-01 -5.88918201e-03 4.21462718e+01] [ 8.04404859e-03 -9.52866243e-05 9.99967642e-01 2.90024712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861858064 meters Centerline goodness [0,1] 0.999977941987427 Centerline is valid? [True, True] Translation: X:95.92, Y:42.17, Z:0.29 [[ 6.71686579e-01 -7.40814562e-01 -5.56094134e-03 9.59165452e+01] [ 7.40790449e-01 6.71709590e-01 -5.97799995e-03 4.21657241e+01] [ 8.16392704e-03 -1.04149901e-04 9.99966669e-01 2.90811084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:42.19, Z:0.29 [[ 6.70134490e-01 -7.42221076e-01 -5.25731217e-03 9.59352070e+01] [ 7.42199551e-01 6.70155102e-01 -5.65374987e-03 4.21877931e+01] [ 7.71954689e-03 -1.13201946e-04 9.99970197e-01 2.91223469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921858064 meters Centerline goodness [0,1] 0.9999559422843926 Centerline is valid? [True, True] Translation: X:95.95, Y:42.21, Z:0.29 [[ 6.69536338e-01 -7.42758968e-01 -5.49623684e-03 9.59542569e+01] [ 7.42735443e-01 6.69558885e-01 -5.91283163e-03 4.22080490e+01] [ 8.07186293e-03 -1.23394264e-04 9.99967414e-01 2.90148907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95185806399999 meters Centerline goodness [0,1] 0.9999779910203362 Centerline is valid? [True, True] Translation: X:95.97, Y:42.23, Z:0.29 [[ 6.69261255e-01 -7.43008414e-01 -5.27906158e-03 9.59715747e+01] [ 7.42986701e-01 6.69282064e-01 -5.68154594e-03 4.22297504e+01] [ 7.75461767e-03 -1.19833981e-04 9.99969925e-01 2.91389825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.981858064 meters Centerline goodness [0,1] 0.9999119621437218 Centerline is valid? [True, True] Translation: X:95.99, Y:42.25, Z:0.29 [[ 6.69018062e-01 -7.43227414e-01 -5.27671804e-03 9.59891716e+01] [ 7.43205702e-01 6.69038861e-01 -5.68222526e-03 4.22515436e+01] [ 7.75351501e-03 -1.20175599e-04 9.99969934e-01 2.92126575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.01, Y:42.27, Z:0.29 [[ 6.69186599e-01 -7.43075987e-01 -5.23191443e-03 9.60083151e+01] [ 7.43054619e-01 6.69207041e-01 -5.63636019e-03 4.22707462e+01] [ 7.68947789e-03 -1.15821477e-04 9.99970429e-01 2.92088501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.041858064 meters Centerline goodness [0,1] 0.9999781726109923 Centerline is valid? [True, True] Translation: X:96.03, Y:42.29, Z:0.29 [[ 6.69173810e-01 -7.43088454e-01 -5.09531435e-03 9.60270040e+01] [ 7.43068170e-01 6.69193199e-01 -5.49154324e-03 4.22921719e+01] [ 7.49045208e-03 -1.11369001e-04 9.99971940e-01 2.92311561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:42.32, Z:0.29 [[ 6.69328211e-01 -7.42949599e-01 -5.06348799e-03 9.60430338e+01] [ 7.42929542e-01 6.69347355e-01 -5.46022538e-03 4.23156027e+01] [ 7.44590455e-03 -1.07131929e-04 9.99972273e-01 2.92830583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:42.34, Z:0.29 [[ 6.69289423e-01 -7.42982666e-01 -5.33161513e-03 9.60607284e+01] [ 7.42960403e-01 6.69310650e-01 -5.75267003e-03 4.23372015e+01] [ 7.84264090e-03 -1.10977727e-04 9.99969240e-01 2.92470374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:42.36, Z:0.29 [[ 6.69401064e-01 -7.42880334e-01 -5.57009869e-03 9.60783476e+01] [ 7.42856010e-01 6.69424228e-01 -6.01253822e-03 4.23580611e+01] [ 8.19535542e-03 -1.12981813e-04 9.99966411e-01 2.92649698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.161858064 meters Centerline goodness [0,1] 0.9999130094384759 Centerline is valid? [True, True] Translation: X:96.10, Y:42.38, Z:0.29 [[ 6.69469699e-01 -7.42821222e-01 -5.19184176e-03 9.60964171e+01] [ 7.42800070e-01 6.69489822e-01 -5.60656810e-03 4.23802587e+01] [ 7.64056298e-03 -1.03072970e-04 9.99970805e-01 2.93605670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:42.40, Z:0.29 [[ 6.69343312e-01 -7.42935704e-01 -5.10583442e-03 9.61144241e+01] [ 7.42915229e-01 6.69362778e-01 -5.51668442e-03 4.24014648e+01] [ 7.51619734e-03 -1.00646328e-04 9.99971748e-01 2.94179576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.13, Y:42.42, Z:0.29 [[ 6.69830604e-01 -7.42493906e-01 -5.45544780e-03 9.61313569e+01] [ 7.42470495e-01 6.69852812e-01 -5.89692728e-03 4.24223051e+01] [ 8.03277962e-03 -1.00566666e-04 9.99967732e-01 2.94350770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:42.44, Z:0.29 [[ 6.70025752e-01 -7.42318993e-01 -5.29194835e-03 9.61494558e+01] [ 7.42296939e-01 6.70046643e-01 -5.72271395e-03 4.24433921e+01] [ 7.79393148e-03 -9.38313421e-05 9.99969622e-01 2.94496819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:42.46, Z:0.29 [[ 6.70322632e-01 -7.42050763e-01 -5.31356729e-03 9.61670973e+01] [ 7.42028502e-01 6.70343686e-01 -5.74848779e-03 4.24635058e+01] [ 7.82758603e-03 -8.94769071e-05 9.99969360e-01 2.94601790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311858064 meters Centerline goodness [0,1] 0.9999783028488359 Centerline is valid? [True, True] Translation: X:96.19, Y:42.48, Z:0.29 [[ 6.70574949e-01 -7.41819843e-01 -5.70598133e-03 9.61850867e+01] [ 7.41794146e-01 6.70599219e-01 -6.17521737e-03 4.24839377e+01] [ 8.40732541e-03 -9.17174760e-05 9.99964654e-01 2.94363163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:42.51, Z:0.29 [[ 6.71004030e-01 -7.41428178e-01 -6.15203365e-03 9.62027552e+01] [ 7.41398260e-01 6.71032226e-01 -6.66126134e-03 4.25059049e+01] [ 9.06705969e-03 -9.13738358e-05 9.99958889e-01 2.93854125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.371858064 meters Centerline goodness [0,1] 0.9999131718329426 Centerline is valid? [True, True] Translation: X:96.22, Y:42.53, Z:0.29 [[ 6.71078549e-01 -7.41359952e-01 -6.24520892e-03 9.62212521e+01] [ 7.41329083e-01 6.71107602e-01 -6.76594771e-03 4.25275976e+01] [ 9.20720985e-03 -8.92726321e-05 9.99957609e-01 2.93802954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.24, Y:42.55, Z:0.29 [[ 6.71253884e-01 -7.41201878e-01 -6.16439960e-03 9.62388342e+01] [ 7.41171771e-01 6.71282183e-01 -6.68105400e-03 4.25475792e+01] [ 9.09006140e-03 -8.41955215e-05 9.99958681e-01 2.93291415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.26, Y:42.57, Z:0.29 [[ 6.70986380e-01 -7.41443497e-01 -6.23050122e-03 9.62574831e+01] [ 7.41412722e-01 6.71015301e-01 -6.75582157e-03 4.25686379e+01] [ 9.18982161e-03 -8.63086127e-05 9.99957769e-01 2.93196940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.461858064 meters Centerline goodness [0,1] 0.9998703851720637 Centerline is valid? [True, True] Translation: X:96.28, Y:42.59, Z:0.29 [[ 6.70712213e-01 -7.41692663e-01 -6.09271404e-03 9.62767318e+01] [ 7.41663212e-01 6.70739880e-01 -6.61005566e-03 4.25894811e+01] [ 8.98925607e-03 -8.52967999e-05 9.99959592e-01 2.93293347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.491858064 meters Centerline goodness [0,1] 0.9999565859164713 Centerline is valid? [True, True] Translation: X:96.30, Y:42.61, Z:0.29 [[ 6.70308510e-01 -7.42058287e-01 -6.00000428e-03 9.62953930e+01] [ 7.42029708e-01 6.70335358e-01 -6.51311984e-03 4.26100793e+01] [ 8.85512956e-03 -8.63817622e-05 9.99960789e-01 2.93576150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:42.63, Z:0.29 [[ 6.70128905e-01 -7.42223185e-01 -5.65640051e-03 9.63143092e+01] [ 7.42197771e-01 6.70152772e-01 -6.14261073e-03 4.26288899e+01] [ 8.34984058e-03 -8.18268442e-05 9.99965136e-01 2.93837269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.33, Y:42.65, Z:0.29 [[ 6.70216280e-01 -7.42144912e-01 -5.57372554e-03 9.63328108e+01] [ 7.42120210e-01 6.70239452e-01 -6.05563491e-03 4.26494703e+01] [ 8.22988939e-03 -7.77892630e-05 9.99966131e-01 2.94184619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.35, Y:42.67, Z:0.29 [[ 6.70890013e-01 -7.41536838e-01 -5.45058548e-03 9.63518830e+01] [ 7.41513175e-01 6.70912151e-01 -5.92428005e-03 4.26699200e+01] [ 8.04993592e-03 -6.71406282e-05 9.99967596e-01 2.93839773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.37, Y:42.69, Z:0.29 [[ 6.71834659e-01 -7.40678435e-01 -5.80057736e-03 9.63702769e+01] [ 7.40651580e-01 6.71859697e-01 -6.30759826e-03 4.26906573e+01] [ 8.56907615e-03 -5.85436558e-05 9.99963283e-01 2.93621928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641858064 meters Centerline goodness [0,1] 0.9999565491320689 Centerline is valid? [True, True] Translation: X:96.39, Y:42.71, Z:0.29 [[ 6.74294294e-01 -7.38438353e-01 -6.00037096e-03 9.63883515e+01] [ 7.38409496e-01 6.74320990e-01 -6.52825351e-03 4.27127185e+01] [ 8.86688886e-03 -2.87668065e-05 9.99960688e-01 2.93943027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671858064 meters Centerline goodness [0,1] 0.9999782981401506 Centerline is valid? [True, True] Translation: X:96.41, Y:42.73, Z:0.29 [[ 6.75921044e-01 -7.36946630e-01 -6.35661899e-03 9.64059569e+01] [ 7.36914154e-01 6.75950934e-01 -6.91847927e-03 4.27339358e+01] [ 9.39531252e-03 -7.93677318e-06 9.99955863e-01 2.93629305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.42, Y:42.76, Z:0.29 [[ 6.77433347e-01 -7.35552644e-01 -6.80942469e-03 9.64239892e+01] [ 7.35515269e-01 6.77467570e-01 -7.41489772e-03 4.27560768e+01] [ 1.00672120e-02 1.46631475e-05 9.99949324e-01 2.93420167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.731858064 meters Centerline goodness [0,1] 0.9999346832135859 Centerline is valid? [True, True] Translation: X:96.44, Y:42.78, Z:0.29 [[ 6.80251794e-01 -7.32942362e-01 -7.27945322e-03 9.64417681e+01] [ 7.32899454e-01 6.80290740e-01 -7.93097304e-03 4.27787311e+01] [ 1.07650907e-02 5.99513544e-05 9.99942053e-01 2.93213671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.761858064 meters Centerline goodness [0,1] 0.9999782797567333 Centerline is valid? [True, True] Translation: X:96.46, Y:42.80, Z:0.29 [[ 6.80981559e-01 -7.32264900e-01 -7.22717967e-03 9.64601164e+01] [ 7.32222537e-01 6.81019905e-01 -7.87690569e-03 4.27995286e+01] [ 1.06898348e-02 7.21236807e-05 9.99942859e-01 2.93035940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.791858064 meters Centerline goodness [0,1] 0.9999350142968547 Centerline is valid? [True, True] Translation: X:96.48, Y:42.82, Z:0.29 [[ 6.81398613e-01 -7.31877462e-01 -7.16312673e-03 9.64783651e+01] [ 7.31835799e-01 6.81436258e-01 -7.80956497e-03 4.28200125e+01] [ 1.05968589e-02 7.91941593e-05 9.99943849e-01 2.92992845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:42.84, Z:0.29 [[ 6.81456943e-01 -7.31824957e-01 -6.97626439e-03 9.64985375e+01] [ 7.31785398e-01 6.81492646e-01 -7.60953718e-03 4.28391914e+01] [ 1.03231221e-02 8.04435270e-05 9.99946712e-01 2.94137736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.851858064 meters Centerline goodness [0,1] 0.9998914836357322 Centerline is valid? [True, True] Translation: X:96.52, Y:42.86, Z:0.29 [[ 6.80855706e-01 -7.32384879e-01 -6.92075500e-03 9.65186485e+01] [ 7.32345933e-01 6.80890875e-01 -7.55327686e-03 4.28593939e+01] [ 1.02441847e-02 7.43048689e-05 9.99947524e-01 2.94213462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881858064 meters Centerline goodness [0,1] 0.9998697407841605 Centerline is valid? [True, True] Translation: X:96.54, Y:42.88, Z:0.29 [[ 6.80153418e-01 -7.33038674e-01 -6.75500890e-03 9.65384792e+01] [ 7.33001561e-01 6.80186958e-01 -7.37652644e-03 4.28792058e+01] [ 1.00019481e-02 6.57376064e-05 9.99949977e-01 2.94341454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.911858064 meters Centerline goodness [0,1] 0.9998694516971279 Centerline is valid? [True, True] Translation: X:96.56, Y:42.90, Z:0.29 [[ 6.78311527e-01 -7.34739778e-01 -7.13657780e-03 9.65602657e+01] [ 7.34698403e-01 6.78349067e-01 -7.79750716e-03 4.28979977e+01] [ 1.05702296e-02 4.59066839e-05 9.99944133e-01 2.94425983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:42.92, Z:0.29 [[ 6.77353590e-01 -7.35622014e-01 -7.23651816e-03 9.65797727e+01] [ 7.35579489e-01 6.77392243e-01 -7.90971421e-03 4.29165848e+01] [ 1.07205212e-02 3.46389867e-05 9.99942533e-01 2.94693736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:42.94, Z:0.29 [[ 6.77147646e-01 -7.35811610e-01 -7.23462314e-03 9.65983391e+01] [ 7.35769078e-01 6.77186291e-01 -7.91144739e-03 4.29369892e+01] [ 1.07205225e-02 3.42059805e-05 9.99942533e-01 2.94787679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001858064 meters Centerline goodness [0,1] 0.9998912499728125 Centerline is valid? [True, True] Translation: X:96.62, Y:42.96, Z:0.29 [[ 6.76001544e-01 -7.36866914e-01 -7.00456115e-03 9.66183790e+01] [ 7.36827056e-01 6.76037832e-01 -7.66414096e-03 4.29563182e+01] [ 1.03828002e-02 1.98209474e-05 9.99946097e-01 2.94852312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031858064 meters Centerline goodness [0,1] 0.9999782025851734 Centerline is valid? [True, True] Translation: X:96.64, Y:42.98, Z:0.30 [[ 6.74771858e-01 -7.37988638e-01 -7.46391504e-03 9.66391068e+01] [ 7.37943397e-01 6.74813137e-01 -8.17145300e-03 4.29760829e+01] [ 1.10671874e-02 5.91970590e-06 9.99938757e-01 2.95068849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061858064 meters Centerline goodness [0,1] 0.9999781616474853 Centerline is valid? [True, True] Translation: X:96.66, Y:42.99, Z:0.30 [[ 6.72375648e-01 -7.40171471e-01 -7.56181223e-03 9.66601567e+01] [ 7.40125136e-01 6.72418168e-01 -8.28190439e-03 4.29929496e+01] [ 1.12147293e-02 -2.81364691e-05 9.99937113e-01 2.95272088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.091858064 meters Centerline goodness [0,1] 0.9998909082975149 Centerline is valid? [True, True] Translation: X:96.68, Y:43.01, Z:0.29 [[ 6.71063292e-01 -7.41359230e-01 -7.78142805e-03 9.66806461e+01] [ 7.41310197e-01 6.71108404e-01 -8.52657712e-03 4.30125367e+01] [ 1.15434384e-02 -4.65790460e-05 9.99933371e-01 2.94994714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.121858064 meters Centerline goodness [0,1] 0.9998252053836741 Centerline is valid? [True, True] Translation: X:96.70, Y:43.03, Z:0.29 [[ 6.70034806e-01 -7.42284698e-01 -8.17226142e-03 9.67011402e+01] [ 7.42230628e-01 6.70084639e-01 -8.95941914e-03 4.30324335e+01] [ 1.21265466e-02 -6.25800691e-05 9.99926469e-01 2.94500901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.151858064 meters Centerline goodness [0,1] 0.9998245960227148 Centerline is valid? [True, True] Translation: X:96.72, Y:43.05, Z:0.29 [[ 6.68161363e-01 -7.43964442e-01 -8.79214473e-03 9.67234130e+01] [ 7.43901970e-01 6.68219200e-01 -9.64154580e-03 4.30495365e+01] [ 1.30480472e-02 -9.83854111e-05 9.99914866e-01 2.93652559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.181858064 meters Centerline goodness [0,1] 0.9999780132799789 Centerline is valid? [True, True] Translation: X:96.74, Y:43.07, Z:0.29 [[ 6.67095676e-01 -7.44917688e-01 -8.99983008e-03 9.67443830e+01] [ 7.44852262e-01 6.67156372e-01 -9.87335311e-03 4.30695620e+01] [ 1.33591294e-02 -1.17072620e-04 9.99910756e-01 2.94969586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.211858064 meters Centerline goodness [0,1] 0.9999119873261749 Centerline is valid? [True, True] Translation: X:96.76, Y:43.09, Z:0.30 [[ 6.66244043e-01 -7.45680416e-01 -8.92149927e-03 9.67649687e+01] [ 7.45616122e-01 6.66303761e-01 -9.79273830e-03 4.30894312e+01] [ 1.32466817e-02 -1.27660135e-04 9.99912251e-01 2.95632872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.241858064 meters Centerline goodness [0,1] 0.9998239669057782 Centerline is valid? [True, True] Translation: X:96.79, Y:43.11, Z:0.30 [[ 6.65167461e-01 -7.46640587e-01 -8.94883021e-03 9.67858853e+01] [ 7.46575919e-01 6.65227640e-01 -9.82775327e-03 4.31092177e+01] [ 1.32908087e-02 -1.43879440e-04 9.99911663e-01 2.96010734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:43.13, Z:0.29 [[ 6.64527322e-01 -7.47212778e-01 -8.74663314e-03 9.68059050e+01] [ 7.47151003e-01 6.64584865e-01 -9.60919453e-03 4.31280784e+01] [ 1.29929929e-02 -1.49483417e-04 9.99915576e-01 2.94631958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.301858064 meters Centerline goodness [0,1] 0.9999115533443892 Centerline is valid? [True, True] Translation: X:96.82, Y:43.15, Z:0.30 [[ 6.64136762e-01 -7.47562124e-01 -8.55753539e-03 9.68245344e+01] [ 7.47502962e-01 6.64191876e-01 -9.40605319e-03 4.31486518e+01] [ 1.27154546e-02 -1.49877340e-04 9.99919144e-01 2.95737330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.331858064 meters Centerline goodness [0,1] 0.9999116041634439 Centerline is valid? [True, True] Translation: X:96.84, Y:43.17, Z:0.30 [[ 6.63672995e-01 -7.47979843e-01 -8.01937054e-03 9.68442849e+01] [ 7.47927862e-01 6.63721427e-01 -8.81931884e-03 4.31686056e+01] [ 1.19193008e-02 -1.44766911e-04 9.99928952e-01 2.96420483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361858064 meters Centerline goodness [0,1] 0.9998227539603411 Centerline is valid? [True, True] Translation: X:96.87, Y:43.19, Z:0.30 [[ 6.63104806e-01 -7.48492465e-01 -7.14474022e-03 9.68651784e+01] [ 7.48451189e-01 6.63143282e-01 -7.86164132e-03 4.31880345e+01] [ 1.06223658e-02 -1.34397175e-04 9.99943572e-01 2.96894083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391858064 meters Centerline goodness [0,1] 0.9998889555155795 Centerline is valid? [True, True] Translation: X:96.88, Y:43.21, Z:0.30 [[ 6.62618559e-01 -7.48924156e-01 -7.01813585e-03 9.68846239e+01] [ 7.48884310e-01 6.62655710e-01 -7.72657178e-03 4.32082987e+01] [ 1.04372240e-02 -1.36001964e-04 9.99945521e-01 2.97040083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421858064 meters Centerline goodness [0,1] 0.999866675554963 Centerline is valid? [True, True] Translation: X:96.90, Y:43.23, Z:0.30 [[ 6.62855520e-01 -7.48711991e-01 -7.27423940e-03 9.69034052e+01] [ 7.48669138e-01 6.62895419e-01 -8.01159734e-03 4.32274899e+01] [ 1.08204390e-02 -1.35467017e-04 9.99941448e-01 2.96129993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45185806399999 meters Centerline goodness [0,1] 0.9998225416472571 Centerline is valid? [True, True] Translation: X:96.92, Y:43.25, Z:0.30 [[ 6.63898438e-01 -7.47780485e-01 -7.95042371e-03 9.69225711e+01] [ 7.47729180e-01 6.63946029e-01 -8.76042240e-03 4.32491678e+01] [ 1.18295252e-02 -1.28733045e-04 9.99930020e-01 2.95596850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.481858064 meters Centerline goodness [0,1] 0.99997770047275 Centerline is valid? [True, True] Translation: X:96.94, Y:43.27, Z:0.30 [[ 6.64527850e-01 -7.47218681e-01 -8.18415594e-03 9.69417521e+01] [ 7.47164209e-01 6.64578234e-01 -9.02302318e-03 4.32699376e+01] [ 1.21811834e-02 -1.18858214e-04 9.99925800e-01 2.95766400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.511858064 meters Centerline goodness [0,1] 0.999866455963854 Centerline is valid? [True, True] Translation: X:96.96, Y:43.29, Z:0.30 [[ 6.65122147e-01 -7.46692622e-01 -7.91572928e-03 9.69614816e+01] [ 7.46641575e-01 6.65169240e-01 -8.73153286e-03 4.32913626e+01] [ 1.17850708e-02 -1.02676699e-04 9.99930548e-01 2.96266326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:43.31, Z:0.30 [[ 6.65589054e-01 -7.46281043e-01 -7.47104292e-03 9.69812085e+01] [ 7.46235501e-01 6.65630977e-01 -8.24500808e-03 4.33129159e+01] [ 1.11260508e-02 -8.73703253e-05 9.99938100e-01 2.96855909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:43.33, Z:0.30 [[ 6.66808013e-01 -7.45195924e-01 -7.07879365e-03 9.70012171e+01] [ 7.45154937e-01 6.66845583e-01 -7.81588654e-03 4.33341236e+01] [ 1.05448291e-02 -6.31022642e-05 9.99944400e-01 2.97730469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:43.35, Z:0.30 [[ 6.67147760e-01 -7.44892695e-01 -6.98137128e-03 9.70207678e+01] [ 7.44852770e-01 6.67184285e-01 -7.71241677e-03 4.33548296e+01] [ 1.04027841e-02 -5.47721652e-05 9.99945888e-01 2.98018357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.631858064 meters Centerline goodness [0,1] 0.9999555199715328 Centerline is valid? [True, True] Translation: X:97.04, Y:43.38, Z:0.30 [[ 6.67325336e-01 -7.44737109e-01 -6.59810992e-03 9.70397068e+01] [ 7.44701400e-01 6.67357952e-01 -7.29303579e-03 4.33753009e+01] [ 9.83469551e-03 -4.67941426e-05 9.99951637e-01 2.98666715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661858064 meters Centerline goodness [0,1] 0.9999332665999333 Centerline is valid? [True, True] Translation: X:97.06, Y:43.39, Z:0.30 [[ 6.67323371e-01 -7.44746125e-01 -5.72085484e-03 9.70591325e+01] [ 7.44719261e-01 6.67347891e-01 -6.32570074e-03 4.33942977e+01] [ 8.52884153e-03 -3.91428477e-05 9.99963628e-01 2.99737020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.691858064 meters Centerline goodness [0,1] 0.9999109765868424 Centerline is valid? [True, True] Translation: X:97.08, Y:43.41, Z:0.30 [[ 6.67241390e-01 -7.44821562e-01 -5.45595636e-03 9.70778238e+01] [ 7.44797117e-01 6.67263695e-01 -6.03454353e-03 4.34132943e+01] [ 8.13521974e-03 -3.70833476e-05 9.99966908e-01 2.99934979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.10, Y:43.43, Z:0.30 [[ 6.67056118e-01 -7.44989101e-01 -5.23213765e-03 9.70972268e+01] [ 7.44966605e-01 6.67076636e-01 -5.78952082e-03 4.34333065e+01] [ 7.80336669e-03 -3.58325404e-05 9.99969553e-01 3.00376293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751858064 meters Centerline goodness [0,1] 0.9999105645612074 Centerline is valid? [True, True] Translation: X:97.12, Y:43.45, Z:0.30 [[ 6.66602351e-01 -7.45396823e-01 -4.98813303e-03 9.71168762e+01] [ 7.45376366e-01 6.66621013e-01 -5.52248626e-03 4.34529553e+01] [ 7.44163801e-03 -3.67341421e-05 9.99972310e-01 3.00453556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:43.47, Z:0.30 [[ 6.66513812e-01 -7.45474747e-01 -5.17112756e-03 9.71372226e+01] [ 7.45452745e-01 6.66533871e-01 -5.72748997e-03 4.34715163e+01] [ 7.71643080e-03 -3.73800636e-05 9.99970227e-01 3.00125733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811858064 meters Centerline goodness [0,1] 0.9999776351396685 Centerline is valid? [True, True] Translation: X:97.16, Y:43.49, Z:0.30 [[ 6.66641810e-01 -7.45356140e-01 -5.73777997e-03 9.71567928e+01] [ 7.45329022e-01 6.66666501e-01 -6.35807607e-03 4.34920209e+01] [ 8.56421673e-03 -3.79745912e-05 9.99963326e-01 2.99569942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.18, Y:43.51, Z:0.30 [[ 6.66906377e-01 -7.45115771e-01 -6.19455286e-03 9.71763326e+01] [ 7.45084117e-01 6.66935144e-01 -6.86819262e-03 4.35126687e+01] [ 9.24896365e-03 -3.50214929e-05 9.99957227e-01 2.99394701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.20, Y:43.53, Z:0.30 [[ 6.67279763e-01 -7.44777504e-01 -6.64731427e-03 9.71958366e+01] [ 7.44740995e-01 6.67312872e-01 -7.37444916e-03 4.35333194e+01] [ 9.92816221e-03 -2.97067520e-05 9.99950714e-01 2.99270101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.901858064 meters Centerline goodness [0,1] 0.9999101648475048 Centerline is valid? [True, True] Translation: X:97.21, Y:43.55, Z:0.30 [[ 6.68253669e-01 -7.43901284e-01 -6.92200407e-03 9.72146168e+01] [ 7.43861612e-01 6.68289518e-01 -7.68263550e-03 4.35522228e+01] [ 1.03410252e-02 -1.50637459e-05 9.99946530e-01 2.98577544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.23, Y:43.57, Z:0.30 [[ 6.68407256e-01 -7.43760325e-01 -7.23322980e-03 9.72334831e+01] [ 7.43716953e-01 6.68446392e-01 -8.03212229e-03 4.35726893e+01] [ 1.08090002e-02 -1.07468021e-05 9.99941581e-01 2.98339676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.961858064 meters Centerline goodness [0,1] 0.9999775462547152 Centerline is valid? [True, True] Translation: X:97.25, Y:43.59, Z:0.30 [[ 6.68314103e-01 -7.43834817e-01 -8.12554306e-03 9.72538996e+01] [ 7.43780032e-01 6.68363497e-01 -9.02770244e-03 4.35936686e+01] [ 1.21459358e-02 -1.02758161e-05 9.99926235e-01 2.97014122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.27, Y:43.61, Z:0.30 [[ 6.67781165e-01 -7.44310505e-01 -8.37780792e-03 9.72726514e+01] [ 7.44252261e-01 6.67833715e-01 -9.31134819e-03 4.36129234e+01] [ 1.25255169e-02 -1.72595462e-05 9.99921552e-01 2.96480125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.021858064 meters Centerline goodness [0,1] 0.9999327489968391 Centerline is valid? [True, True] Translation: X:97.29, Y:43.63, Z:0.30 [[ 6.66960167e-01 -7.45045117e-01 -8.47992368e-03 9.72923891e+01] [ 7.44985445e-01 6.67014072e-01 -9.42941340e-03 4.36330056e+01] [ 1.26815668e-02 -2.83765871e-05 9.99919585e-01 2.96439716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:43.65, Z:0.30 [[ 6.66045337e-01 -7.45867234e-01 -8.10420945e-03 9.73119573e+01] [ 7.45812755e-01 6.66094638e-01 -9.01488705e-03 4.36524549e+01] [ 1.21220793e-02 -3.98992969e-05 9.99926524e-01 2.96753659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:43.67, Z:0.30 [[ 6.63543151e-01 -7.48105584e-01 -6.96576184e-03 9.73328058e+01] [ 7.48065425e-01 6.63579710e-01 -7.75170656e-03 4.36707126e+01] [ 1.04214332e-02 -6.72537956e-05 9.99945693e-01 2.98292554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.35, Y:43.69, Z:0.30 [[ 6.62288971e-01 -7.49215702e-01 -7.01072498e-03 9.73523399e+01] [ 7.49175043e-01 6.62326071e-01 -7.80577122e-03 4.36914756e+01] [ 1.04915923e-02 -8.25839974e-05 9.99944958e-01 2.99481016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141858064 meters Centerline goodness [0,1] 0.9999097554372349 Centerline is valid? [True, True] Translation: X:97.37, Y:43.71, Z:0.30 [[ 6.60910517e-01 -7.50435424e-01 -6.63047488e-03 9.73719367e+01] [ 7.50399081e-01 6.60943769e-01 -7.38599568e-03 4.37122535e+01] [ 9.92508386e-03 -9.40200330e-05 9.99950741e-01 3.00058287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.39, Y:43.73, Z:0.30 [[ 6.58773538e-01 -7.52311953e-01 -6.64463720e-03 9.73924545e+01] [ 7.52275525e-01 6.58807036e-01 -7.40429312e-03 4.37319431e+01] [ 9.94787195e-03 -1.20845567e-04 9.99950511e-01 3.00607364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.41, Y:43.75, Z:0.30 [[ 6.57507014e-01 -7.53421017e-01 -6.42635569e-03 9.74117811e+01] [ 7.53386968e-01 6.57538405e-01 -7.16399405e-03 4.37536461e+01] [ 9.62307935e-03 -1.31156296e-04 9.99953688e-01 3.01279538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.43, Y:43.77, Z:0.30 [[ 6.56613598e-01 -7.54197174e-01 -6.72359496e-03 9.74313448e+01] [ 7.54159920e-01 6.56648004e-01 -7.49753237e-03 4.37739871e+01] [ 1.00696529e-02 -1.47684141e-04 9.99949289e-01 3.01332701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.45, Y:43.80, Z:0.30 [[ 6.55703384e-01 -7.54977285e-01 -7.89760320e-03 9.74499104e+01] [ 7.54925899e-01 6.55750917e-01 -8.81032054e-03 4.37958532e+01] [ 1.18304524e-02 -1.85148204e-04 9.99930001e-01 3.01155756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.47, Y:43.82, Z:0.30 [[ 6.55207535e-01 -7.55401337e-01 -8.47973607e-03 9.74689789e+01] [ 7.55342071e-01 6.55262373e-01 -9.46453932e-03 4.38180626e+01] [ 1.27059776e-02 -2.03863925e-04 9.99919255e-01 3.00689486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:43.84, Z:0.30 [[ 6.55178793e-01 -7.55419265e-01 -9.08198536e-03 9.74872179e+01] [ 7.55351230e-01 6.55241701e-01 -1.01405925e-02 4.38378904e+01] [ 1.36112945e-02 -2.16187635e-04 9.99907339e-01 2.99675293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.50, Y:43.86, Z:0.30 [[ 6.55096263e-01 -7.55483500e-01 -9.67303634e-03 9.75049488e+01] [ 7.55406248e-01 6.55167635e-01 -1.08060240e-02 4.38602963e+01] [ 1.45012332e-02 -2.28086143e-04 9.99894826e-01 2.99136820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:43.88, Z:0.30 [[ 6.55077767e-01 -7.55500806e-01 -9.57351413e-03 9.75223984e+01] [ 7.55425052e-01 6.55147681e-01 -1.07008524e-02 4.38822141e+01] [ 1.43565682e-02 -2.22181902e-04 9.99896914e-01 2.99358804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.411858064 meters Centerline goodness [0,1] 0.999909798173413 Centerline is valid? [True, True] Translation: X:97.54, Y:43.90, Z:0.30 [[ 6.55357211e-01 -7.55258661e-01 -9.55406078e-03 9.75406908e+01] [ 7.55183103e-01 6.55426815e-01 -1.06851107e-02 4.39037972e+01] [ 1.43320100e-02 -2.12500903e-04 9.99897269e-01 2.99308024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:43.93, Z:0.30 [[ 6.55386860e-01 -7.55244227e-01 -8.61515591e-03 9.75590013e+01] [ 7.55182727e-01 6.55443455e-01 -9.63981319e-03 4.39264915e+01] [ 1.29271608e-02 -1.88210038e-04 9.99916423e-01 3.00316810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:43.95, Z:0.30 [[ 6.55350803e-01 -7.55277103e-01 -8.47476498e-03 9.75769295e+01] [ 7.55217530e-01 6.55405572e-01 -9.48782101e-03 4.39481489e+01] [ 1.27203422e-02 -1.82439959e-04 9.99919077e-01 3.00901471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.59, Y:43.97, Z:0.30 [[ 6.55468956e-01 -7.55176019e-01 -8.34437139e-03 9.75944459e+01] [ 7.55118191e-01 6.55522044e-01 -9.34710268e-03 4.39703172e+01] [ 1.25286272e-02 -1.74250997e-04 9.99921498e-01 3.01735027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.61, Y:43.99, Z:0.30 [[ 6.55761751e-01 -7.54926739e-01 -7.88319279e-03 9.76125400e+01] [ 7.54875078e-01 6.55809114e-01 -8.83303497e-03 4.39921169e+01] [ 1.18381640e-02 -1.58459293e-04 9.99929914e-01 3.01957485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:44.02, Z:0.30 [[ 6.57303778e-01 -7.53585682e-01 -7.76938758e-03 9.76298200e+01] [ 7.53535368e-01 6.57349681e-01 -8.70899608e-03 4.40159612e+01] [ 1.16701792e-02 -1.30052301e-04 9.99931893e-01 3.02100401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:44.04, Z:0.30 [[ 6.58214489e-01 -7.52786039e-01 -8.17718005e-03 9.76472427e+01] [ 7.52730181e-01 6.58265270e-01 -9.17111073e-03 4.40378732e+01] [ 1.22866378e-02 -1.18652251e-04 9.99924509e-01 3.02221618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.66, Y:44.06, Z:0.30 [[ 6.60216971e-01 -7.51025686e-01 -8.60061116e-03 9.76638823e+01] [ 7.50963708e-01 6.60272982e-01 -9.64873468e-03 4.40608690e+01] [ 1.29251988e-02 -8.84884660e-05 9.99916462e-01 3.01175354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.651858064 meters Centerline goodness [0,1] 0.99997752253366 Centerline is valid? [True, True] Translation: X:97.68, Y:44.08, Z:0.30 [[ 6.61203257e-01 -7.50156523e-01 -8.68585044e-03 9.76815616e+01] [ 7.50093178e-01 6.61260301e-01 -9.74876581e-03 4.40829438e+01] [ 1.30567083e-02 -6.92814583e-05 9.99914755e-01 3.00925891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:44.10, Z:0.30 [[ 6.62149351e-01 -7.49319578e-01 -8.85480762e-03 9.76987656e+01] [ 7.49253621e-01 6.62208553e-01 -9.94200848e-03 4.41039480e+01] [ 1.33134709e-02 -5.14022166e-05 9.99911370e-01 3.00833784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:44.13, Z:0.30 [[ 6.62970247e-01 -7.48597517e-01 -8.49753896e-03 9.77166623e+01] [ 7.48536659e-01 6.63024702e-01 -9.54538483e-03 4.41259485e+01] [ 1.27797296e-02 -3.24132781e-05 9.99918335e-01 3.01000159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.73, Y:44.15, Z:0.30 [[ 6.63806029e-01 -7.47862241e-01 -7.97648530e-03 9.77345768e+01] [ 7.47808505e-01 6.63853951e-01 -8.96500452e-03 4.41478204e+01] [ 1.19998097e-02 -1.38594929e-05 9.99928000e-01 3.02509481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:44.17, Z:0.30 [[ 6.66084945e-01 -7.45836627e-01 -7.65323712e-03 9.77508445e+01] [ 7.45786987e-01 6.66128910e-01 -8.60494142e-03 4.41690268e+01] [ 1.15159230e-02 2.39372728e-05 9.99933689e-01 3.02551376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:44.19, Z:0.30 [[ 6.66913028e-01 -7.45094673e-01 -7.80648872e-03 9.77689070e+01] [ 7.45042926e-01 6.66958714e-01 -8.78138436e-03 4.41903966e+01] [ 1.17495684e-02 4.02504356e-05 9.99930971e-01 3.02692205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.831858064 meters Centerline goodness [0,1] 0.9999554357271775 Centerline is valid? [True, True] Translation: X:97.79, Y:44.21, Z:0.30 [[ 6.67786053e-01 -7.44310127e-01 -8.01390133e-03 9.77867866e+01] [ 7.44255481e-01 6.67834135e-01 -9.01923792e-03 4.42110214e+01] [ 1.20650670e-02 5.85312991e-05 9.99927213e-01 3.03158186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:44.23, Z:0.30 [[ 6.69227508e-01 -7.43016205e-01 -7.83970339e-03 9.78063257e+01] [ 7.42963770e-01 6.69273421e-01 -8.82747717e-03 4.42325578e+01] [ 1.18058637e-02 8.29749576e-05 9.99930305e-01 3.04654386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:44.25, Z:0.30 [[ 6.69597609e-01 -7.42684666e-01 -7.65040788e-03 9.78241480e+01] [ 7.42634671e-01 6.69641306e-01 -8.61786702e-03 4.42533322e+01] [ 1.15233868e-02 8.90450178e-05 9.99933600e-01 3.04419630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.84, Y:44.27, Z:0.30 [[ 6.69393730e-01 -7.42868453e-01 -7.64825909e-03 9.78424065e+01] [ 7.42818448e-01 6.69437415e-01 -8.61977396e-03 4.42740237e+01] [ 1.15233889e-02 8.87546919e-05 9.99933600e-01 3.04513533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95185806399999 meters Centerline goodness [0,1] 0.9999778285258187 Centerline is valid? [True, True] Translation: X:97.86, Y:44.29, Z:0.30 [[ 6.69461467e-01 -7.42810175e-01 -7.37487902e-03 9.78605579e+01] [ 7.42763642e-01 6.69502081e-01 -8.31477791e-03 4.42941865e+01] [ 1.11137985e-02 8.86314156e-05 9.99938236e-01 3.04561234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.88, Y:44.31, Z:0.31 [[ 6.69612789e-01 -7.42674096e-01 -7.34163070e-03 9.78802837e+01] [ 7.42627931e-01 6.69653029e-01 -8.28119543e-03 4.43137368e+01] [ 1.10665746e-02 9.30943565e-05 9.99938759e-01 3.05458853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:44.33, Z:0.31 [[ 6.69285617e-01 -7.42967810e-01 -7.45627683e-03 9.79002750e+01] [ 7.42920157e-01 6.69327143e-01 -8.41526355e-03 4.43340572e+01] [ 1.12429584e-02 9.27965035e-05 9.99936792e-01 3.05751157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.041858064 meters Centerline goodness [0,1] 0.999977647137716 Centerline is valid? [True, True] Translation: X:97.92, Y:44.35, Z:0.31 [[ 6.68950034e-01 -7.43266410e-01 -7.80362524e-03 9.79187413e+01] [ 7.43214191e-01 6.68995542e-01 -8.81079569e-03 4.43535867e+01] [ 1.17693590e-02 9.42170507e-05 9.99930734e-01 3.05161307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:44.37, Z:0.30 [[ 6.68418714e-01 -7.43742796e-01 -7.94210184e-03 9.79370247e+01] [ 7.43688708e-01 6.68465890e-01 -8.96993571e-03 4.43731786e+01] [ 1.19803492e-02 8.92214341e-05 9.99928229e-01 3.04586109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.101858064 meters Centerline goodness [0,1] 0.9999554436696594 Centerline is valid? [True, True] Translation: X:97.96, Y:44.39, Z:0.30 [[ 6.67772690e-01 -7.44323705e-01 -7.86483377e-03 9.79565412e+01] [ 7.44270656e-01 6.67818999e-01 -8.88686074e-03 4.43933252e+01] [ 1.18669865e-02 8.08379244e-05 9.99929582e-01 3.04371070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.98, Y:44.41, Z:0.30 [[ 6.67083828e-01 -7.44935103e-01 -8.41770561e-03 9.79754576e+01] [ 7.44874330e-01 6.67136932e-01 -9.51560680e-03 4.44122216e+01] [ 1.27042718e-02 7.75745885e-05 9.99919294e-01 3.03133131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.161858064 meters Centerline goodness [0,1] 0.9999775659001683 Centerline is valid? [True, True] Translation: X:98.00, Y:44.43, Z:0.30 [[ 6.66368311e-01 -7.45570664e-01 -8.81240086e-03 9.79951841e+01] [ 7.45504045e-01 6.66426575e-01 -9.96689784e-03 4.44317658e+01] [ 1.33038448e-02 7.19443887e-05 9.99911497e-01 3.03706969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.01, Y:44.45, Z:0.30 [[ 6.65441549e-01 -7.46397800e-01 -8.82436897e-03 9.80138805e+01] [ 7.46331024e-01 6.65500053e-01 -9.98408627e-03 4.44510306e+01] [ 1.33247180e-02 5.79255083e-05 9.99911220e-01 3.02768310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.04, Y:44.47, Z:0.31 [[ 6.63337455e-01 -7.48270739e-01 -8.62094928e-03 9.80364766e+01] [ 7.48207101e-01 6.63393473e-01 -9.75881033e-03 4.44691236e+01] [ 1.30213137e-02 2.31289391e-05 9.99915219e-01 3.05770223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:44.49, Z:0.31 [[ 6.61772487e-01 -7.49657483e-01 -8.41625518e-03 9.80562333e+01] [ 7.49596873e-01 6.61826003e-01 -9.53252513e-03 4.44889508e+01] [ 1.27162253e-02 -4.35698969e-07 9.99919146e-01 3.06195508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:44.51, Z:0.31 [[ 6.60162532e-01 -7.51079949e-01 -8.02136057e-03 9.80761352e+01] [ 7.51024936e-01 6.60211262e-01 -9.09041224e-03 4.45089700e+01] [ 1.21234189e-02 -2.30922487e-05 9.99926508e-01 3.06937261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.10, Y:44.53, Z:0.31 [[ 6.57347705e-01 -7.53550264e-01 -7.48296164e-03 9.80972522e+01] [ 7.53502512e-01 6.57390292e-01 -8.48340621e-03 4.45280672e+01] [ 1.13118993e-02 -6.18827926e-05 9.99936017e-01 3.07721389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.12, Y:44.55, Z:0.31 [[ 6.56033384e-01 -7.54696606e-01 -7.29606461e-03 9.81169471e+01] [ 7.54651236e-01 6.56073950e-01 -8.27550592e-03 4.45487343e+01] [ 1.10322542e-02 -7.69760218e-05 9.99939140e-01 3.08338611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.14, Y:44.57, Z:0.31 [[ 6.54993471e-01 -7.55601605e-01 -7.05462078e-03 9.81355219e+01] [ 7.55559207e-01 6.55031455e-01 -8.00482335e-03 4.45684685e+01] [ 1.06694559e-02 -8.70766509e-05 9.99943076e-01 3.08583010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:44.59, Z:0.31 [[ 6.53802707e-01 -7.56636805e-01 -6.53958110e-03 9.81542291e+01] [ 7.56600389e-01 6.53835405e-01 -7.42391133e-03 4.45893405e+01] [ 9.89301421e-03 -9.40762813e-05 9.99951059e-01 3.09389010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:44.61, Z:0.31 [[ 6.53198288e-01 -7.57161708e-01 -6.17614565e-03 9.81728240e+01] [ 7.57129215e-01 6.53227479e-01 -7.01516569e-03 4.46104146e+01] [ 9.34604288e-03 -9.38460858e-05 9.99956320e-01 3.09648610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.19, Y:44.63, Z:0.31 [[ 6.52965523e-01 -7.57363407e-01 -6.05762143e-03 9.81908127e+01] [ 7.57332123e-01 6.52993615e-01 -6.88437082e-03 4.46317763e+01] [ 9.16955865e-03 -9.23745010e-05 9.99957954e-01 3.09691978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.21, Y:44.65, Z:0.31 [[ 6.52720165e-01 -7.57576058e-01 -5.90780684e-03 9.82084149e+01] [ 7.57546284e-01 6.52746894e-01 -6.71710780e-03 4.46521468e+01] [ 8.94502261e-03 -9.10454103e-05 9.99959988e-01 3.09016883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.521858064 meters Centerline goodness [0,1] 0.9999323410013532 Centerline is valid? [True, True] Translation: X:98.23, Y:44.68, Z:0.31 [[ 6.52907910e-01 -7.57408526e-01 -6.60198150e-03 9.82255317e+01] [ 7.57371297e-01 6.52941280e-01 -7.51022459e-03 4.46751449e+01] [ 9.99901439e-03 -9.66662458e-05 9.99950004e-01 3.08339779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.24, Y:44.70, Z:0.31 [[ 6.53293982e-01 -7.57071555e-01 -7.04507734e-03 9.82425432e+01] [ 7.57029096e-01 6.53331961e-01 -8.01850347e-03 4.46960687e+01] [ 1.06733551e-02 -9.48884689e-05 9.99943034e-01 3.07489538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.26, Y:44.72, Z:0.31 [[ 6.54594820e-01 -7.55942822e-01 -7.48817423e-03 9.82590712e+01] [ 7.55894727e-01 6.54637644e-01 -8.52746266e-03 4.47186964e+01] [ 1.13483149e-02 -7.82385357e-05 9.99935603e-01 3.06988182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.611858064 meters Centerline goodness [0,1] 0.9999099646611295 Centerline is valid? [True, True] Translation: X:98.28, Y:44.74, Z:0.31 [[ 6.55430715e-01 -7.55218444e-01 -7.46188409e-03 9.82756871e+01] [ 7.55170605e-01 6.55473186e-01 -8.50057933e-03 4.47397656e+01] [ 1.13108592e-02 -6.34547365e-05 9.99936028e-01 3.06319420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.29, Y:44.76, Z:0.31 [[ 6.56172074e-01 -7.54575528e-01 -7.34721666e-03 9.82917528e+01] [ 7.54529069e-01 6.56213205e-01 -8.37342560e-03 4.47614585e+01] [ 1.11397226e-02 -4.92805092e-05 9.99937950e-01 3.05687612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.31, Y:44.78, Z:0.31 [[ 6.56876274e-01 -7.53964663e-01 -7.13078196e-03 9.83085109e+01] [ 7.53920819e-01 6.56914976e-01 -8.13095206e-03 4.47843769e+01] [ 1.08147680e-02 -3.50154832e-05 9.99941518e-01 3.05832546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.32, Y:44.81, Z:0.31 [[ 6.58579514e-01 -7.52487477e-01 -5.96838385e-03 9.83233602e+01] [ 7.52456678e-01 6.58606557e-01 -6.80816465e-03 4.48070500e+01] [ 9.05387538e-03 -7.23252089e-06 9.99959013e-01 3.07130521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.34, Y:44.83, Z:0.31 [[ 6.58753819e-01 -7.52337206e-01 -5.66875281e-03 9.83410179e+01] [ 7.52309390e-01 6.58778209e-01 -6.46937079e-03 4.48294153e+01] [ 8.60159917e-03 -2.93325016e-06 9.99963006e-01 3.08492733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.36, Y:44.85, Z:0.31 [[ 6.59257100e-01 -7.51897746e-01 -5.46405339e-03 9.83587024e+01] [ 7.51871860e-01 6.59279743e-01 -6.23911694e-03 4.48512963e+01] [ 8.29351768e-03 4.91416176e-06 9.99965608e-01 3.09299137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.791858064 meters Centerline goodness [0,1] 0.9999777975133215 Centerline is valid? [True, True] Translation: X:98.37, Y:44.87, Z:0.31 [[ 6.59709827e-01 -7.51505092e-01 -4.80005557e-03 9.83749708e+01] [ 7.51485086e-01 6.59727289e-01 -5.48357918e-03 4.48734978e+01] [ 7.28766533e-03 1.04008945e-05 9.99973445e-01 3.10234291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.821858064 meters Centerline goodness [0,1] 0.9999554734287687 Centerline is valid? [True, True] Translation: X:98.39, Y:44.90, Z:0.31 [[ 6.59748551e-01 -7.51474314e-01 -4.26675987e-03 9.83922223e+01] [ 7.51458490e-01 6.59762348e-01 -4.87669659e-03 4.48950772e+01] [ 6.47975973e-03 1.11005794e-05 9.99979006e-01 3.10317561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.41, Y:44.92, Z:0.31 [[ 6.59568428e-01 -7.51632803e-01 -4.19741406e-03 9.84098472e+01] [ 7.51617476e-01 6.59581783e-01 -4.80005953e-03 4.49170263e+01] [ 6.37642005e-03 1.11179606e-05 9.99979670e-01 3.10628038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.881858064 meters Centerline goodness [0,1] 0.999955551604587 Centerline is valid? [True, True] Translation: X:98.43, Y:44.94, Z:0.31 [[ 6.58920547e-01 -7.52201474e-01 -4.08112496e-03 9.84262959e+01] [ 7.52186979e-01 6.58933185e-01 -4.66967428e-03 4.49404241e+01] [ 6.20172454e-03 7.17527594e-06 9.99980769e-01 3.09447236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.44, Y:44.96, Z:0.31 [[ 6.58430217e-01 -7.52628022e-01 -4.55084512e-03 9.84439010e+01] [ 7.52609987e-01 6.58445944e-01 -5.21025980e-03 4.49626330e+01] [ 6.91787304e-03 5.58100254e-06 9.99976071e-01 3.09085891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.46, Y:44.98, Z:0.31 [[ 6.58189773e-01 -7.52836307e-01 -4.87005071e-03 9.84618141e+01] [ 7.52815634e-01 6.58207790e-01 -5.57901289e-03 4.49840815e+01] [ 7.40558877e-03 5.79891690e-06 9.99972578e-01 3.08781141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.971858064 meters Centerline goodness [0,1] 0.9999777589964859 Centerline is valid? [True, True] Translation: X:98.48, Y:45.01, Z:0.31 [[ 6.58048040e-01 -7.52956686e-01 -5.38577306e-03 9.84796376e+01] [ 7.52931384e-01 6.58070079e-01 -6.17261221e-03 4.50050426e+01] [ 8.19192574e-03 6.75780108e-06 9.99966446e-01 3.08546143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:45.03, Z:0.31 [[ 6.57480575e-01 -7.53447095e-01 -6.06370059e-03 9.84977484e+01] [ 7.53415012e-01 6.57508536e-01 -6.95300854e-03 4.50271063e+01] [ 9.22565899e-03 2.98499759e-06 9.99957443e-01 3.09205176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031858064 meters Centerline goodness [0,1] 0.9999558937038262 Centerline is valid? [True, True] Translation: X:98.51, Y:45.05, Z:0.31 [[ 6.57197186e-01 -7.53693782e-01 -6.12713054e-03 9.85147000e+01] [ 7.53661008e-01 6.57225747e-01 -7.02862265e-03 4.50482577e+01] [ 9.32433713e-03 1.41164643e-06 9.99956527e-01 3.09267535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061858064 meters Centerline goodness [0,1] 0.9999778511151963 Centerline is valid? [True, True] Translation: X:98.53, Y:45.07, Z:0.31 [[ 6.56842747e-01 -7.54001953e-01 -6.21767477e-03 9.85320714e+01] [ 7.53968185e-01 6.56872175e-01 -7.13590314e-03 4.50707009e+01] [ 9.46470246e-03 -7.62746781e-07 9.99955209e-01 3.09366320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.091858064 meters Centerline goodness [0,1] 0.9999778888250122 Centerline is valid? [True, True] Translation: X:98.55, Y:45.09, Z:0.31 [[ 6.56329215e-01 -7.54452465e-01 -5.78261901e-03 9.85494810e+01] [ 7.54423243e-01 6.56354689e-01 -6.64026597e-03 4.50930596e+01] [ 8.80521413e-03 -4.34163032e-06 9.99961233e-01 3.09359990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:45.11, Z:0.31 [[ 6.54998121e-01 -7.55612887e-01 -5.15998151e-03 9.85671151e+01] [ 7.55589630e-01 6.55018446e-01 -5.92848161e-03 4.51149928e+01] [ 7.85952018e-03 -1.56842042e-05 9.99969113e-01 3.10397926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.59, Y:45.14, Z:0.31 [[ 6.54005826e-01 -7.56472968e-01 -5.00293042e-03 9.85857780e+01] [ 7.56451105e-01 6.54024960e-01 -5.75123712e-03 4.51361187e+01] [ 7.62269678e-03 -2.31296635e-05 9.99970947e-01 3.11338641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.60, Y:45.16, Z:0.31 [[ 6.52098050e-01 -7.58122799e-01 -4.23732313e-03 9.86041907e+01] [ 7.58107138e-01 6.52111816e-01 -4.87308001e-03 4.51565142e+01] [ 6.45760154e-03 -3.46189332e-05 9.99979149e-01 3.12766332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:45.18, Z:0.31 [[ 6.50803799e-01 -7.59235739e-01 -3.93805381e-03 9.86222799e+01] [ 7.59222221e-01 6.50815712e-01 -4.53076054e-03 4.51779996e+01] [ 6.00286262e-03 -4.12217936e-05 9.99981982e-01 3.13470856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:45.20, Z:0.31 [[ 6.49616511e-01 -7.60253835e-01 -3.53480390e-03 9.86402200e+01] [ 7.60242950e-01 6.49626127e-01 -4.06847014e-03 4.51996634e+01] [ 5.38937099e-03 -4.43643633e-05 9.99985476e-01 3.13688716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:45.22, Z:0.31 [[ 6.48086772e-01 -7.61561038e-01 -2.88461316e-03 9.86571262e+01] [ 7.61553798e-01 6.48093190e-01 -3.32101098e-03 4.52235974e+01] [ 4.39865071e-03 -4.44848182e-05 9.99990325e-01 3.13798297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.67, Y:45.24, Z:0.31 [[ 6.47707832e-01 -7.61882601e-01 -3.07677981e-03 9.86749646e+01] [ 7.61874360e-01 6.47715138e-01 -3.54392873e-03 4.52442680e+01] [ 4.69293450e-03 -4.86892570e-05 9.99988987e-01 3.14062402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:45.27, Z:0.31 [[ 6.47632681e-01 -7.61946737e-01 -3.01343752e-03 9.86924428e+01] [ 7.61938827e-01 6.47639690e-01 -3.47221581e-03 4.52654863e+01] [ 4.59726524e-03 -4.73346162e-05 9.99989431e-01 3.14190928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361858064 meters Centerline goodness [0,1] 0.9999780470670881 Centerline is valid? [True, True] Translation: X:98.71, Y:45.29, Z:0.31 [[ 6.47684156e-01 -7.61902279e-01 -3.18610974e-03 9.87087825e+01] [ 7.61893427e-01 6.47691991e-01 -3.67310597e-03 4.52891290e+01] [ 4.86216557e-03 -4.84635345e-05 9.99988178e-01 3.14592126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.73, Y:45.31, Z:0.31 [[ 6.48042477e-01 -7.61597303e-01 -3.23986826e-03 9.87255389e+01] [ 7.61588136e-01 6.48050574e-01 -3.73687869e-03 4.53101545e+01] [ 4.94559522e-03 -4.57891116e-05 9.99987769e-01 3.14877449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421858064 meters Centerline goodness [0,1] 0.99993440472286 Centerline is valid? [True, True] Translation: X:98.74, Y:45.33, Z:0.31 [[ 6.48612711e-01 -7.61110276e-01 -3.56357667e-03 9.87414514e+01] [ 7.61099169e-01 6.48622499e-01 -4.11195301e-03 4.53330227e+01] [ 5.44106569e-03 -4.51702517e-05 9.99985196e-01 3.14870348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45185806399999 meters Centerline goodness [0,1] 0.9999781052262825 Centerline is valid? [True, True] Translation: X:98.76, Y:45.36, Z:0.31 [[ 6.49202690e-01 -7.60607878e-01 -3.39459511e-03 9.87577315e+01] [ 7.60597782e-01 6.49211564e-01 -3.91911917e-03 4.53555732e+01] [ 5.18472332e-03 -3.76188042e-05 9.99986559e-01 3.14570918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:45.38, Z:0.31 [[ 6.51039792e-01 -7.59036825e-01 -3.20746901e-03 9.87732195e+01] [ 7.59027785e-01 6.51047692e-01 -3.70465537e-03 4.53794356e+01] [ 4.90018515e-03 -2.26800295e-05 9.99987994e-01 3.14966831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:45.40, Z:0.32 [[ 6.51644113e-01 -7.58518694e-01 -3.05637398e-03 9.87907402e+01] [ 7.58510475e-01 6.51651280e-01 -3.53109689e-03 4.54016944e+01] [ 4.67009301e-03 -1.72731775e-05 9.99989095e-01 3.15813863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.541858064 meters Centerline goodness [0,1] 0.9999782693728541 Centerline is valid? [True, True] Translation: X:98.81, Y:45.42, Z:0.32 [[ 6.52014065e-01 -7.58201147e-01 -2.94615139e-03 9.88084458e+01] [ 7.58193498e-01 6.52020721e-01 -3.40558905e-03 4.54239259e+01] [ 4.50307327e-03 -1.32608638e-05 9.99989861e-01 3.16482457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:45.45, Z:0.32 [[ 6.53133875e-01 -7.57238215e-01 -2.53496906e-03 9.88247370e+01] [ 7.57232540e-01 6.53138795e-01 -2.93171697e-03 4.54471755e+01] [ 3.87569476e-03 -4.75739589e-06 9.99992489e-01 3.17482130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601858064 meters Centerline goodness [0,1] 0.9999348718060048 Centerline is valid? [True, True] Translation: X:98.84, Y:45.47, Z:0.32 [[ 6.53885055e-01 -7.56589461e-01 -2.59287989e-03 9.88408623e+01] [ 7.56583512e-01 6.53890195e-01 -3.00035816e-03 4.54686092e+01] [ 3.96549810e-03 1.59188957e-07 9.99992137e-01 3.17969794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.631858064 meters Centerline goodness [0,1] 0.9999348378548621 Centerline is valid? [True, True] Translation: X:98.86, Y:45.49, Z:0.32 [[ 6.54385921e-01 -7.56157272e-01 -2.29036151e-03 9.88579190e+01] [ 7.56152625e-01 6.54389930e-01 -2.65106785e-03 4.54914593e+01] [ 3.50341374e-03 2.95860917e-06 9.99993863e-01 3.18047217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:45.51, Z:0.32 [[ 6.55543364e-01 -7.55155972e-01 -1.53524222e-03 9.88724626e+01] [ 7.55153879e-01 6.55545161e-01 -1.77770463e-03 4.55142920e+01] [ 2.34886487e-03 6.01835205e-06 9.99997241e-01 3.18741329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:45.54, Z:0.32 [[ 6.55510010e-01 -7.55185568e-01 -1.17671998e-03 9.88896462e+01] [ 7.55184338e-01 6.55511066e-01 -1.36265239e-03 4.55364607e+01] [ 1.80040839e-03 4.59178745e-06 9.99998379e-01 3.19245682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:45.56, Z:0.32 [[ 6.54966923e-01 -7.55656486e-01 -1.26685058e-03 9.89075726e+01] [ 7.55655060e-01 6.54968148e-01 -1.46795453e-03 4.55583959e+01] [ 1.93901614e-03 4.15961104e-06 9.99998120e-01 3.19193620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.93, Y:45.58, Z:0.32 [[ 6.54501169e-01 -7.56059207e-01 -1.64191386e-03 9.89258851e+01] [ 7.56056809e-01 6.54503228e-01 -1.90404355e-03 4.55802970e+01] [ 2.51420758e-03 4.81857070e-06 9.99996839e-01 3.19493166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:45.60, Z:0.32 [[ 6.52981673e-01 -7.57370577e-01 -2.17811389e-03 9.89437576e+01] [ 7.57366359e-01 6.52985306e-01 -2.52771574e-03 4.56021479e+01] [ 3.33669389e-03 9.21869679e-07 9.99994433e-01 3.18358183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:45.62, Z:0.32 [[ 6.52768675e-01 -7.57554167e-01 -2.17740292e-03 9.89617050e+01] [ 7.57549948e-01 6.52772307e-01 -2.52832803e-03 4.56230962e+01] [ 3.33669376e-03 9.21869645e-07 9.99994433e-01 3.18451963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:45.64, Z:0.32 [[ 6.51893149e-01 -7.58306933e-01 -2.43269304e-03 9.89789392e+01] [ 7.58301665e-01 6.51897688e-01 -2.82649859e-03 4.56441560e+01] [ 3.72922044e-03 -2.14011647e-06 9.99993046e-01 3.18238619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:45.67, Z:0.32 [[ 6.50815843e-01 -7.59231307e-01 -2.56158660e-03 9.89967857e+01] [ 7.59225468e-01 6.50820884e-01 -2.97753001e-03 4.56656737e+01] [ 3.92776806e-03 -6.99808262e-06 9.99992286e-01 3.17977417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.901858064 meters Centerline goodness [0,1] 0.9999784031272272 Centerline is valid? [True, True] Translation: X:99.01, Y:45.69, Z:0.32 [[ 6.49451972e-01 -7.60399371e-01 -2.22109049e-03 9.90146353e+01] [ 7.60394984e-01 6.49455770e-01 -2.58300686e-03 4.56871909e+01] [ 3.40661682e-03 -1.13671712e-05 9.99994197e-01 3.17893160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.931858064 meters Centerline goodness [0,1] 0.9999784315417134 Centerline is valid? [True, True] Translation: X:99.03, Y:45.71, Z:0.32 [[ 6.46494836e-01 -7.62915998e-01 -1.89923986e-03 9.90335092e+01] [ 7.62912798e-01 6.46497625e-01 -2.20977649e-03 4.57085859e+01] [ 2.91372790e-03 -2.03453070e-05 9.99995755e-01 3.18436632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.961858064 meters Centerline goodness [0,1] 0.9999136106431687 Centerline is valid? [True, True] Translation: X:99.05, Y:45.73, Z:0.32 [[ 6.44647075e-01 -7.64478203e-01 -1.79629146e-03 9.90529214e+01] [ 7.64475343e-01 6.44649577e-01 -2.09095969e-03 4.57302963e+01] [ 2.75647163e-03 -2.52894840e-05 9.99996201e-01 3.18524375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.991858064 meters Centerline goodness [0,1] 0.9999784031272272 Centerline is valid? [True, True] Translation: X:99.07, Y:45.75, Z:0.32 [[ 6.42603870e-01 -7.66196651e-01 -1.71996275e-03 9.90724336e+01] [ 7.66194033e-01 6.42606171e-01 -2.00305359e-03 4.57515363e+01] [ 2.63999163e-03 -3.06552088e-05 9.99996515e-01 3.18983178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:45.77, Z:0.32 [[ 6.39229093e-01 -7.69013071e-01 -2.24989099e-03 9.90914470e+01] [ 7.69008604e-01 6.39233051e-01 -2.62189986e-03 4.57717428e+01] [ 3.45447994e-03 -5.41908635e-05 9.99994032e-01 3.18529440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:45.79, Z:0.32 [[ 6.37712874e-01 -7.70270117e-01 -2.49750421e-03 9.91088796e+01] [ 7.70264619e-01 6.37717761e-01 -2.91112545e-03 4.57943130e+01] [ 3.83505573e-03 -6.72769507e-05 9.99992644e-01 3.18071475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081858064 meters Centerline goodness [0,1] 0.9999784464177947 Centerline is valid? [True, True] Translation: X:99.13, Y:45.82, Z:0.32 [[ 6.36388406e-01 -7.71364439e-01 -2.58814137e-03 9.91267474e+01] [ 7.71358538e-01 6.36393664e-01 -3.01821312e-03 4.58157309e+01] [ 3.97521904e-03 -7.56291116e-05 9.99992096e-01 3.17355246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:45.84, Z:0.32 [[ 6.35040655e-01 -7.72472086e-01 -3.20055607e-03 9.91431966e+01] [ 7.72463070e-01 6.35048712e-01 -3.73354428e-03 4.58391819e+01] [ 4.91656775e-03 -1.01358961e-04 9.99987908e-01 3.15965527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:45.86, Z:0.32 [[ 6.34824376e-01 -7.72649067e-01 -3.38104366e-03 9.91596801e+01] [ 7.72638998e-01 6.34833371e-01 -3.94590953e-03 4.58602205e+01] [ 5.19520266e-03 -1.07366628e-04 9.99986499e-01 3.15232924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.18, Y:45.88, Z:0.32 [[ 6.34841159e-01 -7.72634474e-01 -3.55979784e-03 9.91770101e+01] [ 7.72623303e-01 6.34851130e-01 -4.15630652e-03 4.58829593e+01] [ 5.47124739e-03 -1.11788319e-04 9.99985026e-01 3.15060454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:45.90, Z:0.32 [[ 6.34912308e-01 -7.72575160e-01 -3.73939978e-03 9.91937229e+01] [ 7.72562820e-01 6.34923309e-01 -4.36809682e-03 4.59036435e+01] [ 5.74891518e-03 -1.15562808e-04 9.99983468e-01 3.15396659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:45.93, Z:0.32 [[ 6.34911037e-01 -7.72576266e-01 -3.72675879e-03 9.92113212e+01] [ 7.72563999e-01 6.34921964e-01 -4.35505298e-03 4.59262014e+01] [ 5.73081158e-03 -1.14088469e-04 9.99983572e-01 3.15880996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:45.95, Z:0.32 [[ 6.35624846e-01 -7.71990102e-01 -3.51243010e-03 9.92273899e+01] [ 7.71979188e-01 6.35634543e-01 -4.10632122e-03 4.59488820e+01] [ 5.40266124e-03 -1.01443139e-04 9.99985400e-01 3.16182947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.291858064 meters Centerline goodness [0,1] 0.9999570262140095 Centerline is valid? [True, True] Translation: X:99.24, Y:45.97, Z:0.32 [[ 6.35752832e-01 -7.71885991e-01 -3.21766830e-03 9.92439366e+01] [ 7.71876823e-01 6.35760968e-01 -3.76305862e-03 4.59715062e+01] [ 4.95032015e-03 -9.12684045e-05 9.99987743e-01 3.16352703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.26, Y:45.99, Z:0.32 [[ 6.35866217e-01 -7.71793736e-01 -2.92958253e-03 9.92606005e+01] [ 7.71786128e-01 6.35872961e-01 -3.42792137e-03 4.59946792e+01] [ 4.50849056e-03 -8.13117571e-05 9.99989833e-01 3.16517590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.28, Y:46.02, Z:0.32 [[ 6.36481791e-01 -7.71287291e-01 -2.61613485e-03 9.92772129e+01] [ 7.71281214e-01 6.36487164e-01 -3.06269159e-03 4.60178958e+01] [ 4.02735135e-03 -6.84282376e-05 9.99991888e-01 3.17058636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.30, Y:46.04, Z:0.32 [[ 6.36905596e-01 -7.70936252e-01 -2.92542239e-03 9.92960980e+01] [ 7.70928640e-01 6.36912310e-01 -3.42660197e-03 4.60390833e+01] [ 4.50492921e-03 -7.28699349e-05 9.99989850e-01 3.16933108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.31, Y:46.06, Z:0.32 [[ 6.37354379e-01 -7.70563105e-01 -3.44904457e-03 9.93130435e+01] [ 7.70552508e-01 6.37363706e-01 -4.04211989e-03 4.60619908e+01] [ 5.31300428e-03 -8.14071296e-05 9.99985883e-01 3.16426767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.33, Y:46.09, Z:0.32 [[ 6.38493692e-01 -7.69618703e-01 -3.58568982e-03 9.93294461e+01] [ 7.69607222e-01 6.38503756e-01 -4.20434605e-03 4.60858033e+01] [ 5.52521978e-03 -7.51243492e-05 9.99984733e-01 3.15501490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.35, Y:46.11, Z:0.32 [[ 6.39324794e-01 -7.68928811e-01 -3.50587833e-03 9.93468580e+01] [ 7.68917815e-01 6.39334403e-01 -4.11273952e-03 4.61085159e+01] [ 5.40383254e-03 -6.63559630e-05 9.99985397e-01 3.15300508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.36, Y:46.13, Z:0.32 [[ 6.40333381e-01 -7.68088817e-01 -3.56811527e-03 9.93639265e+01] [ 7.68077404e-01 6.40343319e-01 -4.18750102e-03 4.61301739e+01] [ 5.50119148e-03 -5.91920336e-05 9.99984867e-01 3.15212188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531858064 meters Centerline goodness [0,1] 0.999850007499625 Centerline is valid? [True, True] Translation: X:99.38, Y:46.15, Z:0.31 [[ 6.42876649e-01 -7.65960046e-01 -3.84998159e-03 9.93801105e+01] [ 7.65946710e-01 6.42888176e-01 -4.52007610e-03 4.61545512e+01] [ 5.93730534e-03 -4.30293591e-05 9.99982373e-01 3.14501903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.40, Y:46.18, Z:0.31 [[ 6.44379403e-01 -7.64695156e-01 -4.06244462e-03 9.93971253e+01] [ 7.64680271e-01 6.44392208e-01 -4.77141173e-03 4.61756891e+01] [ 6.26648310e-03 -3.18718044e-05 9.99980365e-01 3.13846386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.591858064 meters Centerline goodness [0,1] 0.9999142054350857 Centerline is valid? [True, True] Translation: X:99.41, Y:46.20, Z:0.31 [[ 6.45614822e-01 -7.63650209e-01 -4.45630727e-03 9.94145732e+01] [ 7.63632258e-01 6.45630202e-01 -5.23620779e-03 4.61982798e+01] [ 6.87575774e-03 -2.24066151e-05 9.99976361e-01 3.14502636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.43, Y:46.22, Z:0.31 [[ 6.48244434e-01 -7.61421300e-01 -4.09371865e-03 9.94313265e+01] [ 7.61406089e-01 6.48257360e-01 -4.81281940e-03 4.62210893e+01] [ 6.31836644e-03 2.90107964e-06 9.99980039e-01 3.14913812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.651858064 meters Centerline goodness [0,1] 0.9999571807827353 Centerline is valid? [True, True] Translation: X:99.45, Y:46.24, Z:0.32 [[ 6.49200028e-01 -7.60607985e-01 -3.84933757e-03 9.94487947e+01] [ 7.60594507e-01 6.49211440e-01 -4.52803926e-03 4.62435082e+01] [ 5.94309680e-03 1.18182055e-05 9.99982340e-01 3.15072308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.681858064 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:99.47, Y:46.27, Z:0.31 [[ 6.50008106e-01 -7.59919638e-01 -3.40659960e-03 9.94663933e+01] [ 7.59909061e-01 6.50017033e-01 -4.00938871e-03 4.62658270e+01] [ 5.26116098e-03 1.74292591e-05 9.99986160e-01 3.14915320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:46.29, Z:0.32 [[ 6.50814184e-01 -7.59230300e-01 -3.20139682e-03 9.94839727e+01] [ 7.59220942e-01 6.50822058e-01 -3.76966939e-03 4.62865688e+01] [ 4.94558689e-03 2.27868003e-05 9.99987770e-01 3.15437796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.741858064 meters Centerline goodness [0,1] 0.9998716440260991 Centerline is valid? [True, True] Translation: X:99.50, Y:46.31, Z:0.32 [[ 6.50257857e-01 -7.59706941e-01 -3.17543928e-03 9.95026702e+01] [ 7.59697732e-01 6.50265610e-01 -3.74061042e-03 4.63074688e+01] [ 4.90664666e-03 1.99872915e-05 9.99987962e-01 3.15428809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.771858064 meters Centerline goodness [0,1] 0.9999357725491875 Centerline is valid? [True, True] Translation: X:99.52, Y:46.33, Z:0.32 [[ 6.49463743e-01 -7.60386263e-01 -3.09468478e-03 9.95216586e+01] [ 7.60377515e-01 6.49471116e-01 -3.64755737e-03 4.63279731e+01] [ 4.78346090e-03 1.58275393e-05 9.99988559e-01 3.15573949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801858064 meters Centerline goodness [0,1] 0.9999141686157543 Centerline is valid? [True, True] Translation: X:99.54, Y:46.35, Z:0.32 [[ 6.48347983e-01 -7.61337902e-01 -3.08097428e-03 9.95407856e+01] [ 7.61329231e-01 6.48355303e-01 -3.63349375e-03 4.63484221e+01] [ 4.76388252e-03 1.01325664e-05 9.99988653e-01 3.15308233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.56, Y:46.37, Z:0.32 [[ 6.46266466e-01 -7.63106463e-01 -2.86023880e-03 9.95609335e+01] [ 7.63099000e-01 6.46272796e-01 -3.37482086e-03 4.63669731e+01] [ 4.42384213e-03 -1.61181261e-06 9.99990215e-01 3.15646882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.58, Y:46.39, Z:0.32 [[ 6.44922046e-01 -7.64243611e-01 -2.69402186e-03 9.95802445e+01] [ 7.64236996e-01 6.44927673e-01 -3.17980696e-03 4.63871405e+01] [ 4.16759641e-03 -8.14356261e-06 9.99991316e-01 3.15911561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:46.41, Z:0.31 [[ 6.42946071e-01 -7.65906625e-01 -2.71868218e-03 9.96000657e+01] [ 7.65899896e-01 6.42951819e-01 -3.21064820e-03 4.64057424e+01] [ 4.20703838e-03 -1.79647513e-05 9.99991150e-01 3.14997448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921858064 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:99.62, Y:46.43, Z:0.31 [[ 6.41958432e-01 -7.66733862e-01 -2.92522994e-03 9.96189815e+01] [ 7.66726074e-01 6.41965096e-01 -3.45579642e-03 4.64253199e+01] [ 4.52757166e-03 -2.43724144e-05 9.99989750e-01 3.14728934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:46.45, Z:0.31 [[ 6.40915037e-01 -7.67604840e-01 -3.27494533e-03 9.96385940e+01] [ 7.67595082e-01 6.40923403e-01 -3.87062971e-03 4.64457189e+01] [ 5.07010320e-03 -3.30871454e-05 9.99987146e-01 3.14845264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.981858064 meters Centerline goodness [0,1] 0.9999569957210742 Centerline is valid? [True, True] Translation: X:99.66, Y:46.46, Z:0.31 [[ 6.40129087e-01 -7.68261676e-01 -2.95784205e-03 9.96574069e+01] [ 7.68253715e-01 6.40135920e-01 -3.49748845e-03 4.64649625e+01] [ 4.58040728e-03 -3.35290561e-05 9.99989509e-01 3.14937355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:46.48, Z:0.32 [[ 6.39098754e-01 -7.69120718e-01 -2.47055442e-03 9.96772000e+01] [ 7.69115167e-01 6.39103528e-01 -2.92219418e-03 4.64845442e+01] [ 3.82646014e-03 -3.25702162e-05 9.99992679e-01 3.16292743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:46.51, Z:0.32 [[ 6.38654123e-01 -7.69489920e-01 -2.48468119e-03 9.96960320e+01] [ 7.69484302e-01 6.38658955e-01 -2.94059747e-03 4.65057941e+01] [ 3.84962401e-03 -3.38984714e-05 9.99992590e-01 3.16342838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.071858064 meters Centerline goodness [0,1] 0.9999570529751551 Centerline is valid? [True, True] Translation: X:99.71, Y:46.53, Z:0.32 [[ 6.38348546e-01 -7.69742023e-01 -2.89003223e-03 9.97144675e+01] [ 7.69734415e-01 6.38355087e-01 -3.42253008e-03 4.65268552e+01] [ 4.47933200e-03 -3.97901652e-05 9.99989967e-01 3.15886877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101858064 meters Centerline goodness [0,1] 0.9999568937646831 Centerline is valid? [True, True] Translation: X:99.73, Y:46.55, Z:0.32 [[ 6.38336534e-01 -7.69751143e-01 -3.10590711e-03 9.97329055e+01] [ 7.69742346e-01 6.38344089e-01 -3.68039276e-03 4.65480709e+01] [ 4.81562397e-03 -4.14190665e-05 9.99988404e-01 3.15260575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:46.57, Z:0.31 [[ 6.38495783e-01 -7.69616137e-01 -3.75995740e-03 9.97512165e+01] [ 7.69603227e-01 6.38506852e-01 -4.45794419e-03 4.65686716e+01] [ 5.83166435e-03 -4.72967803e-05 9.99982995e-01 3.14950532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:46.59, Z:0.31 [[ 6.38821937e-01 -7.69343900e-01 -4.06161537e-03 9.97685540e+01] [ 7.69328819e-01 6.38834847e-01 -4.81737511e-03 4.65888153e+01] [ 6.30091959e-03 -4.72728613e-05 9.99980148e-01 3.14292931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.191858064 meters Centerline goodness [0,1] 0.9999570243671838 Centerline is valid? [True, True] Translation: X:99.79, Y:46.61, Z:0.31 [[ 6.38757757e-01 -7.69396977e-01 -4.10126686e-03 9.97858512e+01] [ 7.69381591e-01 6.38770921e-01 -4.86591343e-03 4.66091051e+01] [ 6.36358909e-03 -4.72992716e-05 9.99979751e-01 3.14342611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221858064 meters Centerline goodness [0,1] 0.9999568677349091 Centerline is valid? [True, True] Translation: X:99.80, Y:46.63, Z:0.31 [[ 6.38203155e-01 -7.69856668e-01 -4.17649600e-03 9.98049364e+01] [ 7.69840709e-01 6.38216819e-01 -4.95735019e-03 4.66301764e+01] [ 6.48195909e-03 -5.14401052e-05 9.99978991e-01 3.14728370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251858064 meters Centerline goodness [0,1] 0.999956942949408 Centerline is valid? [True, True] Translation: X:99.82, Y:46.65, Z:0.32 [[ 6.37938143e-01 -7.70078210e-01 -3.80470107e-03 9.98227731e+01] [ 7.70064958e-01 6.37949487e-01 -4.51802877e-03 4.66498750e+01] [ 5.90644261e-03 -4.76440809e-05 9.99982556e-01 3.15281382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:46.67, Z:0.32 [[ 6.37502597e-01 -7.70442225e-01 -3.03602993e-03 9.98406927e+01] [ 7.70433786e-01 6.37509825e-01 -3.60622396e-03 4.66701375e+01] [ 4.71388612e-03 -4.00828958e-05 9.99988889e-01 3.16185918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:46.69, Z:0.32 [[ 6.37244386e-01 -7.70657273e-01 -2.63816160e-03 9.98585102e+01] [ 7.70650899e-01 6.37249846e-01 -3.13465792e-03 4.66913838e+01] [ 4.09691499e-03 -3.55584510e-05 9.99991607e-01 3.17081830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:46.71, Z:0.32 [[ 6.37534378e-01 -7.70419043e-01 -2.10100092e-03 9.98764347e+01] [ 7.70414995e-01 6.37537840e-01 -2.49757775e-03 4.67119390e+01] [ 3.26364904e-03 -2.63509370e-05 9.99994674e-01 3.17595301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:46.73, Z:0.32 [[ 6.37857701e-01 -7.70151281e-01 -2.13472173e-03 9.98943748e+01] [ 7.70147098e-01 6.37861273e-01 -2.53845354e-03 4.67333004e+01] [ 3.31664956e-03 -2.48776034e-05 9.99994500e-01 3.18187357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.401858064 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:99.91, Y:46.75, Z:0.32 [[ 6.38587677e-01 -7.69546160e-01 -2.11814291e-03 9.99115980e+01] [ 7.69542034e-01 6.38591190e-01 -2.52018244e-03 4.67543080e+01] [ 3.29202412e-03 -2.06425554e-05 9.99994581e-01 3.18220413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.431858064 meters Centerline goodness [0,1] 0.9999784756451925 Centerline is valid? [True, True] Translation: X:99.93, Y:46.78, Z:0.32 [[ 6.39356854e-01 -7.68905931e-01 -2.54608477e-03 9.99290434e+01] [ 7.68899959e-01 6.39361923e-01 -3.03049571e-03 4.67763130e+01] [ 3.95803578e-03 -2.01162705e-05 9.99992167e-01 3.18090276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.461858064 meters Centerline goodness [0,1] 0.9999570021928882 Centerline is valid? [True, True] Translation: X:99.95, Y:46.80, Z:0.32 [[ 6.41871189e-01 -7.66806335e-01 -3.06935213e-03 9.99464869e+01] [ 7.66797622e-01 6.41878528e-01 -3.65560166e-03 4.67994227e+01] [ 4.77328974e-03 -7.14652460e-06 9.99988608e-01 3.17594562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.491858064 meters Centerline goodness [0,1] 0.9999135919813359 Centerline is valid? [True, True] Translation: X:99.96, Y:46.82, Z:0.32 [[ 6.43081987e-01 -7.65791879e-01 -2.89063362e-03 9.99639931e+01] [ 7.65784133e-01 6.43088484e-01 -3.44445094e-03 4.68211015e+01] [ 4.49666576e-03 1.46299508e-06 9.99989890e-01 3.17879747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521858064 meters Centerline goodness [0,1] 0.9998919502971367 Centerline is valid? [True, True] Translation: X:99.98, Y:46.84, Z:0.32 [[ 6.43966285e-01 -7.65048388e-01 -2.89616984e-03 9.99815672e+01] [ 7.65040595e-01 6.43972798e-01 -3.45303053e-03 4.68426030e+01] [ 4.50679003e-03 7.94774985e-06 9.99989844e-01 3.18027647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.551858064 meters Centerline goodness [0,1] 0.9998488447419563 Centerline is valid? [True, True] Translation: X:100.00, Y:46.87, Z:0.32 [[ 6.45926548e-01 -7.63393285e-01 -3.09643590e-03 9.99988163e+01] [ 7.63384349e-01 6.45933969e-01 -3.69368120e-03 4.68650392e+01] [ 4.81982455e-03 2.20760445e-05 9.99988384e-01 3.17659733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581858064 meters Centerline goodness [0,1] 0.9999352205739457 Centerline is valid? [True, True] Translation: X:100.02, Y:46.89, Z:0.32 [[ 6.46805714e-01 -7.62646299e-01 -3.60434006e-03 1.00017166e+02] [ 7.62634170e-01 6.46815756e-01 -4.30116377e-03 4.68877742e+01] [ 5.61161057e-03 3.32244163e-05 9.99984254e-01 3.16897092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:46.91, Z:0.32 [[ 6.48283985e-01 -7.61387389e-01 -4.13753947e-03 1.00035049e+02] [ 7.61371369e-01 6.48297186e-01 -4.93932275e-03 4.69089153e+01] [ 6.44309325e-03 5.18797422e-05 9.99979242e-01 3.15534407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641858064 meters Centerline goodness [0,1] 0.9999134854547421 Centerline is valid? [True, True] Translation: X:100.05, Y:46.93, Z:0.32 [[ 6.48535609e-01 -7.61173256e-01 -4.10337539e-03 1.00053723e+02] [ 7.61157484e-01 6.48548588e-01 -4.90025450e-03 4.69300055e+01] [ 6.39118099e-03 5.46746522e-05 9.99979575e-01 3.15555554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671858064 meters Centerline goodness [0,1] 0.9999783136710617 Centerline is valid? [True, True] Translation: X:100.07, Y:46.95, Z:0.32 [[ 6.48526124e-01 -7.61184137e-01 -3.54633867e-03 1.00072136e+02] [ 7.61172347e-01 6.48535818e-01 -4.23678911e-03 4.69503899e+01] [ 5.52490431e-03 4.82934906e-05 9.99984736e-01 3.15879968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70185806399999 meters Centerline goodness [0,1] 0.9999783136710617 Centerline is valid? [True, True] Translation: X:100.09, Y:46.97, Z:0.32 [[ 6.48320540e-01 -7.61359249e-01 -3.54550738e-03 1.00089770e+02] [ 7.61347459e-01 6.48330233e-01 -4.23748470e-03 4.69715961e+01] [ 5.52490779e-03 4.78853319e-05 9.99984736e-01 3.15973894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.731858064 meters Centerline goodness [0,1] 0.9997400459252199 Centerline is valid? [True, True] Translation: X:100.11, Y:46.99, Z:0.32 [[ 6.47473013e-01 -7.62080458e-01 -3.47476592e-03 1.00108595e+02] [ 7.62069133e-01 6.47482335e-01 -4.15475578e-03 4.69907347e+01] [ 5.41610774e-03 4.20803856e-05 9.99985332e-01 3.15310648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.761858064 meters Centerline goodness [0,1] 0.9999131756023443 Centerline is valid? [True, True] Translation: X:100.13, Y:47.01, Z:0.31 [[ 6.46667731e-01 -7.62764407e-01 -3.36223313e-03 1.00127797e+02] [ 7.62753806e-01 6.46676470e-01 -4.02165484e-03 4.70108121e+01] [ 5.24185222e-03 3.61182874e-05 9.99986261e-01 3.14989616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.791858064 meters Centerline goodness [0,1] 0.9999566056976719 Centerline is valid? [True, True] Translation: X:100.15, Y:47.03, Z:0.32 [[ 6.45607815e-01 -7.63660799e-01 -3.56820333e-03 1.00147872e+02] [ 7.63648859e-01 6.45617675e-01 -4.27049955e-03 4.70307273e+01] [ 5.56490824e-03 3.22134784e-05 9.99984515e-01 3.15061124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:47.05, Z:0.32 [[ 6.43440435e-01 -7.65489927e-01 -3.09489444e-03 1.00169491e+02] [ 7.65480958e-01 6.43447878e-01 -3.70552244e-03 4.70490864e+01] [ 4.82794336e-03 1.52002141e-05 9.99988345e-01 3.16223481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.851858064 meters Centerline goodness [0,1] 0.9999782315294528 Centerline is valid? [True, True] Translation: X:100.19, Y:47.07, Z:0.32 [[ 6.41993569e-01 -7.66704593e-01 -2.88531927e-03 1.00189765e+02] [ 7.66696806e-01 6.42000053e-01 -3.45547051e-03 4.70693392e+01] [ 4.50170023e-03 6.22477715e-06 9.99989867e-01 3.16774079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881858064 meters Centerline goodness [0,1] 0.999934864735768 Centerline is valid? [True, True] Translation: X:100.21, Y:47.09, Z:0.32 [[ 6.40649710e-01 -7.67827680e-01 -2.93303569e-03 1.00210048e+02] [ 7.67819637e-01 6.40656424e-01 -3.51448623e-03 4.70895169e+01] [ 4.57758797e-03 -4.87811771e-07 9.99989523e-01 3.16741916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:47.11, Z:0.32 [[ 6.39189896e-01 -7.69043395e-01 -2.92101604e-03 1.00229647e+02] [ 7.69035422e-01 6.39196571e-01 -3.50193645e-03 4.71096802e+01] [ 4.56024453e-03 -7.96240429e-06 9.99989602e-01 3.16544694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:47.13, Z:0.31 [[ 6.37231709e-01 -7.70662934e-01 -3.79359521e-03 1.00250478e+02] [ 7.70649500e-01 6.37243000e-01 -4.55042954e-03 4.71282018e+01] [ 5.92428937e-03 -2.38542637e-05 9.99982451e-01 3.14949376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.971858064 meters Centerline goodness [0,1] 0.999934250898571 Centerline is valid? [True, True] Translation: X:100.27, Y:47.15, Z:0.31 [[ 6.36422855e-01 -7.71330412e-01 -3.91728242e-03 1.00269623e+02] [ 7.71316089e-01 6.36434910e-01 -4.70061513e-03 4.71482598e+01] [ 6.11882269e-03 -2.98840516e-05 9.99981279e-01 3.14895695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:47.17, Z:0.32 [[ 6.35777706e-01 -7.71864152e-01 -3.52687179e-03 1.00288233e+02] [ 7.71852540e-01 6.35787488e-01 -4.23403638e-03 4.71675271e+01] [ 5.51044185e-03 -3.03190086e-05 9.99984817e-01 3.15407279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031858064 meters Centerline goodness [0,1] 0.9999339875896669 Centerline is valid? [True, True] Translation: X:100.31, Y:47.19, Z:0.32 [[ 6.34851187e-01 -7.72627603e-01 -3.24912374e-03 1.00307188e+02] [ 7.72617749e-01 6.34859501e-01 -3.90224082e-03 4.71885922e+01] [ 5.07771605e-03 -3.29884570e-05 9.99987108e-01 3.16063222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:47.21, Z:0.32 [[ 6.33187703e-01 -7.73990420e-01 -3.48741140e-03 1.00327253e+02] [ 7.73979078e-01 6.33197305e-01 -4.19045355e-03 4.72079092e+01] [ 5.45159041e-03 -4.58397973e-05 9.99985139e-01 3.16023910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.35, Y:47.23, Z:0.32 [[ 6.32231525e-01 -7.74771165e-01 -3.59744239e-03 1.00345976e+02] [ 7.74759101e-01 6.32241757e-01 -4.32395571e-03 4.72279467e+01] [ 5.62452950e-03 -5.34101198e-05 9.99984181e-01 3.15425296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.37, Y:47.25, Z:0.31 [[ 6.31034488e-01 -7.75745497e-01 -3.79464710e-03 1.00365778e+02] [ 7.75732080e-01 6.31045894e-01 -4.56292235e-03 4.72493360e+01] [ 5.93426293e-03 -6.42681214e-05 9.99982390e-01 3.14854451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.151858064 meters Centerline goodness [0,1] 0.9999559985039491 Centerline is valid? [True, True] Translation: X:100.39, Y:47.27, Z:0.31 [[ 6.29748271e-01 -7.76791541e-01 -3.46659000e-03 1.00385847e+02] [ 7.76780351e-01 6.29757808e-01 -4.17007858e-03 4.72688393e+01] [ 5.42239389e-03 -6.66792190e-05 9.99985296e-01 3.14444655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:47.29, Z:0.31 [[ 6.29040060e-01 -7.77365526e-01 -3.38256638e-03 1.00405339e+02] [ 7.77354873e-01 6.29049150e-01 -4.07044924e-03 4.72905219e+01] [ 5.29202742e-03 -6.89788272e-05 9.99985995e-01 3.14029831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.43, Y:47.31, Z:0.31 [[ 6.27301828e-01 -7.78767118e-01 -3.76739740e-03 1.00425606e+02] [ 7.78753913e-01 6.27313134e-01 -4.53590289e-03 4.73107947e+01] [ 5.89574989e-03 -8.84952942e-05 9.99982616e-01 3.13447439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:47.33, Z:0.31 [[ 6.26597928e-01 -7.79332318e-01 -4.02190918e-03 1.00445316e+02] [ 7.79317268e-01 6.26610827e-01 -4.84425978e-03 4.73309813e+01] [ 6.29546004e-03 -9.89401354e-05 9.99980179e-01 3.13497629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:47.35, Z:0.31 [[ 6.26032393e-01 -7.79787161e-01 -3.92771861e-03 1.00464976e+02] [ 7.79772806e-01 6.26044706e-01 -4.73260255e-03 4.73515333e+01] [ 6.14935015e-03 -9.99656675e-05 9.99981088e-01 3.13683506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301858064 meters Centerline goodness [0,1] 0.9999778201659052 Centerline is valid? [True, True] Translation: X:100.48, Y:47.37, Z:0.32 [[ 6.26697671e-01 -7.79253989e-01 -3.64003710e-03 1.00484057e+02] [ 7.79241639e-01 6.26708236e-01 -4.38811906e-03 4.73739310e+01] [ 5.70070051e-03 -8.64444810e-05 9.99983747e-01 3.15104421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.50, Y:47.40, Z:0.32 [[ 6.27425259e-01 -7.78669790e-01 -3.30173800e-03 1.00502315e+02] [ 7.78659612e-01 6.27433943e-01 -3.98207249e-03 4.73969151e+01] [ 5.17234204e-03 -7.24771677e-05 9.99986621e-01 3.15600885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361858064 meters Centerline goodness [0,1] 0.9999556393478984 Centerline is valid? [True, True] Translation: X:100.52, Y:47.42, Z:0.32 [[ 6.28637484e-01 -7.77692916e-01 -2.93982816e-03 1.00520498e+02] [ 7.77684828e-01 6.28644355e-01 -3.54721844e-03 4.74196062e+01] [ 4.60675304e-03 -5.63452842e-05 9.99989387e-01 3.16208587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:47.44, Z:0.32 [[ 6.31543183e-01 -7.75335931e-01 -2.72076465e-03 1.00538315e+02] [ 7.75328976e-01 6.31549042e-01 -3.28422232e-03 4.74408503e+01] [ 4.26467188e-03 -3.53594528e-05 9.99990906e-01 3.17158063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.56, Y:47.46, Z:0.32 [[ 6.32558456e-01 -7.74507882e-01 -2.70940515e-03 1.00555953e+02] [ 7.74500974e-01 6.32564257e-01 -3.27130593e-03 4.74629707e+01] [ 4.24752508e-03 -2.91447024e-05 9.99990979e-01 3.17260639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:47.48, Z:0.32 [[ 6.33561582e-01 -7.73687801e-01 -2.62822039e-03 1.00573115e+02] [ 7.73681288e-01 6.33567033e-01 -3.17476651e-03 4.74836404e+01] [ 4.12143192e-03 -2.19948460e-05 9.99991507e-01 3.16788844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.59, Y:47.51, Z:0.32 [[ 6.34283595e-01 -7.73095284e-01 -2.82882426e-03 1.00591225e+02] [ 7.73087727e-01 6.34289903e-01 -3.41832234e-03 4.75057691e+01] [ 4.43698354e-03 -1.87435344e-05 9.99990156e-01 3.16459989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:47.53, Z:0.32 [[ 6.35035566e-01 -7.72476798e-01 -3.07010019e-03 1.00608896e+02] [ 7.72467881e-01 6.35042987e-01 -3.71173429e-03 4.75266804e+01] [ 4.81687422e-03 -1.44704989e-05 9.99988399e-01 3.15840540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.541858064 meters Centerline goodness [0,1] 0.9999333614696018 Centerline is valid? [True, True] Translation: X:100.63, Y:47.55, Z:0.32 [[ 6.36240266e-01 -7.71484945e-01 -3.05004900e-03 1.00627673e+02] [ 7.71476126e-01 6.36247577e-01 -3.68889353e-03 4.75474676e+01] [ 4.78651211e-03 -6.01738265e-06 9.99988545e-01 3.15999893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:47.57, Z:0.32 [[ 6.36677702e-01 -7.71125153e-01 -2.73916494e-03 1.00646313e+02] [ 7.71118029e-01 6.36683594e-01 -3.31460447e-03 4.75691393e+01] [ 4.29995626e-03 -1.88470976e-06 9.99990755e-01 3.16010035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.67, Y:47.59, Z:0.32 [[ 6.36951003e-01 -7.70899351e-01 -2.75845107e-03 1.00665797e+02] [ 7.70892117e-01 6.36956976e-01 -3.33982894e-03 4.75900314e+01] [ 4.33168662e-03 8.39217041e-07 9.99990618e-01 3.15849478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.68, Y:47.61, Z:0.32 [[ 6.36879837e-01 -7.70958007e-01 -2.79710795e-03 1.00684504e+02] [ 7.70950560e-01 6.36885980e-01 -3.38856575e-03 4.76109370e+01] [ 4.39388074e-03 1.67725972e-06 9.99990347e-01 3.15462277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.661858064 meters Centerline goodness [0,1] 0.9999554416843043 Centerline is valid? [True, True] Translation: X:100.70, Y:47.63, Z:0.32 [[ 6.36722920e-01 -7.71087517e-01 -2.82214627e-03 1.00703460e+02] [ 7.71079929e-01 6.36729174e-01 -3.42083087e-03 4.76313185e+01] [ 4.43470285e-03 2.02107397e-06 9.99990167e-01 3.15305067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.691858064 meters Centerline goodness [0,1] 0.9999554257950923 Centerline is valid? [True, True] Translation: X:100.72, Y:47.65, Z:0.32 [[ 6.36313515e-01 -7.71425120e-01 -2.89743934e-03 1.00722816e+02] [ 7.71417116e-01 6.36320112e-01 -3.51411360e-03 4.76520667e+01] [ 4.55457443e-03 9.43676280e-07 9.99989628e-01 3.15483705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:47.67, Z:0.32 [[ 6.35573719e-01 -7.72033568e-01 -3.19659172e-03 1.00743552e+02] [ 7.72023821e-01 6.35581757e-01 -3.87931009e-03 4.76715334e+01] [ 5.02665299e-03 -2.25741791e-06 9.99987366e-01 3.15769357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.76, Y:47.69, Z:0.32 [[ 6.34659005e-01 -7.72785466e-01 -3.25135534e-03 1.00762783e+02] [ 7.72775381e-01 6.34667333e-01 -3.94806513e-03 4.76919659e+01] [ 5.11453637e-03 -6.89226600e-06 9.99986921e-01 3.15792903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.78, Y:47.71, Z:0.32 [[ 6.33552559e-01 -7.73692379e-01 -3.35518642e-03 1.00781918e+02] [ 7.73681640e-01 6.33561443e-01 -4.07651884e-03 4.77123423e+01] [ 5.27968831e-03 -1.31571862e-05 9.99986062e-01 3.16113344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.80, Y:47.73, Z:0.32 [[ 6.32151512e-01 -7.74836951e-01 -3.48800986e-03 1.00801366e+02] [ 7.74825348e-01 6.32161134e-01 -4.24036417e-03 4.77325233e+01] [ 5.49057511e-03 -2.20458297e-05 9.99984926e-01 3.15943933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.82, Y:47.75, Z:0.32 [[ 6.28669982e-01 -7.77662944e-01 -3.79472654e-03 1.00822542e+02] [ 7.77649249e-01 6.28681433e-01 -4.61539380e-03 4.77508442e+01] [ 5.97489484e-03 -4.94067056e-05 9.99982149e-01 3.15733339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.871858064 meters Centerline goodness [0,1] 0.9999547162976045 Centerline is valid? [True, True] Translation: X:100.84, Y:47.77, Z:0.32 [[ 6.27023093e-01 -7.78991709e-01 -3.73612479e-03 1.00842150e+02] [ 7.78978451e-01 6.27034221e-01 -4.54528973e-03 4.77709201e+01] [ 5.88342111e-03 -6.03590779e-05 9.99982691e-01 3.15638893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.86, Y:47.79, Z:0.32 [[ 6.25189554e-01 -7.80465259e-01 -3.46422136e-03 1.00862140e+02] [ 7.80453875e-01 6.25199148e-01 -4.21587283e-03 4.77922973e+01] [ 5.45617052e-03 -6.79453286e-05 9.99985113e-01 3.16025076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.88, Y:47.81, Z:0.32 [[ 6.22258715e-01 -7.82805292e-01 -3.15692342e-03 1.00881862e+02] [ 7.82795860e-01 6.22266718e-01 -3.84366805e-03 4.78135730e+01] [ 4.97329206e-03 -7.94706418e-05 9.99987630e-01 3.16003605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.90, Y:47.84, Z:0.32 [[ 6.21117332e-01 -7.83711399e-01 -3.11478628e-03 1.00900074e+02] [ 7.83702219e-01 6.21125137e-01 -3.79424153e-03 4.78360138e+01] [ 4.90826239e-03 -8.43957383e-05 9.99987951e-01 3.15795035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.92, Y:47.86, Z:0.32 [[ 6.20541010e-01 -7.84168892e-01 -2.82897185e-03 1.00917891e+02] [ 7.84161318e-01 6.20547454e-01 -3.44745256e-03 4.78567934e+01] [ 4.45889633e-03 -7.90846018e-05 9.99990056e-01 3.15828953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.94, Y:47.88, Z:0.32 [[ 6.19293506e-01 -7.85153674e-01 -3.04318516e-03 1.00937085e+02] [ 7.85144917e-01 6.19300976e-01 -3.70938502e-03 4.78775420e+01] [ 4.79708482e-03 -9.21433068e-05 9.99988490e-01 3.16156521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.95, Y:47.90, Z:0.32 [[ 6.18642635e-01 -7.85666145e-01 -3.16202509e-03 1.00954588e+02] [ 7.85656690e-01 6.18650708e-01 -3.85564019e-03 4.79003398e+01] [ 4.98543502e-03 -9.90027589e-05 9.99987568e-01 3.16234150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.97, Y:47.92, Z:0.32 [[ 6.18091618e-01 -7.86099787e-01 -3.14260008e-03 1.00972213e+02] [ 7.86090444e-01 6.18099599e-01 -3.83399777e-03 4.79238308e+01] [ 4.95634468e-03 -1.00606007e-04 9.99987712e-01 3.16235494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:47.95, Z:0.32 [[ 6.17921421e-01 -7.86234590e-01 -2.87876417e-03 1.00988913e+02] [ 7.86226744e-01 6.17928120e-01 -3.51361557e-03 4.79457192e+01] [ 4.54139543e-03 -9.22230562e-05 9.99989684e-01 3.16475278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:47.97, Z:0.32 [[ 6.17716125e-01 -7.86396191e-01 -2.79648842e-03 1.01005953e+02] [ 7.86388783e-01 6.17722448e-01 -3.41445194e-03 4.79677828e+01] [ 4.41256567e-03 -8.99651069e-05 9.99990261e-01 3.16721097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.02, Y:47.99, Z:0.32 [[ 6.17744458e-01 -7.86373892e-01 -2.80853354e-03 1.01022780e+02] [ 7.86366411e-01 6.17750836e-01 -3.43109309e-03 4.79903092e+01] [ 4.43309596e-03 -8.89977056e-05 9.99990170e-01 3.16983982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.04, Y:48.02, Z:0.32 [[ 6.18150600e-01 -7.86055710e-01 -2.50131682e-03 1.01037613e+02] [ 7.86049768e-01 6.18155656e-01 -3.05732552e-03 4.80151281e+01] [ 3.94943133e-03 -7.62719008e-05 9.99992198e-01 3.17412736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.05, Y:48.04, Z:0.32 [[ 6.18543869e-01 -7.85746761e-01 -2.34733491e-03 1.01054300e+02] [ 7.85741520e-01 6.18548320e-01 -2.87060876e-03 4.80381389e+01] [ 3.70751160e-03 -6.88010504e-05 9.99993125e-01 3.17590236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.07, Y:48.06, Z:0.32 [[ 6.19006068e-01 -7.85382788e-01 -2.31598183e-03 1.01071057e+02] [ 7.85377678e-01 6.19010397e-01 -2.83379465e-03 4.80621799e+01] [ 3.65923038e-03 -6.47843474e-05 9.99993303e-01 3.18095144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.09, Y:48.09, Z:0.32 [[ 6.19848059e-01 -7.84719801e-01 -1.79385284e-03 1.01086848e+02] [ 7.84716730e-01 6.19850653e-01 -2.19587119e-03 4.80853695e+01] [ 2.83506446e-03 -4.65598368e-05 9.99995980e-01 3.19717478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.10, Y:48.11, Z:0.32 [[ 6.19964358e-01 -7.84628821e-01 -1.34436004e-03 1.01102779e+02] [ 7.84627097e-01 6.19965815e-01 -1.64542984e-03 4.81080041e+01] [ 2.12450895e-03 -3.47134643e-05 9.99997743e-01 3.20476484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.351858064 meters Centerline goodness [0,1] 0.999955452601568 Centerline is valid? [True, True] Translation: X:101.12, Y:48.13, Z:0.32 [[ 6.20176098e-01 -7.84462176e-01 -8.37448990e-04 1.01118392e+02] [ 7.84461507e-01 6.20176663e-01 -1.02511934e-03 4.81298694e+01] [ 1.32353367e-03 -2.11919824e-05 9.99999124e-01 3.21029631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.13, Y:48.15, Z:0.32 [[ 6.20264796e-01 -7.84392362e-01 -4.52487547e-04 1.01133973e+02] [ 7.84392167e-01 6.20264961e-01 -5.53393775e-04 4.81534212e+01] [ 7.14740021e-04 -1.16770104e-05 9.99999745e-01 3.21477240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.15, Y:48.18, Z:0.32 [[ 6.20722244e-01 -7.84030545e-01 1.01787875e-05 1.01148314e+02] [ 7.84030545e-01 6.20722244e-01 1.40236374e-05 4.81776146e+01] [-1.73131601e-05 -7.24303375e-07 1.00000000e+00 3.21623514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.16, Y:48.20, Z:0.32 [[ 6.20657615e-01 -7.84081707e-01 4.61840384e-05 1.01164277e+02] [ 7.84081705e-01 6.20657616e-01 5.77366438e-05 4.81996293e+01] [-7.39347215e-05 3.77371993e-07 9.99999997e-01 3.21524913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.18, Y:48.22, Z:0.32 [[ 6.20330134e-01 -7.84340822e-01 2.39466680e-05 1.01181125e+02] [ 7.84340821e-01 6.20330134e-01 3.09282317e-05 4.82226549e+01] [-3.91131146e-05 -4.03364807e-07 9.99999999e-01 3.21275867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.20, Y:48.25, Z:0.32 [[ 6.19467200e-01 -7.85022527e-01 -1.42245520e-04 1.01197171e+02] [ 7.85022507e-01 6.19467217e-01 -1.73456190e-04 4.82473855e+01] [ 2.24283453e-04 -4.21551413e-06 9.99999975e-01 3.20282267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:48.27, Z:0.32 [[ 6.18802318e-01 -7.85546368e-01 -7.71001358e-04 1.01214022e+02] [ 7.85545798e-01 6.18802798e-01 -9.46920656e-04 4.82685255e+01] [ 1.22094788e-03 -1.97001804e-05 9.99999254e-01 3.20172938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.23, Y:48.29, Z:0.32 [[ 6.17831086e-01 -7.86310062e-01 -1.11110432e-03 1.01231203e+02] [ 7.86308878e-01 6.17832085e-01 -1.36525841e-03 4.82913621e+01] [ 1.75999232e-03 -3.01721080e-05 9.99998451e-01 3.19679180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.25, Y:48.31, Z:0.32 [[ 6.17608321e-01 -7.86485046e-01 -1.11081172e-03 1.01248565e+02] [ 7.86483861e-01 6.17609319e-01 -1.36549639e-03 4.83128169e+01] [ 1.75999016e-03 -3.02935561e-05 9.99998451e-01 3.19773020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.27, Y:48.34, Z:0.32 [[ 6.15449250e-01 -7.88172852e-01 -2.40353381e-03 1.01265898e+02] [ 7.88167304e-01 6.15453938e-01 -2.95808466e-03 4.83360686e+01] [ 3.81074637e-03 -7.38357781e-05 9.99992736e-01 3.17870174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.28, Y:48.36, Z:0.32 [[ 6.14591968e-01 -7.88839031e-01 -3.11388919e-03 1.01282764e+02] [ 7.88829717e-01 6.14599848e-01 -3.83467548e-03 4.83594603e+01] [ 4.93873752e-03 -9.95675784e-05 9.99987799e-01 3.16668068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.30, Y:48.38, Z:0.32 [[ 6.13845893e-01 -7.89417534e-01 -3.62994081e-03 1.01299636e+02] [ 7.89404876e-01 6.13856614e-01 -4.47207335e-03 4.83819254e+01] [ 5.75859629e-03 -1.20329116e-04 9.99983412e-01 3.15487902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:48.41, Z:0.32 [[ 6.11975641e-01 -7.90866858e-01 -3.92785780e-03 1.01317029e+02] [ 7.90852056e-01 6.11988229e-01 -4.84072639e-03 4.84053885e+01] [ 6.23217281e-03 -1.43947785e-04 9.99980569e-01 3.15632669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.33, Y:48.43, Z:0.32 [[ 6.11228954e-01 -7.91446186e-01 -3.47872336e-03 1.01334915e+02] [ 7.91434577e-01 6.11238839e-01 -4.28868655e-03 4.84263561e+01] [ 5.52059544e-03 -1.31812553e-04 9.99984753e-01 3.16149925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.771858064 meters Centerline goodness [0,1] 0.9999780229440464 Centerline is valid? [True, True] Translation: X:101.35, Y:48.45, Z:0.32 [[ 6.10221369e-01 -7.92224463e-01 -3.20629137e-03 1.01351521e+02] [ 7.92214607e-01 6.10229779e-01 -3.95391333e-03 4.84506642e+01] [ 5.08896134e-03 -1.27308452e-04 9.99987043e-01 3.16357600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.37, Y:48.47, Z:0.32 [[ 6.10316140e-01 -7.92151484e-01 -3.19939065e-03 1.01368463e+02] [ 7.92141660e-01 6.10324513e-01 -3.94712335e-03 4.84719430e+01] [ 5.07938615e-03 -1.25377533e-04 9.99987092e-01 3.16293573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.38, Y:48.50, Z:0.32 [[ 6.10900306e-01 -7.91700599e-01 -3.31336623e-03 1.01384604e+02] [ 7.91690047e-01 6.10909278e-01 -4.08928897e-03 4.84962121e+01] [ 5.26165870e-03 -1.25011187e-04 9.99986150e-01 3.16369651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861858064 meters Centerline goodness [0,1] 0.9999340528895826 Centerline is valid? [True, True] Translation: X:101.40, Y:48.52, Z:0.32 [[ 6.12688710e-01 -7.90318274e-01 -3.09344289e-03 1.01401096e+02] [ 7.90309053e-01 6.12696511e-01 -3.81931285e-03 4.85190888e+01] [ 4.91381441e-03 -1.04726054e-04 9.99987922e-01 3.16582921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.42, Y:48.54, Z:0.32 [[ 6.14426347e-01 -7.88968827e-01 -2.90753995e-03 1.01417436e+02] [ 7.88960662e-01 6.14433220e-01 -3.59048975e-03 4.85436594e+01] [ 4.61927362e-03 -8.78431389e-05 9.99989327e-01 3.16802888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921858064 meters Centerline goodness [0,1] 0.9999563414101724 Centerline is valid? [True, True] Translation: X:101.43, Y:48.57, Z:0.32 [[ 6.18485106e-01 -7.85792431e-01 -2.53574008e-03 1.01430617e+02] [ 7.85786190e-01 6.18490301e-01 -3.13225335e-03 4.85696731e+01] [ 4.02963162e-03 -5.52974927e-05 9.99991879e-01 3.16737152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95185806399999 meters Centerline goodness [0,1] 0.9999563108916947 Centerline is valid? [True, True] Translation: X:101.45, Y:48.59, Z:0.32 [[ 6.20431682e-01 -7.84256719e-01 -2.43459100e-03 1.01446531e+02] [ 7.84250948e-01 6.20436457e-01 -3.00884559e-03 4.85937860e+01] [ 3.87021638e-03 -4.25471683e-05 9.99992510e-01 3.17251684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:48.62, Z:0.32 [[ 6.22146738e-01 -7.82898002e-01 -2.03831784e-03 1.01462355e+02] [ 7.82893947e-01 6.22150076e-01 -2.52013251e-03 4.86180223e+01] [ 3.24114631e-03 -2.78944788e-05 9.99994747e-01 3.17544997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.48, Y:48.64, Z:0.32 [[ 6.24118898e-01 -7.81327932e-01 -1.50453116e-03 1.01476964e+02] [ 7.81325716e-01 6.24120712e-01 -1.86074967e-03 4.86430145e+01] [ 2.39286475e-03 -1.41998551e-05 9.99997137e-01 3.18520583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.041858064 meters Centerline goodness [0,1] 0.999804488084635 Centerline is valid? [True, True] Translation: X:101.49, Y:48.67, Z:0.32 [[ 6.24336872e-01 -7.81154283e-01 -1.20686840e-03 1.01493440e+02] [ 7.81152856e-01 6.24338039e-01 -1.49300098e-03 4.86661685e+01] [ 1.91975796e-03 -1.06131329e-05 9.99998157e-01 3.19241151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.071858064 meters Centerline goodness [0,1] 0.999521791109662 Centerline is valid? [True, True] Translation: X:101.51, Y:48.69, Z:0.32 [[ 6.24056735e-01 -7.81378606e-01 -8.15719041e-04 1.01508853e+02] [ 7.81377955e-01 6.24057268e-01 -1.00914912e-03 4.86897907e+01] [ 1.29758293e-03 -7.61857108e-06 9.99999158e-01 3.19333712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101858064 meters Centerline goodness [0,1] 0.9996530262615748 Centerline is valid? [True, True] Translation: X:101.53, Y:48.71, Z:0.32 [[ 6.23470293e-01 -7.81846434e-01 -9.72897759e-04 1.01525727e+02] [ 7.81845506e-01 6.23471053e-01 -1.20500242e-03 4.87115188e+01] [ 1.54870044e-03 -9.37252601e-06 9.99998801e-01 3.19650530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.131858064 meters Centerline goodness [0,1] 0.9994801031128826 Centerline is valid? [True, True] Translation: X:101.54, Y:48.73, Z:0.32 [[ 6.22782072e-01 -7.82394772e-01 -9.55256235e-04 1.01542589e+02] [ 7.82393877e-01 6.22782804e-01 -1.18354091e-03 4.87330440e+01] [ 1.52091338e-03 -1.02985667e-05 9.99998843e-01 3.19577366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161858064 meters Centerline goodness [0,1] 0.9995024122190251 Centerline is valid? [True, True] Translation: X:101.56, Y:48.76, Z:0.32 [[ 6.20571808e-01 -7.84148842e-01 -1.10661962e-03 1.01560317e+02] [ 7.84147643e-01 6.20572795e-01 -1.37145300e-03 4.87555710e+01] [ 1.76216131e-03 -1.66680984e-05 9.99998447e-01 3.19706565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.191858064 meters Centerline goodness [0,1] 0.9995453856644946 Centerline is valid? [True, True] Translation: X:101.58, Y:48.78, Z:0.32 [[ 6.19190420e-01 -7.85239458e-01 -1.48871834e-03 1.01578200e+02] [ 7.85237288e-01 6.19192210e-01 -1.84636150e-03 4.87784585e+01] [ 2.37163871e-03 -2.57477995e-05 9.99997187e-01 3.19644419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221858064 meters Centerline goodness [0,1] 0.9995676703919067 Centerline is valid? [True, True] Translation: X:101.60, Y:48.80, Z:0.32 [[ 6.17351248e-01 -7.86685864e-01 -1.66995693e-03 1.01596185e+02] [ 7.86683135e-01 6.17353506e-01 -2.07233731e-03 4.88009370e+01] [ 2.66123223e-03 -3.43669293e-05 9.99996458e-01 3.19079480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251858064 meters Centerline goodness [0,1] 0.999848366692661 Centerline is valid? [True, True] Translation: X:101.62, Y:48.82, Z:0.32 [[ 6.13855914e-01 -7.89415741e-01 -1.92473517e-03 1.01615063e+02] [ 7.89412125e-01 6.13858930e-01 -2.38992278e-03 4.88226823e+01] [ 3.06815853e-03 -5.23410443e-05 9.99995292e-01 3.19799152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281858064 meters Centerline goodness [0,1] 0.9996121859783687 Centerline is valid? [True, True] Translation: X:101.63, Y:48.84, Z:0.32 [[ 6.12407995e-01 -7.90539536e-01 -1.92068676e-03 1.01633139e+02] [ 7.90535937e-01 6.12411005e-01 -2.38616092e-03 4.88432799e+01] [ 3.06260425e-03 -5.70678862e-05 9.99995309e-01 3.20479897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311858064 meters Centerline goodness [0,1] 0.9996533645305256 Centerline is valid? [True, True] Translation: X:101.65, Y:48.87, Z:0.32 [[ 6.10995618e-01 -7.91631515e-01 -1.97471685e-03 1.01651310e+02] [ 7.91627714e-01 6.10998805e-01 -2.45404454e-03 4.88653972e+01] [ 3.14924863e-03 -6.38301245e-05 9.99995039e-01 3.21285654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.341858064 meters Centerline goodness [0,1] 0.999544201593124 Centerline is valid? [True, True] Translation: X:101.67, Y:48.89, Z:0.32 [[ 6.10139337e-01 -7.92291520e-01 -2.03374742e-03 1.01669027e+02] [ 7.92287488e-01 6.10142723e-01 -2.52871592e-03 4.88881753e+01] [ 3.24435636e-03 -6.84435773e-05 9.99994735e-01 3.21598117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.371858064 meters Centerline goodness [0,1] 0.9994799115849694 Centerline is valid? [True, True] Translation: X:101.69, Y:48.91, Z:0.32 [[ 6.09841999e-01 -7.92518427e-01 -2.69799005e-03 1.01685267e+02] [ 7.92511323e-01 6.09847961e-01 -3.35681423e-03 4.89105535e+01] [ 4.30570087e-03 -9.10613585e-05 9.99990726e-01 3.21976890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.401858064 meters Centerline goodness [0,1] 0.9995235517054684 Centerline is valid? [True, True] Translation: X:101.70, Y:48.93, Z:0.32 [[ 6.10441369e-01 -7.92053791e-01 -3.48251596e-03 1.01701957e+02] [ 7.92041935e-01 6.10451292e-01 -4.33520248e-03 4.89326929e+01] [ 5.55961993e-03 -1.11911743e-04 9.99984539e-01 3.22173674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.431858064 meters Centerline goodness [0,1] 0.9995021537262712 Centerline is valid? [True, True] Translation: X:101.72, Y:48.96, Z:0.32 [[ 6.11535125e-01 -7.91208992e-01 -3.62236224e-03 1.01718207e+02] [ 7.91196141e-01 6.11545844e-01 -4.51071939e-03 4.89570918e+01] [ 5.78416232e-03 -1.07535682e-04 9.99983266e-01 3.22647885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.461858064 meters Centerline goodness [0,1] 0.9996977938954367 Centerline is valid? [True, True] Translation: X:101.73, Y:48.98, Z:0.32 [[ 6.14602201e-01 -7.88826522e-01 -4.10513499e-03 1.01732766e+02] [ 7.88809946e-01 6.14615904e-01 -5.11463998e-03 4.89820166e+01] [ 6.55764492e-03 -9.47023224e-05 9.99978494e-01 3.23401260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.491858064 meters Centerline goodness [0,1] 0.9998053085858913 Centerline is valid? [True, True] Translation: X:101.75, Y:49.01, Z:0.32 [[ 6.16137374e-01 -7.87626506e-01 -4.38440118e-03 1.01749487e+02] [ 7.87607549e-01 6.16152967e-01 -5.46531274e-03 4.90062770e+01] [ 7.00608697e-03 -8.58040296e-05 9.99975453e-01 3.23950706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521858064 meters Centerline goodness [0,1] 0.9996771416272062 Centerline is valid? [True, True] Translation: X:101.76, Y:49.03, Z:0.32 [[ 6.17596941e-01 -7.86482003e-01 -4.48068757e-03 1.01765000e+02] [ 7.86462159e-01 6.17613191e-01 -5.58747278e-03 4.90291202e+01] [ 7.16177853e-03 -7.30851175e-05 9.99974351e-01 3.24061303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:49.05, Z:0.32 [[ 6.18716338e-01 -7.85601065e-01 -4.58900666e-03 1.01781213e+02] [ 7.85580208e-01 6.18733353e-01 -5.72487460e-03 4.90530399e+01] [ 7.33683907e-03 -6.29593575e-05 9.99973083e-01 3.23785517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581858064 meters Centerline goodness [0,1] 0.9997639282341831 Centerline is valid? [True, True] Translation: X:101.80, Y:49.08, Z:0.32 [[ 6.20154987e-01 -7.84463398e-01 -4.99688290e-03 1.01795840e+02] [ 7.84438606e-01 6.20175116e-01 -6.23692977e-03 4.90780634e+01] [ 7.99158555e-03 -5.18847472e-05 9.99968065e-01 3.24129054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.611858064 meters Centerline goodness [0,1] 0.9999358302496203 Centerline is valid? [True, True] Translation: X:101.81, Y:49.10, Z:0.32 [[ 6.20601810e-01 -7.84107199e-01 -5.41248433e-03 1.01811864e+02] [ 7.84078064e-01 6.20625409e-01 -6.75946737e-03 4.91014140e+01] [ 8.65927232e-03 -4.88725533e-05 9.99962507e-01 3.24286307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.83, Y:49.12, Z:0.32 [[ 6.20960443e-01 -7.83821491e-01 -5.65675821e-03 1.01826055e+02] [ 7.83789629e-01 6.20986206e-01 -7.06752185e-03 4.91242059e+01] [ 9.05244433e-03 -4.50569218e-05 9.99959025e-01 3.24504530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.84, Y:49.15, Z:0.32 [[ 6.20808479e-01 -7.83941967e-01 -5.64126346e-03 1.01842724e+02] [ 7.83910254e-01 6.20834108e-01 -7.05148936e-03 4.91468578e+01] [ 9.03024721e-03 -4.46198898e-05 9.99959225e-01 3.24491082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70185806399999 meters Centerline goodness [0,1] 0.9998298379206194 Centerline is valid? [True, True] Translation: X:101.86, Y:49.17, Z:0.32 [[ 6.20679542e-01 -7.84042707e-01 -5.82578258e-03 1.01859596e+02] [ 7.84008851e-01 6.20706880e-01 -7.28632630e-03 4.91690282e+01] [ 9.32889433e-03 -4.49914365e-05 9.99956484e-01 3.24613087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.731858064 meters Centerline goodness [0,1] 0.9999359439723278 Centerline is valid? [True, True] Translation: X:101.88, Y:49.19, Z:0.32 [[ 6.20654959e-01 -7.84061129e-01 -5.96380383e-03 1.01875887e+02] [ 7.84025618e-01 6.20683610e-01 -7.46235603e-03 4.91905922e+01] [ 9.55257859e-03 -4.42266977e-05 9.99954372e-01 3.24696480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.761858064 meters Centerline goodness [0,1] 0.9999573442532045 Centerline is valid? [True, True] Translation: X:101.89, Y:49.21, Z:0.32 [[ 6.20230940e-01 -7.84397271e-01 -5.87380088e-03 1.01892941e+02] [ 7.84362812e-01 6.20258751e-01 -7.35255106e-03 4.92122359e+01] [ 9.41059739e-03 -4.69113251e-05 9.99955718e-01 3.24324851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:49.23, Z:0.32 [[ 6.19843405e-01 -7.84702158e-01 -6.05614956e-03 1.01910622e+02] [ 7.84665504e-01 6.19872988e-01 -7.58461347e-03 4.92346537e+01] [ 9.70570608e-03 -5.07790056e-05 9.99952897e-01 3.23661952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.93, Y:49.26, Z:0.32 [[ 6.19329733e-01 -7.85104459e-01 -6.45532171e-03 1.01928692e+02] [ 7.85062800e-01 6.19363371e-01 -8.08786920e-03 4.92553877e+01] [ 1.03480120e-02 -5.87750669e-05 9.99946456e-01 3.21589410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.95, Y:49.28, Z:0.32 [[ 6.19072966e-01 -7.85305138e-01 -6.67097017e-03 1.01946599e+02] [ 7.85260617e-01 6.19108905e-01 -8.36224176e-03 4.92774059e+01] [ 1.06969685e-02 -6.16123409e-05 9.99942784e-01 3.21389074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:49.30, Z:0.32 [[ 6.19000886e-01 -7.85359970e-01 -6.90073558e-03 1.01964273e+02] [ 7.85312294e-01 6.19039347e-01 -8.65379428e-03 4.92972924e+01] [ 1.10681705e-02 -6.25261576e-05 9.99938744e-01 3.19786519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.98, Y:49.32, Z:0.32 [[ 6.19007261e-01 -7.85350413e-01 -7.39857213e-03 1.01981943e+02] [ 7.85295553e-01 6.19051471e-01 -9.28282988e-03 4.93188534e+01] [ 1.18703712e-02 -6.39266948e-05 9.99929543e-01 3.19533637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:49.34, Z:0.32 [[ 6.18752590e-01 -7.85553224e-01 -7.16693233e-03 1.02001509e+02] [ 7.85501718e-01 6.18794092e-01 -8.99566561e-03 4.93383459e+01] [ 1.15014295e-02 -6.35462694e-05 9.99933854e-01 3.17571278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:49.36, Z:0.32 [[ 6.18280558e-01 -7.85928232e-01 -6.77972801e-03 1.02020015e+02] [ 7.85882120e-01 6.18317725e-01 -8.51378155e-03 4.93598394e+01] [ 1.08832473e-02 -6.41614085e-05 9.99940774e-01 3.18263030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001858064 meters Centerline goodness [0,1] 0.9999571926970742 Centerline is valid? [True, True] Translation: X:102.04, Y:49.38, Z:0.32 [[ 6.17988836e-01 -7.86160306e-01 -6.46311342e-03 1.02038118e+02] [ 7.86118380e-01 6.18022629e-01 -8.11931870e-03 4.93793935e+01] [ 1.03774364e-02 -6.31239380e-05 9.99946151e-01 3.17924708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:49.40, Z:0.32 [[ 6.17773475e-01 -7.86328511e-01 -6.58837146e-03 1.02058562e+02] [ 7.86284910e-01 6.17808602e-01 -8.28074307e-03 4.93988113e+01] [ 1.05817369e-02 -6.47136390e-05 9.99944010e-01 3.17651743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:49.42, Z:0.32 [[ 6.17753916e-01 -7.86348494e-01 -6.01202330e-03 1.02077209e+02] [ 7.86312149e-01 6.17783168e-01 -7.56054658e-03 4.94192742e+01] [ 9.65935122e-03 -5.67697038e-05 9.99953346e-01 3.17778244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.091858064 meters Centerline goodness [0,1] 0.9998918872167445 Centerline is valid? [True, True] Translation: X:102.10, Y:49.44, Z:0.32 [[ 6.18209837e-01 -7.85993220e-01 -5.59057629e-03 1.02095297e+02] [ 7.85961754e-01 6.18235113e-01 -7.03321804e-03 4.94391069e+01] [ 8.98435226e-03 -4.59745600e-05 9.99959639e-01 3.17965998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.121858064 meters Centerline goodness [0,1] 0.9999129829446571 Centerline is valid? [True, True] Translation: X:102.11, Y:49.46, Z:0.32 [[ 6.19488602e-01 -7.84992270e-01 -4.58342054e-03 1.02114735e+02] [ 7.84971076e-01 6.19505557e-01 -5.76836542e-03 4.94603483e+01] [ 7.36757676e-03 -2.44159241e-05 9.99972859e-01 3.17848140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.13, Y:49.48, Z:0.32 [[ 6.20313020e-01 -7.84343346e-01 -4.15600588e-03 1.02132599e+02] [ 7.84325888e-01 6.20326942e-01 -5.23315815e-03 4.94815800e+01] [ 6.68267519e-03 -1.34668577e-05 9.99977671e-01 3.17774200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.181858064 meters Centerline goodness [0,1] 0.9999782679561012 Centerline is valid? [True, True] Translation: X:102.15, Y:49.50, Z:0.32 [[ 6.22450726e-01 -7.82650874e-01 -3.56402317e-03 1.02151238e+02] [ 7.82637997e-01 6.22460930e-01 -4.48963121e-03 4.95015760e+01] [ 5.73227897e-03 5.23424895e-06 9.99983570e-01 3.17884106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:49.52, Z:0.32 [[ 6.23253031e-01 -7.82013196e-01 -3.31987394e-03 1.02169486e+02] [ 7.82002004e-01 6.23261873e-01 -4.18373063e-03 4.95223910e+01] [ 5.34088341e-03 1.13747166e-05 9.99985737e-01 3.18290694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241858064 meters Centerline goodness [0,1] 0.9999562841530054 Centerline is valid? [True, True] Translation: X:102.19, Y:49.54, Z:0.32 [[ 6.24145348e-01 -7.81301549e-01 -3.23641584e-03 1.02187368e+02] [ 7.81290893e-01 6.24153738e-01 -4.08054756e-03 4.95422446e+01] [ 5.20815918e-03 1.82725536e-05 9.99986437e-01 3.18445586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.271858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.21, Y:49.56, Z:0.32 [[ 6.25328993e-01 -7.80353875e-01 -3.38816783e-03 1.02206897e+02] [ 7.80342173e-01 6.25338172e-01 -4.27361010e-03 4.95634312e+01] [ 5.45367888e-03 2.84820520e-05 9.99985128e-01 3.18183042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301858064 meters Centerline goodness [0,1] 0.9999780619967971 Centerline is valid? [True, True] Translation: X:102.22, Y:49.58, Z:0.32 [[ 6.25362945e-01 -7.80326277e-01 -3.47685768e-03 1.02224673e+02] [ 7.80313941e-01 6.25372610e-01 -4.38783497e-03 4.95845804e+01] [ 5.59827448e-03 3.09488848e-05 9.99984329e-01 3.17221060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.331858064 meters Centerline goodness [0,1] 0.9999780142467681 Centerline is valid? [True, True] Translation: X:102.24, Y:49.61, Z:0.32 [[ 6.25376259e-01 -7.80314078e-01 -3.80462038e-03 1.02242740e+02] [ 7.80299288e-01 6.25387831e-01 -4.80436207e-03 4.96055475e+01] [ 6.12827464e-03 3.57914036e-05 9.99981221e-01 3.16313769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361858064 meters Centerline goodness [0,1] 0.9999338347191283 Centerline is valid? [True, True] Translation: X:102.26, Y:49.63, Z:0.32 [[ 6.24878456e-01 -7.80710138e-01 -4.31237329e-03 1.02262105e+02] [ 7.80691124e-01 6.24893335e-01 -5.44883390e-03 4.96265381e+01] [ 6.94873319e-03 3.82273604e-05 9.99975857e-01 3.15641715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:49.65, Z:0.32 [[ 6.23924116e-01 -7.81472267e-01 -4.44905031e-03 1.02281724e+02] [ 7.81452025e-01 6.23939977e-01 -5.62475337e-03 4.96470090e+01] [ 7.17152911e-03 3.26999030e-05 9.99974284e-01 3.15241820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.30, Y:49.66, Z:0.31 [[ 6.20903839e-01 -7.83871857e-01 -4.83058921e-03 1.02302657e+02] [ 7.83848047e-01 6.20922629e-01 -6.10972714e-03 4.96645444e+01] [ 7.78866531e-03 7.10511652e-06 9.99969668e-01 3.13783594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45185806399999 meters Centerline goodness [0,1] 0.9999115435647944 Centerline is valid? [True, True] Translation: X:102.32, Y:49.68, Z:0.31 [[ 6.18785633e-01 -7.85545864e-01 -4.69428441e-03 1.02322670e+02] [ 7.85523406e-01 6.18803438e-01 -5.93994081e-03 4.96848123e+01] [ 7.57093527e-03 -1.19202489e-05 9.99971340e-01 3.14401218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.481858064 meters Centerline goodness [0,1] 0.99993342062629 Centerline is valid? [True, True] Translation: X:102.34, Y:49.70, Z:0.31 [[ 6.16896764e-01 -7.87031270e-01 -4.49034662e-03 1.02342220e+02] [ 7.87010742e-01 6.16913105e-01 -5.68434615e-03 4.97039453e+01] [ 7.24391185e-03 -2.72962836e-05 9.99973762e-01 3.14353359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.511858064 meters Centerline goodness [0,1] 0.99993342062629 Centerline is valid? [True, True] Translation: X:102.36, Y:49.73, Z:0.31 [[ 6.16685956e-01 -7.87196468e-01 -4.48911327e-03 1.02359251e+02] [ 7.87175938e-01 6.16702295e-01 -5.68532011e-03 4.97256471e+01] [ 7.24391037e-03 -2.76648790e-05 9.99973762e-01 3.14447281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.541858064 meters Centerline goodness [0,1] 0.9999332443257677 Centerline is valid? [True, True] Translation: X:102.38, Y:49.75, Z:0.31 [[ 6.13382681e-01 -7.89772298e-01 -4.62644438e-03 1.02381259e+02] [ 7.89750542e-01 6.13400126e-01 -5.86236353e-03 4.97456555e+01] [ 7.46779389e-03 -5.78646951e-05 9.99972114e-01 3.14571410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.571858064 meters Centerline goodness [0,1] 0.9999777282850779 Centerline is valid? [True, True] Translation: X:102.40, Y:49.77, Z:0.31 [[ 6.12124720e-01 -7.90746653e-01 -4.80182566e-03 1.02400637e+02] [ 7.90723229e-01 6.12143549e-01 -6.08685282e-03 4.97657913e+01] [ 7.75256510e-03 -7.10020183e-05 9.99969946e-01 3.14220174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.42, Y:49.79, Z:0.31 [[ 6.09991690e-01 -7.92391515e-01 -5.08188513e-03 1.02420571e+02] [ 7.92365314e-01 6.10012850e-01 -6.44443748e-03 4.97870628e+01] [ 8.20653281e-03 -9.56562079e-05 9.99966321e-01 3.14566785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.631858064 meters Centerline goodness [0,1] 0.9999553352092545 Centerline is valid? [True, True] Translation: X:102.44, Y:49.81, Z:0.31 [[ 6.08725318e-01 -7.93368213e-01 -4.51283306e-03 1.02438592e+02] [ 7.93347564e-01 6.08742038e-01 -5.72476001e-03 4.98070771e+01] [ 7.28899381e-03 -9.54387583e-05 9.99973430e-01 3.14595642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.46, Y:49.83, Z:0.32 [[ 6.07469736e-01 -7.94332156e-01 -4.11646011e-03 1.02457286e+02] [ 7.94314984e-01 6.07483676e-01 -5.22392551e-03 4.98288556e+01] [ 6.65021433e-03 -9.63892985e-05 9.99977882e-01 3.15011673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.47, Y:49.85, Z:0.32 [[ 6.05749177e-01 -7.95648111e-01 -3.46670573e-03 1.02474855e+02] [ 7.95635942e-01 6.05759090e-01 -4.40144817e-03 4.98513144e+01] [ 5.60199243e-03 -9.20620739e-05 9.99984304e-01 3.16648126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.49, Y:49.87, Z:0.32 [[ 6.05321716e-01 -7.95974838e-01 -3.11070684e-03 1.02492892e+02] [ 7.95965036e-01 6.05329703e-01 -3.95117652e-03 4.98719538e+01] [ 5.02804034e-03 -8.42809307e-05 9.99987356e-01 3.16987546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751858064 meters Centerline goodness [0,1] 0.9999553989563356 Centerline is valid? [True, True] Translation: X:102.51, Y:49.90, Z:0.32 [[ 6.04568312e-01 -7.96548356e-01 -2.80585038e-03 1.02509185e+02] [ 7.96540380e-01 6.04574818e-01 -3.56534854e-03 4.98962724e+01] [ 4.53631899e-03 -7.94763780e-05 9.99989708e-01 3.17545466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:49.92, Z:0.32 [[ 6.03946444e-01 -7.97021967e-01 -2.16239557e-03 1.02525474e+02] [ 7.97017230e-01 6.03950312e-01 -2.74879771e-03 4.99208529e+01] [ 3.49683164e-03 -6.33399210e-05 9.99993884e-01 3.17656366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811858064 meters Centerline goodness [0,1] 0.9999555969983571 Centerline is valid? [True, True] Translation: X:102.54, Y:49.94, Z:0.32 [[ 6.03426793e-01 -7.97415931e-01 -1.98442908e-03 1.02544031e+02] [ 7.97411939e-01 6.03430054e-01 -2.52377598e-03 4.99416303e+01] [ 3.20996332e-03 -5.94933921e-05 9.99994846e-01 3.17365464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:49.97, Z:0.32 [[ 6.02748776e-01 -7.97928569e-01 -1.97755871e-03 1.02559397e+02] [ 7.97924606e-01 6.02752017e-01 -2.51564977e-03 4.99668914e+01] [ 3.19928632e-03 -6.16379308e-05 9.99994880e-01 3.16955495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.871858064 meters Centerline goodness [0,1] 0.9999557022303927 Centerline is valid? [True, True] Translation: X:102.58, Y:49.99, Z:0.32 [[ 6.02740757e-01 -7.97933221e-01 -2.48088182e-03 1.02576617e+02] [ 7.97926976e-01 6.02745858e-01 -3.15790936e-03 4.99896916e+01] [ 4.01514203e-03 -7.61618540e-05 9.99991936e-01 3.16695452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:50.01, Z:0.32 [[ 6.03282270e-01 -7.97522794e-01 -2.80972029e-03 1.02592963e+02] [ 7.97514771e-01 6.03288808e-01 -3.57841371e-03 5.00124256e+01] [ 4.54893930e-03 -8.19998895e-05 9.99989650e-01 3.16470089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.931858064 meters Centerline goodness [0,1] 0.9999778216416421 Centerline is valid? [True, True] Translation: X:102.61, Y:50.04, Z:0.32 [[ 6.03576321e-01 -7.97298873e-01 -3.18314102e-03 1.02608450e+02] [ 7.97288565e-01 6.03584707e-01 -4.05532818e-03 5.00354667e+01] [ 5.15460383e-03 -9.01818722e-05 9.99986711e-01 3.16141314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:50.06, Z:0.32 [[ 6.03803536e-01 -7.97125884e-01 -3.40801461e-03 1.02626114e+02] [ 7.97114053e-01 6.03813147e-01 -4.34395849e-03 5.00554895e+01] [ 5.52048578e-03 -9.36788366e-05 9.99984758e-01 3.15085372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.64, Y:50.08, Z:0.31 [[ 6.03463658e-01 -7.97382850e-01 -3.49344576e-03 1.02639543e+02] [ 7.97370412e-01 6.03473762e-01 -4.45467415e-03 5.00805865e+01] [ 5.66028363e-03 -9.73363270e-05 9.99983976e-01 3.14734284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.66, Y:50.10, Z:0.31 [[ 6.02745265e-01 -7.97926258e-01 -3.43990540e-03 1.02656874e+02] [ 7.97914194e-01 6.02755072e-01 -4.38883029e-03 5.01023166e+01] [ 5.57538336e-03 -9.94026735e-05 9.99984452e-01 3.14737426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:50.12, Z:0.32 [[ 6.01803131e-01 -7.98637191e-01 -3.41023404e-03 1.02674741e+02] [ 7.98625332e-01 6.01812784e-01 -4.35333416e-03 5.01247128e+01] [ 5.52905700e-03 -1.03649174e-04 9.99984709e-01 3.15348448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.69, Y:50.15, Z:0.32 [[ 5.99652287e-01 -8.00255265e-01 -2.94052506e-03 1.02692577e+02] [ 8.00246460e-01 5.99659488e-01 -3.75519675e-03 5.01454944e+01] [ 4.76842972e-03 -1.01332447e-04 9.99988626e-01 3.16488567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:50.17, Z:0.32 [[ 5.98432211e-01 -8.01168608e-01 -2.78402243e-03 1.02710217e+02] [ 8.01160722e-01 5.98438678e-01 -3.55610135e-03 5.01669218e+01] [ 4.51510347e-03 -1.02363829e-04 9.99989802e-01 3.17264852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:50.19, Z:0.32 [[ 5.97278225e-01 -8.02030016e-01 -2.56405319e-03 1.02727116e+02] [ 8.02023332e-01 5.97283720e-01 -3.27609173e-03 5.01909705e+01] [ 4.15899113e-03 -9.96922272e-05 9.99991346e-01 3.18032537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.74, Y:50.21, Z:0.32 [[ 5.95110372e-01 -8.03642663e-01 -1.45472500e-03 1.02743406e+02] [ 8.03640515e-01 5.95112147e-01 -1.85903677e-03 5.02148789e+01] [ 2.35972578e-03 -6.27438859e-05 9.99997214e-01 3.19334565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:50.24, Z:0.32 [[ 5.93914857e-01 -8.04527504e-01 -7.98404420e-04 1.02761276e+02] [ 8.04526858e-01 5.93915393e-01 -1.02021231e-03 5.02376665e+01] [ 1.29497354e-03 -3.64185484e-05 9.99999161e-01 3.20550701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:50.26, Z:0.32 [[ 5.93005512e-01 -8.05198275e-01 -4.47770831e-04 1.02778289e+02] [ 8.05198072e-01 5.93005681e-01 -5.72342672e-04 5.02591945e+01] [ 7.26379978e-04 -2.11418499e-05 9.99999736e-01 3.21793419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:50.28, Z:0.32 [[ 5.91333269e-01 -8.06427217e-01 -3.30636222e-04 1.02794599e+02] [ 8.06427106e-01 5.91333361e-01 -4.22390868e-04 5.02813509e+01] [ 5.36143720e-04 -1.68602391e-05 9.99999856e-01 3.22056818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.81, Y:50.30, Z:0.32 [[ 5.90892919e-01 -8.06749826e-01 -5.25563327e-04 1.02811365e+02] [ 8.06749547e-01 5.90893152e-01 -6.71749502e-04 5.03039014e+01] [ 8.52485564e-04 -2.70659518e-05 9.99999636e-01 3.21710832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.83, Y:50.33, Z:0.32 [[ 5.90527326e-01 -8.07016417e-01 -1.40698374e-03 1.02825303e+02] [ 8.07014409e-01 5.90528998e-01 -1.80185094e-03 5.03287631e+01] [ 2.28498799e-03 -7.14139395e-05 9.99997387e-01 3.21037374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:50.35, Z:0.32 [[ 5.90481313e-01 -8.07049239e-01 -1.82892404e-03 1.02841161e+02] [ 8.07045840e-01 5.90484138e-01 -2.34410769e-03 5.03505807e+01] [ 2.97176096e-03 -9.18737522e-05 9.99995580e-01 3.20592413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.86, Y:50.37, Z:0.32 [[ 5.90687993e-01 -8.06897519e-01 -2.02231859e-03 1.02857455e+02] [ 8.06893359e-01 5.90691446e-01 -2.59285074e-03 5.03740892e+01] [ 3.28673112e-03 -1.00229645e-04 9.99994594e-01 3.20359748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.87, Y:50.40, Z:0.32 [[ 5.91230126e-01 -8.06499529e-01 -2.33412835e-03 1.02873633e+02] [ 8.06493978e-01 5.91234723e-01 -2.99432164e-03 5.03978142e+01] [ 3.79493672e-03 -1.12127297e-04 9.99992793e-01 3.20601694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.89, Y:50.42, Z:0.32 [[ 5.92544491e-01 -8.05530262e-01 -3.46754528e-03 1.02887677e+02] [ 8.05517982e-01 5.92554616e-01 -4.45061942e-03 5.04225909e+01] [ 5.63981859e-03 -1.55980056e-04 9.99984084e-01 3.19873315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:50.45, Z:0.32 [[ 5.93307346e-01 -8.04967930e-01 -3.60900972e-03 1.02902057e+02] [ 8.04954608e-01 5.93318302e-01 -4.63367300e-03 5.04485603e+01] [ 5.87124969e-03 -1.55896773e-04 9.99982752e-01 3.19716005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:50.47, Z:0.32 [[ 5.94030341e-01 -8.04434890e-01 -3.53011180e-03 1.02917919e+02] [ 8.04422122e-01 5.94040812e-01 -4.53465321e-03 5.04730848e+01] [ 5.74486374e-03 -1.45978434e-04 9.99983487e-01 3.19737136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.93, Y:50.50, Z:0.32 [[ 5.94097160e-01 -8.04386480e-01 -3.30997014e-03 1.02932259e+02] [ 8.04375242e-01 5.94106365e-01 -4.25408528e-03 5.04976358e+01] [ 5.38840301e-03 -1.35118053e-04 9.99985473e-01 3.20321760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561858064 meters Centerline goodness [0,1] 0.999978342790315 Centerline is valid? [True, True] Translation: X:102.95, Y:50.52, Z:0.32 [[ 5.93878107e-01 -8.04551193e-01 -2.48423936e-03 1.02947120e+02] [ 8.04544859e-01 5.93883294e-01 -3.19420638e-03 5.05202143e+01] [ 4.04525081e-03 -1.01712762e-04 9.99991813e-01 3.21508616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:50.54, Z:0.32 [[ 5.93402137e-01 -8.04903808e-01 -1.93975204e-03 1.02963337e+02] [ 8.04899946e-01 5.93405302e-01 -2.49476111e-03 5.05424012e+01] [ 3.15910187e-03 -8.09097394e-05 9.99995007e-01 3.22260240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:50.57, Z:0.32 [[ 5.92936062e-01 -8.05247281e-01 -1.90847843e-03 1.02979217e+02] [ 8.05243543e-01 5.92939128e-01 -2.45510255e-03 5.05663048e+01] [ 3.10857619e-03 -8.10710992e-05 9.99995165e-01 3.23380439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.99, Y:50.59, Z:0.32 [[ 5.92948011e-01 -8.05239319e-01 -1.51520214e-03 1.02993545e+02] [ 8.05236960e-01 5.92949944e-01 -1.95004905e-03 5.05889741e+01] [ 2.46869519e-03 -6.38190603e-05 9.99996951e-01 3.24811049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.681858064 meters Centerline goodness [0,1] 0.9999570049659264 Centerline is valid? [True, True] Translation: X:103.01, Y:50.61, Z:0.32 [[ 5.93277901e-01 -8.04996848e-01 -1.18650306e-03 1.03008746e+02] [ 8.04995401e-01 5.93279085e-01 -1.52708834e-03 5.06133192e+01] [ 1.93322875e-03 -4.91417412e-05 9.99998130e-01 3.24877332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.02, Y:50.64, Z:0.32 [[ 5.94052464e-01 -8.04425382e-01 -1.21401037e-03 1.03024235e+02] [ 8.04423864e-01 5.94053703e-01 -1.56369797e-03 5.06365282e+01] [ 1.97906569e-03 -4.76602852e-05 9.99998041e-01 3.24926965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:50.66, Z:0.32 [[ 5.96434804e-01 -8.02658329e-01 -2.26520847e-03 1.03035659e+02] [ 8.02653026e-01 5.96439100e-01 -2.91871094e-03 5.06642414e+01] [ 3.69378655e-03 -7.73556528e-05 9.99993175e-01 3.23773040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.771858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.05, Y:50.69, Z:0.32 [[ 5.97781924e-01 -8.01653787e-01 -2.82436890e-03 1.03050565e+02] [ 8.01645521e-01 5.97788590e-01 -3.64138751e-03 5.06893941e+01] [ 4.60750759e-03 -8.73870403e-05 9.99989382e-01 3.23213354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:50.72, Z:0.32 [[ 6.00569217e-01 -7.99563715e-01 -3.80539663e-03 1.03062973e+02] [ 7.99548650e-01 6.00581266e-01 -4.90916781e-03 5.07156530e+01] [ 6.21064237e-03 -9.43046643e-05 9.99980709e-01 3.21888216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.08, Y:50.74, Z:0.32 [[ 6.01639473e-01 -7.98757956e-01 -3.95883642e-03 1.03077738e+02] [ 7.98741616e-01 6.01652492e-01 -5.10975425e-03 5.07402716e+01] [ 6.46330065e-03 -8.78575453e-05 9.99979109e-01 3.21166557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:50.77, Z:0.32 [[ 6.02596140e-01 -7.98034389e-01 -4.35958605e-03 1.03093286e+02] [ 7.98014534e-01 6.02611903e-01 -5.63000080e-03 5.07652186e+01] [ 7.12007270e-03 -8.63962886e-05 9.99974648e-01 3.20514806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.11, Y:50.79, Z:0.32 [[ 6.03200631e-01 -7.97575970e-01 -4.64434494e-03 1.03107932e+02] [ 7.97553398e-01 6.03218505e-01 -6.00109500e-03 5.07893256e+01] [ 7.58788398e-03 -8.42488012e-05 9.99971208e-01 3.19715972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:50.81, Z:0.32 [[ 6.03803572e-01 -7.97113969e-01 -5.52872911e-03 1.03120243e+02] [ 7.97081933e-01 6.03828876e-01 -7.14707311e-03 5.08139084e+01] [ 9.03543810e-03 -9.14218138e-05 9.99959175e-01 3.18189562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:50.84, Z:0.32 [[ 6.03449958e-01 -7.97379950e-01 -5.77607357e-03 1.03135363e+02] [ 7.97344961e-01 6.03477593e-01 -7.47045984e-03 5.08372270e+01] [ 9.44252587e-03 -9.74744746e-05 9.99955414e-01 3.18240509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.15, Y:50.86, Z:0.32 [[ 6.02816750e-01 -7.97860341e-01 -5.55356879e-03 1.03150702e+02] [ 7.97827989e-01 6.02842323e-01 -7.18566704e-03 5.08589334e+01] [ 9.08108507e-03 -9.91521623e-05 9.99958761e-01 3.17989789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:50.88, Z:0.32 [[ 6.01673016e-01 -7.98723075e-01 -5.57065374e-03 1.03167815e+02] [ 7.98690531e-01 6.01698793e-01 -7.21092971e-03 5.08826135e+01] [ 9.11139158e-03 -1.10606570e-04 9.99958484e-01 3.18535333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.18, Y:50.91, Z:0.32 [[ 5.99477079e-01 -8.00373626e-01 -5.41205066e-03 1.03183729e+02] [ 8.00342958e-01 5.99501494e-01 -7.00771090e-03 5.09061816e+01] [ 8.85331944e-03 -1.30534580e-04 9.99960800e-01 3.18539880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:50.93, Z:0.32 [[ 5.98533494e-01 -8.01077444e-01 -5.70827272e-03 1.03200044e+02] [ 8.01043332e-01 5.98560696e-01 -7.39412390e-03 5.09299356e+01] [ 9.34001356e-03 -1.46942988e-04 9.99956370e-01 3.18039057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.22, Y:50.95, Z:0.32 [[ 5.97862372e-01 -8.01576728e-01 -5.94416335e-03 1.03216909e+02] [ 8.01539725e-01 5.97891899e-01 -7.70357469e-03 5.09538199e+01] [ 9.72897331e-03 -1.58805627e-04 9.99952660e-01 3.17755296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:50.98, Z:0.32 [[ 5.97996150e-01 -8.01478113e-01 -5.78266457e-03 1.03231068e+02] [ 8.01443051e-01 5.98024089e-01 -7.49828938e-03 5.09778778e+01] [ 9.46788754e-03 -1.50528162e-04 9.99955167e-01 3.18409834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.25, Y:51.00, Z:0.32 [[ 5.98420076e-01 -8.01166174e-01 -5.11610476e-03 1.03246838e+02] [ 8.01138691e-01 5.98441931e-01 -6.63725461e-03 5.10019965e+01] [ 8.37923550e-03 -1.26843060e-04 9.99964886e-01 3.18658365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.26, Y:51.03, Z:0.32 [[ 5.99333519e-01 -8.00484141e-01 -4.94709764e-03 1.03261756e+02] [ 8.00458404e-01 5.99353925e-01 -6.41992773e-03 5.10251644e+01] [ 8.10411272e-03 -1.12268007e-04 9.99967155e-01 3.18871403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:51.05, Z:0.32 [[ 6.01922221e-01 -7.98540145e-01 -4.82458931e-03 1.03275044e+02] [ 7.98515596e-01 6.01941550e-01 -6.26201844e-03 5.10498969e+01] [ 7.90459388e-03 -8.32617601e-05 9.99968755e-01 3.18084676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.29, Y:51.07, Z:0.32 [[ 6.03424581e-01 -7.97403981e-01 -5.06621643e-03 1.03289961e+02] [ 7.97376851e-01 6.03445844e-01 -6.57800793e-03 5.10747214e+01] [ 8.30251696e-03 -7.03520275e-05 9.99965531e-01 3.18300418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:51.10, Z:0.32 [[ 6.06860933e-01 -7.94786485e-01 -5.85247579e-03 1.03304346e+02] [ 7.94750122e-01 6.06889151e-01 -7.60277941e-03 5.11006308e+01] [ 9.59439038e-03 -3.74260392e-05 9.99953972e-01 3.16923988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:51.12, Z:0.32 [[ 6.08065929e-01 -7.93861981e-01 -6.24345240e-03 1.03319321e+02] [ 7.93820503e-01 6.08097981e-01 -8.11511675e-03 5.11239082e+01] [ 1.02389135e-02 -2.16545122e-05 9.99947581e-01 3.16226684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.33, Y:51.15, Z:0.32 [[ 6.09112421e-01 -7.93060148e-01 -6.13683633e-03 1.03334994e+02] [ 7.93019987e-01 6.09143335e-01 -7.98107486e-03 5.11470441e+01] [ 1.00676854e-02 -5.26203463e-06 9.99949320e-01 3.16235817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.35, Y:51.17, Z:0.32 [[ 6.10417696e-01 -7.92055287e-01 -6.21756301e-03 1.03351636e+02] [ 7.92013963e-01 6.10449361e-01 -8.09073086e-03 5.11696237e+01] [ 1.02038135e-02 1.43285694e-05 9.99947940e-01 3.16117113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.37, Y:51.19, Z:0.32 [[ 6.10178586e-01 -7.92238916e-01 -6.29238352e-03 1.03369261e+02] [ 7.92196553e-01 6.10211029e-01 -8.19279242e-03 5.11917409e+01] [ 1.03303308e-02 1.42619588e-05 9.99946641e-01 3.16224831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.39, Y:51.21, Z:0.32 [[ 6.09960247e-01 -7.92407049e-01 -6.29012542e-03 1.03385986e+02] [ 7.92364677e-01 6.09992679e-01 -8.19452608e-03 5.12136486e+01] [ 1.03303307e-02 1.42619587e-05 9.99946641e-01 3.16318613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:51.23, Z:0.32 [[ 6.10042580e-01 -7.92344938e-01 -6.12781861e-03 1.03403098e+02] [ 7.92304690e-01 6.10073355e-01 -7.98623875e-03 5.12345296e+01] [ 1.00662747e-02 1.68462668e-05 9.99949334e-01 3.16100190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.42, Y:51.26, Z:0.32 [[ 6.09638418e-01 -7.92657532e-01 -5.91914531e-03 1.03421300e+02] [ 7.92619958e-01 6.09667152e-01 -7.71793534e-03 5.12564501e+01] [ 9.72638804e-03 1.35171867e-05 9.99952697e-01 3.17090255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.44, Y:51.28, Z:0.32 [[ 6.09125939e-01 -7.93053208e-01 -5.67441768e-03 1.03439902e+02] [ 7.93018655e-01 6.09152369e-01 -7.40302383e-03 5.12770902e+01] [ 9.32757677e-03 9.45476840e-06 9.99956497e-01 3.17485164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:51.30, Z:0.32 [[ 6.08980269e-01 -7.93165554e-01 -5.60670938e-03 1.03457353e+02] [ 7.93131786e-01 6.09006078e-01 -7.31888976e-03 5.12985171e+01] [ 9.21961135e-03 1.02000310e-05 9.99957498e-01 3.17714626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.47, Y:51.32, Z:0.32 [[ 6.09001174e-01 -7.93150912e-01 -5.40387895e-03 1.03474937e+02] [ 7.93119507e-01 6.09025148e-01 -7.05811871e-03 5.13198953e+01] [ 8.88925147e-03 1.24807673e-05 9.99960490e-01 3.17743554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.49, Y:51.34, Z:0.32 [[ 6.09389076e-01 -7.92855524e-01 -5.00717442e-03 1.03493567e+02] [ 7.92828527e-01 6.09409647e-01 -6.54291249e-03 5.13390943e+01] [ 8.23900471e-03 1.73486751e-05 9.99966059e-01 3.18337228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.51, Y:51.36, Z:0.32 [[ 6.09438459e-01 -7.92819396e-01 -4.70845237e-03 1.03512230e+02] [ 7.92795499e-01 6.09456647e-01 -6.15557869e-03 5.13597311e+01] [ 7.74985977e-03 1.86065423e-05 9.99969969e-01 3.19214117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.53, Y:51.38, Z:0.32 [[ 6.09580781e-01 -7.92711298e-01 -4.47988712e-03 1.03530150e+02] [ 7.92689643e-01 6.09597242e-01 -5.85928448e-03 5.13798347e+01] [ 7.37564784e-03 2.05470828e-05 9.99972799e-01 3.19419556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.55, Y:51.40, Z:0.32 [[ 6.10943055e-01 -7.91660876e-01 -4.65194250e-03 1.03549925e+02] [ 7.91637476e-01 6.10960765e-01 -6.08692131e-03 5.14006591e+01] [ 7.66093181e-03 3.61102821e-05 9.99970654e-01 3.19520827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.57, Y:51.42, Z:0.32 [[ 6.11943132e-01 -7.90885305e-01 -5.10278130e-03 1.03568599e+02] [ 7.90857093e-01 6.11964404e-01 -6.68031721e-03 5.14228392e+01] [ 8.40608523e-03 5.24034499e-05 9.99964667e-01 3.19715641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.59, Y:51.44, Z:0.32 [[ 6.12817275e-01 -7.90207841e-01 -5.15316180e-03 1.03587810e+02] [ 7.90179016e-01 6.12838938e-01 -6.74974976e-03 5.14446377e+01] [ 8.49176339e-03 6.44429326e-05 9.99963942e-01 3.20061572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.61, Y:51.47, Z:0.32 [[ 6.14686351e-01 -7.88751966e-01 -5.57012136e-03 1.03607340e+02] [ 7.88718206e-01 6.14711581e-01 -7.29826733e-03 5.14651295e+01] [ 9.18054081e-03 9.28891842e-05 9.99957854e-01 3.19680891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:51.49, Z:0.32 [[ 6.15108353e-01 -7.88421348e-01 -5.78728423e-03 1.03626329e+02] [ 7.88384860e-01 6.15135569e-01 -7.58580873e-03 5.14868570e+01] [ 9.54077791e-03 1.03487043e-04 9.99954480e-01 3.19428220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:51.51, Z:0.32 [[ 6.15866102e-01 -7.87826270e-01 -6.22194608e-03 1.03648988e+02] [ 7.87784021e-01 6.15897518e-01 -8.15989064e-03 5.15064872e+01] [ 1.02606574e-02 1.23850333e-04 9.99947350e-01 3.19945742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881858064 meters Centerline goodness [0,1] 0.9998924430485943 Centerline is valid? [True, True] Translation: X:103.67, Y:51.53, Z:0.32 [[ 6.15682435e-01 -7.87971130e-01 -6.05290743e-03 1.03667165e+02] [ 7.87931122e-01 6.15712176e-01 -7.94128365e-03 5.15264485e+01] [ 9.98435106e-03 1.20034714e-04 9.99950148e-01 3.19748111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911858064 meters Centerline goodness [0,1] 0.9998923504209098 Centerline is valid? [True, True] Translation: X:103.69, Y:51.55, Z:0.32 [[ 6.15315457e-01 -7.88257660e-01 -6.06216647e-03 1.03687361e+02] [ 7.88217503e-01 6.15345308e-01 -7.95740936e-03 5.15458056e+01] [ 1.00028146e-02 1.18011258e-04 9.99949964e-01 3.21202650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941858064 meters Centerline goodness [0,1] 0.9999784751818848 Centerline is valid? [True, True] Translation: X:103.71, Y:51.57, Z:0.32 [[ 6.14900537e-01 -7.88583931e-01 -5.71956733e-03 1.03705402e+02] [ 7.88548171e-01 6.14927127e-01 -7.51062961e-03 5.15657403e+01] [ 9.43987893e-03 1.08135815e-04 9.99955438e-01 3.20984392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971858064 meters Centerline goodness [0,1] 0.9999353462209866 Centerline is valid? [True, True] Translation: X:103.73, Y:51.59, Z:0.32 [[ 6.14088074e-01 -7.89217923e-01 -5.55938518e-03 1.03726032e+02] [ 7.89184132e-01 6.14113231e-01 -7.30376820e-03 5.15852480e+01] [ 9.17835677e-03 9.77783802e-05 9.99957873e-01 3.22119126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:51.60, Z:0.32 [[ 6.11527176e-01 -7.91212057e-01 -4.24200555e-03 1.03749935e+02] [ 7.91192412e-01 6.11541886e-01 -5.57572607e-03 5.16031595e+01] [ 7.00574577e-03 5.34654136e-05 9.99975458e-01 3.23394554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031858064 meters Centerline goodness [0,1] 0.9999783432593394 Centerline is valid? [True, True] Translation: X:103.77, Y:51.62, Z:0.32 [[ 6.10063260e-01 -7.92343865e-01 -3.74410283e-03 1.03771340e+02] [ 7.92328568e-01 6.10074748e-01 -4.92367916e-03 5.16230156e+01] [ 6.18542956e-03 3.71961244e-05 9.99980869e-01 3.24426906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061858064 meters Centerline goodness [0,1] 0.999978286359491 Centerline is valid? [True, True] Translation: X:103.79, Y:51.64, Z:0.32 [[ 6.07795789e-01 -7.94085950e-01 -3.43273903e-03 1.03794422e+02] [ 7.94073109e-01 6.07805482e-01 -4.51586935e-03 5.16398943e+01] [ 5.67242600e-03 1.88806135e-05 9.99983911e-01 3.24556952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.81, Y:51.66, Z:0.32 [[ 6.06752820e-01 -7.94883928e-01 -3.24918439e-03 1.03814949e+02] [ 7.94872428e-01 6.06761519e-01 -4.27580467e-03 5.16598049e+01] [ 5.37024847e-03 1.16694541e-05 9.99985580e-01 3.24751818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121858064 meters Centerline goodness [0,1] 0.9999343903772553 Centerline is valid? [True, True] Translation: X:103.84, Y:51.68, Z:0.32 [[ 6.05718769e-01 -7.95671918e-01 -3.31235360e-03 1.03835169e+02] [ 7.95659964e-01 6.05727826e-01 -4.36157127e-03 5.16795693e+01] [ 5.47676453e-03 6.37843497e-06 9.99985002e-01 3.24900109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151858064 meters Centerline goodness [0,1] 0.9999342220663041 Centerline is valid? [True, True] Translation: X:103.86, Y:51.70, Z:0.32 [[ 6.04348690e-01 -7.96714053e-01 -3.06246330e-03 1.03857688e+02] [ 7.96703836e-01 6.04356449e-01 -4.03482819e-03 5.16980603e+01] [ 5.06542376e-03 -1.43312600e-06 9.99987171e-01 3.24916253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181858064 meters Centerline goodness [0,1] 0.9999561739892626 Centerline is valid? [True, True] Translation: X:103.88, Y:51.72, Z:0.32 [[ 6.04083625e-01 -7.96915300e-01 -2.99627705e-03 1.03876662e+02] [ 7.96905512e-01 6.04091056e-01 -3.94972299e-03 5.17178555e+01] [ 4.95761885e-03 -1.78671656e-06 9.99987711e-01 3.24850799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211858064 meters Centerline goodness [0,1] 0.9999122710823555 Centerline is valid? [True, True] Translation: X:103.90, Y:51.74, Z:0.32 [[ 6.03559050e-01 -7.97311200e-01 -3.36503735e-03 1.03896017e+02] [ 7.97298848e-01 6.03568431e-01 -4.43808211e-03 5.17384495e+01] [ 5.56956289e-03 -4.29577644e-06 9.99984490e-01 3.24839924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.92, Y:51.76, Z:0.32 [[ 6.03109477e-01 -7.97647920e-01 -4.09311938e-03 1.03917493e+02] [ 7.97629633e-01 6.03123366e-01 -5.40117855e-03 5.17557808e+01] [ 6.77689477e-03 -7.29134005e-06 9.99977037e-01 3.23823308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27185806399999 meters Centerline goodness [0,1] 0.9999779054352629 Centerline is valid? [True, True] Translation: X:103.94, Y:51.78, Z:0.32 [[ 6.02412151e-01 -7.98173143e-01 -4.38574244e-03 1.03937431e+02] [ 7.98152141e-01 6.02428115e-01 -5.79007900e-03 5.17764531e+01] [ 7.26358010e-03 -1.24757789e-05 9.99973620e-01 3.23460987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301858064 meters Centerline goodness [0,1] 0.9998890589984246 Centerline is valid? [True, True] Translation: X:103.96, Y:51.80, Z:0.32 [[ 6.01506898e-01 -7.98854482e-01 -4.57907438e-03 1.03957413e+02] [ 7.98831581e-01 6.01524327e-01 -6.04890511e-03 5.17970343e+01] [ 7.58661960e-03 -1.94510779e-05 9.99971221e-01 3.23402435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.98, Y:51.82, Z:0.32 [[ 5.99403193e-01 -8.00433996e-01 -4.60758910e-03 1.03980544e+02] [ 8.00410830e-01 5.99420901e-01 -6.08986364e-03 5.18160238e+01] [ 7.63641910e-03 -3.76804996e-05 9.99970841e-01 3.23896798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:51.84, Z:0.32 [[ 5.98373694e-01 -8.01203028e-01 -4.75711115e-03 1.04000209e+02] [ 8.01178331e-01 5.98392602e-01 -6.29095384e-03 5.18361154e+01] [ 7.88695139e-03 -4.69530806e-05 9.99968896e-01 3.23861586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.391858064 meters Centerline goodness [0,1] 0.9999776531319136 Centerline is valid? [True, True] Translation: X:104.02, Y:51.86, Z:0.32 [[ 5.97510462e-01 -8.01845909e-01 -4.93818115e-03 1.04019272e+02] [ 8.01819293e-01 5.97530865e-01 -6.53347880e-03 5.18558563e+01] [ 8.18955891e-03 -5.57069840e-05 9.99966463e-01 3.23851415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:51.88, Z:0.32 [[ 5.97491129e-01 -8.01860056e-01 -4.98009275e-03 1.04037175e+02] [ 8.01832960e-01 5.97511880e-01 -6.59217361e-03 5.18780524e+01] [ 8.26166528e-03 -5.44372619e-05 9.99965870e-01 3.24145836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.451858064 meters Centerline goodness [0,1] 0.9999329758713137 Centerline is valid? [True, True] Translation: X:104.05, Y:51.90, Z:0.32 [[ 5.98788625e-01 -8.00897029e-01 -4.01648000e-03 1.04052052e+02] [ 8.00879365e-01 5.98802094e-01 -5.31931438e-03 5.19015455e+01] [ 6.66529971e-03 -3.15710072e-05 9.99977786e-01 3.24556059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:51.92, Z:0.32 [[ 5.99099384e-01 -8.00665551e-01 -3.82139994e-03 1.04068777e+02] [ 8.00649539e-01 5.99111571e-01 -5.06369622e-03 5.19236090e+01] [ 6.34377205e-03 -2.59448181e-05 9.99979878e-01 3.24782350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.511858064 meters Centerline goodness [0,1] 0.9999551740368021 Centerline is valid? [True, True] Translation: X:104.09, Y:51.95, Z:0.33 [[ 5.98849981e-01 -8.00852155e-01 -3.81139550e-03 1.04085326e+02] [ 8.00836212e-01 5.98862109e-01 -5.05333708e-03 5.19466116e+01] [ 6.32947624e-03 -2.61127233e-05 9.99979968e-01 3.25798812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541858064 meters Centerline goodness [0,1] 0.9999776226279986 Centerline is valid? [True, True] Translation: X:104.10, Y:51.97, Z:0.33 [[ 5.99113164e-01 -8.00653633e-01 -4.14451556e-03 1.04101569e+02] [ 8.00634758e-01 5.99127499e-01 -5.49765750e-03 5.19680724e+01] [ 6.88481268e-03 -2.45242329e-05 9.99976299e-01 3.25161936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:51.99, Z:0.32 [[ 5.99114762e-01 -8.00651364e-01 -4.34700339e-03 1.04118336e+02] [ 8.00630581e-01 5.99130531e-01 -5.76885807e-03 5.19899996e+01] [ 7.22326653e-03 -2.41358236e-05 9.99973912e-01 3.24798050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601858064 meters Centerline goodness [0,1] 0.9999553690975631 Centerline is valid? [True, True] Translation: X:104.13, Y:52.01, Z:0.32 [[ 5.99368288e-01 -8.00460887e-01 -4.47472857e-03 1.04133696e+02] [ 8.00438834e-01 5.99384991e-01 -5.94179811e-03 5.20138539e+01] [ 7.43826214e-03 -2.04211616e-05 9.99972336e-01 3.24893934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:52.04, Z:0.32 [[ 5.99091666e-01 -8.00665982e-01 -4.81253202e-03 1.04149494e+02] [ 8.00640449e-01 5.99110995e-01 -6.39426460e-03 5.20376492e+01] [ 8.00291099e-03 -2.23571619e-05 9.99967976e-01 3.24088809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661858064 meters Centerline goodness [0,1] 0.9999554118827333 Centerline is valid? [True, True] Translation: X:104.16, Y:52.06, Z:0.32 [[ 5.98867354e-01 -8.00833507e-01 -4.85663826e-03 1.04164992e+02] [ 8.00807486e-01 5.98887046e-01 -6.45573549e-03 5.20600654e+01] [ 8.07854703e-03 -2.31030422e-05 9.99967368e-01 3.22728518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:52.08, Z:0.32 [[ 5.98627248e-01 -8.01011156e-01 -5.15227639e-03 1.04181586e+02] [ 8.00981848e-01 5.98649420e-01 -6.85208702e-03 5.20831584e+01] [ 8.57300541e-03 -2.50338643e-05 9.99963251e-01 3.22102173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721858064 meters Centerline goodness [0,1] 0.9999332636309034 Centerline is valid? [True, True] Translation: X:104.20, Y:52.11, Z:0.32 [[ 5.98616757e-01 -8.01016159e-01 -5.57599933e-03 1.04198184e+02] [ 8.00981791e-01 5.98642725e-01 -7.42007469e-03 5.21063463e+01] [ 9.28163116e-03 -2.44928875e-05 9.99956924e-01 3.22014141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751858064 meters Centerline goodness [0,1] 0.9999333392587325 Centerline is valid? [True, True] Translation: X:104.21, Y:52.13, Z:0.32 [[ 5.98545528e-01 -8.01069730e-01 -5.52616085e-03 1.04214696e+02] [ 8.01035937e-01 5.98571038e-01 -7.35802978e-03 5.21292777e+01] [ 9.20209476e-03 -2.25376092e-05 9.99957660e-01 3.22077305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781858064 meters Centerline goodness [0,1] 0.9999110082762304 Centerline is valid? [True, True] Translation: X:104.23, Y:52.15, Z:0.32 [[ 5.98536533e-01 -8.01075527e-01 -5.65847844e-03 1.04231657e+02] [ 8.01040055e-01 5.98563279e-01 -7.53865218e-03 5.21521420e+01] [ 9.42598718e-03 -2.05091427e-05 9.99955574e-01 3.22115344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811858064 meters Centerline goodness [0,1] 0.9999335032694225 Centerline is valid? [True, True] Translation: X:104.25, Y:52.17, Z:0.32 [[ 5.98411210e-01 -8.01166239e-01 -6.05655698e-03 1.04247654e+02] [ 8.01125569e-01 5.98441858e-01 -8.07249554e-03 5.21733909e+01] [ 1.00919081e-02 -2.13908362e-05 9.99949075e-01 3.21146717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841858064 meters Centerline goodness [0,1] 0.9999776616181923 Centerline is valid? [True, True] Translation: X:104.26, Y:52.20, Z:0.32 [[ 5.97905635e-01 -8.01544481e-01 -5.94114756e-03 1.04264207e+02] [ 8.01505326e-01 5.97935151e-01 -7.92257614e-03 5.21954830e+01] [ 9.90271814e-03 -2.49085010e-05 9.99950967e-01 3.20997290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871858064 meters Centerline goodness [0,1] 0.9999331818789255 Centerline is valid? [True, True] Translation: X:104.28, Y:52.22, Z:0.32 [[ 5.97673293e-01 -8.01718311e-01 -5.86382170e-03 1.04280928e+02] [ 8.01680136e-01 5.97702057e-01 -7.82367441e-03 5.22165061e+01] [ 9.77720133e-03 -2.49081254e-05 9.99952202e-01 3.20809785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901858064 meters Centerline goodness [0,1] 0.9999330387036293 Centerline is valid? [True, True] Translation: X:104.30, Y:52.24, Z:0.32 [[ 5.97346854e-01 -8.01965949e-01 -5.22992205e-03 1.04298413e+02] [ 8.01935562e-01 5.97369748e-01 -6.98135032e-03 5.22368502e+01] [ 8.72300246e-03 -2.37728283e-05 9.99961954e-01 3.22319262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931858064 meters Centerline goodness [0,1] 0.9999109587516417 Centerline is valid? [True, True] Translation: X:104.32, Y:52.26, Z:0.32 [[ 5.97206894e-01 -8.02073301e-01 -4.72703492e-03 1.04315046e+02] [ 8.02048454e-01 5.97225601e-01 -6.31335617e-03 5.22592441e+01] [ 7.88688070e-03 -2.09312174e-05 9.99968898e-01 3.23018607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.33, Y:52.28, Z:0.32 [[ 5.97092843e-01 -8.02160308e-01 -4.35638357e-03 1.04331866e+02] [ 8.02139183e-01 5.97108734e-01 -5.82150474e-03 5.22819290e+01] [ 7.27101471e-03 -1.84471462e-05 9.99973566e-01 3.23548003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:52.31, Z:0.32 [[ 5.96989445e-01 -8.02238853e-01 -4.05293272e-03 1.04348442e+02] [ 8.02220551e-01 5.97003202e-01 -5.41895342e-03 5.23051299e+01] [ 6.76690878e-03 -1.62879225e-05 9.99977104e-01 3.23484372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02185806399999 meters Centerline goodness [0,1] 0.9999554704546466 Centerline is valid? [True, True] Translation: X:104.36, Y:52.33, Z:0.32 [[ 5.97837853e-01 -8.01606055e-01 -4.19924160e-03 1.04364444e+02] [ 8.01586370e-01 5.97852600e-01 -5.61785230e-03 5.23281463e+01] [ 7.01383193e-03 -7.49007495e-06 9.99975403e-01 3.23623398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.051858064 meters Centerline goodness [0,1] 0.9999777471182518 Centerline is valid? [True, True] Translation: X:104.38, Y:52.35, Z:0.32 [[ 5.98312713e-01 -8.01251898e-01 -4.15846708e-03 1.04380607e+02] [ 8.01232563e-01 5.98327164e-01 -5.56636280e-03 5.23503250e+01] [ 6.94818257e-03 -1.47360905e-06 9.99975861e-01 3.23237198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081858064 meters Centerline goodness [0,1] 0.9999777153808441 Centerline is valid? [True, True] Translation: X:104.40, Y:52.37, Z:0.32 [[ 5.99171503e-01 -8.00608610e-01 -4.40037947e-03 1.04396865e+02] [ 8.00586918e-01 5.99187661e-01 -5.89353681e-03 5.23732178e+01] [ 7.35506940e-03 8.35307053e-06 9.99972951e-01 3.22288836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.111858064 meters Centerline goodness [0,1] 0.999933210143153 Centerline is valid? [True, True] Translation: X:104.41, Y:52.40, Z:0.32 [[ 5.99002514e-01 -8.00734807e-01 -4.44475634e-03 1.04413591e+02] [ 8.00712653e-01 5.99019005e-01 -5.95647243e-03 5.23962774e+01] [ 7.43204832e-03 8.96932402e-06 9.99972382e-01 3.22061720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141858064 meters Centerline goodness [0,1] 0.999977768885332 Centerline is valid? [True, True] Translation: X:104.43, Y:52.42, Z:0.32 [[ 5.98705403e-01 -8.00957943e-01 -4.26774693e-03 1.04430255e+02] [ 8.00937500e-01 5.98720614e-01 -5.72256375e-03 5.24186942e+01] [ 7.13872095e-03 7.93128098e-06 9.99974519e-01 3.22003040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.45, Y:52.44, Z:0.32 [[ 5.97286106e-01 -8.02017435e-01 -4.16421347e-03 1.04446622e+02] [ 8.01997979e-01 5.97300622e-01 -5.58645437e-03 5.24404814e+01] [ 6.96772111e-03 -2.97920484e-06 9.99975725e-01 3.22485537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:52.46, Z:0.32 [[ 5.96405074e-01 -8.02671564e-01 -4.39860280e-03 1.04462523e+02] [ 8.02649853e-01 5.96421294e-01 -5.90370471e-03 5.24624598e+01] [ 7.36215627e-03 -9.53844663e-06 9.99972899e-01 3.22093776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.48, Y:52.49, Z:0.32 [[ 5.95256480e-01 -8.03523040e-01 -4.52186114e-03 1.04479079e+02] [ 8.03500093e-01 5.95273655e-01 -6.07258215e-03 5.24855761e+01] [ 7.57120448e-03 -1.85719687e-05 9.99971338e-01 3.22060414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.50, Y:52.51, Z:0.32 [[ 5.94008103e-01 -8.04446342e-01 -4.52288977e-03 1.04495165e+02] [ 8.04423390e-01 5.94025322e-01 -6.07670462e-03 5.25070027e+01] [ 7.57509385e-03 -2.87065329e-05 9.99971308e-01 3.21560248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.291858064 meters Centerline goodness [0,1] 0.9999555239281267 Centerline is valid? [True, True] Translation: X:104.51, Y:52.53, Z:0.32 [[ 5.91412884e-01 -8.06352158e-01 -5.19598755e-03 1.04513586e+02] [ 8.06321921e-01 5.91435706e-01 -6.98322247e-03 5.25284020e+01] [ 8.70402907e-03 -5.96709233e-05 9.99962117e-01 3.21407467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321858064 meters Centerline goodness [0,1] 0.9999555239281267 Centerline is valid? [True, True] Translation: X:104.53, Y:52.55, Z:0.32 [[ 5.91190065e-01 -8.06515545e-01 -5.19446656e-03 1.04529997e+02] [ 8.06485305e-01 5.91212882e-01 -6.98435382e-03 5.25505852e+01] [ 8.70402548e-03 -6.01803651e-05 9.99962117e-01 3.21501451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.55, Y:52.57, Z:0.32 [[ 5.89576789e-01 -8.07693995e-01 -5.44239879e-03 1.04546952e+02] [ 8.07660812e-01 5.89601903e-01 -7.32174539e-03 5.25726352e+01] [ 9.12257847e-03 -7.88810887e-05 9.99958385e-01 3.21205384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:52.59, Z:0.32 [[ 5.86602431e-01 -8.09856929e-01 -5.41695458e-03 1.04563939e+02] [ 8.09824122e-01 5.86627431e-01 -7.29028154e-03 5.25944000e+01] [ 9.08181917e-03 -1.10283616e-04 9.99958753e-01 3.20723966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.58, Y:52.62, Z:0.32 [[ 5.84860156e-01 -8.11116414e-01 -5.36281567e-03 1.04581129e+02] [ 8.11084285e-01 5.84884729e-01 -7.22049618e-03 5.26176178e+01] [ 8.99329196e-03 -1.26714989e-04 9.99959552e-01 3.21389652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:52.64, Z:0.32 [[ 5.83481642e-01 -8.12109125e-01 -5.28610411e-03 1.04598593e+02] [ 8.12077927e-01 5.83505570e-01 -7.11973260e-03 5.26392037e+01] [ 8.86647101e-03 -1.38495199e-04 9.99960682e-01 3.21672534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.62, Y:52.66, Z:0.32 [[ 5.81925317e-01 -8.13227699e-01 -4.86168889e-03 1.04615473e+02] [ 8.13201327e-01 5.81945608e-01 -6.55071574e-03 5.26630555e+01] [ 8.15646198e-03 -1.41504520e-04 9.99966725e-01 3.22753372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:52.69, Z:0.32 [[ 5.79785681e-01 -8.14758968e-01 -4.04828107e-03 1.04633110e+02] [ 8.14740702e-01 5.79799799e-01 -5.45727370e-03 5.26859017e+01] [ 6.79355523e-03 -1.34250215e-04 9.99976915e-01 3.24098629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.65, Y:52.71, Z:0.32 [[ 5.78963015e-01 -8.15343044e-01 -4.18900391e-03 1.04649540e+02] [ 8.15323481e-01 5.78978151e-01 -5.64994130e-03 5.27083477e+01] [ 7.03198207e-03 -1.44286201e-04 9.99975265e-01 3.24662489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.67, Y:52.73, Z:0.33 [[ 5.78497553e-01 -8.15674057e-01 -4.05150807e-03 1.04666037e+02] [ 8.15655745e-01 5.78511723e-01 -5.46747772e-03 5.27312910e+01] [ 6.80352464e-03 -1.41713350e-04 9.99976846e-01 3.25036782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.68, Y:52.75, Z:0.33 [[ 5.78303275e-01 -8.15812996e-01 -3.80487527e-03 1.04680636e+02] [ 8.15796830e-01 5.78315777e-01 -5.13757102e-03 5.27548282e+01] [ 6.39171661e-03 -1.32931031e-04 9.99979564e-01 3.25370869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621858064 meters Centerline goodness [0,1] 0.9999335076909438 Centerline is valid? [True, True] Translation: X:104.70, Y:52.78, Z:0.33 [[ 5.78512164e-01 -8.15665661e-01 -3.63397805e-03 1.04696610e+02] [ 8.15650894e-01 5.78523565e-01 -4.90961873e-03 5.27784263e+01] [ 6.10694934e-03 -1.23783289e-04 9.99981345e-01 3.26018074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.71, Y:52.80, Z:0.33 [[ 5.79822729e-01 -8.14736580e-01 -3.14773088e-03 1.04711245e+02] [ 8.14725475e-01 5.79831265e-01 -4.25483199e-03 5.28029534e+01] [ 5.29172004e-03 -9.74882401e-05 9.99985994e-01 3.27506337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.73, Y:52.83, Z:0.33 [[ 5.80494741e-01 -8.14258638e-01 -2.95379591e-03 1.04726176e+02] [ 8.14248845e-01 5.80502250e-01 -3.99456840e-03 5.28254521e+01] [ 4.96729699e-03 -8.62989583e-05 9.99987659e-01 3.28169445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.74, Y:52.85, Z:0.33 [[ 5.81448840e-01 -8.13577864e-01 -2.88190755e-03 1.04741775e+02] [ 8.13568525e-01 5.81455977e-01 -3.89896985e-03 5.28497300e+01] [ 4.84781794e-03 -7.75777767e-05 9.99988246e-01 3.28799978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.76, Y:52.87, Z:0.33 [[ 5.82208649e-01 -8.13034998e-01 -2.67975818e-03 1.04756931e+02] [ 8.13026911e-01 5.82214812e-01 -3.62679204e-03 5.28740541e+01] [ 4.50890377e-03 -6.71658183e-05 9.99989833e-01 3.29367672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77185806399999 meters Centerline goodness [0,1] 0.9999341151666886 Centerline is valid? [True, True] Translation: X:104.77, Y:52.90, Z:0.33 [[ 5.83618233e-01 -8.12024191e-01 -2.54398330e-03 1.04772063e+02] [ 8.12016886e-01 5.83623775e-01 -3.44473064e-03 5.28993030e+01] [ 4.28193374e-03 -5.53497877e-05 9.99990831e-01 3.30382627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801858064 meters Centerline goodness [0,1] 0.9999561172546955 Centerline is valid? [True, True] Translation: X:104.79, Y:52.92, Z:0.33 [[ 5.84171744e-01 -8.11626480e-01 -2.41485012e-03 1.04787558e+02] [ 8.11619888e-01 5.84176733e-01 -3.27149455e-03 5.29235696e+01] [ 4.06593086e-03 -4.88257118e-05 9.99991733e-01 3.30769733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.831858064 meters Centerline goodness [0,1] 0.9999781176831003 Centerline is valid? [True, True] Translation: X:104.80, Y:52.95, Z:0.33 [[ 5.84848701e-01 -8.11139819e-01 -2.04718248e-03 1.04803658e+02] [ 8.11135075e-01 5.84852282e-01 -2.77466583e-03 5.29478907e+01] [ 3.44794128e-03 -3.77818139e-05 9.99994055e-01 3.31455585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861858064 meters Centerline goodness [0,1] 0.9998466492869191 Centerline is valid? [True, True] Translation: X:104.82, Y:52.97, Z:0.33 [[ 5.86463404e-01 -8.09973910e-01 -1.71492370e-03 1.04817890e+02] [ 8.09970573e-01 5.86465910e-01 -2.32530492e-03 5.29734128e+01] [ 2.88918061e-03 -2.53314939e-05 9.99995826e-01 3.32649319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.891858064 meters Centerline goodness [0,1] 0.9998909867875987 Centerline is valid? [True, True] Translation: X:104.83, Y:53.00, Z:0.33 [[ 5.87332426e-01 -8.09344297e-01 -1.55870050e-03 1.04832118e+02] [ 8.09341536e-01 5.87334494e-01 -2.11438368e-03 5.29972266e+01] [ 2.62674295e-03 -1.96749624e-05 9.99996550e-01 3.33191642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921858064 meters Centerline goodness [0,1] 0.9998040368410739 Centerline is valid? [True, True] Translation: X:104.85, Y:53.02, Z:0.33 [[ 5.88307690e-01 -8.08635571e-01 -1.60442770e-03 1.04846966e+02] [ 8.08632639e-01 5.88309878e-01 -2.17772762e-03 5.30217203e+01] [ 2.70488869e-03 -1.62186983e-05 9.99996342e-01 3.33246615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.951858064 meters Centerline goodness [0,1] 0.9999782291598632 Centerline is valid? [True, True] Translation: X:104.86, Y:53.04, Z:0.33 [[ 5.89279896e-01 -8.07926837e-01 -1.85210570e-03 1.04860697e+02] [ 8.07922921e-01 5.89282806e-01 -2.51564849e-03 5.30446810e+01] [ 3.12387397e-03 -1.39375645e-05 9.99995121e-01 3.33060533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981858064 meters Centerline goodness [0,1] 0.999913359902963 Centerline is valid? [True, True] Translation: X:104.87, Y:53.07, Z:0.33 [[ 5.90536354e-01 -8.07007323e-01 -2.44834530e-03 1.04873311e+02] [ 8.07000465e-01 5.90541429e-01 -3.32722173e-03 5.30692145e+01] [ 4.13094164e-03 -1.09704062e-05 9.99991468e-01 3.32046412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.89, Y:53.09, Z:0.33 [[ 5.90471016e-01 -8.07054551e-01 -2.63269441e-03 1.04888103e+02] [ 8.07046612e-01 5.90476885e-01 -3.57967576e-03 5.30914719e+01] [ 4.44353880e-03 -1.10123256e-05 9.99990127e-01 3.31800389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041858064 meters Centerline goodness [0,1] 0.9999129753720303 Centerline is valid? [True, True] Translation: X:104.90, Y:53.11, Z:0.33 [[ 5.90204567e-01 -8.07249244e-01 -2.68825544e-03 1.04904559e+02] [ 8.07240960e-01 5.90210689e-01 -3.65716860e-03 5.31147084e+01] [ 4.53888368e-03 -1.15922989e-05 9.99989699e-01 3.31818493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071858064 meters Centerline goodness [0,1] 0.9997819307848311 Centerline is valid? [True, True] Translation: X:104.92, Y:53.14, Z:0.33 [[ 5.88311671e-01 -8.08631145e-01 -2.24699002e-03 1.04922106e+02] [ 8.08625362e-01 5.88315962e-01 -3.05831042e-03 5.31358934e+01] [ 3.79498515e-03 -1.77334051e-05 9.99992799e-01 3.33335057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101858064 meters Centerline goodness [0,1] 0.9996515527679777 Centerline is valid? [True, True] Translation: X:104.94, Y:53.16, Z:0.33 [[ 5.86737481e-01 -8.09774670e-01 -2.02811791e-03 1.04939206e+02] [ 8.09769961e-01 5.86740985e-01 -2.76168252e-03 5.31582902e+01] [ 3.42632045e-03 -2.19263151e-05 9.99994130e-01 3.33692875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131858064 meters Centerline goodness [0,1] 0.9998697775366251 Centerline is valid? [True, True] Translation: X:104.96, Y:53.18, Z:0.33 [[ 5.85491080e-01 -8.10675625e-01 -2.28596083e-03 1.04955263e+02] [ 8.10669643e-01 5.85495542e-01 -3.11467951e-03 5.31809237e+01] [ 3.86341463e-03 -2.95419822e-05 9.99992537e-01 3.33042784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161858064 meters Centerline goodness [0,1] 0.9998918427826688 Centerline is valid? [True, True] Translation: X:104.97, Y:53.20, Z:0.33 [[ 5.83202584e-01 -8.12322171e-01 -2.72695410e-03 1.04971090e+02] [ 8.12313666e-01 5.83208958e-01 -3.71757164e-03 5.32035763e+01] [ 4.61024992e-03 -4.70446899e-05 9.99989372e-01 3.31360169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191858064 meters Centerline goodness [0,1] 0.9999782120835784 Centerline is valid? [True, True] Translation: X:104.99, Y:53.23, Z:0.33 [[ 5.81833421e-01 -8.13303524e-01 -2.69219346e-03 1.04986686e+02] [ 8.13295239e-01 5.81839647e-01 -3.67136313e-03 5.32276476e+01] [ 4.55235747e-03 -5.34263543e-05 9.99989637e-01 3.31560787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221858064 meters Centerline goodness [0,1] 0.9999131152526174 Centerline is valid? [True, True] Translation: X:105.00, Y:53.25, Z:0.33 [[ 5.80668869e-01 -8.14133886e-01 -3.11137591e-03 1.05004099e+02] [ 8.14122819e-01 5.80677200e-01 -4.24544811e-03 5.32510862e+01] [ 5.26306822e-03 -6.78425835e-05 9.99986148e-01 3.31610111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251858064 meters Centerline goodness [0,1] 0.9999348123682666 Centerline is valid? [True, True] Translation: X:105.02, Y:53.27, Z:0.33 [[ 5.78600185e-01 -8.15603189e-01 -3.64206716e-03 1.05021271e+02] [ 8.15588037e-01 5.78611640e-01 -4.97239720e-03 5.32746417e+01] [ 6.16284546e-03 -9.33964687e-05 9.99981005e-01 3.30291622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:53.30, Z:0.33 [[ 5.77229811e-01 -8.16570115e-01 -4.35791038e-03 1.05038216e+02] [ 8.16548424e-01 5.77246249e-01 -5.95308130e-03 5.32980539e+01] [ 7.37669571e-03 -1.22148856e-04 9.99972784e-01 3.30138843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.06, Y:53.32, Z:0.33 [[ 5.76245730e-01 -8.17263365e-01 -4.63150021e-03 1.05055587e+02] [ 8.17238867e-01 5.76264326e-01 -6.32928953e-03 5.33196797e+01] [ 7.84166480e-03 -1.37815916e-04 9.99969244e-01 3.29687813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341858064 meters Centerline goodness [0,1] 0.9999563070738847 Centerline is valid? [True, True] Translation: X:105.07, Y:53.34, Z:0.33 [[ 5.73321753e-01 -8.19313437e-01 -5.25926811e-03 1.05073516e+02] [ 8.19281907e-01 5.73345844e-01 -7.19028092e-03 5.33422415e+01] [ 8.90647329e-03 -1.86478747e-04 9.99960319e-01 3.29662696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:53.36, Z:0.33 [[ 5.72049006e-01 -8.20201472e-01 -5.42950511e-03 1.05090298e+02] [ 8.20167882e-01 5.72074735e-01 -7.42582872e-03 5.33642133e+01] [ 9.19675835e-03 -2.05167764e-04 9.99957688e-01 3.29290203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:53.39, Z:0.33 [[ 5.70627113e-01 -8.21190461e-01 -5.56100963e-03 1.05107279e+02] [ 8.21155239e-01 5.70654165e-01 -7.60895656e-03 5.33875141e+01] [ 9.42181585e-03 -2.24575278e-04 9.99955588e-01 3.29335791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431858064 meters Centerline goodness [0,1] 0.9999782338985265 Centerline is valid? [True, True] Translation: X:105.12, Y:53.41, Z:0.33 [[ 5.68765946e-01 -8.22480775e-01 -5.53833690e-03 1.05123860e+02] [ 8.22445866e-01 5.68792858e-01 -7.58175097e-03 5.34109244e+01] [ 9.38601089e-03 -2.42740530e-04 9.99955921e-01 3.29387950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:53.43, Z:0.33 [[ 5.67759507e-01 -8.23175915e-01 -5.52762700e-03 1.05140526e+02] [ 8.23141138e-01 5.67786359e-01 -7.57087830e-03 5.34345919e+01] [ 9.37067588e-03 -2.51579042e-04 9.99956063e-01 3.29282457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491858064 meters Centerline goodness [0,1] 0.999934557829065 Centerline is valid? [True, True] Translation: X:105.16, Y:53.46, Z:0.33 [[ 5.66935417e-01 -8.23743525e-01 -5.55322841e-03 1.05157468e+02] [ 8.23708415e-01 5.66962555e-01 -7.60975220e-03 5.34585203e+01] [ 9.41695666e-03 -2.60002933e-04 9.99955626e-01 3.29078261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:53.48, Z:0.33 [[ 5.65943882e-01 -8.24426001e-01 -5.41210842e-03 1.05174652e+02] [ 8.24392661e-01 5.65969698e-01 -7.41900509e-03 5.34806506e+01] [ 9.17951007e-03 -2.62961923e-04 9.99957833e-01 3.28939252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.19, Y:53.50, Z:0.33 [[ 5.63401899e-01 -8.26166721e-01 -5.18168984e-03 1.05191633e+02] [ 8.26136206e-01 5.63425658e-01 -7.10606107e-03 5.35041346e+01] [ 8.79028818e-03 -2.77213282e-04 9.99961326e-01 3.30494985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.21, Y:53.53, Z:0.33 [[ 5.62335719e-01 -8.26894424e-01 -4.91433982e-03 1.05209519e+02] [ 8.26866977e-01 5.62357127e-01 -6.74272580e-03 5.35268560e+01] [ 8.33913638e-03 -2.71829751e-04 9.99965192e-01 3.31271444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:53.55, Z:0.33 [[ 5.61490020e-01 -8.27471592e-01 -4.44089351e-03 1.05225098e+02] [ 8.27449175e-01 5.61507525e-01 -6.09608226e-03 5.35510981e+01] [ 7.53793001e-03 -2.51724319e-04 9.99971558e-01 3.32582122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.24, Y:53.58, Z:0.33 [[ 5.61475110e-01 -8.27484856e-01 -3.80963686e-03 1.05239581e+02] [ 8.27468343e-01 5.61487993e-01 -5.23209881e-03 5.35763247e+01] [ 6.46854789e-03 -2.14660645e-04 9.99979056e-01 3.33999697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:53.60, Z:0.33 [[ 5.62239766e-01 -8.26966293e-01 -3.63267237e-03 1.05257216e+02] [ 8.26951256e-01 5.62251466e-01 -4.99089807e-03 5.35977847e+01] [ 6.16977984e-03 -1.97961619e-04 9.99980947e-01 3.34065459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.27, Y:53.62, Z:0.33 [[ 5.63436486e-01 -8.26151609e-01 -3.58402297e-03 1.05271202e+02] [ 8.26136946e-01 5.63447854e-01 -4.92566095e-03 5.36237866e+01] [ 6.08875277e-03 -1.85596694e-04 9.99981446e-01 3.34244078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:53.65, Z:0.33 [[ 5.64827900e-01 -8.25199917e-01 -3.81312690e-03 1.05285662e+02] [ 8.25183280e-01 5.64840740e-01 -5.24330087e-03 5.36486627e+01] [ 6.48058087e-03 -1.84965949e-04 9.99978984e-01 3.34293407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:53.67, Z:0.33 [[ 5.68189930e-01 -8.22888293e-01 -3.88078833e-03 1.05299148e+02] [ 8.22870991e-01 5.68203160e-01 -5.33860736e-03 5.36744397e+01] [ 6.59815369e-03 -1.60045196e-04 9.99978219e-01 3.33917127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.31, Y:53.70, Z:0.33 [[ 5.69722222e-01 -8.21827815e-01 -3.95386782e-03 1.05314514e+02] [ 8.21809814e-01 5.69735922e-01 -5.44139656e-03 5.36982712e+01] [ 6.72455157e-03 -1.49242838e-04 9.99977379e-01 3.33552786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:53.72, Z:0.33 [[ 5.71059247e-01 -8.20895960e-01 -4.59995616e-03 1.05329300e+02] [ 8.20871538e-01 5.71077751e-01 -6.33403803e-03 5.37232391e+01] [ 7.82651885e-03 -1.58862102e-04 9.99969360e-01 3.33328464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851858064 meters Centerline goodness [0,1] 0.999956771711408 Centerline is valid? [True, True] Translation: X:105.34, Y:53.75, Z:0.33 [[ 5.72181427e-01 -8.20112053e-01 -4.96343233e-03 1.05344937e+02] [ 8.20083566e-01 5.72202933e-01 -6.83731126e-03 5.37462528e+01] [ 8.44745191e-03 -1.58246777e-04 9.99964307e-01 3.32358366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:53.77, Z:0.33 [[ 5.73564759e-01 -8.19142737e-01 -5.35190178e-03 1.05359158e+02] [ 8.19109545e-01 5.73589707e-01 -7.37571580e-03 5.37715783e+01] [ 9.11155981e-03 -1.53343179e-04 9.99958477e-01 3.31422474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:53.79, Z:0.33 [[ 5.73639274e-01 -8.19090581e-01 -5.34821590e-03 1.05375443e+02] [ 8.19057395e-01 5.73664185e-01 -7.37476607e-03 5.37946255e+01] [ 9.10868134e-03 -1.50040328e-04 9.99958504e-01 3.31364664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.39, Y:53.82, Z:0.33 [[ 5.73477937e-01 -8.19203919e-01 -5.29100035e-03 1.05391684e+02] [ 8.19171416e-01 5.73502325e-01 -7.29894689e-03 5.38160993e+01] [ 9.01372690e-03 -1.48451243e-04 9.99959365e-01 3.31877848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.41, Y:53.84, Z:0.33 [[ 5.72662748e-01 -8.19778183e-01 -4.59439041e-03 1.05408122e+02] [ 8.19753671e-01 5.72681162e-01 -6.34084431e-03 5.38386614e+01] [ 7.82920666e-03 -1.35103073e-04 9.99969342e-01 3.32878997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:53.86, Z:0.33 [[ 5.72500340e-01 -8.19891902e-01 -4.54199364e-03 1.05424051e+02] [ 8.19867928e-01 5.72518342e-01 -6.27126683e-03 5.38603351e+01] [ 7.74213556e-03 -1.33532522e-04 9.99970020e-01 3.32784583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.44, Y:53.88, Z:0.33 [[ 5.72147145e-01 -8.20138773e-01 -4.47625669e-03 1.05440712e+02] [ 8.20115474e-01 5.72164640e-01 -6.18336429e-03 5.38828110e+01] [ 7.63237260e-03 -1.33253154e-04 9.99970864e-01 3.32648347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.46, Y:53.90, Z:0.33 [[ 5.71875360e-01 -8.20326888e-01 -4.72956818e-03 1.05457388e+02] [ 8.20300858e-01 5.71894900e-01 -6.53653279e-03 5.39047603e+01] [ 8.06690952e-03 -1.41586794e-04 9.99967452e-01 3.32666219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:53.93, Z:0.33 [[ 5.72157896e-01 -8.20130833e-01 -4.55609486e-03 1.05474136e+02] [ 8.20106654e-01 5.72176021e-01 -6.29892868e-03 5.39258893e+01] [ 7.77283385e-03 -1.32501927e-04 9.99969782e-01 3.32484258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.49, Y:53.95, Z:0.33 [[ 5.72899864e-01 -8.19611951e-01 -4.68989970e-03 1.05490499e+02] [ 8.19586292e-01 5.72919046e-01 -6.48669169e-03 5.39501732e+01] [ 8.00350289e-03 -1.27552716e-04 9.99967963e-01 3.32385229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:53.97, Z:0.33 [[ 5.73953882e-01 -8.18874000e-01 -4.72359420e-03 1.05506569e+02] [ 8.18847929e-01 5.73973308e-01 -6.53543547e-03 5.39731581e+01] [ 8.06291518e-03 -1.16866765e-04 9.99967487e-01 3.32064057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.52, Y:54.00, Z:0.33 [[ 5.76439610e-01 -8.17124169e-01 -5.04651575e-03 1.05523502e+02] [ 8.17094328e-01 5.76461692e-01 -6.98403576e-03 5.39957527e+01] [ 8.61594743e-03 -9.76045401e-05 9.99962877e-01 3.30808510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:54.02, Z:0.33 [[ 5.77713240e-01 -8.16223161e-01 -5.21190280e-03 1.05539792e+02] [ 8.16191267e-01 5.77736743e-01 -7.21606438e-03 5.40197572e+01] [ 8.90102663e-03 -8.50936220e-05 9.99960381e-01 3.31085714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.56, Y:54.04, Z:0.33 [[ 5.77486062e-01 -8.16383919e-01 -5.20999037e-03 1.05555881e+02] [ 8.16352019e-01 5.77509557e-01 -7.21744513e-03 5.40421591e+01] [ 8.90102537e-03 -8.52121920e-05 9.99960381e-01 3.31179539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:54.06, Z:0.33 [[ 5.78080160e-01 -8.15963388e-01 -5.20374831e-03 1.05572191e+02] [ 8.15931509e-01 5.78103576e-01 -7.21307074e-03 5.40646364e+01] [ 8.89390714e-03 -7.61691273e-05 9.99960446e-01 3.31362453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.59, Y:54.09, Z:0.33 [[ 5.78769160e-01 -8.15476500e-01 -4.93331469e-03 1.05589260e+02] [ 8.15447807e-01 5.78790182e-01 -6.84105062e-03 5.40863418e+01] [ 8.43407012e-03 -6.34715183e-05 9.99964431e-01 3.31389550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.61, Y:54.11, Z:0.33 [[ 5.79171008e-01 -8.15193329e-01 -4.55846164e-03 1.05607568e+02] [ 8.15168800e-01 5.79188944e-01 -6.32412594e-03 5.41075496e+01] [ 7.79559586e-03 -5.31653060e-05 9.99969612e-01 3.32080413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:54.13, Z:0.33 [[ 5.79228351e-01 -8.15153169e-01 -4.45285828e-03 1.05624754e+02] [ 8.15129740e-01 5.79245464e-01 -6.18056914e-03 5.41280902e+01] [ 7.61740848e-03 -4.96963428e-05 9.99970986e-01 3.31849117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:54.15, Z:0.33 [[ 5.79277591e-01 -8.15117101e-01 -4.64598390e-03 1.05642535e+02] [ 8.15091567e-01 5.79296220e-01 -6.45191329e-03 5.41503935e+01] [ 7.95046577e-03 -4.94535145e-05 9.99968393e-01 3.32026425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.66, Y:54.17, Z:0.33 [[ 5.79801881e-01 -8.14743866e-01 -4.71285356e-03 1.05661560e+02] [ 8.14717549e-01 5.79821033e-01 -6.54861427e-03 5.41710860e+01] [ 8.06805493e-03 -4.27456317e-05 9.99967452e-01 3.32409444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.68, Y:54.19, Z:0.33 [[ 5.80256710e-01 -8.14421327e-01 -4.47796682e-03 1.05679261e+02] [ 8.14397531e-01 5.80273988e-01 -6.22581565e-03 5.41934071e+01] [ 7.66888471e-03 -3.42738138e-05 9.99970593e-01 3.32290482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481858064 meters Centerline goodness [0,1] 0.9999128559290648 Centerline is valid? [True, True] Translation: X:105.70, Y:54.22, Z:0.33 [[ 5.80983622e-01 -8.13904528e-01 -4.17736137e-03 1.05696295e+02] [ 8.13883788e-01 5.80998639e-01 -5.81035961e-03 5.42150102e+01] [ 7.15611927e-03 -2.41629229e-05 9.99974394e-01 3.31955314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.71, Y:54.24, Z:0.33 [[ 5.81444465e-01 -8.13575810e-01 -4.09099047e-03 1.05713392e+02] [ 8.13555893e-01 5.81458856e-01 -5.69276235e-03 5.42374085e+01] [ 7.01023638e-03 -1.82242489e-05 9.99975428e-01 3.31824829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.73, Y:54.26, Z:0.33 [[ 5.82701414e-01 -8.12677175e-01 -3.85629536e-03 1.05731705e+02] [ 8.12659438e-01 5.82714174e-01 -5.36921384e-03 5.42587581e+01] [ 6.61055551e-03 -5.20632010e-06 9.99978150e-01 3.31215454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571858064 meters Centerline goodness [0,1] 0.9998688323896553 Centerline is valid? [True, True] Translation: X:105.75, Y:54.28, Z:0.33 [[ 5.83066122e-01 -8.12415929e-01 -3.77569931e-03 1.05749361e+02] [ 8.12398900e-01 5.83078347e-01 -5.26009131e-03 5.42802994e+01] [ 6.47491048e-03 -3.92925049e-07 9.99979038e-01 3.31121294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601858064 meters Centerline goodness [0,1] 0.9999780711372308 Centerline is valid? [True, True] Translation: X:105.77, Y:54.30, Z:0.33 [[ 5.83065863e-01 -8.12416324e-01 -3.73039089e-03 1.05766400e+02] [ 8.12399686e-01 5.83077796e-01 -5.19941135e-03 5.43007528e+01] [ 6.39919476e-03 1.03087579e-06 9.99979525e-01 3.31017975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631858064 meters Centerline goodness [0,1] 0.9999561307304233 Centerline is valid? [True, True] Translation: X:105.78, Y:54.32, Z:0.33 [[ 5.83406643e-01 -8.12171568e-01 -3.74598942e-03 1.05783735e+02] [ 8.12154774e-01 5.83418669e-01 -5.22304321e-03 5.43214418e+01] [ 6.42748736e-03 4.83491116e-06 9.99979343e-01 3.31319796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661858064 meters Centerline goodness [0,1] 0.9999342811452606 Centerline is valid? [True, True] Translation: X:105.80, Y:54.34, Z:0.33 [[ 5.84291809e-01 -8.11533755e-01 -4.00579575e-03 1.05803416e+02] [ 8.11514515e-01 5.84305540e-01 -5.58810041e-03 5.43419204e+01] [ 6.87554075e-03 1.43199023e-05 9.99976363e-01 3.31151728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691858064 meters Centerline goodness [0,1] 0.9999559286926246 Centerline is valid? [True, True] Translation: X:105.82, Y:54.36, Z:0.33 [[ 5.84324881e-01 -8.11509267e-01 -4.14050547e-03 1.05821554e+02] [ 8.11488687e-01 5.84339550e-01 -5.77945456e-03 5.43634733e+01] [ 7.10954203e-03 1.71057534e-05 9.99974727e-01 3.31217869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721858064 meters Centerline goodness [0,1] 0.9999557600424703 Centerline is valid? [True, True] Translation: X:105.84, Y:54.39, Z:0.33 [[ 5.84440561e-01 -8.11425727e-01 -4.18572904e-03 1.05839117e+02] [ 8.11404668e-01 5.84455549e-01 -5.84605345e-03 5.43850127e+01] [ 7.19001074e-03 2.03506774e-05 9.99974151e-01 3.31178015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751858064 meters Centerline goodness [0,1] 0.9999557766721946 Centerline is valid? [True, True] Translation: X:105.86, Y:54.41, Z:0.33 [[ 5.84887692e-01 -8.11100821e-01 -4.67405929e-03 1.05857060e+02] [ 8.11074524e-01 5.84906367e-01 -6.53141416e-03 5.44054000e+01] [ 8.03152243e-03 2.91333378e-05 9.99967746e-01 3.30058633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781858064 meters Centerline goodness [0,1] 0.9999558469655827 Centerline is valid? [True, True] Translation: X:105.87, Y:54.43, Z:0.33 [[ 5.84923859e-01 -8.11074597e-01 -4.69872680e-03 1.05874907e+02] [ 8.11047994e-01 5.84942730e-01 -6.56919960e-03 5.44272845e+01] [ 8.07659700e-03 3.15886329e-05 9.99967383e-01 3.29599299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811858064 meters Centerline goodness [0,1] 0.9998442228947837 Centerline is valid? [True, True] Translation: X:105.89, Y:54.45, Z:0.33 [[ 5.84300839e-01 -8.11521243e-01 -5.07959111e-03 1.05893282e+02] [ 8.11490132e-01 5.84322918e-01 -7.10594304e-03 5.44485104e+01] [ 8.73474522e-03 2.99704244e-05 9.99961851e-01 3.29548935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.91, Y:54.47, Z:0.33 [[ 5.83555905e-01 -8.12056311e-01 -5.20142373e-03 1.05912266e+02] [ 8.12023672e-01 5.83579084e-01 -7.28066959e-03 5.44699631e+01] [ 8.94775578e-03 2.49985279e-05 9.99959968e-01 3.29735999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871858064 meters Centerline goodness [0,1] 0.9999554773936467 Centerline is valid? [True, True] Translation: X:105.93, Y:54.49, Z:0.33 [[ 5.81401923e-01 -8.13598417e-01 -5.42393408e-03 1.05932893e+02] [ 8.13562954e-01 5.81427223e-01 -7.59635140e-03 5.44880451e+01] [ 9.33400241e-03 3.82147853e-06 9.99956437e-01 3.29649713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:54.51, Z:0.33 [[ 5.79751275e-01 -8.14776410e-01 -5.27839087e-03 1.05951625e+02] [ 8.14742835e-01 5.79775303e-01 -7.39669299e-03 5.45091262e+01] [ 9.08693162e-03 -1.22889509e-05 9.99958713e-01 3.29958096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931858064 meters Centerline goodness [0,1] 0.9999105725591898 Centerline is valid? [True, True] Translation: X:105.97, Y:54.53, Z:0.33 [[ 5.78083707e-01 -8.15959752e-01 -5.37681870e-03 1.05970062e+02] [ 8.15924931e-01 5.78108711e-01 -7.53824535e-03 5.45290129e+01] [ 9.25929054e-03 -2.93436064e-05 9.99957131e-01 3.29845163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:54.55, Z:0.33 [[ 5.76216914e-01 -8.17280258e-01 -5.20071768e-03 1.05989425e+02] [ 8.17247700e-01 5.76240382e-01 -7.29509976e-03 5.45500952e+01] [ 8.95900455e-03 -4.67146900e-05 9.99959866e-01 3.30395362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:54.57, Z:0.33 [[ 5.75066884e-01 -8.18096207e-01 -4.08342355e-03 1.06006404e+02] [ 8.18076136e-01 5.75081380e-01 -5.73086488e-03 5.45719858e+01] [ 7.03669967e-03 -4.49207526e-05 9.99975241e-01 3.31452100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:54.59, Z:0.33 [[ 5.75032529e-01 -8.18120998e-01 -3.95270000e-03 1.06022261e+02] [ 8.18102169e-01 5.75046112e-01 -5.55061567e-03 5.45949976e+01] [ 6.81405999e-03 -4.19278786e-05 9.99976783e-01 3.31674882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.051858064 meters Centerline goodness [0,1] 0.9999550904926573 Centerline is valid? [True, True] Translation: X:106.04, Y:54.62, Z:0.33 [[ 5.75330256e-01 -8.17911588e-01 -3.96615439e-03 1.06037962e+02] [ 8.17892605e-01 5.75343926e-01 -5.57264039e-03 5.46165775e+01] [ 6.83982999e-03 -3.77797159e-05 9.99976607e-01 3.31237203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081858064 meters Centerline goodness [0,1] 0.9999550390036643 Centerline is valid? [True, True] Translation: X:106.05, Y:54.64, Z:0.33 [[ 5.74913754e-01 -8.18203249e-01 -4.19740891e-03 1.06054662e+02] [ 8.18181971e-01 5.74929075e-01 -5.90094315e-03 5.46395330e+01] [ 7.24138328e-03 -4.17109221e-05 9.99973780e-01 3.31037197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.111858064 meters Centerline goodness [0,1] 0.9999326100141519 Centerline is valid? [True, True] Translation: X:106.07, Y:54.66, Z:0.33 [[ 5.74697740e-01 -8.18353572e-01 -4.46528734e-03 1.06070919e+02] [ 8.18329467e-01 5.74715085e-01 -6.28133993e-03 5.46628304e+01] [ 7.70662496e-03 -4.42043502e-05 9.99970303e-01 3.31030356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:54.69, Z:0.33 [[ 5.75187278e-01 -8.18010197e-01 -4.34878806e-03 1.06085994e+02] [ 8.17987301e-01 5.75203717e-01 -6.12040425e-03 5.46856757e+01] [ 7.50799214e-03 -3.68747424e-05 9.99971814e-01 3.30904536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:54.71, Z:0.33 [[ 5.76021952e-01 -8.17423179e-01 -4.24932528e-03 1.06100434e+02] [ 8.17401285e-01 5.76037625e-01 -5.98279013e-03 5.47083843e+01] [ 7.33824256e-03 -2.71854934e-05 9.99973074e-01 3.29945939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201858064 meters Centerline goodness [0,1] 0.9999103199336368 Centerline is valid? [True, True] Translation: X:106.12, Y:54.73, Z:0.33 [[ 5.76138805e-01 -8.17339145e-01 -4.56068647e-03 1.06115349e+02] [ 8.17313896e-01 5.76156855e-01 -6.42445325e-03 5.47319786e+01] [ 7.87862790e-03 -2.61356093e-05 9.99968963e-01 3.29590714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:54.76, Z:0.33 [[ 5.76162449e-01 -8.17322169e-01 -4.61554068e-03 1.06130811e+02] [ 8.17296279e-01 5.76180936e-01 -6.50548158e-03 5.47560527e+01] [ 7.97646086e-03 -2.40500198e-05 9.99968187e-01 3.29198921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261858064 meters Centerline goodness [0,1] 0.9999776216264602 Centerline is valid? [True, True] Translation: X:106.15, Y:54.78, Z:0.33 [[ 5.76325066e-01 -8.17208386e-01 -4.45777086e-03 1.06146375e+02] [ 8.17184205e-01 5.76342305e-01 -6.28665781e-03 5.47799551e+01] [ 7.70671142e-03 -1.96614574e-05 9.99970303e-01 3.29627945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:54.80, Z:0.33 [[ 5.76185206e-01 -8.17308297e-01 -4.21381041e-03 1.06162581e+02] [ 8.17286668e-01 5.76200614e-01 -5.94597236e-03 5.48033458e+01] [ 7.28769269e-03 -1.79097676e-05 9.99973444e-01 3.30378582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321858064 meters Centerline goodness [0,1] 0.9999553521598392 Centerline is valid? [True, True] Translation: X:106.18, Y:54.83, Z:0.33 [[ 5.76016550e-01 -8.17428358e-01 -3.97662947e-03 1.06178358e+02] [ 8.17409076e-01 5.76030276e-01 -5.61449219e-03 5.48264320e+01] [ 6.88010410e-03 -1.64926007e-05 9.99976332e-01 3.30747820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:54.85, Z:0.33 [[ 5.75540319e-01 -8.17764261e-01 -3.86705632e-03 1.06194331e+02] [ 8.17746014e-01 5.75553310e-01 -5.46295182e-03 5.48498283e+01] [ 6.69310383e-03 -1.81208549e-05 9.99977601e-01 3.30697776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:54.87, Z:0.33 [[ 5.74616929e-01 -8.18415608e-01 -3.35826297e-03 1.06210858e+02] [ 8.18401843e-01 5.74626742e-01 -4.74665120e-03 5.48717207e+01] [ 5.81448114e-03 -2.09024671e-05 9.99983096e-01 3.31801577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.23, Y:54.89, Z:0.33 [[ 5.73977773e-01 -8.18865897e-01 -2.85650884e-03 1.06226916e+02] [ 8.18855934e-01 5.73984880e-01 -4.03937513e-03 5.48936741e+01] [ 4.94729942e-03 -2.05576736e-05 9.99987762e-01 3.32240560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:54.92, Z:0.33 [[ 5.73372515e-01 -8.19289853e-01 -2.84538198e-03 1.06242581e+02] [ 8.19279962e-01 5.73379574e-01 -4.02585424e-03 5.49165162e+01] [ 4.92982543e-03 -2.28502671e-05 9.99987848e-01 3.32523237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.26, Y:54.94, Z:0.33 [[ 5.72763529e-01 -8.19716451e-01 -2.62280752e-03 1.06257992e+02] [ 8.19708043e-01 5.72769534e-01 -3.71281657e-03 5.49386187e+01] [ 4.54572107e-03 -2.33705007e-05 9.99989668e-01 3.32117601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501858064 meters Centerline goodness [0,1] 0.9999777243161365 Centerline is valid? [True, True] Translation: X:106.27, Y:54.96, Z:0.33 [[ 5.71768097e-01 -8.20410236e-01 -2.87887542e-03 1.06274518e+02] [ 8.20400106e-01 5.71775344e-01 -4.07711273e-03 5.49607788e+01] [ 4.99097500e-03 -3.06667089e-05 9.99987545e-01 3.31666889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531858064 meters Centerline goodness [0,1] 0.9998435124742914 Centerline is valid? [True, True] Translation: X:106.29, Y:54.98, Z:0.33 [[ 5.71192630e-01 -8.20810928e-01 -2.89816911e-03 1.06290531e+02] [ 8.20800655e-01 5.71199982e-01 -4.10682184e-03 5.49825701e+01] [ 5.02635838e-03 -3.30327325e-05 9.99987367e-01 3.31822691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561858064 meters Centerline goodness [0,1] 0.9999553272280545 Centerline is valid? [True, True] Translation: X:106.31, Y:55.01, Z:0.33 [[ 5.70452189e-01 -8.21324358e-01 -3.25559449e-03 1.06306670e+02] [ 8.21311387e-01 5.70461477e-01 -4.61607998e-03 5.50051982e+01] [ 5.64849017e-03 -4.06039010e-05 9.99984046e-01 3.31675280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.32, Y:55.03, Z:0.33 [[ 5.68972973e-01 -8.22348161e-01 -3.64115264e-03 1.06323060e+02] [ 8.22331937e-01 5.68984621e-01 -5.16586930e-03 5.50268713e+01] [ 6.31990297e-03 -5.49960939e-05 9.99980028e-01 3.31383432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.34, Y:55.05, Z:0.33 [[ 5.67913503e-01 -8.23079243e-01 -3.84887598e-03 1.06339912e+02] [ 8.23061114e-01 5.67926541e-01 -5.46316411e-03 5.50490273e+01] [ 6.68249580e-03 -6.52554844e-05 9.99977670e-01 3.31959640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.36, Y:55.07, Z:0.33 [[ 5.66718382e-01 -8.23902746e-01 -3.81322786e-03 1.06357364e+02] [ 8.23884954e-01 5.66731206e-01 -5.41513355e-03 5.50717013e+01] [ 6.62261863e-03 -7.28053321e-05 9.99978068e-01 3.32440411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:55.09, Z:0.33 [[ 5.65372315e-01 -8.24826662e-01 -3.88894239e-03 1.06374318e+02] [ 8.24808156e-01 5.65385684e-01 -5.52583560e-03 5.50941036e+01] [ 6.75660889e-03 -8.34769338e-05 9.99977170e-01 3.32520684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711858064 meters Centerline goodness [0,1] 0.9999551649928264 Centerline is valid? [True, True] Translation: X:106.39, Y:55.12, Z:0.33 [[ 5.62781353e-01 -8.26593145e-01 -4.57401091e-03 1.06391828e+02] [ 8.26567579e-01 5.62799927e-01 -6.50223104e-03 5.51165979e+01] [ 7.94895261e-03 -1.21394738e-04 9.99968399e-01 3.32213644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.41, Y:55.14, Z:0.33 [[ 5.61156770e-01 -8.27696342e-01 -4.67380428e-03 1.06409055e+02] [ 8.27669671e-01 5.61176216e-01 -6.64605932e-03 5.51387279e+01] [ 8.12374679e-03 -1.38884868e-04 9.99966992e-01 3.31776313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:55.16, Z:0.33 [[ 5.59525564e-01 -8.28800136e-01 -4.63431840e-03 1.06425073e+02] [ 8.28773929e-01 5.59544736e-01 -6.59270790e-03 5.51626501e+01] [ 8.05714567e-03 -1.52013659e-04 9.99967529e-01 3.31701203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:55.18, Z:0.33 [[ 5.56304799e-01 -8.30965657e-01 -4.58774355e-03 1.06443048e+02] [ 8.30940021e-01 5.56323687e-01 -6.52973378e-03 5.51848874e+01] [ 7.97825493e-03 -1.79617482e-04 9.99968157e-01 3.32430447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.46, Y:55.21, Z:0.33 [[ 5.55303053e-01 -8.31635813e-01 -4.51604373e-03 1.06460344e+02] [ 8.31610975e-01 5.55321385e-01 -6.43003035e-03 5.52068883e+01] [ 7.85529917e-03 -1.84976049e-04 9.99969130e-01 3.33257311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.48, Y:55.23, Z:0.33 [[ 5.54375652e-01 -8.32255556e-01 -4.28087428e-03 1.06476763e+02] [ 8.32233237e-01 5.54392150e-01 -6.09780971e-03 5.52304439e+01] [ 7.44821911e-03 -1.82208628e-04 9.99972245e-01 3.34316776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:55.25, Z:0.34 [[ 5.53465946e-01 -8.32864151e-01 -3.57103055e-03 1.06492863e+02] [ 8.32848616e-01 5.53477444e-01 -5.08932320e-03 5.52542738e+01] [ 6.21519971e-03 -1.57360773e-04 9.99980673e-01 3.35534693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.51, Y:55.28, Z:0.34 [[ 5.53666524e-01 -8.32732606e-01 -3.12859300e-03 1.06507690e+02] [ 8.32720668e-01 5.53675346e-01 -4.46099059e-03 5.52768305e+01] [ 5.44703713e-03 -1.35342897e-04 9.99985156e-01 3.36286185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.951858064 meters Centerline goodness [0,1] 0.9999553022684099 Centerline is valid? [True, True] Translation: X:106.52, Y:55.30, Z:0.34 [[ 5.54096264e-01 -8.32447170e-01 -3.00669185e-03 1.06522515e+02] [ 8.32436128e-01 5.54104407e-01 -4.28935675e-03 5.53010712e+01] [ 5.23668409e-03 -1.26162370e-04 9.99986281e-01 3.36607111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.54, Y:55.32, Z:0.34 [[ 5.54839513e-01 -8.31952159e-01 -2.95298798e-03 1.06537042e+02] [ 8.31941490e-01 5.54847358e-01 -4.21494078e-03 5.53244831e+01] [ 5.14508666e-03 -1.18097532e-04 9.99986757e-01 3.36870543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.011858064 meters Centerline goodness [0,1] 0.999955442677004 Centerline is valid? [True, True] Translation: X:106.55, Y:55.35, Z:0.34 [[ 5.56316715e-01 -8.30964498e-01 -3.11705357e-03 1.06551050e+02] [ 8.30952586e-01 5.56325436e-01 -4.45071730e-03 5.53488447e+01] [ 5.43248425e-03 -1.14115296e-04 9.99985237e-01 3.36948909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.57, Y:55.37, Z:0.34 [[ 5.57158594e-01 -8.30399537e-01 -3.30304372e-03 1.06566404e+02] [ 8.30386143e-01 5.57168373e-01 -4.71787168e-03 5.53725572e+01] [ 5.75806995e-03 -1.14198983e-04 9.99983416e-01 3.37761394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:55.39, Z:0.34 [[ 5.57438780e-01 -8.30211951e-01 -3.18177785e-03 1.06581188e+02] [ 8.30199506e-01 5.57447850e-01 -4.54698241e-03 5.53947425e+01] [ 5.54863436e-03 -1.06846070e-04 9.99984601e-01 3.37916944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101858064 meters Centerline goodness [0,1] 0.9999556541019956 Centerline is valid? [True, True] Translation: X:106.59, Y:55.42, Z:0.34 [[ 5.57573099e-01 -8.30121803e-01 -3.16733679e-03 1.06593996e+02] [ 8.30109456e-01 5.57582085e-01 -4.52871825e-03 5.54196580e+01] [ 5.52543801e-03 -1.04144750e-04 9.99984729e-01 3.38444520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131858064 meters Centerline goodness [0,1] 0.9999556541019956 Centerline is valid? [True, True] Translation: X:106.61, Y:55.44, Z:0.34 [[ 5.57339879e-01 -8.30278408e-01 -3.16606503e-03 1.06609754e+02] [ 8.30266059e-01 5.57348862e-01 -4.52960728e-03 5.54423173e+01] [ 5.52543786e-03 -1.04145561e-04 9.99984729e-01 3.38538315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:55.47, Z:0.34 [[ 5.58142537e-01 -8.29739451e-01 -3.05800874e-03 1.06622970e+02] [ 8.29727909e-01 5.58150906e-01 -4.37754900e-03 5.54670947e+01] [ 5.33905546e-03 -9.40188919e-05 9.99985743e-01 3.38306332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191858064 meters Centerline goodness [0,1] 0.9999777861696693 Centerline is valid? [True, True] Translation: X:106.64, Y:55.49, Z:0.34 [[ 5.58416311e-01 -8.29555858e-01 -2.88132590e-03 1.06638285e+02] [ 8.29545597e-01 5.58423738e-01 -4.12684466e-03 5.54889491e+01] [ 5.03244894e-03 -8.56938394e-05 9.99987333e-01 3.38602877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221858064 meters Centerline goodness [0,1] 0.9998448822212866 Centerline is valid? [True, True] Translation: X:106.65, Y:55.51, Z:0.34 [[ 5.58618050e-01 -8.29420482e-01 -2.74563377e-03 1.06652824e+02] [ 8.29411154e-01 5.58624792e-01 -3.93454475e-03 5.55132726e+01] [ 4.79717110e-03 -7.93515552e-05 9.99988490e-01 3.39274309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251858064 meters Centerline goodness [0,1] 0.9999778736585906 Centerline is valid? [True, True] Translation: X:106.67, Y:55.54, Z:0.34 [[ 5.59487623e-01 -8.28833923e-01 -2.81569397e-03 1.06666321e+02] [ 8.28824093e-01 5.59494704e-01 -4.03722368e-03 5.55365735e+01] [ 4.92155381e-03 -7.49383210e-05 9.99987886e-01 3.39585845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281858064 meters Centerline goodness [0,1] 0.9999779293297137 Centerline is valid? [True, True] Translation: X:106.68, Y:55.56, Z:0.34 [[ 5.59722059e-01 -8.28675706e-01 -2.79133422e-03 1.06681568e+02] [ 8.28666034e-01 5.59729014e-01 -4.00429420e-03 5.55601874e+01] [ 4.88065208e-03 -7.17920646e-05 9.99988087e-01 3.39483642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:55.58, Z:0.34 [[ 5.59567864e-01 -8.28779798e-01 -2.80226744e-03 1.06696570e+02] [ 8.28770040e-01 5.59574876e-01 -4.02231998e-03 5.55833724e+01] [ 4.90169600e-03 -7.16743017e-05 9.99987984e-01 3.39457115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:55.61, Z:0.34 [[ 5.59453703e-01 -8.28856273e-01 -2.97215312e-03 1.06711003e+02] [ 8.28845284e-01 5.59461593e-01 -4.26866115e-03 5.56067393e+01] [ 5.20091209e-03 -7.53368078e-05 9.99986472e-01 3.38772328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.73, Y:55.63, Z:0.34 [[ 5.59387527e-01 -8.28900803e-01 -3.00895523e-03 1.06725512e+02] [ 8.28889529e-01 5.59395614e-01 -4.32389416e-03 5.56308651e+01] [ 5.26727570e-03 -7.53590223e-05 9.99986125e-01 3.39047280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401858064 meters Centerline goodness [0,1] 0.9998898678414097 Centerline is valid? [True, True] Translation: X:106.74, Y:55.65, Z:0.34 [[ 5.59084147e-01 -8.29105209e-01 -3.07713806e-03 1.06740929e+02] [ 8.29093407e-01 5.59092610e-01 -4.42443474e-03 5.56526422e+01] [ 5.38872704e-03 -7.76035578e-05 9.99985478e-01 3.39010407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431858064 meters Centerline goodness [0,1] 0.9999339410754393 Centerline is valid? [True, True] Translation: X:106.76, Y:55.68, Z:0.34 [[ 5.58898443e-01 -8.29230274e-01 -3.11168245e-03 1.06756266e+02] [ 8.29218194e-01 5.58907100e-01 -4.47658229e-03 5.56761538e+01] [ 5.45125897e-03 -7.83088295e-05 9.99985139e-01 3.39114891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.77, Y:55.70, Z:0.34 [[ 5.59146418e-01 -8.29060114e-01 -3.82250057e-03 1.06771269e+02] [ 8.29041858e-01 5.59159476e-01 -5.50256431e-03 5.56992273e+01] [ 6.69934401e-03 -9.22738536e-05 9.99977555e-01 3.39366751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:55.72, Z:0.34 [[ 5.59107642e-01 -8.29085058e-01 -4.07565168e-03 1.06785495e+02] [ 8.29064281e-01 5.59122488e-01 -5.87031402e-03 5.57230001e+01] [ 7.14577815e-03 -9.68397992e-05 9.99974464e-01 3.39162467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52185806399999 meters Centerline goodness [0,1] 0.9999779638607316 Centerline is valid? [True, True] Translation: X:106.80, Y:55.75, Z:0.34 [[ 5.58969877e-01 -8.29177530e-01 -4.15945090e-03 1.06800519e+02] [ 8.29155866e-01 5.58985344e-01 -5.99461328e-03 5.57473141e+01] [ 7.29567072e-03 -9.80248653e-05 9.99973381e-01 3.39463792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.82, Y:55.77, Z:0.34 [[ 5.58688219e-01 -8.29365901e-01 -4.43583513e-03 1.06815926e+02] [ 8.29341239e-01 5.58705818e-01 -6.39669433e-03 5.57693307e+01] [ 7.78352705e-03 -1.05063243e-04 9.99969702e-01 3.39638284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.83, Y:55.79, Z:0.34 [[ 5.58291224e-01 -8.29630052e-01 -4.98858966e-03 1.06831545e+02] [ 8.29598834e-01 5.58313498e-01 -7.19809883e-03 5.57927456e+01] [ 8.75695605e-03 -1.19892762e-04 9.99961650e-01 3.38983758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.611858064 meters Centerline goodness [0,1] 0.9999338332598148 Centerline is valid? [True, True] Translation: X:106.85, Y:55.82, Z:0.34 [[ 5.57651227e-01 -8.30055948e-01 -5.67735915e-03 1.06847238e+02] [ 8.30015486e-01 5.57680109e-01 -8.19689257e-03 5.58164260e+01] [ 9.97002970e-03 -1.41288818e-04 9.99950288e-01 3.38404021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641858064 meters Centerline goodness [0,1] 0.9999780499582949 Centerline is valid? [True, True] Translation: X:106.86, Y:55.84, Z:0.34 [[ 5.56623185e-01 -8.30745700e-01 -5.67548899e-03 1.06863151e+02] [ 8.30705257e-01 5.56652099e-01 -8.19862641e-03 5.58383486e+01] [ 9.97024649e-03 -1.51112990e-04 9.99950284e-01 3.37633685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.88, Y:55.86, Z:0.34 [[ 5.55377851e-01 -8.31575613e-01 -6.11895863e-03 1.06879500e+02] [ 8.31528602e-01 5.55411530e-01 -8.84396336e-03 5.58621445e+01] [ 1.07529644e-02 -1.76347746e-04 9.99942170e-01 3.37959815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:55.88, Z:0.34 [[ 5.52481828e-01 -8.33502221e-01 -6.15450043e-03 1.06897192e+02] [ 8.33454731e-01 5.52516066e-01 -8.89992629e-03 5.58846260e+01] [ 1.08185687e-02 -2.12449957e-04 9.99941455e-01 3.38520819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731858064 meters Centerline goodness [0,1] 0.9999780108626338 Centerline is valid? [True, True] Translation: X:106.91, Y:55.91, Z:0.34 [[ 5.51015866e-01 -8.34474466e-01 -5.82077180e-03 1.06913622e+02] [ 8.34431997e-01 5.51046567e-01 -8.42161803e-03 5.59085119e+01] [ 1.02351415e-02 -2.16593092e-04 9.99947596e-01 3.39319095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761858064 meters Centerline goodness [0,1] 0.999978027772895 Centerline is valid? [True, True] Translation: X:106.93, Y:55.93, Z:0.34 [[ 5.49830164e-01 -8.35257171e-01 -5.67877619e-03 1.06930714e+02] [ 8.35216761e-01 5.49859444e-01 -8.21911709e-03 5.59301810e+01] [ 9.98760521e-03 -2.23890560e-04 9.99950098e-01 3.39765610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:55.95, Z:0.34 [[ 5.48501488e-01 -8.36130015e-01 -5.71975857e-03 1.06945420e+02] [ 8.36089031e-01 5.48531257e-01 -8.28204974e-03 5.59548251e+01] [ 1.00623367e-02 -2.39510801e-04 9.99949345e-01 3.40516321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821858064 meters Centerline goodness [0,1] 0.9999340267851252 Centerline is valid? [True, True] Translation: X:106.96, Y:55.98, Z:0.34 [[ 5.48184127e-01 -8.36337789e-01 -5.76769744e-03 1.06960397e+02] [ 8.36296081e-01 5.48214414e-01 -8.35588375e-03 5.59777819e+01] [ 1.01502762e-02 -2.42939936e-04 9.99948455e-01 3.40005799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851858064 meters Centerline goodness [0,1] 0.9999561653443212 Centerline is valid? [True, True] Translation: X:106.98, Y:56.00, Z:0.34 [[ 5.47878629e-01 -8.36538124e-01 -5.74239296e-03 1.06975393e+02] [ 8.36496745e-01 5.47908667e-01 -8.32393147e-03 5.60016495e+01] [ 1.01095929e-02 -2.42988856e-04 9.99948867e-01 3.39850182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.99, Y:56.03, Z:0.34 [[ 5.47567380e-01 -8.36741817e-01 -5.75283120e-03 1.06990144e+02] [ 8.36700249e-01 5.47597545e-01 -8.34393286e-03 5.60250289e+01] [ 1.01319538e-02 -2.44529839e-04 9.99948641e-01 3.40220535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:56.05, Z:0.34 [[ 5.47366093e-01 -8.36870549e-01 -6.16803229e-03 1.07003321e+02] [ 8.36822713e-01 5.47400781e-01 -8.95164108e-03 5.60503118e+01] [ 1.08677505e-02 -2.61724713e-04 9.99940910e-01 3.40706635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941858064 meters Centerline goodness [0,1] 0.9999780301865238 Centerline is valid? [True, True] Translation: X:107.02, Y:56.07, Z:0.34 [[ 5.47307870e-01 -8.36906323e-01 -6.47322164e-03 1.07018380e+02] [ 8.36853591e-01 5.47346081e-01 -9.39861039e-03 5.60730525e+01] [ 1.14088490e-02 -2.73205337e-04 9.99934880e-01 3.40494847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971858064 meters Centerline goodness [0,1] 0.9999780764255805 Centerline is valid? [True, True] Translation: X:107.04, Y:56.09, Z:0.34 [[ 5.47099550e-01 -8.37042063e-01 -6.53196178e-03 1.07035132e+02] [ 8.36988328e-01 5.47138473e-01 -9.48848428e-03 5.60946131e+01] [ 1.15161481e-02 -2.76030283e-04 9.99933649e-01 3.39783112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.05, Y:56.12, Z:0.34 [[ 5.47477979e-01 -8.36791983e-01 -6.85855371e-03 1.07048723e+02] [ 8.36732668e-01 5.47520865e-01 -9.96719443e-03 5.61181636e+01] [ 1.20956697e-02 -2.81956475e-04 9.99926805e-01 3.39519033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:56.14, Z:0.34 [[ 5.47487649e-01 -8.36786492e-01 -6.75582533e-03 1.07062745e+02] [ 8.36728886e-01 5.47529261e-01 -9.82238352e-03 5.61410769e+01] [ 1.19182499e-02 -2.75160539e-04 9.99928937e-01 3.39404121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.07, Y:56.17, Z:0.34 [[ 5.47630819e-01 -8.36695730e-01 -6.38295932e-03 1.07074608e+02] [ 8.36644245e-01 5.47667957e-01 -9.28531646e-03 5.61671586e+01] [ 1.12647269e-02 -2.55340721e-04 9.99936518e-01 3.40478133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:56.19, Z:0.34 [[ 5.47879189e-01 -8.36535218e-01 -6.10102871e-03 1.07088824e+02] [ 8.36488117e-01 5.47913106e-01 -8.88023153e-03 5.61914141e+01] [ 1.07714600e-02 -2.38143964e-04 9.99941958e-01 3.40895052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121858064 meters Centerline goodness [0,1] 0.9999782447896272 Centerline is valid? [True, True] Translation: X:107.10, Y:56.22, Z:0.34 [[ 5.49017480e-01 -8.35794405e-01 -5.24584475e-03 1.07102347e+02] [ 8.35759514e-01 5.49042508e-01 -7.63933722e-03 5.62174433e+01] [ 9.26510707e-03 -1.90134995e-04 9.99957060e-01 3.42384552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151858064 meters Centerline goodness [0,1] 0.9999346675668024 Centerline is valid? [True, True] Translation: X:107.12, Y:56.24, Z:0.34 [[ 5.49469881e-01 -8.35497644e-01 -5.15148655e-03 1.07116922e+02] [ 8.35463946e-01 5.49493999e-01 -7.50601038e-03 5.62419982e+01] [ 9.10196493e-03 -1.79554652e-04 9.99958560e-01 3.42816435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.13, Y:56.27, Z:0.34 [[ 5.50155829e-01 -8.35047099e-01 -4.99071531e-03 1.07131219e+02] [ 8.35015417e-01 5.50178440e-01 -7.27582612e-03 5.62665865e+01] [ 8.82144146e-03 -1.64486070e-04 9.99961077e-01 3.42956103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.15, Y:56.29, Z:0.34 [[ 5.50673662e-01 -8.34705584e-01 -5.01055044e-03 1.07145588e+02] [ 8.34673599e-01 5.50696434e-01 -7.30888439e-03 5.62913305e+01] [ 8.86005888e-03 -1.57364032e-04 9.99960737e-01 3.42864415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241858064 meters Centerline goodness [0,1] 0.9999783113193225 Centerline is valid? [True, True] Translation: X:107.16, Y:56.32, Z:0.34 [[ 5.52783242e-01 -8.33309640e-01 -5.07267929e-03 1.07157998e+02] [ 8.33276762e-01 5.52806500e-01 -7.40352730e-03 5.63179529e+01] [ 8.97364075e-03 -1.34399946e-04 9.99959727e-01 3.43950441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27185806399999 meters Centerline goodness [0,1] 0.9999783380989515 Centerline is valid? [True, True] Translation: X:107.17, Y:56.34, Z:0.34 [[ 5.53642256e-01 -8.32740893e-01 -4.78103831e-03 1.07172537e+02] [ 8.32711636e-01 5.53662887e-01 -6.98129736e-03 5.63436105e+01] [ 8.46069527e-03 -1.16085017e-04 9.99964201e-01 3.44495702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:56.37, Z:0.34 [[ 5.55447747e-01 -8.31539437e-01 -4.46825405e-03 1.07183859e+02] [ 8.31513822e-01 5.55465712e-01 -6.52745405e-03 5.63691660e+01] [ 7.90979738e-03 -8.97553537e-05 9.99968713e-01 3.44125913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:56.39, Z:0.34 [[ 5.56209537e-01 -8.31029427e-01 -4.58724088e-03 1.07197983e+02] [ 8.31002383e-01 5.56228447e-01 -6.70481914e-03 5.63939428e+01] [ 8.12345587e-03 -8.27237473e-05 9.99967001e-01 3.43917797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361858064 meters Centerline goodness [0,1] 0.9999351126876325 Centerline is valid? [True, True] Translation: X:107.21, Y:56.42, Z:0.34 [[ 5.56837283e-01 -8.30606013e-01 -5.08835588e-03 1.07212265e+02] [ 8.30572678e-01 5.56860525e-01 -7.44189464e-03 5.64176658e+01] [ 9.01478696e-03 -8.23249778e-05 9.99959363e-01 3.43097619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:56.44, Z:0.34 [[ 5.57330281e-01 -8.30273509e-01 -5.37202914e-03 1.07226464e+02] [ 8.30236305e-01 5.57356165e-01 -7.86021973e-03 5.64407128e+01] [ 9.52026577e-03 -7.93151499e-05 9.99954678e-01 3.42694871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.24, Y:56.46, Z:0.34 [[ 5.58120369e-01 -8.29739521e-01 -5.82930065e-03 1.07240087e+02] [ 8.29695643e-01 5.58150806e-01 -8.53333252e-03 5.64644435e+01] [ 1.03340721e-02 -7.39186545e-05 9.99946599e-01 3.41453574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.451858064 meters Centerline goodness [0,1] 0.9999784007948508 Centerline is valid? [True, True] Translation: X:107.25, Y:56.49, Z:0.34 [[ 5.58576471e-01 -8.29429800e-01 -6.20747361e-03 1.07254511e+02] [ 8.29379980e-01 5.58610958e-01 -9.09104508e-03 5.64872401e+01] [ 1.10079465e-02 -7.03104547e-05 9.99939408e-01 3.40882260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.27, Y:56.51, Z:0.34 [[ 5.59022707e-01 -8.29131860e-01 -5.82847371e-03 1.07269101e+02] [ 8.29087876e-01 5.59053088e-01 -8.54039522e-03 5.65113322e+01] [ 1.03395400e-02 -5.80420325e-05 9.99946544e-01 3.41415566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.511858064 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:107.28, Y:56.54, Z:0.34 [[ 5.59656993e-01 -8.28709822e-01 -4.90721319e-03 1.07283301e+02] [ 8.28678597e-01 5.59678505e-01 -7.19397376e-03 5.65350668e+01] [ 8.70817846e-03 -4.03448179e-05 9.99962082e-01 3.42343675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541858064 meters Centerline goodness [0,1] 0.9998272846995834 Centerline is valid? [True, True] Translation: X:107.30, Y:56.56, Z:0.34 [[ 5.59508437e-01 -8.28811366e-01 -4.69346314e-03 1.07298739e+02] [ 8.28782775e-01 5.59528121e-01 -6.88433954e-03 5.65590386e+01] [ 8.33194347e-03 -3.80153504e-05 9.99965288e-01 3.43466910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.31, Y:56.58, Z:0.34 [[ 5.59385516e-01 -8.28895644e-01 -4.45584087e-03 1.07314622e+02] [ 8.28869848e-01 5.59403262e-01 -6.53961250e-03 5.65819730e+01] [ 7.91326824e-03 -3.51476276e-05 9.99968689e-01 3.43955128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.33, Y:56.61, Z:0.34 [[ 5.58852289e-01 -8.29253268e-01 -4.81010399e-03 1.07331187e+02] [ 8.29223181e-01 5.58872988e-01 -7.06391564e-03 5.66052358e+01] [ 8.54601231e-03 -4.09643092e-05 9.99963481e-01 3.43568148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631858064 meters Centerline goodness [0,1] 0.9998917327097138 Centerline is valid? [True, True] Translation: X:107.35, Y:56.63, Z:0.34 [[ 5.58181327e-01 -8.29702357e-01 -5.25394936e-03 1.07346991e+02] [ 8.29666449e-01 5.58206051e-01 -7.71935562e-03 5.66278410e+01] [ 9.33755388e-03 -5.02253386e-05 9.99956403e-01 3.43311356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:56.65, Z:0.34 [[ 5.57734434e-01 -8.30001933e-01 -5.39372819e-03 1.07362942e+02] [ 8.29964075e-01 5.57760511e-01 -7.92756660e-03 5.66494905e+01] [ 9.58830419e-03 -5.51237564e-05 9.99954030e-01 3.43077156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:56.67, Z:0.34 [[ 5.56607933e-01 -8.30755440e-01 -5.74531246e-03 1.07380953e+02] [ 8.30712484e-01 5.56637579e-01 -8.44836405e-03 5.66727716e+01] [ 1.02165812e-02 -7.02763305e-05 9.99947807e-01 3.43131832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:56.69, Z:0.34 [[ 5.56291543e-01 -8.30965346e-01 -6.02591656e-03 1.07396636e+02] [ 8.30918065e-01 5.56324175e-01 -8.86466798e-03 5.66946390e+01] [ 1.07185950e-02 -7.57030963e-05 9.99942551e-01 3.42700703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.41, Y:56.72, Z:0.34 [[ 5.55896328e-01 -8.31228481e-01 -6.20360195e-03 1.07413205e+02] [ 8.31178333e-01 5.55930936e-01 -9.13085029e-03 5.67168607e+01] [ 1.10385971e-02 -8.04933837e-05 9.99939070e-01 3.42401987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781858064 meters Centerline goodness [0,1] 0.9999135957143475 Centerline is valid? [True, True] Translation: X:107.43, Y:56.74, Z:0.34 [[ 5.55352676e-01 -8.31591176e-01 -6.28663216e-03 1.07429694e+02] [ 8.31539637e-01 5.55388251e-01 -9.25867870e-03 5.67390474e+01] [ 1.11909571e-02 -8.57518364e-05 9.99937376e-01 3.42991495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.45, Y:56.76, Z:0.34 [[ 5.53886807e-01 -8.32568139e-01 -6.30071872e-03 1.07448551e+02] [ 8.32516393e-01 5.53922633e-01 -9.28286714e-03 5.67603803e+01] [ 1.12187301e-02 -1.03793976e-04 9.99937063e-01 3.42619683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:56.78, Z:0.34 [[ 5.52725039e-01 -8.33339204e-01 -6.38772544e-03 1.07465251e+02] [ 8.33286023e-01 5.52761935e-01 -9.41526872e-03 5.67820248e+01] [ 1.13770040e-02 -1.18747563e-04 9.99935273e-01 3.42101612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871858064 meters Centerline goodness [0,1] 0.9999567408560984 Centerline is valid? [True, True] Translation: X:107.48, Y:56.80, Z:0.34 [[ 5.51909977e-01 -8.33877470e-01 -6.61387002e-03 1.07481804e+02] [ 8.33820429e-01 5.51949589e-01 -9.75417884e-03 5.68048846e+01] [ 1.17843128e-02 -1.31351316e-04 9.99930554e-01 3.42457012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.50, Y:56.83, Z:0.34 [[ 5.50577217e-01 -8.34753839e-01 -7.12436044e-03 1.07501047e+02] [ 8.34687673e-01 5.50623286e-01 -1.05111845e-02 5.68261152e+01] [ 1.26970903e-02 -1.59397151e-04 9.99919376e-01 3.42722752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.52, Y:56.85, Z:0.34 [[ 5.50039144e-01 -8.35106931e-01 -7.30436405e-03 1.07518333e+02] [ 8.35037339e-01 5.50087616e-01 -1.07822245e-02 5.68488453e+01] [ 1.30223506e-02 -1.68771188e-04 9.99915191e-01 3.43368090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:56.87, Z:0.34 [[ 5.49643036e-01 -8.35367214e-01 -7.35876456e-03 1.07534860e+02] [ 8.35296526e-01 5.49692267e-01 -1.08685600e-02 5.68697749e+01] [ 1.31242947e-02 -1.72922163e-04 9.99913858e-01 3.43330095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:56.89, Z:0.34 [[ 5.49145204e-01 -8.35692326e-01 -7.60799804e-03 1.07551459e+02] [ 8.35616717e-01 5.49197872e-01 -1.12427883e-02 5.68936317e+01] [ 1.35738083e-02 -1.83447046e-04 9.99907855e-01 3.43714471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.57, Y:56.92, Z:0.34 [[ 5.48906920e-01 -8.35848885e-01 -7.60489238e-03 1.07566868e+02] [ 8.35773262e-01 5.48959568e-01 -1.12448892e-02 5.69165161e+01] [ 1.35738065e-02 -1.83568233e-04 9.99907855e-01 3.43808305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.59, Y:56.94, Z:0.34 [[ 5.48604987e-01 -8.36045275e-01 -7.80172708e-03 1.07585697e+02] [ 8.35965638e-01 5.48660425e-01 -1.15407960e-02 5.69369282e+01] [ 1.39291269e-02 -1.90637494e-04 9.99902967e-01 3.42636546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.60, Y:56.96, Z:0.34 [[ 5.48221776e-01 -8.36296713e-01 -7.79052624e-03 1.07602018e+02] [ 8.36217244e-01 5.48277093e-01 -1.15304455e-02 5.69595477e+01] [ 1.39142407e-02 -1.93331096e-04 9.99903174e-01 3.43468622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.111858064 meters Centerline goodness [0,1] 0.9999563756925359 Centerline is valid? [True, True] Translation: X:107.62, Y:56.98, Z:0.34 [[ 5.47904974e-01 -8.36504427e-01 -7.77708686e-03 1.07619167e+02] [ 8.36425156e-01 5.47960132e-01 -1.15174720e-02 5.69822226e+01] [ 1.38959499e-02 -1.94470892e-04 9.99903428e-01 3.43924317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.64, Y:57.00, Z:0.34 [[ 5.47806105e-01 -8.36572655e-01 -7.39355466e-03 1.07636957e+02] [ 8.36500930e-01 5.47855966e-01 -1.09560233e-02 5.70036883e+01] [ 1.32161126e-02 -1.82938887e-04 9.99912647e-01 3.44750163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:57.02, Z:0.34 [[ 5.47858440e-01 -8.36536161e-01 -7.64081470e-03 1.07655687e+02] [ 8.36459467e-01 5.47911688e-01 -1.13288207e-02 5.70241869e+01] [ 1.36634599e-02 -1.84641740e-04 9.99906634e-01 3.43824811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201858064 meters Centerline goodness [0,1] 0.999978165462128 Centerline is valid? [True, True] Translation: X:107.67, Y:57.05, Z:0.35 [[ 5.47726815e-01 -8.36622059e-01 -7.67245313e-03 1.07671529e+02] [ 8.36544645e-01 5.47780519e-01 -1.13824494e-02 5.70469347e+01] [ 1.37256286e-02 -1.83876815e-04 9.99905782e-01 3.45150542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.231858064 meters Centerline goodness [0,1] 0.999912246062042 Centerline is valid? [True, True] Translation: X:107.69, Y:57.07, Z:0.34 [[ 5.47257922e-01 -8.36927090e-01 -7.86214540e-03 1.07690763e+02] [ 8.36845739e-01 5.47314361e-01 -1.16704858e-02 5.70668229e+01] [ 1.40704108e-02 -1.92637047e-04 9.99900988e-01 3.44993791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.71, Y:57.09, Z:0.35 [[ 5.47358125e-01 -8.36859578e-01 -8.07030180e-03 1.07708699e+02] [ 8.36773752e-01 5.47417583e-01 -1.19865702e-02 5.70890571e+01] [ 1.44489012e-02 -1.92070111e-04 9.99895591e-01 3.45419743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.291858064 meters Centerline goodness [0,1] 0.9999780190794391 Centerline is valid? [True, True] Translation: X:107.73, Y:57.11, Z:0.35 [[ 5.47371193e-01 -8.36851021e-01 -8.07126079e-03 1.07725557e+02] [ 8.36765068e-01 5.47430665e-01 -1.19953245e-02 5.71113268e+01] [ 1.44567552e-02 -1.87854016e-04 9.99895478e-01 3.46152919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321858064 meters Centerline goodness [0,1] 0.9999779132432194 Centerline is valid? [True, True] Translation: X:107.74, Y:57.13, Z:0.35 [[ 5.47902736e-01 -8.36503877e-01 -7.99101364e-03 1.07742540e+02] [ 8.36419510e-01 5.47960979e-01 -1.18814691e-02 5.71328045e+01] [ 1.43176586e-02 -1.73950295e-04 9.99897482e-01 3.46322517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:57.15, Z:0.35 [[ 5.48896596e-01 -8.35854736e-01 -7.70629012e-03 1.07760902e+02] [ 8.35776139e-01 5.48950670e-01 -1.14633386e-02 5.71527731e+01] [ 1.38120590e-02 -1.48545862e-04 9.99904598e-01 3.47220280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:57.17, Z:0.35 [[ 5.49220063e-01 -8.35645031e-01 -7.39625826e-03 1.07777658e+02] [ 8.35572529e-01 5.49269847e-01 -1.10083920e-02 5.71749663e+01] [ 1.32616497e-02 -1.34080491e-04 9.99912051e-01 3.48190751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411858064 meters Centerline goodness [0,1] 0.9999778883360972 Centerline is valid? [True, True] Translation: X:107.80, Y:57.20, Z:0.35 [[ 5.49268694e-01 -8.35615667e-01 -7.09647217e-03 1.07795318e+02] [ 8.35548840e-01 5.49314520e-01 -1.05685439e-02 5.71970115e+01] [ 1.27294360e-02 -1.24478818e-04 9.99918970e-01 3.48761833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441858064 meters Centerline goodness [0,1] 0.9999555960125219 Centerline is valid? [True, True] Translation: X:107.81, Y:57.22, Z:0.35 [[ 5.49242777e-01 -8.35630854e-01 -7.31086109e-03 1.07812965e+02] [ 8.35559842e-01 5.49291417e-01 -1.08944905e-02 5.72188631e+01] [ 1.31195657e-02 -1.24941700e-04 9.99913927e-01 3.49305698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471858064 meters Centerline goodness [0,1] 0.9999777158774373 Centerline is valid? [True, True] Translation: X:107.83, Y:57.24, Z:0.35 [[ 5.49449185e-01 -8.35491762e-01 -7.68822856e-03 1.07832486e+02] [ 8.35413118e-01 5.49502958e-01 -1.14638952e-02 5.72395534e+01] [ 1.38026943e-02 -1.24019143e-04 9.99904731e-01 3.49213798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:57.26, Z:0.35 [[ 5.49426947e-01 -8.35505684e-01 -7.76412147e-03 1.07849836e+02] [ 8.35425391e-01 5.49481789e-01 -1.15835793e-02 5.72608879e+01] [ 1.39443897e-02 -1.22013595e-04 9.99902765e-01 3.48898066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:57.28, Z:0.35 [[ 5.49362784e-01 -8.35547627e-01 -7.79065943e-03 1.07867613e+02] [ 8.35466693e-01 5.49418008e-01 -1.16299745e-02 5.72833591e+01] [ 1.39977262e-02 -1.19761295e-04 9.99902020e-01 3.49102942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561858064 meters Centerline goodness [0,1] 0.9999553242343691 Centerline is valid? [True, True] Translation: X:107.89, Y:57.30, Z:0.35 [[ 5.49139186e-01 -8.35691438e-01 -8.12251544e-03 1.07886537e+02] [ 8.35603369e-01 5.49199240e-01 -1.21327625e-02 5.73046666e+01] [ 1.46001250e-02 -1.24625966e-04 9.99893405e-01 3.48965204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591858064 meters Centerline goodness [0,1] 0.9999776121073723 Centerline is valid? [True, True] Translation: X:107.90, Y:57.33, Z:0.35 [[ 5.49036692e-01 -8.35757457e-01 -8.25735563e-03 1.07903205e+02] [ 8.35666336e-01 5.49098769e-01 -1.23416750e-02 5.73270500e+01] [ 1.48487508e-02 -1.24361690e-04 9.99889743e-01 3.48999810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621858064 meters Centerline goodness [0,1] 0.9999551438760177 Centerline is valid? [True, True] Translation: X:107.92, Y:57.35, Z:0.35 [[ 5.48997166e-01 -8.35783726e-01 -8.22644913e-03 1.07919543e+02] [ 8.35693189e-01 5.49058784e-01 -1.23023023e-02 5.73483947e+01] [ 1.47988682e-02 -1.20858397e-04 9.99890483e-01 3.48756716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.94, Y:57.37, Z:0.35 [[ 5.48929334e-01 -8.35830063e-01 -8.04314029e-03 1.07935666e+02] [ 8.35743417e-01 5.48988245e-01 -1.20352776e-02 5.73710872e+01] [ 1.44750363e-02 -1.15484651e-04 9.99895225e-01 3.50072960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.95, Y:57.39, Z:0.35 [[ 5.48615845e-01 -8.36034165e-01 -8.21759417e-03 1.07952973e+02] [ 8.35943640e-01 5.48677373e-01 -1.23033104e-02 5.73917282e+01] [ 1.47947959e-02 -1.19654521e-04 9.99890544e-01 3.49449495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711858064 meters Centerline goodness [0,1] 0.9999774703735412 Centerline is valid? [True, True] Translation: X:107.97, Y:57.41, Z:0.35 [[ 5.48261134e-01 -8.36264214e-01 -8.47896334e-03 1.07969736e+02] [ 8.36167750e-01 5.48326680e-01 -1.27021750e-02 5.74143229e+01] [ 1.52716162e-02 -1.25726813e-04 9.99883374e-01 3.49158063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:57.44, Z:0.35 [[ 5.47875875e-01 -8.36511153e-01 -9.00649823e-03 1.07986748e+02] [ 8.36402213e-01 5.47949881e-01 -1.35005565e-02 5.74367714e+01] [ 1.62284758e-02 -1.36425836e-04 9.99868300e-01 3.49250649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77185806399999 meters Centerline goodness [0,1] 0.9999774607253139 Centerline is valid? [True, True] Translation: X:108.00, Y:57.46, Z:0.35 [[ 5.48018086e-01 -8.36417462e-01 -9.05574411e-03 1.08003080e+02] [ 8.36307182e-01 5.48092886e-01 -1.35825389e-02 5.74594640e+01] [ 1.63240616e-02 -1.29906883e-04 9.99866745e-01 3.50010818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:57.48, Z:0.35 [[ 5.48822141e-01 -8.35894483e-01 -8.64125626e-03 1.08017799e+02] [ 8.35793883e-01 5.48890155e-01 -1.29685077e-02 5.74839358e+01] [ 1.55834046e-02 -1.04904946e-04 9.99878566e-01 3.51024124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.03, Y:57.51, Z:0.35 [[ 5.49274116e-01 -8.35595837e-01 -8.80578140e-03 1.08033427e+02] [ 8.35491204e-01 5.49344689e-01 -1.32234716e-02 5.75073263e+01] [ 1.58868871e-02 -9.38422096e-05 9.99873791e-01 3.51311316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.05, Y:57.53, Z:0.35 [[ 5.49697150e-01 -8.35315220e-01 -9.02921247e-03 1.08048967e+02] [ 8.35205046e-01 5.49771294e-01 -1.35666767e-02 5.75294957e+01] [ 1.62964534e-02 -8.36802980e-05 9.99867200e-01 3.51133553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.891858064 meters Centerline goodness [0,1] 0.9999097798628654 Centerline is valid? [True, True] Translation: X:108.06, Y:57.55, Z:0.35 [[ 5.49799436e-01 -8.35249105e-01 -8.91695268e-03 1.08064683e+02] [ 8.35141520e-01 5.49871736e-01 -1.34058253e-02 5.75523351e+01] [ 1.61003839e-02 -7.64022084e-05 9.99870378e-01 3.51714167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921858064 meters Centerline goodness [0,1] 0.9999323760791651 Centerline is valid? [True, True] Translation: X:108.08, Y:57.58, Z:0.35 [[ 5.49316988e-01 -8.35570605e-01 -8.52117931e-03 1.08080440e+02] [ 8.35472280e-01 5.49383070e-01 -1.28184427e-02 5.75756711e+01] [ 1.53921056e-02 -7.78207582e-05 9.99881531e-01 3.52875131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.951858064 meters Centerline goodness [0,1] 0.9999774850838681 Centerline is valid? [True, True] Translation: X:108.10, Y:57.60, Z:0.35 [[ 5.48832113e-01 -8.35891941e-01 -8.24468888e-03 1.08096190e+02] [ 8.35799828e-01 5.48894030e-01 -1.24093237e-02 5.75978171e+01] [ 1.48983142e-02 -8.02742089e-05 9.99889011e-01 3.52460902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981858064 meters Centerline goodness [0,1] 0.9999326886400861 Centerline is valid? [True, True] Translation: X:108.11, Y:57.62, Z:0.35 [[ 5.48315134e-01 -8.36232713e-01 -8.08480713e-03 1.08111124e+02] [ 8.36144070e-01 5.48374729e-01 -1.21758109e-02 5.76209917e+01] [ 1.46153153e-02 -8.38821380e-05 9.99893187e-01 3.52478345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.011858064 meters Centerline goodness [0,1] 0.9997753162423888 Centerline is valid? [True, True] Translation: X:108.13, Y:57.65, Z:0.35 [[ 5.47371005e-01 -8.36848744e-01 -8.31644657e-03 1.08125214e+02] [ 8.36754908e-01 5.47434170e-01 -1.25320959e-02 5.76453895e+01] [ 1.50401757e-02 -9.91215803e-05 9.99886885e-01 3.53233412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041858064 meters Centerline goodness [0,1] 0.9998873975317539 Centerline is valid? [True, True] Translation: X:108.14, Y:57.67, Z:0.35 [[ 5.46916620e-01 -8.37143803e-01 -8.51259670e-03 1.08140803e+02] [ 8.37045406e-01 5.46982854e-01 -1.28353004e-02 5.76690380e+01] [ 1.54012366e-02 -1.05590847e-04 9.99881388e-01 3.53178979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071858064 meters Centerline goodness [0,1] 0.999977536671384 Centerline is valid? [True, True] Translation: X:108.16, Y:57.69, Z:0.35 [[ 5.46651814e-01 -8.37313443e-01 -8.83138816e-03 1.08156312e+02] [ 8.37207442e-01 5.46723135e-01 -1.33233910e-02 5.76910656e+01] [ 1.59841786e-02 -1.10448015e-04 9.99872239e-01 3.53371599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101858064 meters Centerline goodness [0,1] 0.9997067051710135 Centerline is valid? [True, True] Translation: X:108.17, Y:57.71, Z:0.36 [[ 5.47045485e-01 -8.37055683e-01 -8.88936210e-03 1.08171006e+02] [ 8.36948123e-01 5.47117697e-01 -1.34188219e-02 5.77147909e+01] [ 1.60958285e-02 -9.92289883e-05 9.99870449e-01 3.55227607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131858064 meters Centerline goodness [0,1] 0.9997523359225486 Centerline is valid? [True, True] Translation: X:108.19, Y:57.74, Z:0.35 [[ 5.47182794e-01 -8.36968349e-01 -8.65866856e-03 1.08185333e+02] [ 8.36866177e-01 5.47251290e-01 -1.30777411e-02 5.77376943e+01] [ 1.56841229e-02 -9.02319424e-05 9.99876993e-01 3.54788997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.20, Y:57.76, Z:0.36 [[ 5.47046944e-01 -8.37058220e-01 -8.55436100e-03 1.08199841e+02] [ 8.36958389e-01 5.47113817e-01 -1.29277169e-02 5.77613540e+01] [ 1.55014608e-02 -8.75761800e-05 9.99879841e-01 3.55237564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191858064 meters Centerline goodness [0,1] 0.9996622610496927 Centerline is valid? [True, True] Translation: X:108.21, Y:57.79, Z:0.36 [[ 5.46923876e-01 -8.37140248e-01 -8.39512976e-03 1.08214264e+02] [ 8.37043993e-01 5.46988298e-01 -1.26947218e-02 5.77851644e+01] [ 1.52193003e-02 -8.40464814e-05 9.99884176e-01 3.55625802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221858064 meters Centerline goodness [0,1] 0.9997529033852236 Centerline is valid? [True, True] Translation: X:108.23, Y:57.81, Z:0.36 [[ 5.46809713e-01 -8.37215639e-01 -8.31331172e-03 1.08229317e+02] [ 8.37121145e-01 5.46872898e-01 -1.25785954e-02 5.78084218e+01] [ 1.50773217e-02 -8.11508814e-05 9.99886327e-01 3.56247390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.24, Y:57.83, Z:0.36 [[ 5.46827869e-01 -8.37203801e-01 -8.31129590e-03 1.08244706e+02] [ 8.37109237e-01 5.46891022e-01 -1.25831301e-02 5.78314843e+01] [ 1.50800174e-02 -7.66563774e-05 9.99886287e-01 3.56543816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281858064 meters Centerline goodness [0,1] 0.9998425161420954 Centerline is valid? [True, True] Translation: X:108.26, Y:57.85, Z:0.36 [[ 5.46808511e-01 -8.37216916e-01 -8.26364339e-03 1.08261048e+02] [ 8.37123323e-01 5.46870945e-01 -1.25184702e-02 5.78548895e+01] [ 1.49998215e-02 -7.24825721e-05 9.99887494e-01 3.56634776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311858064 meters Centerline goodness [0,1] 0.9998200589307003 Centerline is valid? [True, True] Translation: X:108.28, Y:57.88, Z:0.36 [[ 5.46671339e-01 -8.37304340e-01 -8.47871302e-03 1.08276412e+02] [ 8.37205712e-01 5.46737081e-01 -1.28514273e-02 5.78773112e+01] [ 1.53961827e-02 -7.29199835e-05 9.99881469e-01 3.56015276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341858064 meters Centerline goodness [0,1] 0.9996852871754524 Centerline is valid? [True, True] Translation: X:108.29, Y:57.90, Z:0.36 [[ 5.46246040e-01 -8.37582333e-01 -8.43207341e-03 1.08291273e+02] [ 8.37484706e-01 5.46311111e-01 -1.27881770e-02 5.79006653e+01] [ 1.53176865e-02 -7.62414759e-05 9.99882674e-01 3.56483007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371858064 meters Centerline goodness [0,1] 0.9999327489968391 Centerline is valid? [True, True] Translation: X:108.31, Y:57.92, Z:0.36 [[ 5.45844166e-01 -8.37847247e-01 -8.13251714e-03 1.08306837e+02] [ 8.37756364e-01 5.45904740e-01 -1.23405144e-02 5.79232944e+01] [ 1.47790457e-02 -7.70701744e-05 9.99890781e-01 3.56734398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401858064 meters Centerline goodness [0,1] 0.9998429366361515 Centerline is valid? [True, True] Translation: X:108.32, Y:57.95, Z:0.36 [[ 5.45419556e-01 -8.38121441e-01 -8.36413745e-03 1.08322589e+02] [ 8.38025230e-01 5.45483679e-01 -1.26992318e-02 5.79462351e+01] [ 1.52059989e-02 -8.29488219e-05 9.99884379e-01 3.57272339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431858064 meters Centerline goodness [0,1] 0.9999102474925393 Centerline is valid? [True, True] Translation: X:108.34, Y:57.97, Z:0.36 [[ 5.45074357e-01 -8.38345292e-01 -8.43308272e-03 1.08338648e+02] [ 8.38247401e-01 5.45139583e-01 -1.28113050e-02 5.79691592e+01] [ 1.53375044e-02 -8.58958225e-05 9.99882370e-01 3.57492035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.35, Y:57.99, Z:0.36 [[ 5.44429181e-01 -8.38765420e-01 -8.33289218e-03 1.08354656e+02] [ 8.38669777e-01 5.44492940e-01 -1.26666334e-02 5.79922175e+01] [ 1.51615351e-02 -9.24599635e-05 9.99885053e-01 3.59355803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491858064 meters Centerline goodness [0,1] 0.9995959414564066 Centerline is valid? [True, True] Translation: X:108.37, Y:58.01, Z:0.36 [[ 5.43938579e-01 -8.39081576e-01 -8.53994379e-03 1.08371272e+02] [ 8.38981047e-01 5.44005605e-01 -1.29886591e-02 5.80142686e+01] [ 1.55443218e-02 -9.98182066e-05 9.99879175e-01 3.58085650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52185806399999 meters Centerline goodness [0,1] 0.9996853791181626 Centerline is valid? [True, True] Translation: X:108.39, Y:58.04, Z:0.36 [[ 5.43297771e-01 -8.39495858e-01 -8.61607685e-03 1.08386698e+02] [ 8.39393456e-01 5.43366076e-01 -1.31123478e-02 5.80378691e+01] [ 1.56894455e-02 -1.08369205e-04 9.99876907e-01 3.60044522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.551858064 meters Centerline goodness [0,1] 0.9995286512692748 Centerline is valid? [True, True] Translation: X:108.40, Y:58.06, Z:0.36 [[ 5.42737410e-01 -8.39855094e-01 -8.91766571e-03 1.08402850e+02] [ 8.39745320e-01 5.42810654e-01 -1.35790916e-02 5.80592845e+01] [ 1.62450732e-02 -1.18687058e-04 9.99868033e-01 3.58582263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581858064 meters Centerline goodness [0,1] 0.9997292724196277 Centerline is valid? [True, True] Translation: X:108.42, Y:58.08, Z:0.36 [[ 5.42355724e-01 -8.40097642e-01 -9.28548298e-03 1.08419723e+02] [ 8.39978519e-01 5.42435190e-01 -1.41475175e-02 5.80818665e+01] [ 1.69220688e-02 -1.26619147e-04 9.99856804e-01 3.59582142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.611858064 meters Centerline goodness [0,1] 0.9993697100666307 Centerline is valid? [True, True] Translation: X:108.44, Y:58.11, Z:0.36 [[ 5.42089154e-01 -8.40269946e-01 -9.26103028e-03 1.08435216e+02] [ 8.40151328e-01 5.42168241e-01 -1.41189727e-02 5.81055366e+01] [ 1.68847849e-02 -1.26924943e-04 9.99857434e-01 3.60795492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641858064 meters Centerline goodness [0,1] 0.9992560865644725 Centerline is valid? [True, True] Translation: X:108.45, Y:58.13, Z:0.36 [[ 5.42178997e-01 -8.40215624e-01 -8.92412956e-03 1.08450387e+02] [ 8.40105350e-01 5.42252424e-01 -1.36128452e-02 5.81275123e+01] [ 1.62768561e-02 -1.16610205e-04 9.99867516e-01 3.60735514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.671858064 meters Centerline goodness [0,1] 0.9992102353498657 Centerline is valid? [True, True] Translation: X:108.47, Y:58.15, Z:0.36 [[ 5.42476780e-01 -8.40024055e-01 -8.86171411e-03 1.08466111e+02] [ 8.39915161e-01 5.42549146e-01 -1.35257779e-02 5.81512669e+01] [ 1.61698942e-02 -1.05667613e-04 9.99869253e-01 3.62608453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701858064 meters Centerline goodness [0,1] 0.9994567308780588 Centerline is valid? [True, True] Translation: X:108.48, Y:58.17, Z:0.36 [[ 5.42921145e-01 -8.39735763e-01 -8.97097770e-03 1.08481051e+02] [ 8.39624000e-01 5.42995248e-01 -1.37003609e-02 5.81738764e+01] [ 1.63758813e-02 -9.40325276e-05 9.99865902e-01 3.62731429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.731858064 meters Centerline goodness [0,1] 0.9988941548183254 Centerline is valid? [True, True] Translation: X:108.50, Y:58.20, Z:0.36 [[ 5.42955824e-01 -8.39711830e-01 -9.11129938e-03 1.08496191e+02] [ 8.39596410e-01 5.43032259e-01 -1.39224260e-02 5.81963360e+01] [ 1.66385553e-02 -9.05519459e-05 9.99861566e-01 3.62516542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761858064 meters Centerline goodness [0,1] 0.9993205136916491 Centerline is valid? [True, True] Translation: X:108.51, Y:58.22, Z:0.36 [[ 5.43072937e-01 -8.39636581e-01 -9.06624705e-03 1.08511995e+02] [ 8.39522163e-01 5.43148603e-01 -1.38612059e-02 5.82187219e+01] [ 1.65626950e-02 -8.36695229e-05 9.99862826e-01 3.63498150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.791858064 meters Centerline goodness [0,1] 0.9992739977766182 Centerline is valid? [True, True] Translation: X:108.53, Y:58.24, Z:0.36 [[ 5.43025268e-01 -8.39668776e-01 -8.93895728e-03 1.08527422e+02] [ 8.39557432e-01 5.43098831e-01 -1.36739907e-02 5.82405178e+01] [ 1.63363603e-02 -7.94455460e-05 9.99866550e-01 3.63226438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821858064 meters Centerline goodness [0,1] 0.9994123098483307 Centerline is valid? [True, True] Translation: X:108.54, Y:58.26, Z:0.36 [[ 5.42768586e-01 -8.39838825e-01 -8.54462921e-03 1.08543246e+02] [ 8.39736997e-01 5.42835834e-01 -1.30779782e-02 5.82643369e+01] [ 1.56217248e-02 -7.69255248e-05 9.99877970e-01 3.64293896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851858064 meters Centerline goodness [0,1] 0.9997052354715099 Centerline is valid? [True, True] Translation: X:108.56, Y:58.29, Z:0.37 [[ 5.42432862e-01 -8.40053609e-01 -8.74777992e-03 1.08558564e+02] [ 8.39946781e-01 5.42503389e-01 -1.33969417e-02 5.82878164e+01] [ 1.59998495e-02 -8.07281422e-05 9.99871991e-01 3.65224453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:58.31, Z:0.37 [[ 5.42126196e-01 -8.40255187e-01 -8.39101052e-03 1.08574023e+02] [ 8.40156830e-01 5.42191124e-01 -1.28563416e-02 5.83103142e+01] [ 1.53521391e-02 -8.00052540e-05 9.99882146e-01 3.65555198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911858064 meters Centerline goodness [0,1] 0.9999547991954256 Centerline is valid? [True, True] Translation: X:108.59, Y:58.33, Z:0.37 [[ 5.41706598e-01 -8.40527255e-01 -8.23989102e-03 1.08588793e+02] [ 8.40432345e-01 5.41769256e-01 -1.26311852e-02 5.83326696e+01] [ 1.50809750e-02 -8.26745986e-05 9.99886272e-01 3.65912666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941858064 meters Centerline goodness [0,1] 0.9999547991954256 Centerline is valid? [True, True] Translation: X:108.60, Y:58.36, Z:0.37 [[ 5.41480778e-01 -8.40672782e-01 -8.23656529e-03 1.08603800e+02] [ 8.40577856e-01 5.41543412e-01 -1.26333539e-02 5.83558336e+01] [ 1.50809744e-02 -8.27560856e-05 9.99886272e-01 3.66006486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.62, Y:58.38, Z:0.37 [[ 5.41269445e-01 -8.40812505e-01 -7.85624046e-03 1.08618542e+02] [ 8.40726055e-01 5.41326450e-01 -1.20571673e-02 5.83798253e+01] [ 1.43906078e-02 -7.87697742e-05 9.99896447e-01 3.67047068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:58.40, Z:0.37 [[ 5.41045829e-01 -8.40958700e-01 -7.60763670e-03 1.08633007e+02] [ 8.40877550e-01 5.41099306e-01 -1.16827289e-02 5.84036268e+01] [ 1.39411795e-02 -7.61991475e-05 9.99902814e-01 3.67487651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:58.43, Z:0.37 [[ 5.41037756e-01 -8.40967825e-01 -7.15989227e-03 1.08647398e+02] [ 8.40895869e-01 5.41085125e-01 -1.10011716e-02 5.84265847e+01] [ 1.31257426e-02 -6.86746260e-05 9.99913851e-01 3.66131593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:58.45, Z:0.37 [[ 5.40519976e-01 -8.41300563e-01 -7.17763561e-03 1.08661730e+02] [ 8.41228191e-01 5.40567625e-01 -1.10351374e-02 5.84506558e+01] [ 1.31638647e-02 -7.33172363e-05 9.99913350e-01 3.67254317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.68, Y:58.47, Z:0.36 [[ 5.40261596e-01 -8.41465131e-01 -7.33767328e-03 1.08677157e+02] [ 8.41389437e-01 5.40311417e-01 -1.12866362e-02 5.84729540e+01] [ 1.34619395e-02 -7.61046776e-05 9.99909381e-01 3.64862362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:58.50, Z:0.37 [[ 5.38598209e-01 -8.42533342e-01 -7.03822499e-03 1.08691598e+02] [ 8.42463713e-01 5.38644185e-01 -1.08321038e-02 5.84972381e+01] [ 1.29175076e-02 -9.52974642e-05 9.99916561e-01 3.65459783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.71, Y:58.52, Z:0.37 [[ 5.37283584e-01 -8.43375565e-01 -6.63382672e-03 1.08706903e+02] [ 8.43313701e-01 5.37324525e-01 -1.02154524e-02 5.85194370e+01] [ 1.21799808e-02 -1.05802065e-04 9.99925816e-01 3.65307364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:58.54, Z:0.37 [[ 5.35788318e-01 -8.44330159e-01 -6.12048439e-03 1.08722695e+02] [ 8.44277501e-01 5.35823263e-01 -9.43043510e-03 5.85424300e+01] [ 1.12418987e-02 -1.14670307e-04 9.99936801e-01 3.65823125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.74, Y:58.56, Z:0.37 [[ 5.34237934e-01 -8.45315880e-01 -5.55809656e-03 1.08738825e+02] [ 8.45272459e-01 5.34266833e-01 -8.56864403e-03 5.85649782e+01] [ 1.02127175e-02 -1.20411259e-04 9.99947842e-01 3.66152803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:58.59, Z:0.37 [[ 5.31298430e-01 -8.47170360e-01 -4.93545188e-03 1.08756053e+02] [ 8.47136167e-01 5.31321336e-01 -7.61267101e-03 5.85882625e+01] [ 9.07154013e-03 -1.36399630e-04 9.99958843e-01 3.66742388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.77, Y:58.61, Z:0.37 [[ 5.30208149e-01 -8.47852861e-01 -4.98448086e-03 1.08771491e+02] [ 8.47817989e-01 5.30231558e-01 -7.69114377e-03 5.86109829e+01] [ 9.16388730e-03 -1.48025435e-04 9.99958000e-01 3.66934137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.79, Y:58.64, Z:0.37 [[ 5.29313861e-01 -8.48413705e-01 -4.58495244e-03 1.08786688e+02] [ 8.48384193e-01 5.29333698e-01 -7.07790249e-03 5.86350368e+01] [ 8.43195931e-03 -1.43369286e-04 9.99964440e-01 3.66994313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:58.66, Z:0.37 [[ 5.27953705e-01 -8.49260747e-01 -4.59015211e-03 1.08802132e+02] [ 8.49231166e-01 5.27973635e-01 -7.08988161e-03 5.86598331e+01] [ 8.44463745e-03 -1.54970968e-04 9.99964331e-01 3.66144639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.82, Y:58.68, Z:0.37 [[ 5.27129289e-01 -8.49770172e-01 -5.03668235e-03 1.08817710e+02] [ 8.49734537e-01 5.27153321e-01 -7.78409462e-03 5.86839404e+01] [ 9.26979525e-03 -1.76618688e-04 9.99957019e-01 3.65303199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.83, Y:58.71, Z:0.36 [[ 5.26251237e-01 -8.50311494e-01 -5.47715561e-03 1.08834112e+02] [ 8.50269336e-01 5.26279701e-01 -8.46958191e-03 5.87083095e+01] [ 1.00842987e-02 -1.99929505e-04 9.99949132e-01 3.64227021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.85, Y:58.73, Z:0.36 [[ 5.24333076e-01 -8.51496037e-01 -5.41517804e-03 1.08850328e+02] [ 8.51454857e-01 5.24360993e-01 -8.37707483e-03 5.87311221e+01] [ 9.97255416e-03 -2.18402235e-04 9.99950249e-01 3.63709121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.451858064 meters Centerline goodness [0,1] 0.9999548032812818 Centerline is valid? [True, True] Translation: X:108.86, Y:58.76, Z:0.36 [[ 5.23483840e-01 -8.52018867e-01 -5.34041324e-03 1.08864024e+02] [ 8.51978803e-01 5.23511032e-01 -8.26555570e-03 5.87555288e+01] [ 9.83817465e-03 -2.23034041e-04 9.99951579e-01 3.63996201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.88, Y:58.78, Z:0.36 [[ 5.22764028e-01 -8.52459575e-01 -5.51750861e-03 1.08879514e+02] [ 8.52416801e-01 5.22793091e-01 -8.54295303e-03 5.87789311e+01] [ 1.01670375e-02 -2.37268493e-04 9.99948286e-01 3.63519163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.89, Y:58.80, Z:0.36 [[ 5.21756237e-01 -8.53074959e-01 -5.79167634e-03 1.08893559e+02] [ 8.53027822e-01 5.21788316e-01 -8.97156310e-03 5.88041695e+01] [ 1.06754449e-02 -2.59492051e-04 9.99942982e-01 3.62667017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:58.83, Z:0.36 [[ 5.21300794e-01 -8.53352153e-01 -5.96534728e-03 1.08908978e+02] [ 8.53302107e-01 5.21334854e-01 -9.24573214e-03 5.88267543e+01] [ 1.09998089e-02 -2.70435897e-04 9.99939464e-01 3.61993590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.92, Y:58.85, Z:0.36 [[ 5.20813587e-01 -8.53650564e-01 -5.82418457e-03 1.08923621e+02] [ 8.53602825e-01 5.20846083e-01 -9.03186073e-03 5.88493192e+01] [ 1.07435567e-02 -2.67624621e-04 9.99942251e-01 3.61717152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.94, Y:58.88, Z:0.36 [[ 5.20031944e-01 -8.54123685e-01 -6.28563038e-03 1.08936476e+02] [ 8.54068053e-01 5.20069845e-01 -9.75279792e-03 5.88755520e+01] [ 1.15990625e-02 -2.96589640e-04 9.99932685e-01 3.61040983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:58.90, Z:0.36 [[ 5.19139894e-01 -8.54663626e-01 -6.62247892e-03 1.08950991e+02] [ 8.54601847e-01 5.19182033e-01 -1.02810500e-02 5.89009575e+01] [ 1.22251115e-02 -3.22279508e-04 9.99925219e-01 3.60312413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:58.93, Z:0.36 [[ 5.18388181e-01 -8.55118413e-01 -6.79659722e-03 1.08966310e+02] [ 8.55053310e-01 5.18432623e-01 -1.05570754e-02 5.89260536e+01] [ 1.25511273e-02 -3.38789840e-04 9.99921174e-01 3.59388865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.98, Y:58.95, Z:0.36 [[ 5.16564467e-01 -8.56222597e-01 -6.63448283e-03 1.08982397e+02] [ 8.56160600e-01 5.16606949e-01 -1.03095877e-02 5.89491416e+01] [ 1.22547219e-02 -3.54616131e-04 9.99924845e-01 3.58864642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.00, Y:58.97, Z:0.36 [[ 5.15207332e-01 -8.57040713e-01 -6.52846129e-03 1.08997128e+02] [ 8.56980713e-01 5.15248563e-01 -1.01477523e-02 5.89718011e+01] [ 1.20608172e-02 -3.66569002e-04 9.99927199e-01 3.58796677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.01, Y:59.00, Z:0.36 [[ 5.13681152e-01 -8.57957528e-01 -6.36825604e-03 1.09012449e+02] [ 8.57900452e-01 5.13720487e-01 -9.90326146e-03 5.89955749e+01] [ 1.17680813e-02 -3.76210981e-04 9.99930683e-01 3.58800627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.03, Y:59.02, Z:0.36 [[ 5.12135166e-01 -8.58880990e-01 -6.40441714e-03 1.09027694e+02] [ 8.58823272e-01 5.12175055e-01 -9.96493142e-03 5.90180877e+01] [ 1.18388729e-02 -3.96870685e-04 9.99929839e-01 3.59108709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:59.05, Z:0.36 [[ 5.09271804e-01 -8.60583492e-01 -6.18727298e-03 1.09037799e+02] [ 8.60529686e-01 5.09309216e-01 -9.63237489e-03 5.90452817e+01] [ 1.14406980e-02 -4.18835133e-04 9.99934465e-01 3.59623391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.05, Y:59.07, Z:0.36 [[ 5.08604233e-01 -8.60978054e-01 -6.20683758e-03 1.09053333e+02] [ 8.60923895e-01 5.08641926e-01 -9.66637572e-03 5.90682569e+01] [ 1.14795952e-02 -4.27255171e-04 9.99934016e-01 3.58204300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:59.09, Z:0.36 [[ 5.08329233e-01 -8.61139352e-01 -6.35677999e-03 1.09065873e+02] [ 8.61082498e-01 5.08368788e-01 -9.90490931e-03 5.90933688e+01] [ 1.17610957e-02 -4.38757043e-04 9.99930740e-01 3.57247426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.08, Y:59.12, Z:0.36 [[ 5.09872702e-01 -8.60221687e-01 -6.96259612e-03 1.09075389e+02] [ 8.60153316e-01 5.09920036e-01 -1.08549386e-02 5.91212151e+01] [ 1.28880209e-02 -4.54263269e-04 9.99916843e-01 3.55863945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:59.15, Z:0.36 [[ 5.11257181e-01 -8.59396196e-01 -7.36710564e-03 1.09086786e+02] [ 8.59319483e-01 5.11310054e-01 -1.14914846e-02 5.91487663e+01] [ 1.36426133e-02 -4.55593413e-04 9.99906831e-01 3.55461804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:59.17, Z:0.35 [[ 5.12984762e-01 -8.58362528e-01 -7.77202791e-03 1.09099777e+02] [ 8.58276969e-01 5.13043437e-01 -1.21275119e-02 5.91737346e+01] [ 1.43971897e-02 -4.49323752e-04 9.99896254e-01 3.54646264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.11, Y:59.20, Z:0.36 [[ 5.14748227e-01 -8.57305928e-01 -7.79800487e-03 1.09112288e+02] [ 8.57219590e-01 5.14807120e-01 -1.21738774e-02 5.91997882e+01] [ 1.44512057e-02 -4.18120748e-04 9.99895488e-01 3.55067104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.12, Y:59.23, Z:0.36 [[ 5.18461149e-01 -8.55069976e-01 -7.30566620e-03 1.09121955e+02] [ 8.54993889e-01 5.18512514e-01 -1.14115162e-02 5.92276748e+01] [ 1.35457242e-02 -3.29872141e-04 9.99908198e-01 3.56356427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:59.25, Z:0.36 [[ 5.20573797e-01 -8.53786195e-01 -7.21495083e-03 1.09134325e+02] [ 8.53711785e-01 5.20623712e-01 -1.12755381e-02 5.92546396e+01] [ 1.33831733e-02 -2.89738859e-04 9.99910399e-01 3.56740728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:59.28, Z:0.36 [[ 5.22594029e-01 -8.52555547e-01 -6.67226373e-03 1.09146460e+02] [ 8.52491745e-01 5.22636569e-01 -1.04326912e-02 5.92810476e+01] [ 1.23816178e-02 -2.35987623e-04 9.99923317e-01 3.56578941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.16, Y:59.31, Z:0.36 [[ 5.24891021e-01 -8.51141429e-01 -6.90537462e-03 1.09159029e+02] [ 8.51072918e-01 5.24936401e-01 -1.08010560e-02 5.93078605e+01] [ 1.28181087e-02 -2.07600040e-04 9.99917823e-01 3.56687631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.17, Y:59.34, Z:0.36 [[ 5.29672860e-01 -8.48176386e-01 -6.59390473e-03 1.09169064e+02] [ 8.48113628e-01 5.29713887e-01 -1.03185199e-02 5.93358884e+01] [ 1.22448078e-02 -1.26940538e-04 9.99925021e-01 3.57603892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.18, Y:59.36, Z:0.36 [[ 5.31335092e-01 -8.47139762e-01 -6.10279522e-03 1.09182023e+02] [ 8.47085876e-01 5.31370131e-01 -9.55520539e-03 5.93615474e+01] [ 1.13374375e-02 -9.25756982e-05 9.99935725e-01 3.58688659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201858064 meters Centerline goodness [0,1] 0.9998911813354227 Centerline is valid? [True, True] Translation: X:109.20, Y:59.39, Z:0.36 [[ 5.32531378e-01 -8.46390813e-01 -5.73777179e-03 1.09195113e+02] [ 8.46343084e-01 5.32562284e-01 -8.98876852e-03 5.93868420e+01] [ 1.06637319e-02 -6.93221861e-05 9.99943138e-01 3.59835370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.21, Y:59.41, Z:0.36 [[ 5.34620270e-01 -8.45076340e-01 -5.21026264e-03 1.09206203e+02] [ 8.45036883e-01 5.34645657e-01 -8.16632446e-03 5.94125558e+01] [ 9.68681187e-03 -3.69815215e-05 9.99953081e-01 3.60963241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261858064 meters Centerline goodness [0,1] 0.9999781511503419 Centerline is valid? [True, True] Translation: X:109.22, Y:59.44, Z:0.36 [[ 5.35122986e-01 -8.44756565e-01 -5.45306690e-03 1.09219628e+02] [ 8.44713280e-01 5.35150769e-01 -8.55156486e-03 5.94367643e+01] [ 1.01422035e-02 -3.01391077e-05 9.99948566e-01 3.60993585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.23, Y:59.46, Z:0.36 [[ 5.35532818e-01 -8.44496094e-01 -5.56313606e-03 1.09233390e+02] [ 8.44450976e-01 5.35561712e-01 -8.72936225e-03 5.94609031e+01] [ 1.03513150e-02 -2.29357060e-05 9.99946423e-01 3.61377352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321858064 meters Centerline goodness [0,1] 0.9999346561826142 Centerline is valid? [True, True] Translation: X:109.25, Y:59.49, Z:0.36 [[ 5.36257441e-01 -8.44036102e-01 -5.56921244e-03 1.09245637e+02] [ 8.43990810e-01 5.36286359e-01 -8.74373825e-03 5.94857131e+01] [ 1.03667234e-02 -1.14694225e-05 9.99946264e-01 3.60673302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:59.51, Z:0.36 [[ 5.35982605e-01 -8.44210631e-01 -5.57300929e-03 1.09259383e+02] [ 8.44165233e-01 5.36011577e-01 -8.75486431e-03 5.95099385e+01] [ 1.03781470e-02 -1.20857090e-05 9.99946146e-01 3.61538676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381858064 meters Centerline goodness [0,1] 0.999956457371767 Centerline is valid? [True, True] Translation: X:109.27, Y:59.53, Z:0.36 [[ 5.35575163e-01 -8.44468616e-01 -5.65701765e-03 1.09274158e+02] [ 8.44421796e-01 5.35605038e-01 -8.89233392e-03 5.95341181e+01] [ 1.05392241e-02 -1.43958097e-05 9.99944461e-01 3.61210184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:59.56, Z:0.36 [[ 5.34112420e-01 -8.45390716e-01 -6.20159262e-03 1.09289723e+02] [ 8.45334444e-01 5.34148421e-01 -9.75408119e-03 5.95563982e+01] [ 1.15585806e-02 -3.26439375e-05 9.99933197e-01 3.59761967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441858064 meters Centerline goodness [0,1] 0.9999346618752042 Centerline is valid? [True, True] Translation: X:109.31, Y:59.58, Z:0.36 [[ 5.32973944e-01 -8.46106744e-01 -6.49244789e-03 1.09305313e+02] [ 8.46045053e-01 5.33013485e-01 -1.02173109e-02 5.95808251e+01] [ 1.21054979e-02 -4.73429353e-05 9.99926725e-01 3.61673559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:59.60, Z:0.36 [[ 5.31706502e-01 -8.46900954e-01 -6.85343652e-03 1.09322112e+02] [ 8.46832227e-01 5.31750665e-01 -1.07893121e-02 5.96033571e+01] [ 1.27817981e-02 -6.69635428e-05 9.99918307e-01 3.59369121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.34, Y:59.63, Z:0.36 [[ 5.29729077e-01 -8.48138733e-01 -6.91335312e-03 1.09338172e+02] [ 8.48068837e-01 5.29774179e-01 -1.08888714e-02 5.96278429e+01] [ 1.28977896e-02 -9.48475403e-05 9.99916816e-01 3.62613087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531858064 meters Centerline goodness [0,1] 0.9998910865208678 Centerline is valid? [True, True] Translation: X:109.35, Y:59.65, Z:0.36 [[ 5.28506315e-01 -8.48903440e-01 -6.63504405e-03 1.09353901e+02] [ 8.48839046e-01 5.28547952e-01 -1.04563729e-02 5.96504624e+01] [ 1.23833898e-02 -1.05825370e-04 9.99923317e-01 3.62554460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.37, Y:59.67, Z:0.36 [[ 5.27451518e-01 -8.49560243e-01 -6.50299366e-03 1.09368997e+02] [ 8.49498362e-01 5.27491592e-01 -1.02544809e-02 5.96741023e+01] [ 1.21420738e-02 -1.15540939e-04 9.99926276e-01 3.63321419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.39, Y:59.70, Z:0.36 [[ 5.25395208e-01 -8.50836139e-01 -6.14334930e-03 1.09385587e+02] [ 8.50780933e-01 5.25431106e-01 -9.69314529e-03 5.96973102e+01] [ 1.14751851e-02 -1.33912361e-04 9.99934149e-01 3.64259389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.40, Y:59.72, Z:0.36 [[ 5.24191760e-01 -8.51580054e-01 -5.86609142e-03 1.09402129e+02] [ 8.51529705e-01 5.24224563e-01 -9.26121368e-03 5.97207046e+01] [ 1.09618141e-02 -1.40499202e-04 9.99939908e-01 3.64802103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651858064 meters Centerline goodness [0,1] 0.999912899573208 Centerline is valid? [True, True] Translation: X:109.42, Y:59.74, Z:0.37 [[ 5.23191052e-01 -8.52196868e-01 -5.62320254e-03 1.09418423e+02] [ 8.52150582e-01 5.23221250e-01 -8.88309953e-03 5.97438278e+01] [ 1.05123287e-02 -1.44257118e-04 9.99944734e-01 3.65508713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.43, Y:59.77, Z:0.37 [[ 5.21919762e-01 -8.52978896e-01 -5.17349172e-03 1.09434527e+02] [ 8.52939709e-01 5.21945382e-01 -8.17747535e-03 5.97668326e+01] [ 9.67549401e-03 -1.44690533e-04 9.99953181e-01 3.66186854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.45, Y:59.79, Z:0.37 [[ 5.20400593e-01 -8.53908780e-01 -4.79771699e-03 1.09451405e+02] [ 8.53875091e-01 5.20422687e-01 -7.58658484e-03 5.97886931e+01] [ 8.97509218e-03 -1.48587779e-04 9.99959712e-01 3.67035506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:59.81, Z:0.37 [[ 5.19788930e-01 -8.54282433e-01 -4.58184661e-03 1.09466872e+02] [ 8.54251693e-01 5.19809103e-01 -7.24850330e-03 5.98107918e+01] [ 8.57395461e-03 -1.46358447e-04 9.99963232e-01 3.67459421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77185806399999 meters Centerline goodness [0,1] 0.9999781707050862 Centerline is valid? [True, True] Translation: X:109.48, Y:59.83, Z:0.37 [[ 5.19194680e-01 -8.54643016e-01 -4.71163010e-03 1.09482560e+02] [ 8.54610487e-01 5.19216035e-01 -7.45818395e-03 5.98340748e+01] [ 8.82043872e-03 -1.54359065e-04 9.99961087e-01 3.68323566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:59.86, Z:0.37 [[ 5.18793750e-01 -8.54887449e-01 -4.52716981e-03 1.09498162e+02] [ 8.54857392e-01 5.18813480e-01 -7.17017268e-03 5.98566233e+01] [ 8.47844736e-03 -1.50243806e-04 9.99964046e-01 3.69115015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.51, Y:59.88, Z:0.37 [[ 5.18563706e-01 -8.55027019e-01 -4.52530997e-03 1.09512818e+02] [ 8.54996958e-01 5.18583430e-01 -7.17134650e-03 5.98799967e+01] [ 8.47844578e-03 -1.50326236e-04 9.99964046e-01 3.69208839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:59.90, Z:0.37 [[ 5.18720386e-01 -8.54933659e-01 -4.19521050e-03 1.09526682e+02] [ 8.54907790e-01 5.18737332e-01 -6.65213868e-03 5.99047843e+01] [ 7.86334957e-03 -1.35918195e-04 9.99969074e-01 3.69660286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.891858064 meters Centerline goodness [0,1] 0.9999782130329636 Centerline is valid? [True, True] Translation: X:109.54, Y:59.93, Z:0.37 [[ 5.19134178e-01 -8.54682854e-01 -4.11393507e-03 1.09540995e+02] [ 8.54657939e-01 5.19150463e-01 -6.52722373e-03 5.99286105e+01] [ 7.71445750e-03 -1.27502341e-04 9.99970235e-01 3.69657967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921858064 meters Centerline goodness [0,1] 0.9999564497866039 Centerline is valid? [True, True] Translation: X:109.56, Y:59.95, Z:0.37 [[ 5.19562735e-01 -8.54421365e-01 -4.32387706e-03 1.09555055e+02] [ 8.54393797e-01 5.19580711e-01 -6.86467204e-03 5.99535059e+01] [ 8.11192557e-03 -1.27665964e-04 9.99967090e-01 3.69955677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.951858064 meters Centerline goodness [0,1] 0.9999346761023408 Centerline is valid? [True, True] Translation: X:109.57, Y:59.98, Z:0.37 [[ 5.19767258e-01 -8.54296649e-01 -4.38552438e-03 1.09569794e+02] [ 8.54268252e-01 5.19785743e-01 -6.96664813e-03 5.99764161e+01] [ 8.23111721e-03 -1.25378654e-04 9.99966116e-01 3.69581643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981858064 meters Centerline goodness [0,1] 0.9998692269131013 Centerline is valid? [True, True] Translation: X:109.59, Y:60.00, Z:0.37 [[ 5.19925378e-01 -8.54198293e-01 -4.78300566e-03 1.09585106e+02] [ 8.54164469e-01 5.19947361e-01 -7.60274720e-03 6.00001963e+01] [ 8.98116485e-03 -1.32612276e-04 9.99959660e-01 3.69570502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:60.02, Z:0.37 [[ 5.20044286e-01 -8.54125044e-01 -4.93459183e-03 1.09599819e+02] [ 8.54088995e-01 5.20067680e-01 -7.84830219e-03 6.00233187e+01] [ 9.26975318e-03 -1.33115870e-04 9.99957026e-01 3.69728698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:60.05, Z:0.37 [[ 5.20414261e-01 -8.53901040e-01 -4.69155084e-03 1.09614708e+02] [ 8.53868408e-01 5.20435394e-01 -7.46607129e-03 6.00474896e+01] [ 8.81693515e-03 -1.20517078e-04 9.99961123e-01 3.69827504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071858064 meters Centerline goodness [0,1] 0.9999782229965157 Centerline is valid? [True, True] Translation: X:109.63, Y:60.07, Z:0.37 [[ 5.20748024e-01 -8.53702128e-01 -3.76467580e-03 1.09629629e+02] [ 8.53681087e-01 5.20761624e-01 -5.99436323e-03 6.00713656e+01] [ 7.07789933e-03 -9.22797209e-05 9.99974947e-01 3.71555209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.65, Y:60.09, Z:0.37 [[ 5.20662651e-01 -8.53755394e-01 -3.48288867e-03 1.09645143e+02] [ 8.53737367e-01 5.20674293e-01 -5.54879183e-03 6.00939883e+01] [ 6.55076155e-03 -8.44235347e-05 9.99978540e-01 3.72188041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:60.12, Z:0.37 [[ 5.20457078e-01 -8.53882186e-01 -3.10538164e-03 1.09659759e+02] [ 8.53867841e-01 5.20466337e-01 -4.95003466e-03 6.01175782e+01] [ 5.84299302e-03 -7.53049413e-05 9.99982927e-01 3.72686472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161858064 meters Centerline goodness [0,1] 0.9999130491489685 Centerline is valid? [True, True] Translation: X:109.67, Y:60.14, Z:0.37 [[ 5.20736564e-01 -8.53712510e-01 -2.89517716e-03 1.09674507e+02] [ 8.53700024e-01 5.20744608e-01 -4.61762573e-03 6.01414590e+01] [ 5.44977275e-03 -6.70462583e-05 9.99985148e-01 3.72704631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:60.16, Z:0.37 [[ 5.20900718e-01 -8.53612734e-01 -2.78256380e-03 1.09689173e+02] [ 8.53601186e-01 5.20908147e-01 -4.44051701e-03 6.01638509e+01] [ 5.23994201e-03 -6.21312617e-05 9.99986269e-01 3.73014960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221858064 meters Centerline goodness [0,1] 0.9999350480644323 Centerline is valid? [True, True] Translation: X:109.70, Y:60.19, Z:0.37 [[ 5.21229910e-01 -8.53410566e-01 -3.12839429e-03 1.09703113e+02] [ 8.53395948e-01 5.21239293e-01 -4.99542854e-03 6.01882482e+01] [ 5.89379353e-03 -6.59922480e-05 9.99982629e-01 3.72624217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:60.21, Z:0.37 [[ 5.21617788e-01 -8.53173589e-01 -3.11627002e-03 1.09717948e+02] [ 8.53159062e-01 5.21627093e-01 -4.97909868e-03 6.02126319e+01] [ 5.87356636e-03 -6.14875640e-05 9.99982749e-01 3.72782148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281858064 meters Centerline goodness [0,1] 0.9999132321041215 Centerline is valid? [True, True] Translation: X:109.73, Y:60.24, Z:0.37 [[ 5.22923615e-01 -8.52375171e-01 -2.73128217e-03 1.09731472e+02] [ 8.52363990e-01 5.22930746e-01 -4.36623408e-03 6.02361696e+01] [ 5.14994094e-03 -4.48396614e-05 9.99986738e-01 3.73122379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:60.26, Z:0.37 [[ 5.23475691e-01 -8.52036974e-01 -2.48907967e-03 1.09745360e+02] [ 8.52027675e-01 5.23481608e-01 -3.98099978e-03 6.02608482e+01] [ 4.69494644e-03 -3.68081494e-05 9.99988978e-01 3.73098302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.76, Y:60.28, Z:0.37 [[ 5.24100848e-01 -8.51652651e-01 -2.46222366e-03 1.09759329e+02] [ 8.51643537e-01 5.24106631e-01 -3.94025155e-03 6.02844500e+01] [ 4.64619343e-03 -3.18476875e-05 9.99989206e-01 3.73029893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:60.31, Z:0.37 [[ 5.25156211e-01 -8.51001639e-01 -2.67664925e-03 1.09773680e+02] [ 8.50990848e-01 5.25163032e-01 -4.28556320e-03 6.03089766e+01] [ 5.05269854e-03 -2.72138840e-05 9.99987235e-01 3.72478675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.79, Y:60.33, Z:0.37 [[ 5.25266041e-01 -8.50934515e-01 -2.45687953e-03 1.09788877e+02] [ 8.50925413e-01 5.25271787e-01 -3.93591043e-03 6.03331806e+01] [ 4.63973154e-03 -2.32211322e-05 9.99989236e-01 3.72720653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:60.36, Z:0.37 [[ 5.25725274e-01 -8.50651311e-01 -2.29850933e-03 1.09803831e+02] [ 8.50643333e-01 5.25730298e-01 -3.68422991e-03 6.03570789e+01] [ 4.34239100e-03 -1.83188575e-05 9.99990572e-01 3.73182795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461858064 meters Centerline goodness [0,1] 0.9999565321336202 Centerline is valid? [True, True] Translation: X:109.82, Y:60.38, Z:0.37 [[ 5.26184784e-01 -8.50367422e-01 -2.19569129e-03 1.09817519e+02] [ 8.50360131e-01 5.26189365e-01 -3.52145265e-03 6.03800865e+01] [ 4.14987802e-03 -1.41935351e-05 9.99991389e-01 3.73521238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49185806399998 meters Centerline goodness [0,1] 0.999826437853904 Centerline is valid? [True, True] Translation: X:109.83, Y:60.40, Z:0.37 [[ 5.28059279e-01 -8.49204318e-01 -2.32903414e-03 1.09830422e+02] [ 8.49196093e-01 5.28064415e-01 -3.73743054e-03 6.04041546e+01] [ 4.40372220e-03 -4.22182163e-06 9.99990304e-01 3.72963904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.84, Y:60.43, Z:0.37 [[ 5.28662666e-01 -8.48828132e-01 -2.56649439e-03 1.09844395e+02] [ 8.48818129e-01 5.28668896e-01 -4.12092384e-03 6.04281340e+01] [ 4.85478184e-03 9.16217650e-08 9.99988215e-01 3.72714054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.551858064 meters Centerline goodness [0,1] 0.9999347826086956 Centerline is valid? [True, True] Translation: X:109.86, Y:60.45, Z:0.37 [[ 5.29237394e-01 -8.48470546e-01 -2.34802819e-03 1.09858751e+02] [ 8.48462160e-01 5.29242603e-01 -3.77223713e-03 6.04524300e+01] [ 4.44330865e-03 4.19588177e-06 9.99990128e-01 3.72743907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.87, Y:60.48, Z:0.37 [[ 5.30517705e-01 -8.47670342e-01 -2.44039722e-03 1.09873658e+02] [ 8.47661264e-01 5.30523317e-01 -3.92305454e-03 6.04767218e+01] [ 4.62014461e-03 1.26196925e-05 9.99989327e-01 3.72352644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.611858064 meters Centerline goodness [0,1] 0.9999351603700182 Centerline is valid? [True, True] Translation: X:109.89, Y:60.50, Z:0.37 [[ 5.30730687e-01 -8.47536263e-01 -2.68716655e-03 1.09888694e+02] [ 8.47525240e-01 5.30737490e-01 -4.32256371e-03 6.05002617e+01] [ 5.08970952e-03 1.66757365e-05 9.99987047e-01 3.72285666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641858064 meters Centerline goodness [0,1] 0.9999565840316068 Centerline is valid? [True, True] Translation: X:109.90, Y:60.52, Z:0.37 [[ 5.30589689e-01 -8.47625556e-01 -2.34500493e-03 1.09903056e+02] [ 8.47617153e-01 5.30594871e-01 -3.77419747e-03 6.05226687e+01] [ 4.44335382e-03 1.48838555e-05 9.99990128e-01 3.72388762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:60.54, Z:0.37 [[ 5.30959254e-01 -8.47394612e-01 -2.15459362e-03 1.09918588e+02] [ 8.47387509e-01 5.30963626e-01 -3.46951794e-03 6.05444981e+01] [ 4.08406165e-03 1.63969370e-05 9.99991660e-01 3.73282577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.93, Y:60.57, Z:0.37 [[ 5.30449083e-01 -8.47714429e-01 -2.00426533e-03 1.09934540e+02] [ 8.47708279e-01 5.30452870e-01 -3.22912118e-03 6.05676449e+01] [ 3.80054091e-03 1.38520534e-05 9.99992778e-01 3.73307015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.95, Y:60.59, Z:0.37 [[ 5.30316237e-01 -8.47797305e-01 -2.10178135e-03 1.09949388e+02] [ 8.47790535e-01 5.30320402e-01 -3.38833535e-03 6.05898735e+01] [ 3.98723911e-03 1.50189198e-05 9.99992051e-01 3.73414646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761858064 meters Centerline goodness [0,1] 0.9999564535795158 Centerline is valid? [True, True] Translation: X:109.96, Y:60.61, Z:0.37 [[ 5.30301216e-01 -8.47806643e-01 -2.12508710e-03 1.09964940e+02] [ 8.47799714e-01 5.30305474e-01 -3.42781803e-03 6.06129022e+01] [ 4.03307222e-03 1.61278390e-05 9.99991867e-01 3.73583818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:60.64, Z:0.37 [[ 5.31432347e-01 -8.47098210e-01 -2.06968110e-03 1.09980143e+02] [ 8.47091624e-01 5.31436377e-01 -3.34038871e-03 6.06355680e+01] [ 3.92954112e-03 2.19810874e-05 9.99992279e-01 3.73802470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.00, Y:60.66, Z:0.37 [[ 5.32122106e-01 -8.46664771e-01 -2.19745670e-03 1.09995616e+02] [ 8.46657335e-01 5.32126643e-01 -3.54868772e-03 6.06589893e+01] [ 4.17387413e-03 2.78423562e-05 9.99991289e-01 3.73887045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851858064 meters Centerline goodness [0,1] 0.999978086514441 Centerline is valid? [True, True] Translation: X:110.01, Y:60.68, Z:0.37 [[ 5.32704259e-01 -8.46297950e-01 -2.43977960e-03 1.10011582e+02] [ 8.46288767e-01 5.32709844e-01 -3.94259159e-03 6.06825552e+01] [ 4.63630179e-03 3.54772631e-05 9.99989252e-01 3.73821700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881858064 meters Centerline goodness [0,1] 0.9999562334507736 Centerline is valid? [True, True] Translation: X:110.03, Y:60.70, Z:0.37 [[ 5.33035604e-01 -8.46087146e-01 -3.09624328e-03 1.10026399e+02] [ 8.46072332e-01 5.33044594e-01 -5.00690545e-03 6.07047191e+01] [ 5.88671408e-03 4.92131021e-05 9.99982672e-01 3.72349613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.04, Y:60.73, Z:0.37 [[ 5.32349044e-01 -8.46518427e-01 -3.32377098e-03 1.10041701e+02] [ 8.46501346e-01 5.32359418e-01 -5.37792541e-03 6.07266811e+01] [ 6.32195375e-03 4.93568419e-05 9.99980015e-01 3.72166486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941858064 meters Centerline goodness [0,1] 0.9999779190955661 Centerline is valid? [True, True] Translation: X:110.06, Y:60.75, Z:0.37 [[ 5.31170278e-01 -8.47258196e-01 -3.41833942e-03 1.10059180e+02] [ 8.47240123e-01 5.31181275e-01 -5.53414968e-03 6.07489739e+01] [ 6.50461156e-03 4.34215162e-05 9.99978844e-01 3.72281687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:60.77, Z:0.37 [[ 5.29768856e-01 -8.48134912e-01 -3.48272313e-03 1.10076907e+02] [ 8.48116147e-01 5.29780303e-01 -5.64193349e-03 6.07714316e+01] [ 6.63019888e-03 3.51669328e-05 9.99978019e-01 3.72517662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:60.79, Z:0.37 [[ 5.26503441e-01 -8.50166782e-01 -3.25103810e-03 1.10097216e+02] [ 8.50150451e-01 5.26513478e-01 -5.26955297e-03 6.07913627e+01] [ 6.19171427e-03 1.05662622e-05 9.99980831e-01 3.73275823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:60.81, Z:0.37 [[ 5.24835109e-01 -8.51197333e-01 -3.34789651e-03 1.10114856e+02] [ 8.51180015e-01 5.24845787e-01 -5.42970035e-03 6.08133990e+01] [ 6.37887584e-03 3.47685084e-08 9.99979655e-01 3.73421331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:60.84, Z:0.37 [[ 5.22788387e-01 -8.52455611e-01 -3.42535697e-03 1.10132437e+02] [ 8.52437487e-01 5.22799608e-01 -5.55887818e-03 6.08357429e+01] [ 6.52947217e-03 -1.37857285e-05 9.99978683e-01 3.73477527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:60.86, Z:0.37 [[ 5.20052737e-01 -8.54126903e-01 -3.51911166e-03 1.10152152e+02] [ 8.54107787e-01 5.20064643e-01 -5.71451646e-03 6.08557959e+01] [ 6.71108779e-03 -3.38507482e-05 9.99977480e-01 3.73286486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:60.88, Z:0.37 [[ 5.18928601e-01 -8.54808697e-01 -3.89844443e-03 1.10168925e+02] [ 8.54785228e-01 5.18943243e-01 -6.33441412e-03 6.08780456e+01] [ 7.43778368e-03 -4.52240548e-05 9.99972338e-01 3.72488523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151858064 meters Centerline goodness [0,1] 0.9999331193151418 Centerline is valid? [True, True] Translation: X:110.19, Y:60.90, Z:0.37 [[ 5.18054189e-01 -8.55337843e-01 -4.12695581e-03 1.10185590e+02] [ 8.55311525e-01 5.18070624e-01 -6.70993935e-03 6.09009981e+01] [ 7.87731963e-03 -5.37206765e-05 9.99968972e-01 3.72074147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:60.92, Z:0.37 [[ 5.17418630e-01 -8.55721485e-01 -4.32448682e-03 1.10203884e+02] [ 8.55692564e-01 5.17436698e-01 -7.03555002e-03 6.09221856e+01] [ 8.25811949e-03 -6.01065634e-05 9.99965899e-01 3.71735467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:60.95, Z:0.37 [[ 5.17071736e-01 -8.55931266e-01 -4.29969798e-03 1.10220695e+02] [ 8.55902648e-01 5.17089609e-01 -6.99957039e-03 6.09451708e+01] [ 8.21448029e-03 -6.08428697e-05 9.99966259e-01 3.72137455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24185806399998 meters Centerline goodness [0,1] 0.9999552552686921 Centerline is valid? [True, True] Translation: X:110.24, Y:60.97, Z:0.37 [[ 5.16531384e-01 -8.56259150e-01 -3.94939076e-03 1.10237131e+02] [ 8.56234990e-01 5.16546479e-01 -6.43245921e-03 6.09664360e+01] [ 7.54789595e-03 -5.90395020e-05 9.99971512e-01 3.71948404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27185806399999 meters Centerline goodness [0,1] 0.9999775098956459 Centerline is valid? [True, True] Translation: X:110.26, Y:60.99, Z:0.37 [[ 5.15762007e-01 -8.56723434e-01 -3.80904949e-03 1.10255220e+02] [ 8.56700950e-01 5.15776069e-01 -6.20713477e-03 6.09881991e+01] [ 7.28241439e-03 -6.18120277e-05 9.99973481e-01 3.72473627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301858064 meters Centerline goodness [0,1] 0.9999548970525224 Centerline is valid? [True, True] Translation: X:110.27, Y:61.01, Z:0.37 [[ 5.15473447e-01 -8.56896606e-01 -3.91574710e-03 1.10271483e+02] [ 8.56872819e-01 5.15488315e-01 -6.38503315e-03 6.10115316e+01] [ 7.48983511e-03 -6.39822135e-05 9.99971949e-01 3.72010210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:61.04, Z:0.37 [[ 5.15266959e-01 -8.57019069e-01 -4.27500496e-03 1.10287494e+02] [ 8.56990685e-01 5.15284688e-01 -6.97536908e-03 6.10351240e+01] [ 8.18086891e-03 -6.94622164e-05 9.99966534e-01 3.71954207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.30, Y:61.06, Z:0.37 [[ 5.15261097e-01 -8.57021594e-01 -4.47093737e-03 1.10303233e+02] [ 8.56990516e-01 5.15280489e-01 -7.29886001e-03 6.10571305e+01] [ 8.55906743e-03 -7.07323095e-05 9.99963368e-01 3.71675667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:61.08, Z:0.37 [[ 5.15680188e-01 -8.56768092e-01 -4.73079233e-03 1.10319034e+02] [ 8.56733246e-01 5.15701883e-01 -7.72740263e-03 6.10801510e+01] [ 9.06027052e-03 -6.81586325e-05 9.99958953e-01 3.72266022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:61.10, Z:0.37 [[ 5.15788528e-01 -8.56702915e-01 -4.72325216e-03 1.10335314e+02] [ 8.56668134e-01 5.15810150e-01 -7.71991366e-03 6.11028630e+01] [ 9.04997394e-03 -6.44167127e-05 9.99959046e-01 3.72302102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.35, Y:61.13, Z:0.37 [[ 5.15662034e-01 -8.56779153e-01 -4.70632958e-03 1.10350317e+02] [ 8.56744583e-01 5.15683507e-01 -7.69677532e-03 6.11259952e+01] [ 9.02141318e-03 -6.31875581e-05 9.99959304e-01 3.71930544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.37, Y:61.15, Z:0.37 [[ 5.15254286e-01 -8.57024810e-01 -4.63631088e-03 1.10366752e+02] [ 8.56991230e-01 5.15275140e-01 -7.58687666e-03 6.11489665e+01] [ 8.89111727e-03 -6.41070481e-05 9.99960471e-01 3.72445845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:61.17, Z:0.37 [[ 5.14735156e-01 -8.57337550e-01 -4.47718593e-03 1.10382730e+02] [ 8.57306208e-01 5.14754623e-01 -7.33106631e-03 6.11715918e+01] [ 8.58985058e-03 -6.47617356e-05 9.99963104e-01 3.72776064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541858064 meters Centerline goodness [0,1] 0.9999088526831491 Centerline is valid? [True, True] Translation: X:110.40, Y:61.20, Z:0.37 [[ 5.13992170e-01 -8.57783582e-01 -4.40170047e-03 1.10398844e+02] [ 8.57753266e-01 5.14011013e-01 -7.21201460e-03 6.11952279e+01] [ 8.44887024e-03 -6.86539135e-05 9.99964305e-01 3.73782311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:61.22, Z:0.37 [[ 5.13406599e-01 -8.58134996e-01 -4.24182479e-03 1.10414347e+02] [ 8.58106818e-01 5.13424117e-01 -6.95443456e-03 6.12188508e+01] [ 8.14569882e-03 -6.94861798e-05 9.99966821e-01 3.74238246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:61.24, Z:0.37 [[ 5.13673853e-01 -8.57977304e-01 -3.75732518e-03 1.10427723e+02] [ 8.57955167e-01 5.13687592e-01 -6.16354733e-03 6.12419462e+01] [ 7.21827505e-03 -5.75634456e-05 9.99973946e-01 3.74656696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:61.27, Z:0.38 [[ 5.13856627e-01 -8.57868496e-01 -3.60685482e-03 1.10441686e+02] [ 8.57848070e-01 5.13869283e-01 -5.92016776e-03 6.12664557e+01] [ 6.93217732e-03 -5.20160097e-05 9.99975971e-01 3.75051368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:61.29, Z:0.37 [[ 5.14521937e-01 -8.57470184e-01 -3.47288854e-03 1.10454255e+02] [ 8.57451215e-01 5.14533655e-01 -5.70361617e-03 6.12901297e+01] [ 6.67759884e-03 -4.31968625e-05 9.99977704e-01 3.74684312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.47, Y:61.31, Z:0.37 [[ 5.14228616e-01 -8.57646207e-01 -3.45180242e-03 1.10467393e+02] [ 8.57627451e-01 5.14240199e-01 -5.67215332e-03 6.13133032e+01] [ 6.63975634e-03 -4.35769653e-05 9.99977956e-01 3.74284076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.48, Y:61.34, Z:0.37 [[ 5.13973756e-01 -8.57798884e-01 -3.47164926e-03 1.10481357e+02] [ 8.57779893e-01 5.13985479e-01 -5.70815479e-03 6.13374920e+01] [ 6.68082612e-03 -4.40691712e-05 9.99977682e-01 3.74017924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:61.36, Z:0.37 [[ 5.13736781e-01 -8.57940836e-01 -3.47007029e-03 1.10495633e+02] [ 8.57921842e-01 5.13748498e-01 -5.70911465e-03 6.13611181e+01] [ 6.68082600e-03 -4.40669063e-05 9.99977682e-01 3.74111704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781858064 meters Centerline goodness [0,1] 0.9999772846012311 Centerline is valid? [True, True] Translation: X:110.51, Y:61.39, Z:0.37 [[ 5.12906151e-01 -8.58438122e-01 -3.35729173e-03 1.10509757e+02] [ 8.58420331e-01 5.12917136e-01 -5.52695571e-03 6.13857885e+01] [ 6.46656194e-03 -4.71578959e-05 9.99979090e-01 3.74316604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.52, Y:61.41, Z:0.37 [[ 5.12069516e-01 -8.58937875e-01 -3.24614265e-03 1.10523895e+02] [ 8.58921235e-01 5.12079802e-01 -5.34677335e-03 6.14092890e+01] [ 6.25483023e-03 -5.02612149e-05 9.99980437e-01 3.74317209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841858064 meters Centerline goodness [0,1] 0.9999547991954256 Centerline is valid? [True, True] Translation: X:110.54, Y:61.43, Z:0.37 [[ 5.11254505e-01 -8.59424353e-01 -2.93473919e-03 1.10538287e+02] [ 8.59410748e-01 5.11262926e-01 -4.83605151e-03 6.14326729e+01] [ 5.65664379e-03 -4.96932764e-05 9.99984000e-01 3.74720045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871858064 meters Centerline goodness [0,1] 0.9999548522540013 Centerline is valid? [True, True] Translation: X:110.55, Y:61.46, Z:0.38 [[ 5.09926872e-01 -8.60213930e-01 -2.56517315e-03 1.10552997e+02] [ 8.60203535e-01 5.09933321e-01 -4.22927708e-03 6.14565423e+01] [ 4.94615032e-03 -4.99489766e-05 9.99987766e-01 3.75057459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901858064 meters Centerline goodness [0,1] 0.9998865441343318 Centerline is valid? [True, True] Translation: X:110.57, Y:61.48, Z:0.38 [[ 5.07870120e-01 -8.61428876e-01 -2.86932081e-03 1.10567853e+02] [ 8.61415872e-01 5.07878221e-01 -4.73370165e-03 6.14798982e+01] [ 5.53501284e-03 -6.75728665e-05 9.99984679e-01 3.75024287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.58, Y:61.50, Z:0.37 [[ 5.06725869e-01 -8.62102202e-01 -2.94729986e-03 1.10581650e+02] [ 8.62088477e-01 5.06734435e-01 -4.86517665e-03 6.15049876e+01] [ 5.68777783e-03 -7.55223804e-05 9.99983822e-01 3.74249449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:61.53, Z:0.37 [[ 5.05958283e-01 -8.62552237e-01 -3.13915571e-03 1.10595887e+02] [ 8.62536656e-01 5.05968014e-01 -5.18514826e-03 6.15291198e+01] [ 6.06077362e-03 -8.41681561e-05 9.99981630e-01 3.73811655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.61, Y:61.55, Z:0.37 [[ 5.04822507e-01 -8.63217550e-01 -3.11423153e-03 1.10610098e+02] [ 8.63202209e-01 5.04832105e-01 -5.14707367e-03 6.15535609e+01] [ 6.01520838e-03 -8.98528999e-05 9.99981904e-01 3.73873587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:61.58, Z:0.37 [[ 5.04179144e-01 -8.63594163e-01 -2.91769488e-03 1.10624851e+02] [ 8.63580689e-01 5.04187578e-01 -4.82493706e-03 6.15762240e+01] [ 5.63785300e-03 -8.70323217e-05 9.99984103e-01 3.73938833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.64, Y:61.60, Z:0.37 [[ 5.03718370e-01 -8.63862587e-01 -3.03884064e-03 1.10636875e+02] [ 8.63847958e-01 5.03727528e-01 -5.02827661e-03 6.16014483e+01] [ 5.87448772e-03 -9.22609773e-05 9.99982741e-01 3.73962064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.65, Y:61.63, Z:0.37 [[ 5.03550926e-01 -8.63960683e-01 -2.89883481e-03 1.10650524e+02] [ 8.63947356e-01 5.03559262e-01 -4.79950453e-03 6.16261833e+01] [ 5.60631833e-03 -8.76457194e-05 9.99984281e-01 3.73971447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:61.65, Z:0.37 [[ 5.03184923e-01 -8.64175263e-01 -2.45924876e-03 1.10663625e+02] [ 8.64165663e-01 5.03190927e-01 -4.07397758e-03 6.16505404e+01] [ 4.75810231e-03 -7.52342376e-05 9.99988677e-01 3.74445248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.68, Y:61.67, Z:0.37 [[ 5.02959092e-01 -8.64307214e-01 -2.27849278e-03 1.10677958e+02] [ 8.64298965e-01 5.02964249e-01 -3.77674987e-03 6.16734523e+01] [ 4.41027257e-03 -6.97482649e-05 9.99990272e-01 3.74582326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.69, Y:61.70, Z:0.37 [[ 5.02857755e-01 -8.64365794e-01 -2.41943360e-03 1.10691258e+02] [ 8.64356482e-01 5.02863570e-01 -4.01283147e-03 6.16982319e+01] [ 4.68519927e-03 -7.33696957e-05 9.99989022e-01 3.74828593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201858064 meters Centerline goodness [0,1] 0.9999775169746841 Centerline is valid? [True, True] Translation: X:110.70, Y:61.72, Z:0.37 [[ 5.03266361e-01 -8.64128289e-01 -2.29582802e-03 1.10704313e+02] [ 8.64119891e-01 5.03271593e-01 -3.81013122e-03 6.17226735e+01] [ 4.44786720e-03 -6.63597836e-05 9.99990106e-01 3.74726531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:61.75, Z:0.37 [[ 5.03761451e-01 -8.63839128e-01 -2.52220722e-03 1.10717909e+02] [ 8.63828976e-01 5.03767760e-01 -4.18863185e-03 6.17471261e+01] [ 4.88891076e-03 -6.86844261e-05 9.99988047e-01 3.74816234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.73, Y:61.77, Z:0.37 [[ 5.04127570e-01 -8.63625488e-01 -2.53170376e-03 1.10730954e+02] [ 8.63615243e-01 5.04133923e-01 -4.20705349e-03 6.17716334e+01] [ 4.90963637e-03 -6.55263064e-05 9.99987946e-01 3.74724019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.74, Y:61.80, Z:0.37 [[ 5.04661032e-01 -8.63313368e-01 -2.69653741e-03 1.10743225e+02] [ 8.63301727e-01 5.04668232e-01 -4.48377589e-03 6.17956608e+01] [ 5.23176043e-03 -6.51384315e-05 9.99986312e-01 3.73769678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321858064 meters Centerline goodness [0,1] 0.9999775412118762 Centerline is valid? [True, True] Translation: X:110.76, Y:61.82, Z:0.37 [[ 5.04128133e-01 -8.63625214e-01 -2.51295936e-03 1.10757566e+02] [ 8.63615097e-01 5.04134393e-01 -4.18077811e-03 6.18194392e+01] [ 4.87749463e-03 -6.25817791e-05 9.99988103e-01 3.73523567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.77, Y:61.84, Z:0.37 [[ 5.03225077e-01 -8.64151247e-01 -2.67276046e-03 1.10772772e+02] [ 8.64139795e-01 5.03232170e-01 -4.44946488e-03 6.18430874e+01] [ 5.19002967e-03 -7.05563714e-05 9.99986529e-01 3.73868283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.79, Y:61.86, Z:0.38 [[ 5.01492850e-01 -8.65157199e-01 -2.81800363e-03 1.10788933e+02] [ 8.65144469e-01 5.01500761e-01 -4.69407771e-03 6.18649641e+01] [ 5.47434609e-03 -8.39338408e-05 9.99985012e-01 3.75186306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:61.89, Z:0.38 [[ 5.00258042e-01 -8.65872646e-01 -2.54015691e-03 1.10803660e+02] [ 8.65862301e-01 5.00264485e-01 -4.23340547e-03 6.18877919e+01] [ 4.93634029e-03 -8.16309744e-05 9.99987813e-01 3.75146366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.82, Y:61.91, Z:0.38 [[ 4.98877768e-01 -8.66668586e-01 -2.55638954e-03 1.10818805e+02] [ 8.66658107e-01 4.98884310e-01 -4.26280336e-03 6.19121134e+01] [ 4.96978039e-03 -8.88978925e-05 9.99987647e-01 3.75066983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471858064 meters Centerline goodness [0,1] 0.9999774495433532 Centerline is valid? [True, True] Translation: X:110.83, Y:61.94, Z:0.37 [[ 4.96250262e-01 -8.68175708e-01 -2.57232341e-03 1.10833382e+02] [ 8.68165106e-01 4.96256919e-01 -4.29179449e-03 6.19372895e+01] [ 5.00256501e-03 -1.03397284e-04 9.99987482e-01 3.74281264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.85, Y:61.96, Z:0.37 [[ 4.94866472e-01 -8.68964402e-01 -2.83607822e-03 1.10848685e+02] [ 8.68951512e-01 4.94874584e-01 -4.73463363e-03 6.19623577e+01] [ 5.51773111e-03 -1.21403017e-04 9.99984770e-01 3.73949929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.86, Y:61.99, Z:0.37 [[ 4.93348865e-01 -8.69825398e-01 -3.26719949e-03 1.10864925e+02] [ 8.69808292e-01 4.93359661e-01 -5.45708821e-03 6.19851839e+01] [ 6.35861835e-03 -1.49588927e-04 9.99979773e-01 3.73361584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.88, Y:62.01, Z:0.37 [[ 4.90739573e-01 -8.71298511e-01 -3.68468085e-03 1.10880549e+02] [ 8.71276775e-01 4.90753369e-01 -6.15728513e-03 6.20093352e+01] [ 7.17310290e-03 -1.88753381e-04 9.99974255e-01 3.72350455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.90, Y:62.03, Z:0.37 [[ 4.89535698e-01 -8.71975771e-01 -3.61309633e-03 1.10895489e+02] [ 8.71954866e-01 4.89548994e-01 -6.04099791e-03 6.20345286e+01] [ 7.03639148e-03 -1.93172796e-04 9.99975226e-01 3.72433484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.91, Y:62.06, Z:0.37 [[ 4.88317307e-01 -8.72659106e-01 -3.50609789e-03 1.10914151e+02] [ 8.72639421e-01 4.88329854e-01 -5.86465173e-03 6.20563097e+01] [ 6.82997401e-03 -1.95748302e-04 9.99976656e-01 3.72150841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:62.08, Z:0.37 [[ 4.86845414e-01 -8.73484268e-01 -2.60324773e-03 1.10925782e+02] [ 8.73473420e-01 4.86852350e-01 -4.35595102e-03 6.20829137e+01] [ 5.07225196e-03 -1.53192918e-04 9.99987124e-01 3.74155673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.94, Y:62.11, Z:0.37 [[ 4.86755483e-01 -8.73535443e-01 -2.22041814e-03 1.10939812e+02] [ 8.73527543e-01 4.86760530e-01 -3.71719408e-03 6.21057664e+01] [ 4.32791269e-03 -1.30231800e-04 9.99990626e-01 3.74538827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.95, Y:62.13, Z:0.37 [[ 4.86545635e-01 -8.73652528e-01 -2.14613492e-03 1.10952514e+02] [ 8.73645141e-01 4.86550352e-01 -3.59485724e-03 6.21309590e+01] [ 4.18485882e-03 -1.25898242e-04 9.99991236e-01 3.74861041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.97, Y:62.15, Z:0.37 [[ 4.86853997e-01 -8.73481354e-01 -1.87363872e-03 1.10966269e+02] [ 8.73475716e-01 4.86857590e-01 -3.14016953e-03 6.21540134e+01] [ 3.65507477e-03 -1.07773832e-04 9.99993314e-01 3.74930048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.98, Y:62.18, Z:0.37 [[ 4.88003112e-01 -8.72840099e-01 -1.76736533e-03 1.10979310e+02] [ 8.72835074e-01 4.88006303e-01 -2.96350166e-03 6.21782518e+01] [ 3.44914850e-03 -9.64204170e-05 9.99994047e-01 3.74939508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:62.20, Z:0.37 [[ 4.88891416e-01 -8.72343018e-01 -1.68573126e-03 1.10993168e+02] [ 8.72338442e-01 4.88894315e-01 -2.82711174e-03 6.22036119e+01] [ 3.29035562e-03 -8.83775206e-05 9.99994583e-01 3.74640791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.01, Y:62.23, Z:0.37 [[ 4.90062278e-01 -8.71685450e-01 -1.85475719e-03 1.11006771e+02] [ 8.71679898e-01 4.90065779e-01 -3.11251374e-03 6.22291338e+01] [ 3.62208597e-03 -9.14289842e-05 9.99993436e-01 3.74474251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:62.26, Z:0.37 [[ 4.91152102e-01 -8.71071896e-01 -1.83445932e-03 1.11019506e+02] [ 8.71066454e-01 4.91155520e-01 -3.08017703e-03 6.22551230e+01] [ 3.58406047e-03 -8.51005554e-05 9.99993574e-01 3.73897300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.03, Y:62.28, Z:0.37 [[ 4.94377692e-01 -8.69244624e-01 -2.11697552e-03 1.11031108e+02] [ 8.69237351e-01 4.94382218e-01 -3.55680130e-03 6.22813718e+01] [ 4.13832546e-03 -8.17509734e-05 9.99991434e-01 3.72950794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.04, Y:62.31, Z:0.37 [[ 4.95629555e-01 -8.68530293e-01 -2.54442178e-03 1.11044844e+02] [ 8.68519763e-01 4.95636078e-01 -4.27770106e-03 6.23051906e+01] [ 4.97642019e-03 -8.97255269e-05 9.99987614e-01 3.72005191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.06, Y:62.33, Z:0.37 [[ 4.96957275e-01 -8.67770261e-01 -2.87074251e-03 1.11056436e+02] [ 8.67756829e-01 4.96965559e-01 -4.82901361e-03 6.23311177e+01] [ 5.61713456e-03 -9.12929682e-05 9.99984220e-01 3.71281999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.07, Y:62.36, Z:0.37 [[ 4.99344122e-01 -8.66396856e-01 -3.45481545e-03 1.11068249e+02] [ 8.66377345e-01 4.99356065e-01 -5.81527285e-03 6.23575889e+01] [ 6.76351716e-03 -8.93515221e-05 9.99977123e-01 3.70034278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.08, Y:62.38, Z:0.37 [[ 5.00275009e-01 -8.65860105e-01 -3.34590513e-03 1.11080950e+02] [ 8.65841770e-01 5.00286191e-01 -5.63524137e-03 6.23824500e+01] [ 6.55324082e-03 -7.78539955e-05 9.99978524e-01 3.70123122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:62.41, Z:0.37 [[ 5.02197017e-01 -8.64748531e-01 -2.85212147e-03 1.11093936e+02] [ 8.64735176e-01 5.02205113e-01 -4.80633549e-03 6.24075131e+01] [ 5.58862154e-03 -5.26024148e-05 9.99984382e-01 3.71014841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.11, Y:62.43, Z:0.37 [[ 5.02817772e-01 -8.64388754e-01 -2.52375057e-03 1.11107841e+02] [ 8.64378281e-01 5.02824104e-01 -4.25532761e-03 6.24307576e+01] [ 4.94725995e-03 -4.18208273e-05 9.99987761e-01 3.71510001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:62.46, Z:0.37 [[ 5.03492802e-01 -8.63996108e-01 -2.39246928e-03 1.11121426e+02] [ 8.63986681e-01 5.03498485e-01 -4.03619600e-03 6.24550478e+01] [ 4.69186230e-03 -3.48659565e-05 9.99988993e-01 3.71901018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.13, Y:62.48, Z:0.37 [[ 5.04617603e-01 -8.63340686e-01 -1.98364479e-03 1.11134056e+02] [ 8.63334194e-01 5.04621501e-01 -3.34823138e-03 6.24805329e+01] [ 3.89165419e-03 -2.29718814e-05 9.99992427e-01 3.72761025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.15, Y:62.50, Z:0.37 [[ 5.04949013e-01 -8.63147486e-01 -1.70666730e-03 1.11147901e+02] [ 8.63142673e-01 5.04951897e-01 -2.88230368e-03 6.25033940e+01] [ 3.34963807e-03 -1.76809797e-05 9.99994390e-01 3.73166715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:62.53, Z:0.37 [[ 5.05154464e-01 -8.63028055e-01 -1.24291280e-03 1.11161197e+02] [ 8.63025500e-01 5.05155993e-01 -2.09978324e-03 6.25277274e+01] [ 2.44003669e-03 -1.19505650e-05 9.99997023e-01 3.73811251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.17, Y:62.55, Z:0.37 [[ 5.05339480e-01 -8.62919931e-01 -1.09626633e-03 1.11174661e+02] [ 8.62917941e-01 5.05340669e-01 -1.85322335e-03 6.25510501e+01] [ 2.15317133e-03 -9.48095464e-06 9.99997682e-01 3.74322067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251858064 meters Centerline goodness [0,1] 0.9999776890296959 Centerline is valid? [True, True] Translation: X:111.19, Y:62.58, Z:0.37 [[ 5.06172537e-01 -8.62431698e-01 -9.63993838e-04 1.11187690e+02] [ 8.62430157e-01 5.06173455e-01 -1.63000339e-03 6.25750720e+01] [ 1.89371468e-03 -6.31440725e-06 9.99998207e-01 3.73822331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.20, Y:62.60, Z:0.37 [[ 5.06290214e-01 -8.62362347e-01 -1.18384431e-03 1.11201877e+02] [ 8.62360021e-01 5.06291598e-01 -2.00319968e-03 6.25992155e+01] [ 2.32685440e-03 -6.69961242e-06 9.99997293e-01 3.73535689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311858064 meters Centerline goodness [0,1] 0.999977647137716 Centerline is valid? [True, True] Translation: X:111.22, Y:62.62, Z:0.37 [[ 5.06402507e-01 -8.62295883e-01 -1.52012288e-03 1.11216107e+02] [ 8.62292040e-01 5.06404789e-01 -2.57436820e-03 6.26238939e+01] [ 2.98966461e-03 -7.12335217e-06 9.99995531e-01 3.72987503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:62.65, Z:0.37 [[ 5.06286587e-01 -8.62362314e-01 -2.26518202e-03 1.11229245e+02] [ 8.62353767e-01 5.06291655e-01 -3.83944397e-03 6.26474560e+01] [ 4.45783454e-03 -9.52925826e-06 9.99990064e-01 3.71651880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.24, Y:62.67, Z:0.37 [[ 5.05554814e-01 -8.62790867e-01 -2.50019031e-03 1.11243447e+02] [ 8.62780446e-01 5.05560996e-01 -4.24045622e-03 6.26713800e+01] [ 4.92262560e-03 -1.33322560e-05 9.99987884e-01 3.71155783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401858064 meters Centerline goodness [0,1] 0.9999775829989463 Centerline is valid? [True, True] Translation: X:111.26, Y:62.69, Z:0.37 [[ 5.04819125e-01 -8.63221636e-01 -2.46123332e-03 1.11257864e+02] [ 8.63211531e-01 5.04825125e-01 -4.17691629e-03 6.26939838e+01] [ 4.84809693e-03 -1.59777576e-05 9.99988248e-01 3.71306228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431858064 meters Centerline goodness [0,1] 0.9998880304557161 Centerline is valid? [True, True] Translation: X:111.27, Y:62.72, Z:0.37 [[ 5.02303217e-01 -8.64687508e-01 -2.64409860e-03 1.11273712e+02] [ 8.64675852e-01 5.02310175e-01 -4.48992840e-03 6.27168695e+01] [ 5.21054263e-03 -3.09827348e-05 9.99986425e-01 3.71623631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:62.74, Z:0.37 [[ 5.00741081e-01 -8.65593520e-01 -2.49580111e-03 1.11288446e+02] [ 8.65583134e-01 5.00747299e-01 -4.24040748e-03 6.27397546e+01] [ 4.92023490e-03 -3.69771262e-05 9.99987895e-01 3.71613935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49185806399998 meters Centerline goodness [0,1] 0.999977536671384 Centerline is valid? [True, True] Translation: X:111.30, Y:62.76, Z:0.37 [[ 4.98803255e-01 -8.66711656e-01 -2.49346721e-03 1.11303223e+02] [ 8.66701292e-01 4.98809486e-01 -4.23889618e-03 6.27642811e+01] [ 4.91766583e-03 -4.67160364e-05 9.99987907e-01 3.71876680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.32, Y:62.79, Z:0.37 [[ 4.94823730e-01 -8.68989692e-01 -2.52803974e-03 1.11321287e+02] [ 8.68979056e-01 4.94830183e-01 -4.30003389e-03 6.27861486e+01] [ 4.98763549e-03 -6.90547835e-05 9.99987559e-01 3.71661166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:62.81, Z:0.37 [[ 4.92457619e-01 -8.70333131e-01 -2.39456454e-03 1.11336045e+02] [ 8.70323596e-01 4.92463435e-01 -4.07470923e-03 6.28111889e+01] [ 4.72558992e-03 -7.74244190e-05 9.99988831e-01 3.71965199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581858064 meters Centerline goodness [0,1] 0.999977458693055 Centerline is valid? [True, True] Translation: X:111.35, Y:62.84, Z:0.37 [[ 4.90330504e-01 -8.71533490e-01 -2.31771027e-03 1.11351483e+02] [ 8.71524561e-01 4.90335974e-01 -3.94605749e-03 6.28353017e+01] [ 4.57557798e-03 -8.50690704e-05 9.99989528e-01 3.71799391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:62.86, Z:0.37 [[ 4.86084550e-01 -8.73908770e-01 -2.29591822e-03 1.11368230e+02] [ 8.73900025e-01 4.86089961e-01 -3.91111594e-03 6.28583463e+01] [ 4.53398132e-03 -1.05269958e-04 9.99989716e-01 3.71823579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:62.88, Z:0.37 [[ 4.85843499e-01 -8.74042806e-01 -2.29493809e-03 1.11382138e+02] [ 8.74034060e-01 4.85848908e-01 -3.91169101e-03 6.28821930e+01] [ 4.53397855e-03 -1.05384409e-04 9.99989716e-01 3.71917429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.40, Y:62.91, Z:0.37 [[ 4.84092103e-01 -8.75014132e-01 -2.25925941e-03 1.11397555e+02] [ 8.75005655e-01 4.84097362e-01 -3.85320785e-03 6.29051078e+01] [ 4.46531285e-03 -1.11557270e-04 9.99990024e-01 3.72040209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:62.93, Z:0.37 [[ 4.82628844e-01 -8.75822526e-01 -2.07392167e-03 1.11412799e+02] [ 8.75815383e-01 4.82633288e-01 -3.53882595e-03 6.29282078e+01] [ 4.10032712e-03 -1.08433022e-04 9.99991588e-01 3.72313242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.43, Y:62.95, Z:0.37 [[ 4.80616445e-01 -8.76928722e-01 -1.96208382e-03 1.11426942e+02] [ 8.76922333e-01 4.80620437e-01 -3.34931093e-03 6.29532229e+01] [ 3.88012454e-03 -1.10861207e-04 9.99992466e-01 3.72915507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761858064 meters Centerline goodness [0,1] 0.9999775159636658 Centerline is valid? [True, True] Translation: X:111.44, Y:62.98, Z:0.37 [[ 4.80148931e-01 -8.77184713e-01 -1.99599033e-03 1.11440750e+02] [ 8.77178095e-01 4.80153066e-01 -3.40919950e-03 6.29778003e+01] [ 3.94887856e-03 -1.13915496e-04 9.99992197e-01 3.73372189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791858064 meters Centerline goodness [0,1] 0.9999775098956459 Centerline is valid? [True, True] Translation: X:111.45, Y:63.00, Z:0.37 [[ 4.79733887e-01 -8.77412214e-01 -1.79019831e-03 1.11454271e+02] [ 8.77406886e-01 4.79737216e-01 -3.05938981e-03 6.30028207e+01] [ 3.54317074e-03 -1.03039361e-04 9.99993718e-01 3.73454568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821858064 meters Centerline goodness [0,1] 0.9999775784753363 Centerline is valid? [True, True] Translation: X:111.47, Y:63.03, Z:0.37 [[ 4.80028149e-01 -8.77251389e-01 -1.72517886e-03 1.11465419e+02] [ 8.77246434e-01 4.80031240e-01 -2.95000445e-03 6.30271878e+01] [ 3.41603525e-03 -9.73218264e-05 9.99994161e-01 3.72806234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851858064 meters Centerline goodness [0,1] 0.9999776226279986 Centerline is valid? [True, True] Translation: X:111.48, Y:63.05, Z:0.37 [[ 4.80183310e-01 -8.77166380e-01 -1.76930540e-03 1.11477370e+02] [ 8.77161162e-01 4.80186559e-01 -3.02740172e-03 6.30525597e+01] [ 3.50513169e-03 -9.82582047e-05 9.99993852e-01 3.72929315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:63.08, Z:0.37 [[ 4.80633655e-01 -8.76920084e-01 -1.56698135e-03 1.11490694e+02] [ 8.76915985e-01 4.80636202e-01 -2.68264034e-03 6.30759520e+01] [ 3.10560915e-03 -8.47437630e-05 9.99995174e-01 3.72756471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:63.10, Z:0.37 [[ 4.80585524e-01 -8.76946881e-01 -1.31195138e-03 1.11503147e+02] [ 8.76944005e-01 4.80587310e-01 -2.24715605e-03 6.31006862e+01] [ 2.60114367e-03 -7.05572306e-05 9.99996615e-01 3.73363301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941858064 meters Centerline goodness [0,1] 0.9998663667342257 Centerline is valid? [True, True] Translation: X:111.51, Y:63.13, Z:0.37 [[ 4.80533785e-01 -8.76975921e-01 -7.17166044e-04 1.11514241e+02] [ 8.76975062e-01 4.80534319e-01 -1.22826738e-03 6.31255809e+01] [ 1.42178381e-03 -3.87127636e-05 9.99998989e-01 3.74387728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:63.15, Z:0.38 [[ 4.80837882e-01 -8.76809459e-01 -3.21954939e-04 1.11526784e+02] [ 8.76809287e-01 4.80837989e-01 -5.50839348e-04 6.31510076e+01] [ 6.37789316e-04 -1.74286554e-05 9.99999796e-01 3.75700068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:63.18, Z:0.38 [[ 4.81754132e-01 -8.76306319e-01 4.38704085e-04 1.11532183e+02] [ 8.76305993e-01 4.81754331e-01 7.55208024e-04 6.31804484e+01] [-8.73141157e-04 2.06144330e-05 9.99999619e-01 3.76211922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.55, Y:63.20, Z:0.38 [[ 4.82575705e-01 -8.75853952e-01 7.36620478e-04 1.11548260e+02] [ 8.75853037e-01 4.82576266e-01 1.26703223e-03 6.32027763e+01] [-1.46521075e-03 3.37323095e-05 9.99998926e-01 3.77934051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:63.23, Z:0.38 [[ 4.83126682e-01 -8.75550232e-01 6.33667736e-04 1.11560287e+02] [ 8.75549552e-01 4.83127096e-01 1.09101165e-03 6.32287229e+01] [-1.26137756e-03 2.77106628e-05 9.99999204e-01 3.77797388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.57, Y:63.26, Z:0.38 [[ 4.84522661e-01 -8.74778685e-01 -2.08492952e-04 1.11569262e+02] [ 8.74778612e-01 4.84522706e-01 -3.56990718e-04 6.32551643e+01] [ 4.13307440e-04 -9.41508177e-06 9.99999915e-01 3.75621388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:63.28, Z:0.37 [[ 4.85043444e-01 -8.74489861e-01 -5.83627548e-04 1.11580847e+02] [ 8.74489286e-01 4.85043794e-01 -1.00277719e-03 6.32805811e+01] [ 1.16000340e-03 -2.39855370e-05 9.99999327e-01 3.74338378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:63.30, Z:0.37 [[ 4.85175731e-01 -8.74416115e-01 -9.84372892e-04 1.11592387e+02] [ 8.74414476e-01 4.85176728e-01 -1.69332948e-03 6.33048109e+01] [ 1.95826940e-03 -3.91875388e-05 9.99998082e-01 3.73174236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:63.33, Z:0.37 [[ 4.85726323e-01 -8.74109067e-01 -1.81074142e-03 1.11598767e+02] [ 8.74103507e-01 4.85729694e-01 -3.11836103e-03 6.33335306e+01] [ 3.60531852e-03 -6.81053912e-05 9.99993499e-01 3.71849231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:63.36, Z:0.37 [[ 4.85702301e-01 -8.74121592e-01 -2.17180467e-03 1.11611388e+02] [ 8.74113583e-01 4.85707150e-01 -3.74284945e-03 6.33590220e+01] [ 4.32656657e-03 -8.04933740e-05 9.99990637e-01 3.71460440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.63, Y:63.38, Z:0.37 [[ 4.85674899e-01 -8.74136403e-01 -2.33276973e-03 1.11627651e+02] [ 8.74127150e-01 4.85680494e-01 -4.02284880e-03 6.33810121e+01] [ 4.64949933e-03 -8.53406742e-05 9.99989187e-01 3.70808062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:63.41, Z:0.37 [[ 4.85638842e-01 -8.74156273e-01 -2.39277398e-03 1.11636124e+02] [ 8.74146527e-01 4.85644729e-01 -4.12871514e-03 6.34091311e+01] [ 4.77118031e-03 -8.65706183e-05 9.99988614e-01 3.70953564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301858064 meters Centerline goodness [0,1] 0.9999344649059572 Centerline is valid? [True, True] Translation: X:111.65, Y:63.43, Z:0.37 [[ 4.85197490e-01 -8.74401188e-01 -2.44115165e-03 1.11647331e+02] [ 8.74391035e-01 4.85203622e-01 -4.21448496e-03 6.34336220e+01] [ 4.86960628e-03 -8.96635986e-05 9.99988139e-01 3.71259406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.331858064 meters Centerline goodness [0,1] 0.999978192127358 Centerline is valid? [True, True] Translation: X:111.66, Y:63.46, Z:0.37 [[ 4.84582142e-01 -8.74742755e-01 -2.29334168e-03 1.11660260e+02] [ 8.74733791e-01 4.84587561e-01 -3.96108244e-03 6.34590127e+01] [ 4.57625302e-03 -8.65936443e-05 9.99989525e-01 3.71320448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361858064 meters Centerline goodness [0,1] 0.9999350761772853 Centerline is valid? [True, True] Translation: X:111.67, Y:63.48, Z:0.37 [[ 4.83538376e-01 -8.75318812e-01 -2.75982471e-03 1.11671742e+02] [ 8.75305823e-01 4.83546240e-01 -4.76967528e-03 6.34835878e+01] [ 5.50948935e-03 -1.09369595e-04 9.99984817e-01 3.70900516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:63.51, Z:0.37 [[ 4.82484293e-01 -8.75899290e-01 -3.05609419e-03 1.11682925e+02] [ 8.75883360e-01 4.82493955e-01 -5.28427459e-03 6.35102680e+01] [ 6.10303934e-03 -1.27202554e-04 9.99981368e-01 3.70853976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:63.54, Z:0.37 [[ 4.81288896e-01 -8.76556097e-01 -3.22600314e-03 1.11695432e+02] [ 8.76538339e-01 4.81299687e-01 -5.58133733e-03 6.35364101e+01] [ 6.44502957e-03 -1.41479758e-04 9.99979221e-01 3.70667939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.71, Y:63.56, Z:0.37 [[ 4.78762058e-01 -8.77939457e-01 -3.03329855e-03 1.11708579e+02] [ 8.77923767e-01 4.78771644e-01 -5.25086174e-03 6.35626482e+01] [ 6.06219604e-03 -1.49091513e-04 9.99981614e-01 3.70158410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:63.59, Z:0.37 [[ 4.77516187e-01 -8.78618479e-01 -2.80336034e-03 1.11722961e+02] [ 8.78605077e-01 4.77524394e-01 -4.85502493e-03 6.35870471e+01] [ 5.60438757e-03 -1.44693638e-04 9.99984285e-01 3.70858591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:63.61, Z:0.37 [[ 4.76849667e-01 -8.78980992e-01 -2.60967124e-03 1.11735403e+02] [ 8.78969374e-01 4.76856788e-01 -4.52147569e-03 6.36122088e+01] [ 5.21873064e-03 -1.37756919e-04 9.99986373e-01 3.71321170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:63.64, Z:0.37 [[ 4.76619736e-01 -8.79106229e-01 -2.42186446e-03 1.11745769e+02] [ 8.79096212e-01 4.76625872e-01 -4.19859025e-03 6.36382082e+01] [ 4.84533010e-03 -1.27920893e-04 9.99988253e-01 3.71575158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571858064 meters Centerline goodness [0,1] 0.9999351771823682 Centerline is valid? [True, True] Translation: X:111.76, Y:63.66, Z:0.37 [[ 4.77195894e-01 -8.78793775e-01 -2.36236727e-03 1.11758425e+02] [ 8.78784228e-01 4.77201726e-01 -4.09786335e-03 6.36628438e+01] [ 4.72850254e-03 -1.20527536e-04 9.99988813e-01 3.71392598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601858064 meters Centerline goodness [0,1] 0.9999568742452993 Centerline is valid? [True, True] Translation: X:111.77, Y:63.69, Z:0.37 [[ 4.79409273e-01 -8.77588191e-01 -2.39081363e-03 1.11768182e+02] [ 8.77578388e-01 4.79415222e-01 -4.14935853e-03 6.36904813e+01] [ 4.78762049e-03 -1.08885415e-04 9.99988533e-01 3.71907480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:63.72, Z:0.37 [[ 4.81092547e-01 -8.76666637e-01 -2.35968362e-03 1.11780682e+02] [ 8.76657067e-01 4.81098324e-01 -4.09759721e-03 6.37170111e+01] [ 4.72746660e-03 -9.73098422e-05 9.99988821e-01 3.71825706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:63.74, Z:0.37 [[ 4.82847871e-01 -8.75701051e-01 -2.36697895e-03 1.11793055e+02] [ 8.75691399e-01 4.82853664e-01 -4.11250501e-03 6.37438200e+01] [ 4.74422942e-03 -8.70288220e-05 9.99988742e-01 3.72132277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.80, Y:63.77, Z:0.37 [[ 4.87506557e-01 -8.73114636e-01 -2.86173737e-03 1.11800578e+02] [ 8.73100464e-01 4.87514951e-01 -4.97515939e-03 6.37721685e+01] [ 5.73902424e-03 -7.31614019e-05 9.99983529e-01 3.71101121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:63.80, Z:0.37 [[ 4.89560557e-01 -8.71964159e-01 -2.99437709e-03 1.11811465e+02] [ 8.71948602e-01 4.89569711e-01 -5.20903054e-03 6.37988574e+01] [ 6.00804426e-03 -6.08070272e-05 9.99981950e-01 3.70503789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751858064 meters Centerline goodness [0,1] 0.9998925262773252 Centerline is valid? [True, True] Translation: X:111.82, Y:63.82, Z:0.37 [[ 4.91323097e-01 -8.70972111e-01 -3.03261439e-03 1.11823684e+02] [ 8.70956116e-01 4.91332454e-01 -5.27865243e-03 6.38234160e+01] [ 6.08758092e-03 -4.77501942e-05 9.99981469e-01 3.69939788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781858064 meters Centerline goodness [0,1] 0.9999784175767256 Centerline is valid? [True, True] Translation: X:111.83, Y:63.85, Z:0.37 [[ 4.93496250e-01 -8.69744698e-01 -2.36895781e-03 1.11834258e+02] [ 8.69734914e-01 4.93501935e-01 -4.12535850e-03 6.38509615e+01] [ 4.75709395e-03 -2.45163691e-05 9.99988685e-01 3.71384708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.85, Y:63.87, Z:0.37 [[ 4.93907507e-01 -8.69512472e-01 -1.85358536e-03 1.11846560e+02] [ 8.69506475e-01 4.93910985e-01 -3.22935646e-03 6.38748428e+01] [ 3.72347189e-03 -1.67010781e-05 9.99993068e-01 3.72191491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841858064 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:111.86, Y:63.90, Z:0.37 [[ 4.94368888e-01 -8.69251424e-01 -1.16811634e-03 1.11858530e+02] [ 8.69249041e-01 4.94370268e-01 -2.03542659e-03 6.38987881e+01] [ 2.34677945e-03 -9.13243030e-06 9.99997246e-01 3.73147679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.87, Y:63.92, Z:0.37 [[ 4.94484522e-01 -8.69185701e-01 -1.12901011e-03 1.11872223e+02] [ 8.69183472e-01 4.94485811e-01 -1.96830100e-03 6.39230314e+01] [ 2.26909856e-03 -8.02254738e-06 9.99997426e-01 3.73506055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:63.95, Z:0.37 [[ 4.94622041e-01 -8.69107563e-01 -1.03955928e-03 1.11886060e+02] [ 8.69105671e-01 4.94623133e-01 -1.81340050e-03 6.39475189e+01] [ 2.09023015e-03 -6.53901453e-06 9.99997815e-01 3.73849308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.90, Y:63.97, Z:0.37 [[ 4.94756260e-01 -8.69031228e-01 -9.84001695e-04 1.11899427e+02] [ 8.69029530e-01 4.94757239e-01 -1.71751515e-03 6.39717386e+01] [ 1.97941626e-03 -5.37516052e-06 9.99998041e-01 3.74070056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:64.00, Z:0.37 [[ 4.95551045e-01 -8.68578289e-01 -9.57806116e-04 1.11911030e+02] [ 8.68576678e-01 4.95551971e-01 -1.67311230e-03 6.39960587e+01] [ 1.92787173e-03 -2.81550527e-06 9.99998142e-01 3.73658872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:64.02, Z:0.37 [[ 4.95919733e-01 -8.68367959e-01 -8.39776200e-04 1.11923941e+02] [ 8.68366720e-01 4.95920444e-01 -1.46712026e-03 6.40213482e+01] [ 1.69046241e-03 -1.65981680e-06 9.99998571e-01 3.73309607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.94, Y:64.05, Z:0.37 [[ 4.96497411e-01 -8.68037747e-01 -8.89057275e-04 1.11937108e+02] [ 8.68036355e-01 4.96498207e-01 -1.55435479e-03 6.40465662e+01] [ 1.79065397e-03 -9.09289711e-10 9.99998397e-01 3.73576687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:64.07, Z:0.37 [[ 4.97462442e-01 -8.67485074e-01 -8.74255074e-04 1.11950158e+02] [ 8.67483726e-01 4.97463211e-01 -1.52942950e-03 6.40717616e+01] [ 1.76166700e-03 2.43168645e-06 9.99998448e-01 3.73598959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.96, Y:64.10, Z:0.37 [[ 4.97958789e-01 -8.67200167e-01 -9.55944539e-04 1.11963878e+02] [ 8.67198553e-01 4.97959707e-01 -1.67361615e-03 6.40964226e+01] [ 1.92738207e-03 4.39815164e-06 9.99998143e-01 3.73297095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:64.12, Z:0.37 [[ 4.98233249e-01 -8.67041700e-01 -1.52286259e-03 1.11977834e+02] [ 8.67037592e-01 4.98235576e-01 -2.66902613e-03 6.41205620e+01] [ 3.07290127e-03 9.41844583e-06 9.99995279e-01 3.73101487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.99, Y:64.14, Z:0.37 [[ 4.98696020e-01 -8.66774096e-01 -2.22403447e-03 1.11991445e+02] [ 8.66765317e-01 4.98700979e-01 -3.90120028e-03 6.41441295e+01] [ 4.49058752e-03 1.77971185e-05 9.99989917e-01 3.72422223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:64.17, Z:0.37 [[ 4.98437638e-01 -8.66922252e-01 -2.39383462e-03 1.12005894e+02] [ 8.66912073e-01 4.98443386e-01 -4.20107317e-03 6.41678624e+01] [ 4.83519485e-03 1.87288590e-05 9.99988310e-01 3.72055921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201858064 meters Centerline goodness [0,1] 0.9999569485104185 Centerline is valid? [True, True] Translation: X:112.02, Y:64.19, Z:0.37 [[ 4.97451740e-01 -8.67486902e-01 -2.87081827e-03 1.12021998e+02] [ 8.67472250e-01 4.97460023e-01 -5.04182948e-03 6.41914638e+01] [ 5.80183836e-03 1.77116663e-05 9.99983169e-01 3.71417851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.04, Y:64.21, Z:0.37 [[ 4.96557031e-01 -8.67998970e-01 -2.98369933e-03 1.12037236e+02] [ 8.67983132e-01 4.96565995e-01 -5.24358666e-03 6.42147822e+01] [ 6.03303145e-03 1.39391383e-05 9.99981801e-01 3.71668370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:64.24, Z:0.37 [[ 4.95695416e-01 -8.68491241e-01 -3.00316076e-03 1.12052804e+02] [ 8.68475183e-01 4.95704513e-01 -5.28129248e-03 6.42383481e+01] [ 6.07543660e-03 9.74188666e-06 9.99981544e-01 3.71934099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.07, Y:64.26, Z:0.37 [[ 4.94811703e-01 -8.68995457e-01 -2.87634401e-03 1.12068468e+02] [ 8.68980717e-01 4.94820063e-01 -5.06153279e-03 6.42619863e+01] [ 5.82172173e-03 5.01818341e-06 9.99983054e-01 3.72232440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:64.29, Z:0.37 [[ 4.94069437e-01 -8.69417914e-01 -2.80769311e-03 1.12083927e+02] [ 8.69403857e-01 4.94077414e-01 -4.94394940e-03 6.42854852e+01] [ 5.68557593e-03 1.63507717e-06 9.99983837e-01 3.72340192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.10, Y:64.31, Z:0.37 [[ 4.93253043e-01 -8.69881250e-01 -2.83671274e-03 1.12100672e+02] [ 8.69866889e-01 4.93261200e-01 -4.99838769e-03 6.43082015e+01] [ 5.74724406e-03 -2.09254809e-06 9.99983484e-01 3.72467402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381858064 meters Centerline goodness [0,1] 0.9999784659115379 Centerline is valid? [True, True] Translation: X:112.12, Y:64.33, Z:0.37 [[ 4.92952970e-01 -8.70051170e-01 -2.88617946e-03 1.12115505e+02] [ 8.70036288e-01 4.92961419e-01 -5.08880915e-03 6.43310060e+01] [ 5.85029948e-03 -2.53727705e-06 9.99982887e-01 3.72852485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:64.35, Z:0.37 [[ 4.92798755e-01 -8.70138864e-01 -2.78300382e-03 1.12130350e+02] [ 8.70125011e-01 4.92806613e-01 -4.90989257e-03 6.43545474e+01] [ 5.64377103e-03 -1.97228457e-06 9.99984074e-01 3.73755827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441858064 meters Centerline goodness [0,1] 0.9998275378877702 Centerline is valid? [True, True] Translation: X:112.15, Y:64.38, Z:0.37 [[ 4.92471407e-01 -8.70323714e-01 -2.92345843e-03 1.12146157e+02] [ 8.70308411e-01 4.92480084e-01 -5.16109007e-03 6.43772642e+01] [ 5.93156413e-03 -2.62117123e-06 9.99982408e-01 3.73578828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471858064 meters Centerline goodness [0,1] 0.9999783984619705 Centerline is valid? [True, True] Translation: X:112.16, Y:64.40, Z:0.37 [[ 4.92048052e-01 -8.70562246e-01 -3.17661859e-03 1.12161173e+02] [ 8.70544159e-01 4.92058306e-01 -5.61168786e-03 6.44007012e+01] [ 6.44840514e-03 -4.16667571e-06 9.99979209e-01 3.73793395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:64.42, Z:0.37 [[ 4.91257638e-01 -8.71008544e-01 -3.17002347e-03 1.12178051e+02] [ 8.70990518e-01 4.91267865e-01 -5.60369841e-03 6.44237383e+01] [ 6.43819986e-03 -8.20074318e-06 9.99979275e-01 3.74952810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531858064 meters Centerline goodness [0,1] 0.9999134274088823 Centerline is valid? [True, True] Translation: X:112.19, Y:64.45, Z:0.38 [[ 4.90807271e-01 -8.71263304e-01 -2.91168785e-03 1.12192813e+02] [ 8.71248082e-01 4.90815908e-01 -5.15010111e-03 6.44463785e+01] [ 5.91619682e-03 -9.09538653e-06 9.99982499e-01 3.75535022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561858064 meters Centerline goodness [0,1] 0.9999783446662913 Centerline is valid? [True, True] Translation: X:112.21, Y:64.47, Z:0.38 [[ 4.90487646e-01 -8.71442475e-01 -3.14348539e-03 1.12208003e+02] [ 8.71424715e-01 4.90497719e-01 -5.56367191e-03 6.44704860e+01] [ 6.39029243e-03 -1.03985243e-05 9.99979582e-01 3.76268342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591858064 meters Centerline goodness [0,1] 0.9999783446662913 Centerline is valid? [True, True] Translation: X:112.22, Y:64.49, Z:0.38 [[ 4.90244659e-01 -8.71579201e-01 -3.14193305e-03 1.12221504e+02] [ 8.71561437e-01 4.90254727e-01 -5.56454854e-03 6.44945361e+01] [ 6.39029230e-03 -1.03974886e-05 9.99979582e-01 3.76362120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:64.52, Z:0.38 [[ 4.89741652e-01 -8.71861430e-01 -3.28042272e-03 1.12236343e+02] [ 8.71842046e-01 4.89752639e-01 -5.81369029e-03 6.45183132e+01] [ 6.67532801e-03 -1.28041661e-05 9.99977720e-01 3.76355320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.25, Y:64.54, Z:0.38 [[ 4.89602070e-01 -8.71937513e-01 -3.84531934e-03 1.12252202e+02] [ 8.71910844e-01 4.89617170e-01 -6.81957026e-03 6.45415631e+01] [ 7.82897350e-03 -1.38999191e-05 9.99969353e-01 3.75143226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681858064 meters Centerline goodness [0,1] 0.9998918404430216 Centerline is valid? [True, True] Translation: X:112.27, Y:64.57, Z:0.37 [[ 4.89390388e-01 -8.72053611e-01 -4.42124592e-03 1.12267711e+02] [ 8.72018312e-01 4.89410358e-01 -7.84629065e-03 6.45651801e+01] [ 9.00618965e-03 -1.55081814e-05 9.99959443e-01 3.74431940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711858064 meters Centerline goodness [0,1] 0.999934725848564 Centerline is valid? [True, True] Translation: X:112.29, Y:64.59, Z:0.37 [[ 4.88712534e-01 -8.72431263e-01 -4.87345142e-03 1.12285430e+02] [ 8.72388339e-01 4.88736832e-01 -8.65422231e-03 6.45861970e+01] [ 9.93204930e-03 -2.21152744e-05 9.99950676e-01 3.73987255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74185806399998 meters Centerline goodness [0,1] 0.9999781887977666 Centerline is valid? [True, True] Translation: X:112.30, Y:64.61, Z:0.37 [[ 4.88117299e-01 -8.72763936e-01 -4.96132613e-03 1.12302008e+02] [ 8.72719411e-01 4.88142512e-01 -8.81572987e-03 6.46096170e+01] [ 1.01158853e-02 -2.67353659e-05 9.99948833e-01 3.74373955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77185806399999 meters Centerline goodness [0,1] 0.9999344333952573 Centerline is valid? [True, True] Translation: X:112.32, Y:64.63, Z:0.38 [[ 4.87481813e-01 -8.73118856e-01 -4.99449883e-03 1.12317850e+02] [ 8.73073694e-01 4.87507397e-01 -8.88050122e-03 6.46325732e+01] [ 1.01885882e-02 -3.14827068e-05 9.99948094e-01 3.75199761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801858064 meters Centerline goodness [0,1] 0.9999126999716275 Centerline is valid? [True, True] Translation: X:112.34, Y:64.65, Z:0.37 [[ 4.87478480e-01 -8.73118193e-01 -5.41781802e-03 1.12335543e+02] [ 8.73064982e-01 4.87508585e-01 -9.63935316e-03 6.46540900e+01] [ 1.10575274e-02 -3.11299604e-05 9.99938863e-01 3.74771335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.831858064 meters Centerline goodness [0,1] 0.9999342955386671 Centerline is valid? [True, True] Translation: X:112.35, Y:64.68, Z:0.38 [[ 4.87816385e-01 -8.72929511e-01 -5.40771423e-03 1.12350860e+02] [ 8.72876419e-01 4.87846357e-01 -9.62756229e-03 6.46778046e+01] [ 1.10423169e-02 -2.37835969e-05 9.99939031e-01 3.75079468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861858064 meters Centerline goodness [0,1] 0.999978069213562 Centerline is valid? [True, True] Translation: X:112.37, Y:64.70, Z:0.38 [[ 4.88404454e-01 -8.72599718e-01 -5.55170364e-03 1.12366328e+02] [ 8.72543664e-01 4.88436006e-01 -9.89048293e-03 6.47017773e+01] [ 1.13420846e-02 -1.35479246e-05 9.99935676e-01 3.75436800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.891858064 meters Centerline goodness [0,1] 0.9999780200457183 Centerline is valid? [True, True] Translation: X:112.38, Y:64.72, Z:0.38 [[ 4.90479470e-01 -8.71437814e-01 -5.10148201e-03 1.12382597e+02] [ 8.71390374e-01 4.90505999e-01 -9.09293801e-03 6.47232445e+01] [ 1.04262376e-02 1.45171001e-05 9.99945645e-01 3.76741193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921858064 meters Centerline goodness [0,1] 0.9999559733198318 Centerline is valid? [True, True] Translation: X:112.40, Y:64.75, Z:0.38 [[ 4.91340657e-01 -8.70953917e-01 -4.86146188e-03 1.12397833e+02] [ 8.70910761e-01 4.91364706e-01 -8.67013667e-03 6.47470703e+01] [ 9.94004028e-03 2.60911789e-05 9.99950596e-01 3.77705404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951858064 meters Centerline goodness [0,1] 0.9999339498018494 Centerline is valid? [True, True] Translation: X:112.41, Y:64.77, Z:0.38 [[ 4.92474442e-01 -8.70313830e-01 -4.77090238e-03 1.12413993e+02] [ 8.70272183e-01 4.92497549e-01 -8.51421527e-03 6.47705819e+01] [ 9.75969703e-03 4.10497845e-05 9.99952372e-01 3.77747769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981858064 meters Centerline goodness [0,1] 0.9999559655650719 Centerline is valid? [True, True] Translation: X:112.43, Y:64.79, Z:0.38 [[ 4.92636387e-01 -8.70222902e-01 -4.63591829e-03 1.12428464e+02] [ 8.70183526e-01 4.92658197e-01 -8.27840020e-03 6.47933990e+01] [ 9.48797659e-03 4.41414418e-05 9.99954987e-01 3.77346779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.011858064 meters Centerline goodness [0,1] 0.9999556354118143 Centerline is valid? [True, True] Translation: X:112.44, Y:64.82, Z:0.38 [[ 4.92511350e-01 -8.70291926e-01 -4.95314861e-03 1.12443679e+02] [ 8.70246922e-01 4.92536254e-01 -8.85064672e-03 6.48168499e+01] [ 1.01422516e-02 4.85816292e-05 9.99948565e-01 3.76790114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.46, Y:64.84, Z:0.38 [[ 4.92055414e-01 -8.70549014e-01 -5.08756910e-03 1.12459158e+02] [ 8.70501485e-01 4.92081713e-01 -9.09688432e-03 6.48403310e+01] [ 1.04227834e-02 4.74347282e-05 9.99945680e-01 3.77022069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071858064 meters Centerline goodness [0,1] 0.9999109726240819 Centerline is valid? [True, True] Translation: X:112.48, Y:64.86, Z:0.38 [[ 4.91553105e-01 -8.70825622e-01 -6.18725903e-03 1.12476842e+02] [ 8.70755250e-01 4.91592040e-01 -1.10706790e-02 6.48630968e+01] [ 1.26822382e-02 5.42383424e-05 9.99919576e-01 3.76281383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101858064 meters Centerline goodness [0,1] 0.9999333851448873 Centerline is valid? [True, True] Translation: X:112.49, Y:64.89, Z:0.38 [[ 4.91100663e-01 -8.71077757e-01 -6.60905858e-03 1.12491461e+02] [ 8.70997423e-01 4.91145129e-01 -1.18301300e-02 6.48855114e+01] [ 1.35509701e-02 5.33117086e-05 9.99908180e-01 3.75898205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131858064 meters Centerline goodness [0,1] 0.9999331684822562 Centerline is valid? [True, True] Translation: X:112.51, Y:64.91, Z:0.38 [[ 4.90038477e-01 -8.71669428e-01 -7.39588199e-03 1.12507875e+02] [ 8.71568778e-01 4.90094283e-01 -1.32460792e-02 6.49088137e+01] [ 1.51708817e-02 4.50686252e-05 9.99884915e-01 3.75036532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:64.93, Z:0.37 [[ 4.88738976e-01 -8.72398082e-01 -7.46990862e-03 1.12522200e+02] [ 8.72295358e-01 4.88796057e-01 -1.33873891e-02 6.49325431e+01] [ 1.53303944e-02 2.69722040e-05 9.99882482e-01 3.74348482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191858064 meters Centerline goodness [0,1] 0.9999777396879104 Centerline is valid? [True, True] Translation: X:112.54, Y:64.96, Z:0.37 [[ 4.87440440e-01 -8.73123618e-01 -7.54747712e-03 1.12537002e+02] [ 8.73018699e-01 4.87498869e-01 -1.35352887e-02 6.49560907e+01] [ 1.54973668e-02 8.55842150e-06 9.99879909e-01 3.74079070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221858064 meters Centerline goodness [0,1] 0.9998882506760834 Centerline is valid? [True, True] Translation: X:112.55, Y:64.98, Z:0.37 [[ 4.85768558e-01 -8.74055668e-01 -7.45631141e-03 1.12551991e+02] [ 8.73953255e-01 4.85825780e-01 -1.33798149e-02 6.49787543e+01] [ 1.53171714e-02 -1.69742180e-05 9.99882685e-01 3.73589921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:65.00, Z:0.38 [[ 4.82131826e-01 -8.76069719e-01 -7.12391022e-03 1.12569878e+02] [ 8.75976333e-01 4.82184449e-01 -1.27914644e-02 6.50008022e+01] [ 1.46412534e-02 -7.32046422e-05 9.99892808e-01 3.75335753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:65.02, Z:0.38 [[ 4.80506659e-01 -8.76962230e-01 -7.11317318e-03 1.12585609e+02] [ 8.76869102e-01 4.80559297e-01 -1.27804765e-02 6.50241452e+01] [ 1.46262967e-02 -9.62177093e-05 9.99893025e-01 3.75789327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:65.05, Z:0.38 [[ 4.78919553e-01 -8.77830134e-01 -7.09352523e-03 1.12600807e+02] [ 8.77737495e-01 4.78972068e-01 -1.27533232e-02 6.50476658e+01] [ 1.45928519e-02 -1.18437230e-04 9.99893512e-01 3.75977861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:65.07, Z:0.38 [[ 4.77381870e-01 -8.78667613e-01 -7.05528683e-03 1.12616524e+02] [ 8.78575944e-01 4.77433982e-01 -1.26926713e-02 6.50715430e+01] [ 1.45210729e-02 -1.39354108e-04 9.99894554e-01 3.76316525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:65.10, Z:0.38 [[ 4.76770067e-01 -8.79000436e-01 -6.96677554e-03 1.12630032e+02] [ 8.78910972e-01 4.76820944e-01 -1.25415843e-02 6.50956215e+01] [ 1.43459626e-02 -1.43723460e-04 9.99897081e-01 3.76071444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401858064 meters Centerline goodness [0,1] 0.999977518996448 Centerline is valid? [True, True] Translation: X:112.64, Y:65.12, Z:0.38 [[ 4.77199774e-01 -8.78764176e-01 -7.34156914e-03 1.12643314e+02] [ 8.78664676e-01 4.77256223e-01 -1.32243980e-02 6.51195974e+01] [ 1.51249368e-02 -1.40097727e-04 9.99885602e-01 3.75106076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431858064 meters Centerline goodness [0,1] 0.9999775326338494 Centerline is valid? [True, True] Translation: X:112.66, Y:65.14, Z:0.38 [[ 4.77529949e-01 -8.78584238e-01 -7.40840079e-03 1.12656861e+02] [ 8.78482777e-01 4.77587394e-01 -1.33525779e-02 6.51432876e+01] [ 1.52695233e-02 -1.31896681e-04 9.99883405e-01 3.75145329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:65.17, Z:0.38 [[ 4.77411936e-01 -8.78651076e-01 -7.08027748e-03 1.12670011e+02] [ 8.78558292e-01 4.77464419e-01 -1.27693033e-02 6.51676826e+01] [ 1.46003426e-02 -1.24218698e-04 9.99893402e-01 3.76534986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:65.19, Z:0.38 [[ 4.77590118e-01 -8.78556037e-01 -6.85337988e-03 1.12683521e+02] [ 8.78468992e-01 4.77639275e-01 -1.23674195e-02 6.51910161e+01] [ 1.41389144e-02 -1.13924388e-04 9.99900034e-01 3.76494311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:65.22, Z:0.38 [[ 4.78291871e-01 -8.78179737e-01 -6.10207225e-03 1.12695720e+02] [ 8.78110621e-01 4.78330787e-01 -1.10179792e-02 6.52171266e+01] [ 1.25945751e-02 -8.84845572e-05 9.99920681e-01 3.77674036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.551858064 meters Centerline goodness [0,1] 0.9999775784753363 Centerline is valid? [True, True] Translation: X:112.71, Y:65.24, Z:0.38 [[ 4.78470004e-01 -8.78084130e-01 -5.89201830e-03 1.12708861e+02] [ 8.78019601e-01 4.78506274e-01 -1.06454714e-02 6.52424488e+01] [ 1.21669872e-02 -7.97688314e-05 9.99925976e-01 3.77636314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:65.27, Z:0.38 [[ 4.78911155e-01 -8.77844828e-01 -5.70649302e-03 1.12721659e+02] [ 8.77784209e-01 4.78945147e-01 -1.03164134e-02 6.52660553e+01] [ 1.17893073e-02 -6.84240145e-05 9.99930501e-01 3.77990481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.611858064 meters Centerline goodness [0,1] 0.9999102998228422 Centerline is valid? [True, True] Translation: X:112.73, Y:65.29, Z:0.38 [[ 4.80354424e-01 -8.77059430e-01 -5.13644812e-03 1.12734311e+02] [ 8.77010213e-01 4.80381883e-01 -9.29154620e-03 6.52917503e+01] [ 1.06166948e-02 -4.14821405e-05 9.99943640e-01 3.78895405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641858064 meters Centerline goodness [0,1] 0.9999552682784997 Centerline is valid? [True, True] Translation: X:112.75, Y:65.32, Z:0.38 [[ 4.80738185e-01 -8.76848549e-01 -5.23635909e-03 1.12746886e+02] [ 8.76797322e-01 4.80766700e-01 -9.47816525e-03 6.53162928e+01] [ 1.08283825e-02 -3.47096743e-05 9.99941371e-01 3.78596505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:65.34, Z:0.38 [[ 4.81389012e-01 -8.76490224e-01 -5.43195468e-03 1.12759617e+02] [ 8.76435005e-01 4.81419657e-01 -9.83850716e-03 6.53415697e+01] [ 1.12384051e-02 -2.46059815e-05 9.99936847e-01 3.77767347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701858064 meters Centerline goodness [0,1] 0.9999776010751484 Centerline is valid? [True, True] Translation: X:112.77, Y:65.37, Z:0.38 [[ 4.81288146e-01 -8.76546164e-01 -5.34247436e-03 1.12773064e+02] [ 8.76492684e-01 4.81317796e-01 -9.68268598e-03 6.53664769e+01] [ 1.10587492e-02 -2.24777062e-05 9.99938850e-01 3.77236992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:65.39, Z:0.38 [[ 4.81286118e-01 -8.76545408e-01 -5.64085776e-03 1.12786618e+02] [ 8.76485707e-01 4.81319173e-01 -1.02302581e-02 6.53915353e+01] [ 1.16823388e-02 -2.04499736e-05 9.99931759e-01 3.76974720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:65.42, Z:0.38 [[ 4.80866372e-01 -8.76774088e-01 -5.89331312e-03 1.12799759e+02] [ 8.76708860e-01 4.80902483e-01 -1.06947269e-02 6.54153518e+01] [ 1.22109683e-02 -2.39853133e-05 9.99925443e-01 3.76326123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.791858064 meters Centerline goodness [0,1] 0.9999775824964132 Centerline is valid? [True, True] Translation: X:112.81, Y:65.44, Z:0.38 [[ 4.80392176e-01 -8.77033604e-01 -5.95103336e-03 1.12813758e+02] [ 8.76967027e-01 4.80429034e-01 -1.08063124e-02 6.54402219e+01] [ 1.23365483e-02 -2.75920976e-05 9.99923902e-01 3.76570148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:65.46, Z:0.38 [[ 4.79714108e-01 -8.77404993e-01 -5.90360376e-03 1.12827485e+02] [ 8.77339417e-01 4.79750432e-01 -1.07270880e-02 6.54645084e+01] [ 1.22442570e-02 -3.35288494e-05 9.99925036e-01 3.76908428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.84, Y:65.49, Z:0.38 [[ 4.78319982e-01 -8.78169123e-01 -5.38396034e-03 1.12841134e+02] [ 8.78114561e-01 4.78350279e-01 -9.78914659e-03 6.54892104e+01] [ 1.11719452e-02 -4.53895556e-05 9.99937591e-01 3.77855560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.85, Y:65.51, Z:0.38 [[ 4.77389424e-01 -8.78677030e-01 -5.10054986e-03 1.12854686e+02] [ 8.78628026e-01 4.77416668e-01 -9.27993296e-03 6.55143116e+01] [ 1.05891515e-02 -5.13442132e-05 9.99943932e-01 3.78575384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.87, Y:65.54, Z:0.38 [[ 4.76181731e-01 -8.79334587e-01 -4.65229325e-03 1.12868498e+02] [ 8.79293796e-01 4.76204454e-01 -8.46987221e-03 6.55390451e+01] [ 9.66329434e-03 -5.75341797e-05 9.99953308e-01 3.78673829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.88, Y:65.56, Z:0.38 [[ 4.74749116e-01 -8.80109737e-01 -4.48651226e-03 1.12882536e+02] [ 8.80071788e-01 4.74770310e-01 -8.17316335e-03 6.55626940e+01] [ 9.32334345e-03 -6.82507934e-05 9.99956534e-01 3.79100027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.90, Y:65.59, Z:0.38 [[ 4.72618338e-01 -8.81255543e-01 -4.53600394e-03 1.12897598e+02] [ 8.81216756e-01 4.72640096e-01 -8.26853273e-03 6.55871071e+01] [ 9.43058764e-03 -8.93424811e-05 9.99955527e-01 3.79279910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.91, Y:65.61, Z:0.38 [[ 4.71145734e-01 -8.82044251e-01 -4.43140072e-03 1.12911242e+02] [ 8.82007222e-01 4.71166563e-01 -8.08272938e-03 6.56110860e+01] [ 9.21725282e-03 -1.00383970e-04 9.99957515e-01 3.79260379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:65.64, Z:0.38 [[ 4.70823873e-01 -8.82215746e-01 -4.50080834e-03 1.12924413e+02] [ 8.82177507e-01 4.70845374e-01 -8.21457365e-03 6.56364032e+01] [ 9.36621101e-03 -1.02894495e-04 9.99956131e-01 3.79383365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061858064 meters Centerline goodness [0,1] 0.9999322951929587 Centerline is valid? [True, True] Translation: X:112.94, Y:65.66, Z:0.38 [[ 4.70576443e-01 -8.82348412e-01 -4.36927348e-03 1.12937430e+02] [ 8.82312334e-01 4.70596716e-01 -7.97971692e-03 6.56612539e+01] [ 9.09705631e-03 -9.99970762e-05 9.99958616e-01 3.79327116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091858064 meters Centerline goodness [0,1] 0.999955003599712 Centerline is valid? [True, True] Translation: X:112.95, Y:65.69, Z:0.38 [[ 4.70423877e-01 -8.82429790e-01 -4.36377633e-03 1.12950771e+02] [ 8.82393758e-01 4.70444106e-01 -7.97491942e-03 6.56859665e+01] [ 9.09021932e-03 -9.89764851e-05 9.99958678e-01 3.79071356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:65.71, Z:0.38 [[ 4.69779292e-01 -8.82773728e-01 -4.23824718e-03 1.12963703e+02] [ 8.82739709e-01 4.69798399e-01 -7.75055610e-03 6.57113501e+01] [ 8.83310904e-03 -1.00218326e-04 9.99960982e-01 3.78997525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.98, Y:65.74, Z:0.38 [[ 4.69014540e-01 -8.83180219e-01 -4.25004717e-03 1.12976987e+02] [ 8.83145981e-01 4.69033784e-01 -7.77725814e-03 6.57357438e+01] [ 8.86213625e-03 -1.05764935e-04 9.99960725e-01 3.79274418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:65.76, Z:0.38 [[ 4.68605193e-01 -8.83398673e-01 -3.99480148e-03 1.12990390e+02] [ 8.83368392e-01 4.68622209e-01 -7.31493724e-03 6.57609822e+01] [ 8.33405854e-03 -1.01063783e-04 9.99965266e-01 3.80238336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211858064 meters Centerline goodness [0,1] 0.9998431161612766 Centerline is valid? [True, True] Translation: X:113.00, Y:65.79, Z:0.38 [[ 4.68150344e-01 -8.83640295e-01 -3.88392483e-03 1.13003593e+02] [ 8.83611642e-01 4.68166444e-01 -7.11666553e-03 6.57852751e+01] [ 8.10689571e-03 -1.00211774e-04 9.99967134e-01 3.80974094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24185806399998 meters Centerline goodness [0,1] 0.9999328633769722 Centerline is valid? [True, True] Translation: X:113.02, Y:65.81, Z:0.38 [[ 4.67953158e-01 -8.83744382e-01 -3.96356445e-03 1.13016224e+02] [ 8.83714504e-01 4.67969932e-01 -7.26757204e-03 6.58107238e+01] [ 8.27750495e-03 -1.01776108e-04 9.99965736e-01 3.80939315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:65.84, Z:0.38 [[ 4.68084639e-01 -8.83674198e-01 -4.08435592e-03 1.13028676e+02] [ 8.83642426e-01 4.68102447e-01 -7.49418466e-03 6.58364159e+01] [ 8.53431463e-03 -1.01197450e-04 9.99963577e-01 3.80437789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301858064 meters Centerline goodness [0,1] 0.9999107501450311 Centerline is valid? [True, True] Translation: X:113.04, Y:65.86, Z:0.38 [[ 4.69542611e-01 -8.82900630e-01 -4.02681231e-03 1.13038694e+02] [ 8.82869681e-01 4.69559870e-01 -7.39291162e-03 6.58616797e+01] [ 8.41803579e-03 -8.38634732e-05 9.99964564e-01 3.79658342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.331858064 meters Centerline goodness [0,1] 0.9998211451183796 Centerline is valid? [True, True] Translation: X:113.05, Y:65.89, Z:0.38 [[ 4.70066978e-01 -8.82621872e-01 -3.95820716e-03 1.13050170e+02] [ 8.82591922e-01 4.70083637e-01 -7.27138906e-03 6.58869151e+01] [ 8.27857544e-03 -7.54417917e-05 9.99965729e-01 3.79686451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361858064 meters Centerline goodness [0,1] 0.9995318038927162 Centerline is valid? [True, True] Translation: X:113.06, Y:65.91, Z:0.38 [[ 4.70720123e-01 -8.82274201e-01 -3.84711650e-03 1.13062309e+02] [ 8.82245862e-01 4.70735839e-01 -7.07165470e-03 6.59110947e+01] [ 8.05011411e-03 -6.53324464e-05 9.99967595e-01 3.79383702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.391858064 meters Centerline goodness [0,1] 0.9995550710773954 Centerline is valid? [True, True] Translation: X:113.07, Y:65.94, Z:0.38 [[ 4.71110576e-01 -8.82065576e-01 -3.89157269e-03 1.13074924e+02] [ 8.82036534e-01 4.71126645e-01 -7.15794078e-03 6.59358824e+01] [ 8.14719675e-03 -6.03276841e-05 9.99966809e-01 3.79898229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421858064 meters Centerline goodness [0,1] 0.9997992908275908 Centerline is valid? [True, True] Translation: X:113.09, Y:65.96, Z:0.38 [[ 4.72468021e-01 -8.81338023e-01 -4.15420471e-03 1.13087539e+02] [ 8.81304859e-01 4.72486282e-01 -7.64589275e-03 6.59603624e+01] [ 8.70142074e-03 -4.86809747e-05 9.99962141e-01 3.80002991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.451858064 meters Centerline goodness [0,1] 0.9997992908275908 Centerline is valid? [True, True] Translation: X:113.10, Y:65.98, Z:0.38 [[ 4.72222487e-01 -8.81469615e-01 -4.15217042e-03 1.13100647e+02] [ 8.81436446e-01 4.72240739e-01 -7.64699754e-03 6.59846459e+01] [ 8.70142001e-03 -4.87901478e-05 9.99962141e-01 3.80096815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481858064 meters Centerline goodness [0,1] 0.999665574209083 Centerline is valid? [True, True] Translation: X:113.11, Y:66.01, Z:0.38 [[ 4.72610638e-01 -8.81260377e-01 -4.39688546e-03 1.13112708e+02] [ 8.81223133e-01 4.72631088e-01 -8.10210104e-03 6.60087649e+01] [ 9.21816538e-03 -4.54980414e-05 9.99957511e-01 3.79934849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.511858064 meters Centerline goodness [0,1] 0.9997559297965342 Centerline is valid? [True, True] Translation: X:113.12, Y:66.03, Z:0.38 [[ 4.73168053e-01 -8.80961827e-01 -4.27234174e-03 1.13124911e+02] [ 8.80926610e-01 4.73187339e-01 -7.87716558e-03 6.60341796e+01] [ 8.96110020e-03 -3.63964249e-05 9.99959848e-01 3.79915951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541858064 meters Centerline goodness [0,1] 0.9998666518502056 Centerline is valid? [True, True] Translation: X:113.14, Y:66.06, Z:0.38 [[ 4.74306299e-01 -8.80349856e-01 -4.20304867e-03 1.13136669e+02] [ 8.80315703e-01 4.74324921e-01 -7.75453734e-03 6.60601576e+01] [ 8.82031656e-03 -2.19838377e-05 9.99961100e-01 3.80437277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571858064 meters Centerline goodness [0,1] 0.9997560542890092 Centerline is valid? [True, True] Translation: X:113.15, Y:66.09, Z:0.38 [[ 4.74592537e-01 -8.80195339e-01 -4.25309814e-03 1.13149235e+02] [ 8.80160315e-01 4.74611594e-01 -7.85212906e-03 6.60850193e+01] [ 8.92997709e-03 -1.68463459e-05 9.99960127e-01 3.80795667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601858064 meters Centerline goodness [0,1] 0.9998668294306958 Centerline is valid? [True, True] Translation: X:113.16, Y:66.11, Z:0.38 [[ 4.74693231e-01 -8.80140882e-01 -4.28541429e-03 1.13161730e+02] [ 8.80105273e-01 4.74712574e-01 -7.91705615e-03 6.61102870e+01] [ 9.00246483e-03 -1.34427440e-05 9.99959477e-01 3.80882509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631858064 meters Centerline goodness [0,1] 0.9999333303702387 Centerline is valid? [True, True] Translation: X:113.17, Y:66.14, Z:0.38 [[ 4.75414325e-01 -8.79751171e-01 -4.37001298e-03 1.13172788e+02] [ 8.79714080e-01 4.75434409e-01 -8.07840268e-03 6.61352907e+01] [ 9.18463876e-03 -3.77358920e-06 9.99957820e-01 3.80667968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661858064 meters Centerline goodness [0,1] 0.9998891721157043 Centerline is valid? [True, True] Translation: X:113.19, Y:66.16, Z:0.38 [[ 4.75375524e-01 -8.79772728e-01 -4.24959200e-03 1.13185513e+02] [ 8.79737609e-01 4.75394518e-01 -7.86072003e-03 6.61608559e+01] [ 8.93587984e-03 -1.73201152e-06 9.99960074e-01 3.80876679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.20, Y:66.18, Z:0.38 [[ 4.75658409e-01 -8.79621096e-01 -3.97566168e-03 1.13197365e+02] [ 8.79590317e-01 4.75675023e-01 -7.35840102e-03 6.61847351e+01] [ 8.36372774e-03 3.13179748e-06 9.99965023e-01 3.81585098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:66.21, Z:0.38 [[ 4.75171433e-01 -8.79884842e-01 -3.84366381e-03 1.13210342e+02] [ 8.79856047e-01 4.75186979e-01 -7.11844576e-03 6.62097659e+01] [ 8.08987151e-03 6.11232192e-07 9.99967276e-01 3.82388646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:66.23, Z:0.38 [[ 4.74927671e-01 -8.80017087e-01 -3.69243379e-03 1.13223156e+02] [ 8.79990488e-01 4.74942025e-01 -6.84204298e-03 6.62341297e+01] [ 7.77480671e-03 1.68922125e-07 9.99969776e-01 3.82837809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781858064 meters Centerline goodness [0,1] 0.9999335651172576 Centerline is valid? [True, True] Translation: X:113.24, Y:66.26, Z:0.38 [[ 4.73982746e-01 -8.80527237e-01 -3.48462402e-03 1.13236698e+02] [ 8.80503536e-01 4.73995554e-01 -6.46051321e-03 6.62585100e+01] [ 7.34035414e-03 -6.05197859e-06 9.99973059e-01 3.83470329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811858064 meters Centerline goodness [0,1] 0.9999779029941442 Centerline is valid? [True, True] Translation: X:113.25, Y:66.28, Z:0.38 [[ 4.73335774e-01 -8.80874384e-01 -3.68314513e-03 1.13249856e+02] [ 8.80847880e-01 4.73350103e-01 -6.83316911e-03 6.62817993e+01] [ 7.76258075e-03 -9.90718659e-06 9.99969871e-01 3.83237790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841858064 meters Centerline goodness [0,1] 0.999977847189916 Centerline is valid? [True, True] Translation: X:113.26, Y:66.31, Z:0.38 [[ 4.72510880e-01 -8.81317200e-01 -3.66887889e-03 1.13263356e+02] [ 8.81290881e-01 4.72525124e-01 -6.81111408e-03 6.63063551e+01] [ 7.73638944e-03 -1.50240000e-05 9.99970074e-01 3.82980298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:66.33, Z:0.38 [[ 4.70353026e-01 -8.82470441e-01 -3.73524975e-03 1.13276499e+02] [ 8.82443161e-01 4.70367856e-01 -6.93887614e-03 6.63296997e+01] [ 7.88029450e-03 -3.24242038e-05 9.99968949e-01 3.81829310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.29, Y:66.35, Z:0.38 [[ 4.69196071e-01 -8.83085329e-01 -3.91763172e-03 1.13290095e+02] [ 8.83055301e-01 4.69212425e-01 -7.28257960e-03 6.63547516e+01] [ 8.26934068e-03 -4.25277210e-05 9.99965808e-01 3.81507810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:66.38, Z:0.38 [[ 4.68308550e-01 -8.83554584e-01 -4.28942087e-03 1.13304189e+02] [ 8.83518557e-01 4.68328191e-01 -7.97907489e-03 6.63795535e+01] [ 9.05880491e-03 -5.31139447e-05 9.99958967e-01 3.81116186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961858064 meters Centerline goodness [0,1] 0.9999779029941442 Centerline is valid? [True, True] Translation: X:113.32, Y:66.40, Z:0.38 [[ 4.66746330e-01 -8.84378213e-01 -4.80008115e-03 1.13319225e+02] [ 8.84333083e-01 4.66771006e-01 -8.93459149e-03 6.64023128e+01] [ 1.01420968e-02 -7.46827766e-05 9.99948565e-01 3.79233797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99185806399998 meters Centerline goodness [0,1] 0.9998670271707815 Centerline is valid? [True, True] Translation: X:113.33, Y:66.43, Z:0.38 [[ 4.65848430e-01 -8.84850398e-01 -5.00132785e-03 1.13333217e+02] [ 8.84801372e-01 4.65875269e-01 -9.31481729e-03 6.64269401e+01] [ 1.05722147e-02 -8.58887274e-05 9.99944109e-01 3.79075675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:66.45, Z:0.38 [[ 4.64780843e-01 -8.85411167e-01 -5.08266596e-03 1.13345435e+02] [ 8.85360517e-01 4.64808622e-01 -9.47097642e-03 6.64519029e+01] [ 1.07481753e-02 -9.80633630e-05 9.99942232e-01 3.80665703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:66.48, Z:0.38 [[ 4.63025141e-01 -8.86332065e-01 -4.81557690e-03 1.13359701e+02] [ 8.86286595e-01 4.63050169e-01 -8.97851200e-03 6.64768438e+01] [ 1.01877968e-02 -1.10704467e-04 9.99948097e-01 3.82121831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:66.50, Z:0.38 [[ 4.62270693e-01 -8.86726496e-01 -4.68270652e-03 1.13373535e+02] [ 8.86683466e-01 4.62294396e-01 -8.73628522e-03 6.64996745e+01] [ 9.91148456e-03 -1.13549824e-04 9.99950874e-01 3.82426395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:66.52, Z:0.38 [[ 4.61889851e-01 -8.86925306e-01 -4.61166526e-03 1.13385921e+02] [ 8.86883527e-01 4.61912859e-01 -8.60931574e-03 6.65247188e+01] [ 9.76600748e-03 -1.13454388e-04 9.99952305e-01 3.83604949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.40, Y:66.55, Z:0.38 [[ 4.61512743e-01 -8.87122552e-01 -4.42323839e-03 1.13398748e+02] [ 8.87084080e-01 4.61533926e-01 -8.26261231e-03 6.65490422e+01] [ 9.37142430e-03 -1.10483487e-04 9.99956081e-01 3.83739144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.41, Y:66.57, Z:0.38 [[ 4.61368651e-01 -8.87197203e-01 -4.48231394e-03 1.13411280e+02] [ 8.87157649e-01 4.61390410e-01 -8.37829935e-03 6.65744066e+01] [ 9.50130042e-03 -1.11034425e-04 9.99954855e-01 3.84527787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:66.60, Z:0.38 [[ 4.61295825e-01 -8.87235842e-01 -4.32685637e-03 1.13423716e+02] [ 8.87198938e-01 4.61316105e-01 -8.09298642e-03 6.65995148e+01] [ 9.17643615e-03 -1.05521529e-04 9.99957890e-01 3.84869090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.231858064 meters Centerline goodness [0,1] 0.9999556107954546 Centerline is valid? [True, True] Translation: X:113.43, Y:66.63, Z:0.39 [[ 4.62229266e-01 -8.86751264e-01 -4.03739219e-03 1.13434702e+02] [ 8.86719072e-01 4.62246890e-01 -7.55638430e-03 6.66261710e+01] [ 8.56690532e-03 -8.72506887e-05 9.99963300e-01 3.85379465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261858064 meters Centerline goodness [0,1] 0.9999778432632442 Centerline is valid? [True, True] Translation: X:113.45, Y:66.65, Z:0.39 [[ 4.62689492e-01 -8.86510192e-01 -4.25588958e-03 1.13446455e+02] [ 8.86474363e-01 4.62709057e-01 -7.97068651e-03 6.66513689e+01] [ 9.03533348e-03 -8.47841081e-05 9.99959177e-01 3.85411473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:66.68, Z:0.39 [[ 4.63102017e-01 -8.86294080e-01 -4.39599277e-03 1.13458495e+02] [ 8.86255791e-01 4.63122874e-01 -8.23865218e-03 6.66764019e+01] [ 9.33775347e-03 -8.06376072e-05 9.99956399e-01 3.85947931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.47, Y:66.70, Z:0.39 [[ 4.64324728e-01 -8.85654741e-01 -4.26932956e-03 1.13469609e+02] [ 8.85618552e-01 4.64344351e-01 -8.00651362e-03 6.67024560e+01] [ 9.07344581e-03 -6.33752046e-05 9.99958833e-01 3.86896042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:66.73, Z:0.39 [[ 4.65045962e-01 -8.85276496e-01 -4.21662378e-03 1.13481016e+02] [ 8.85241132e-01 4.65065075e-01 -7.91288777e-03 6.67277653e+01] [ 8.96609800e-03 -5.28723063e-05 9.99959802e-01 3.87152330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:66.75, Z:0.39 [[ 4.66975568e-01 -8.84260099e-01 -4.23031626e-03 1.13491089e+02] [ 8.84224417e-01 4.66994728e-01 -7.94387928e-03 6.67544404e+01] [ 8.99999087e-03 -3.09513918e-05 9.99959499e-01 3.87118290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411858064 meters Centerline goodness [0,1] 0.9999337368025798 Centerline is valid? [True, True] Translation: X:113.50, Y:66.78, Z:0.39 [[ 4.67750242e-01 -8.83850214e-01 -4.30237755e-03 1.13502624e+02] [ 8.83813248e-01 4.67770028e-01 -8.08354555e-03 6.67792442e+01] [ 9.15716673e-03 -2.14178889e-05 9.99958072e-01 3.86906783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.51, Y:66.80, Z:0.39 [[ 4.68277900e-01 -8.83570051e-01 -4.44659293e-03 1.13514259e+02] [ 8.83530505e-01 4.68299011e-01 -8.35954495e-03 6.68044354e+01] [ 9.46857863e-03 -1.41103389e-05 9.99955172e-01 3.87095236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471858064 meters Centerline goodness [0,1] 0.999956154773649 Centerline is valid? [True, True] Translation: X:113.53, Y:66.83, Z:0.39 [[ 4.68841146e-01 -8.83272292e-01 -4.24713295e-03 1.13525906e+02] [ 8.83236157e-01 4.68860382e-01 -7.98953686e-03 6.68285875e+01] [ 9.04824892e-03 -5.39776888e-06 9.99959064e-01 3.87014560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501858064 meters Centerline goodness [0,1] 0.9999780340472268 Centerline is valid? [True, True] Translation: X:113.54, Y:66.85, Z:0.39 [[ 4.69074608e-01 -8.83148636e-01 -4.18314394e-03 1.13537827e+02] [ 8.83113535e-01 4.69093260e-01 -7.87386860e-03 6.68525689e+01] [ 8.91608095e-03 -7.59209933e-07 9.99960251e-01 3.87017014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:66.88, Z:0.39 [[ 4.69337617e-01 -8.83008190e-01 -4.32859927e-03 1.13549998e+02] [ 8.82970551e-01 4.69357578e-01 -8.15298421e-03 6.68775982e+01] [ 9.23081270e-03 4.47650063e-06 9.99957395e-01 3.87930295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:66.90, Z:0.39 [[ 4.69197249e-01 -8.83082505e-01 -4.38539100e-03 1.13562291e+02] [ 8.83043821e-01 4.69217743e-01 -8.26557090e-03 6.69025036e+01] [ 9.35688431e-03 5.69070020e-06 9.99956223e-01 3.88340661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.57, Y:66.93, Z:0.39 [[ 4.68964269e-01 -8.83205374e-01 -4.55877046e-03 1.13573687e+02] [ 8.83163520e-01 4.68986426e-01 -8.59826303e-03 6.69277225e+01] [ 9.73203358e-03 6.13837108e-06 9.99952643e-01 3.87762239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621858064 meters Centerline goodness [0,1] 0.9999342134116924 Centerline is valid? [True, True] Translation: X:113.59, Y:66.95, Z:0.39 [[ 4.68475743e-01 -8.83463721e-01 -4.72574191e-03 1.13586049e+02] [ 8.83418696e-01 4.68499578e-01 -8.91929217e-03 6.69527353e+01] [ 1.00938791e-02 3.66326812e-06 9.99949055e-01 3.87372851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651858064 meters Centerline goodness [0,1] 0.9999561903092964 Centerline is valid? [True, True] Translation: X:113.60, Y:66.98, Z:0.39 [[ 4.67507058e-01 -8.83976521e-01 -4.76043608e-03 1.13598880e+02] [ 8.83930797e-01 4.67531294e-01 -8.99083357e-03 6.69774754e+01] [ 1.01733386e-02 -4.61790721e-06 9.99948250e-01 3.87057486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:67.00, Z:0.39 [[ 4.66594334e-01 -8.84458814e-01 -4.72584589e-03 1.13612276e+02] [ 8.84413717e-01 4.66618266e-01 -8.93146942e-03 6.70024815e+01] [ 1.01046829e-02 -1.22299040e-05 9.99948946e-01 3.87297490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711858064 meters Centerline goodness [0,1] 0.9999341035891578 Centerline is valid? [True, True] Translation: X:113.63, Y:67.03, Z:0.39 [[ 4.65023836e-01 -8.85285569e-01 -4.72158700e-03 1.13625315e+02] [ 8.85240535e-01 4.65047804e-01 -8.92944961e-03 6.70268040e+01] [ 1.01008765e-02 -2.73332981e-05 9.99948984e-01 3.87626007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74185806399998 meters Centerline goodness [0,1] 0.9999341368635974 Centerline is valid? [True, True] Translation: X:113.64, Y:67.05, Z:0.39 [[ 4.62070477e-01 -8.86831578e-01 -4.54169538e-03 1.13638203e+02] [ 8.86789948e-01 4.62092793e-01 -8.59293208e-03 6.70503429e+01] [ 9.71916822e-03 -5.69895925e-05 9.99952766e-01 3.88599197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:67.08, Z:0.39 [[ 4.60773703e-01 -8.87507163e-01 -4.31638546e-03 1.13651360e+02] [ 8.87469550e-01 4.60793915e-01 -8.17102339e-03 6.70754990e+01] [ 9.24080594e-03 -6.56679540e-05 9.99957301e-01 3.89721738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:67.10, Z:0.39 [[ 4.59445049e-01 -8.88196312e-01 -4.19022915e-03 1.13664355e+02] [ 8.88160850e-01 4.59464150e-01 -7.93723063e-03 6.70995867e+01] [ 8.97507905e-03 -7.48761730e-05 9.99959720e-01 3.90018771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:67.13, Z:0.39 [[ 4.57389035e-01 -8.89256527e-01 -4.25428514e-03 1.13676292e+02] [ 8.89219973e-01 4.57408810e-01 -8.06345814e-03 6.71264108e+01] [ 9.11643029e-03 -9.48579727e-05 9.99958440e-01 3.90635013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.69, Y:67.15, Z:0.39 [[ 4.56787963e-01 -8.89565473e-01 -4.24568212e-03 1.13688171e+02] [ 8.89529033e-01 4.56807683e-01 -8.05235386e-03 6.71523656e+01] [ 9.10255618e-03 -9.84391905e-05 9.99958566e-01 3.90210540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.891858064 meters Centerline goodness [0,1] 0.9998686802363755 Centerline is valid? [True, True] Translation: X:113.70, Y:67.18, Z:0.39 [[ 4.56401839e-01 -8.89764168e-01 -4.13367273e-03 1.13699620e+02] [ 8.89729596e-01 4.56420548e-01 -7.84413010e-03 6.71765610e+01] [ 8.86611906e-03 -9.77755640e-05 9.99960690e-01 3.90178801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:67.20, Z:0.39 [[ 4.55357176e-01 -8.90298948e-01 -4.19839451e-03 1.13710715e+02] [ 8.90263265e-01 4.55376517e-01 -7.97162112e-03 6.72028376e+01] [ 9.00897616e-03 -1.07741526e-04 9.99959413e-01 3.90603828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:67.23, Z:0.39 [[ 4.54523012e-01 -8.90724383e-01 -4.34799216e-03 1.13722672e+02] [ 8.90686080e-01 4.54543792e-01 -8.26125673e-03 6.72282526e+01] [ 9.33485565e-03 -1.17764804e-04 9.99956422e-01 3.90936811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.73, Y:67.25, Z:0.39 [[ 4.53642901e-01 -8.91172352e-01 -4.46735840e-03 1.13734944e+02] [ 8.91131892e-01 4.53664879e-01 -8.49292330e-03 6.72520540e+01] [ 9.59534204e-03 -1.28251178e-04 9.99953955e-01 3.90464945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.011858064 meters Centerline goodness [0,1] 0.9999562573815669 Centerline is valid? [True, True] Translation: X:113.75, Y:67.28, Z:0.39 [[ 4.52117395e-01 -8.91945500e-01 -4.80489620e-03 1.13747800e+02] [ 8.91898683e-01 4.52142900e-01 -9.13985896e-03 6.72782591e+01] [ 1.03247558e-02 -1.53191375e-04 9.99946687e-01 3.90992981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.76, Y:67.30, Z:0.39 [[ 4.51610091e-01 -8.92202165e-01 -4.86017269e-03 1.13760028e+02] [ 8.92154217e-01 4.51636215e-01 -9.25103255e-03 6.73039071e+01] [ 1.04488213e-02 -1.58163905e-04 9.99945397e-01 3.91784803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071858064 meters Centerline goodness [0,1] 0.9999345492625884 Centerline is valid? [True, True] Translation: X:113.77, Y:67.33, Z:0.39 [[ 4.50655602e-01 -8.92683939e-01 -4.99140405e-03 1.13771862e+02] [ 8.92633327e-01 4.50683211e-01 -9.50720223e-03 6.73293679e+01] [ 1.07364687e-02 -1.71019658e-04 9.99942348e-01 3.91199554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101858064 meters Centerline goodness [0,1] 0.9999347045380346 Centerline is valid? [True, True] Translation: X:113.78, Y:67.35, Z:0.39 [[ 4.50202723e-01 -8.92913524e-01 -4.79020929e-03 1.13783213e+02] [ 8.92866865e-01 4.50228176e-01 -9.12964399e-03 6.73542116e+01] [ 1.03086698e-02 -1.66828563e-04 9.99946850e-01 3.91967897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.79, Y:67.38, Z:0.39 [[ 4.48840999e-01 -8.93598841e-01 -4.78216606e-03 1.13792493e+02] [ 8.93552321e-01 4.48866438e-01 -9.11980583e-03 6.73818151e+01] [ 1.02960018e-02 -1.79772819e-04 9.99946979e-01 3.91806226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161858064 meters Centerline goodness [0,1] 0.9999348194498762 Centerline is valid? [True, True] Translation: X:113.80, Y:67.41, Z:0.39 [[ 4.46992367e-01 -8.94525268e-01 -4.72958367e-03 1.13804402e+02] [ 8.94479777e-01 4.47017345e-01 -9.02337943e-03 6.74068508e+01] [ 1.01858468e-02 -1.97135214e-04 9.99948103e-01 3.92122032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:67.43, Z:0.39 [[ 4.45964621e-01 -8.95036868e-01 -4.95606448e-03 1.13816931e+02] [ 8.94986915e-01 4.45992106e-01 -9.45854427e-03 6.74314353e+01] [ 1.06761115e-02 -2.17436747e-04 9.99942985e-01 3.92060199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.83, Y:67.46, Z:0.39 [[ 4.44879112e-01 -8.95575184e-01 -5.25979722e-03 1.13829696e+02] [ 8.95518901e-01 4.44910138e-01 -1.00432734e-02 6.74576518e+01] [ 1.13346436e-02 -2.42205251e-04 9.99935732e-01 3.92001989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:67.48, Z:0.39 [[ 4.43930823e-01 -8.96043324e-01 -5.63795822e-03 1.13841671e+02] [ 8.95978612e-01 4.43966541e-01 -1.07720787e-02 6.74831965e+01] [ 1.21553140e-02 -2.69432199e-04 9.99926085e-01 3.91338638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.85, Y:67.51, Z:0.39 [[ 4.42844576e-01 -8.96581214e-01 -5.55046281e-03 1.13850277e+02] [ 8.96518461e-01 4.42879272e-01 -1.06112952e-02 6.75115526e+01] [ 1.19720729e-02 -2.76937841e-04 9.99928294e-01 3.91561781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:67.54, Z:0.39 [[ 4.42818513e-01 -8.96592937e-01 -5.73320415e-03 1.13861212e+02] [ 8.96525895e-01 4.42855535e-01 -1.09679139e-02 6.75372571e+01] [ 1.23727354e-02 -2.83170640e-04 9.99923415e-01 3.91357267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.87, Y:67.56, Z:0.39 [[ 4.43101199e-01 -8.96452742e-01 -5.81453039e-03 1.13871944e+02] [ 8.96383677e-01 4.43139259e-01 -1.11310609e-02 6.75631592e+01] [ 1.25551168e-02 -2.79863690e-04 9.99921142e-01 3.91355274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.88, Y:67.59, Z:0.39 [[ 4.44737876e-01 -8.95638705e-01 -6.28752898e-03 1.13880636e+02] [ 8.95557760e-01 4.44782234e-01 -1.20441960e-02 6.75915460e+01] [ 1.35838293e-02 -2.74335222e-04 9.99907698e-01 3.91496260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:67.62, Z:0.39 [[ 4.44484512e-01 -8.95764493e-01 -6.28422901e-03 1.13893344e+02] [ 8.95683537e-01 4.44528849e-01 -1.20459180e-02 6.76160300e+01] [ 1.35838267e-02 -2.74456494e-04 9.99907698e-01 3.91590101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.90, Y:67.64, Z:0.39 [[ 4.45265881e-01 -8.95374690e-01 -6.51607614e-03 1.13904209e+02] [ 8.95287503e-01 4.45313475e-01 -1.24978212e-02 6.76411707e+01] [ 1.40919293e-02 -2.68908171e-04 9.99900668e-01 3.91484357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:67.67, Z:0.39 [[ 4.46205102e-01 -8.94905338e-01 -6.74112724e-03 1.13915006e+02] [ 8.94811866e-01 4.46255944e-01 -1.29366485e-02 6.76657374e+01] [ 1.45853439e-02 -2.59642089e-04 9.99893595e-01 3.91089076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:67.69, Z:0.39 [[ 4.46979028e-01 -8.94518530e-01 -6.80799438e-03 1.13925319e+02] [ 8.94423026e-01 4.47030804e-01 -1.30733051e-02 6.76917943e+01] [ 1.47376969e-02 -2.45733729e-04 9.99891364e-01 3.91256572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:67.72, Z:0.39 [[ 4.48266669e-01 -8.93870375e-01 -7.26259217e-03 1.13933758e+02] [ 8.93761457e-01 4.48325436e-01 -1.39557206e-02 6.77190083e+01] [ 1.57306100e-02 -2.35140592e-04 9.99876239e-01 3.90923477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:67.74, Z:0.39 [[ 4.48450658e-01 -8.93775287e-01 -7.59888974e-03 1.13945390e+02] [ 8.93655882e-01 4.48514971e-01 -1.46111711e-02 6.77438391e+01] [ 1.64673194e-02 -2.38403226e-04 9.99864376e-01 3.90329421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:67.77, Z:0.39 [[ 4.48505229e-01 -8.93746766e-01 -7.73163502e-03 1.13957522e+02] [ 8.93622983e-01 4.48571803e-01 -1.48761953e-02 6.77693674e+01] [ 1.67637449e-02 -2.37115393e-04 9.99859450e-01 3.90595435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:67.79, Z:0.39 [[ 4.49191211e-01 -8.93397064e-01 -8.30314981e-03 1.13969125e+02] [ 8.93254064e-01 4.49267883e-01 -1.59857991e-02 6.77941893e+01] [ 1.80120045e-02 -2.36141838e-04 9.99837743e-01 3.90710365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:67.82, Z:0.39 [[ 4.49658782e-01 -8.93164028e-01 -8.06217074e-03 1.13980784e+02] [ 8.93029001e-01 4.49731000e-01 -1.55316086e-02 6.78198902e+01] [ 1.74980822e-02 -2.15828074e-04 9.99846874e-01 3.91665473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:67.85, Z:0.39 [[ 4.49964513e-01 -8.93012727e-01 -7.75929530e-03 1.13992376e+02] [ 8.92887479e-01 4.50031366e-01 -1.49572889e-02 6.78461676e+01] [ 1.68489756e-02 -1.97928413e-04 9.99858026e-01 3.93622692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:67.87, Z:0.40 [[ 4.51150864e-01 -8.92418701e-01 -7.19447537e-03 1.14002379e+02] [ 8.92310820e-01 4.51208197e-01 -1.38767252e-02 6.78732352e+01] [ 1.56300553e-02 -1.59211664e-04 9.99877831e-01 3.96545253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.731858064 meters Centerline goodness [0,1] 0.9999575560790306 Centerline is valid? [True, True] Translation: X:114.01, Y:67.90, Z:0.40 [[ 4.51895083e-01 -8.92040252e-01 -7.41775704e-03 1.14014750e+02] [ 8.91925404e-01 4.51955935e-01 -1.43145194e-02 6.78977054e+01] [ 1.61216268e-02 -1.47425003e-04 9.99870027e-01 3.95290357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761858064 meters Centerline goodness [0,1] 0.9999574829931973 Centerline is valid? [True, True] Translation: X:114.03, Y:67.92, Z:0.40 [[ 4.52465197e-01 -8.91750387e-01 -7.51614400e-03 1.14026512e+02] [ 8.91632297e-01 4.52527600e-01 -1.45126945e-02 6.79237869e+01] [ 1.63429636e-02 -1.35147544e-04 9.99866436e-01 3.95413336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:67.95, Z:0.40 [[ 4.52984330e-01 -8.91485086e-01 -7.71613820e-03 1.14038592e+02] [ 8.91360430e-01 4.53050026e-01 -1.49083222e-02 6.79491121e+01] [ 1.67863435e-02 -1.24623919e-04 9.99859092e-01 3.95358573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.05, Y:67.98, Z:0.40 [[ 4.53953679e-01 -8.90988685e-01 -8.07596292e-03 1.14049657e+02] [ 8.90851866e-01 4.54025498e-01 -1.56140763e-02 6.79750907e+01] [ 1.75786584e-02 -1.06419239e-04 9.99845478e-01 3.97586130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.06, Y:68.00, Z:0.40 [[ 4.54336863e-01 -8.90793706e-01 -8.03663999e-03 1.14061182e+02] [ 8.90658050e-01 4.54407927e-01 -1.55458503e-02 6.79997919e+01] [ 1.75000585e-02 -9.48452315e-05 9.99846858e-01 3.98106339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:68.03, Z:0.40 [[ 4.54616610e-01 -8.90650925e-01 -8.04165352e-03 1.14072522e+02] [ 8.90514904e-01 4.54687720e-01 -1.55654566e-02 6.80254718e+01] [ 1.75198294e-02 -8.48971943e-05 9.99846512e-01 3.98976858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:68.05, Z:0.40 [[ 4.55018919e-01 -8.90443685e-01 -8.23573656e-03 1.14083863e+02] [ 8.90300787e-01 4.55093439e-01 -1.59521462e-02 6.80512196e+01] [ 1.79525175e-02 -7.37544335e-05 9.99838838e-01 3.99532167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.09, Y:68.08, Z:0.40 [[ 4.55667346e-01 -8.90108579e-01 -8.60157357e-03 1.14094434e+02] [ 8.89952441e-01 4.55748521e-01 -1.66714717e-02 6.80759111e+01] [ 1.87595744e-02 -5.83461209e-05 9.99824022e-01 3.98835678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.11, Y:68.10, Z:0.40 [[ 4.55658576e-01 -8.90113410e-01 -8.56619714e-03 1.14106678e+02] [ 8.89958365e-01 4.55739086e-01 -1.66130615e-02 6.80997875e+01] [ 1.86914597e-02 -5.36748552e-05 9.99825298e-01 3.98691979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:68.12, Z:0.40 [[ 4.55622883e-01 -8.90132027e-01 -8.53013234e-03 1.14119603e+02] [ 8.89978081e-01 4.55702724e-01 -1.65542536e-02 6.81249473e+01] [ 1.86226759e-02 -4.91340479e-05 9.99826582e-01 4.00187058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.13, Y:68.15, Z:0.40 [[ 4.55426243e-01 -8.90235043e-01 -8.27679569e-03 1.14131586e+02] [ 8.90089945e-01 4.55501445e-01 -1.60724674e-02 6.81492266e+01] [ 1.80783661e-02 -4.72691614e-05 9.99836572e-01 4.00682077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.14, Y:68.17, Z:0.40 [[ 4.55049267e-01 -8.90426273e-01 -8.43902606e-03 1.14143760e+02] [ 8.90275260e-01 4.55127510e-01 -1.63985193e-02 6.81748223e+01] [ 1.84425053e-02 -5.09219346e-05 9.99829921e-01 4.00866296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:68.20, Z:0.40 [[ 4.54713927e-01 -8.90597310e-01 -8.46610786e-03 1.14155769e+02] [ 8.90445164e-01 4.54792731e-01 -1.64615131e-02 6.81992637e+01] [ 1.85109036e-02 -5.33255240e-05 9.99828657e-01 3.99862796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.17, Y:68.22, Z:0.40 [[ 4.54216383e-01 -8.90847764e-01 -8.81698244e-03 1.14168521e+02] [ 8.90682570e-01 4.54301946e-01 -1.71552383e-02 6.82239901e+01] [ 1.92882779e-02 -6.09423068e-05 9.99813962e-01 4.00720762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:68.25, Z:0.40 [[ 4.52611925e-01 -8.91666755e-01 -8.53481087e-03 1.14182969e+02] [ 8.91511917e-01 4.52692379e-01 -1.66166292e-02 6.82467193e+01] [ 1.86801397e-02 -8.80010715e-05 9.99825507e-01 4.01467945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.20, Y:68.27, Z:0.40 [[ 4.51661089e-01 -8.92152417e-01 -8.14404620e-03 1.14197138e+02] [ 8.92011321e-01 4.51734497e-01 -1.58665834e-02 6.82711833e+01] [ 1.78343573e-02 -9.82630615e-05 9.99840950e-01 4.02902114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:68.29, Z:0.40 [[ 4.50528516e-01 -8.92728109e-01 -7.78335488e-03 1.14210710e+02] [ 8.92599157e-01 4.50595730e-01 -1.51734364e-02 6.82948676e+01] [ 1.70528996e-02 -1.11350225e-04 9.99854583e-01 4.03748628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:68.32, Z:0.40 [[ 4.49591867e-01 -8.93198119e-01 -8.01712363e-03 1.14224137e+02] [ 8.93061208e-01 4.49663323e-01 -1.56388630e-02 6.83185142e+01] [ 1.75736094e-02 -1.28676509e-04 9.99845564e-01 4.03842325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.24, Y:68.34, Z:0.40 [[ 4.49596381e-01 -8.93193625e-01 -8.26085258e-03 1.14236913e+02] [ 8.93048081e-01 4.49672249e-01 -1.61243156e-02 6.83420794e+01] [ 1.81168121e-02 -1.27904592e-04 9.99835869e-01 4.03696252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:68.37, Z:0.40 [[ 4.49840602e-01 -8.93069719e-01 -8.36116310e-03 1.14249949e+02] [ 8.92920397e-01 4.49918284e-01 -1.63310250e-02 6.83670410e+01] [ 1.83465841e-02 -1.19494936e-04 9.99831680e-01 4.03413800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.26, Y:68.39, Z:0.40 [[ 4.51464536e-01 -8.92247534e-01 -8.60869543e-03 1.14262522e+02] [ 8.92088891e-01 4.51546598e-01 -1.68249856e-02 6.83908639e+01] [ 1.88992791e-02 -8.38372428e-05 9.99821389e-01 4.02980723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.28, Y:68.42, Z:0.40 [[ 4.52686980e-01 -8.91629499e-01 -8.44601711e-03 1.14275329e+02] [ 8.91476487e-01 4.52765761e-01 -1.65178512e-02 6.84159105e+01] [ 1.85518708e-02 -5.20094822e-05 9.99827898e-01 4.03857185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:68.44, Z:0.40 [[ 4.53786282e-01 -8.91070347e-01 -8.46448293e-03 1.14287891e+02] [ 8.90916361e-01 4.53865219e-01 -1.65650589e-02 6.84406781e+01] [ 1.86023672e-02 -2.41498252e-05 9.99826961e-01 4.04402508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.30, Y:68.46, Z:0.40 [[ 4.54807464e-01 -8.90548919e-01 -8.53195163e-03 1.14299902e+02] [ 8.90392221e-01 4.54887484e-01 -1.67053657e-02 6.84643658e+01] [ 1.87580234e-02 9.41657207e-07 9.99824053e-01 4.04283145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.31, Y:68.49, Z:0.40 [[ 4.56751853e-01 -8.89551700e-01 -8.69010818e-03 1.14312341e+02] [ 8.89388756e-01 4.56834512e-01 -1.70255728e-02 6.84895023e+01] [ 1.91150686e-02 4.75774230e-05 9.99817289e-01 4.03872297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.33, Y:68.51, Z:0.40 [[ 4.57483902e-01 -8.89177081e-01 -8.52042079e-03 1.14325802e+02] [ 8.89020170e-01 4.57563235e-01 -1.67039828e-02 6.85144519e+01] [ 1.87514300e-02 6.69772918e-05 9.99824174e-01 4.04069365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:68.54, Z:0.40 [[ 4.58368034e-01 -8.88723507e-01 -8.32309313e-03 1.14340335e+02] [ 8.88573554e-01 4.58443585e-01 -1.63254018e-02 6.85375274e+01] [ 1.83244370e-02 8.73618708e-05 9.99832090e-01 4.04327337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:68.56, Z:0.40 [[ 4.58490564e-01 -8.88660272e-01 -8.32604074e-03 1.14353511e+02] [ 8.88510010e-01 4.58566147e-01 -1.63416962e-02 6.85610287e+01] [ 1.83402566e-02 9.47429620e-05 9.99831799e-01 4.04349825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:68.59, Z:0.40 [[ 4.58387735e-01 -8.88713348e-01 -8.32281227e-03 1.14367185e+02] [ 8.88563017e-01 4.58463275e-01 -1.63459181e-02 6.85852848e+01] [ 1.83425394e-02 9.74252060e-05 9.99831757e-01 4.04270406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:68.61, Z:0.40 [[ 4.58531851e-01 -8.88638731e-01 -8.35156478e-03 1.14380447e+02] [ 8.88487145e-01 4.58607889e-01 -1.64133388e-02 6.86089165e+01] [ 1.84156220e-02 1.05780662e-04 9.99830412e-01 4.03882917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:68.63, Z:0.41 [[ 4.58813277e-01 -8.88493810e-01 -8.31423311e-03 1.14396066e+02] [ 8.88343346e-01 4.58888588e-01 -1.63512677e-02 6.86325148e+01] [ 1.83433068e-02 1.16285027e-04 9.99831741e-01 4.05960094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.41, Y:68.66, Z:0.41 [[ 4.59115587e-01 -8.88339231e-01 -8.14175249e-03 1.14409853e+02] [ 8.88194722e-01 4.59187755e-01 -1.60231357e-02 6.86571833e+01] [ 1.79725731e-02 1.25009770e-04 9.99838472e-01 4.06132591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691858064 meters Centerline goodness [0,1] 0.9998705529546288 Centerline is valid? [True, True] Translation: X:114.42, Y:68.68, Z:0.41 [[ 4.59581131e-01 -8.88099775e-01 -7.99837558e-03 1.14423008e+02] [ 8.87960098e-01 4.59650706e-01 -1.57509562e-02 6.86809551e+01] [ 1.76648796e-02 1.36603892e-04 9.99843955e-01 4.05818770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:68.71, Z:0.41 [[ 4.60494357e-01 -8.87629064e-01 -7.71956275e-03 1.14438077e+02] [ 8.87498717e-01 4.60559031e-01 -1.52120570e-02 6.87052978e+01] [ 1.70579783e-02 1.53964370e-04 9.99854490e-01 4.06593350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:68.73, Z:0.40 [[ 4.60661140e-01 -8.87544158e-01 -7.52868384e-03 1.14449684e+02] [ 8.87420012e-01 4.60722630e-01 -1.48451834e-02 6.87297581e+01] [ 1.66443908e-02 1.57494401e-04 9.99861460e-01 4.03454380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781858064 meters Centerline goodness [0,1] 0.9999783479484681 Centerline is valid? [True, True] Translation: X:114.47, Y:68.75, Z:0.41 [[ 4.60847077e-01 -8.87447668e-01 -7.52380096e-03 1.14465842e+02] [ 8.87323502e-01 4.60908460e-01 -1.48456730e-02 6.87528446e+01] [ 1.66425414e-02 1.65539603e-04 9.99861490e-01 4.07059025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811858064 meters Centerline goodness [0,1] 0.9999567745142536 Centerline is valid? [True, True] Translation: X:114.48, Y:68.78, Z:0.41 [[ 4.60395913e-01 -8.87680466e-01 -7.68070610e-03 1.14481280e+02] [ 8.87550918e-01 4.60459947e-01 -1.51659134e-02 6.87763857e+01] [ 1.69991426e-02 1.65306785e-04 9.99855490e-01 4.06211383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:68.80, Z:0.41 [[ 4.59660987e-01 -8.88061902e-01 -7.60494034e-03 1.14495905e+02] [ 8.87934773e-01 4.59723868e-01 -1.50267741e-02 6.88004712e+01] [ 1.68408782e-02 1.54530846e-04 9.99858170e-01 4.05959391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871858064 meters Centerline goodness [0,1] 0.9999783970620004 Centerline is valid? [True, True] Translation: X:114.51, Y:68.82, Z:0.40 [[ 4.58622274e-01 -8.88598087e-01 -7.68437135e-03 1.14508339e+02] [ 8.88468199e-01 4.58686625e-01 -1.51934072e-02 6.88247248e+01] [ 1.70255509e-02 1.40715388e-04 9.99855045e-01 4.01641282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:68.85, Z:0.41 [[ 4.57841949e-01 -8.89000596e-01 -7.66094586e-03 1.14525690e+02] [ 8.88871380e-01 4.57906021e-01 -1.51573617e-02 6.88468589e+01] [ 1.69828968e-02 1.30080500e-04 9.99855772e-01 4.05946036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931858064 meters Centerline goodness [0,1] 0.9999131831401659 Centerline is valid? [True, True] Translation: X:114.54, Y:68.87, Z:0.41 [[ 4.55712322e-01 -8.90097194e-01 -7.29825816e-03 1.14542716e+02] [ 8.89979935e-01 4.55770751e-01 -1.44477560e-02 6.88683454e+01] [ 1.61862396e-02 8.87171014e-05 9.99868990e-01 4.06075621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961858064 meters Centerline goodness [0,1] 0.9999564744287269 Centerline is valid? [True, True] Translation: X:114.56, Y:68.89, Z:0.41 [[ 4.54850763e-01 -8.90540862e-01 -6.91061604e-03 1.14557781e+02] [ 8.90435642e-01 4.54903251e-01 -1.36894186e-02 6.88926883e+01] [ 1.53346483e-02 7.31836515e-05 9.99882415e-01 4.08594191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:68.92, Z:0.41 [[ 4.54175643e-01 -8.90887518e-01 -6.62687920e-03 1.14571607e+02] [ 8.90790696e-01 4.54223983e-01 -1.31342648e-02 6.89157559e+01] [ 1.47112401e-02 6.21008460e-05 9.99891782e-01 4.08888090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02185806399999 meters Centerline goodness [0,1] 0.9999345934985938 Centerline is valid? [True, True] Translation: X:114.59, Y:68.94, Z:0.41 [[ 4.51983772e-01 -8.92005762e-01 -6.03249808e-03 1.14589138e+02] [ 8.91925529e-01 4.52024026e-01 -1.19637413e-02 6.89380693e+01] [ 1.33985603e-02 2.68778977e-05 9.99910235e-01 4.09545171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:68.96, Z:0.41 [[ 4.50584676e-01 -8.92713627e-01 -5.98586526e-03 1.14604415e+02] [ 8.92634607e-01 4.50624434e-01 -1.18776261e-02 6.89608853e+01] [ 1.33006958e-02 8.68583710e-06 9.99911542e-01 4.09524379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.081858064 meters Centerline goodness [0,1] 0.9998905429071804 Centerline is valid? [True, True] Translation: X:114.62, Y:68.98, Z:0.41 [[ 4.48805695e-01 -8.93608271e-01 -6.14063205e-03 1.14619963e+02] [ 8.93525084e-01 4.48847701e-01 -1.21928207e-02 6.89842758e+01] [ 1.36518140e-02 -1.46014169e-05 9.99906810e-01 4.10133414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.111858064 meters Centerline goodness [0,1] 0.9997802535873602 Centerline is valid? [True, True] Translation: X:114.64, Y:69.01, Z:0.41 [[ 4.46520799e-01 -8.94751815e-01 -6.19394548e-03 1.14637582e+02] [ 8.94667166e-01 4.46563754e-01 -1.23075396e-02 6.90065355e+01] [ 1.37781850e-02 -4.59472240e-05 9.99905075e-01 4.09188558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.141858064 meters Centerline goodness [0,1] 0.9997367959291104 Centerline is valid? [True, True] Translation: X:114.65, Y:69.03, Z:0.41 [[ 4.45776606e-01 -8.95121598e-01 -6.36732074e-03 1.14652158e+02] [ 8.95032060e-01 4.45822074e-01 -1.26605475e-02 6.90292506e+01] [ 1.41714216e-02 -5.51803253e-05 9.99899579e-01 4.08798394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.171858064 meters Centerline goodness [0,1] 0.9997153492445807 Centerline is valid? [True, True] Translation: X:114.67, Y:69.05, Z:0.41 [[ 4.44922320e-01 -8.95545049e-01 -6.57223517e-03 1.14666824e+02] [ 8.95449568e-01 4.44970853e-01 -1.30771287e-02 6.90532526e+01] [ 1.46356110e-02 -6.67986880e-05 9.99892891e-01 4.08773594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201858064 meters Centerline goodness [0,1] 0.9997794879710689 Centerline is valid? [True, True] Translation: X:114.68, Y:69.08, Z:0.41 [[ 4.44347771e-01 -8.95832931e-01 -6.19817644e-03 1.14682664e+02] [ 8.95747929e-01 4.44390993e-01 -1.23406956e-02 6.90752234e+01] [ 1.38096153e-02 -6.84431342e-05 9.99904640e-01 4.08275160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.231858064 meters Centerline goodness [0,1] 0.9997357002841222 Centerline is valid? [True, True] Translation: X:114.70, Y:69.10, Z:0.41 [[ 4.43881052e-01 -8.96065237e-01 -6.05820541e-03 1.14696448e+02] [ 8.95983970e-01 4.43922387e-01 -1.20681469e-02 6.90982576e+01] [ 1.35032200e-02 -7.12331679e-05 9.99908825e-01 4.08514463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261858064 meters Centerline goodness [0,1] 0.9997357002841222 Centerline is valid? [True, True] Translation: X:114.71, Y:69.12, Z:0.41 [[ 4.43632929e-01 -8.96188127e-01 -6.05512883e-03 1.14708758e+02] [ 8.96106850e-01 4.43674245e-01 -1.20696908e-02 6.91229498e+01] [ 1.35032183e-02 -7.15301528e-05 9.99908825e-01 4.08608359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.291858064 meters Centerline goodness [0,1] 0.9997349998895833 Centerline is valid? [True, True] Translation: X:114.72, Y:69.15, Z:0.41 [[ 4.43227040e-01 -8.96389504e-01 -5.97057686e-03 1.14723117e+02] [ 8.96310390e-01 4.43267247e-01 -1.19093643e-02 6.91473524e+01] [ 1.33219903e-02 -7.29377657e-05 9.99911256e-01 4.08742047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321858064 meters Centerline goodness [0,1] 0.9996894409937889 Centerline is valid? [True, True] Translation: X:114.74, Y:69.17, Z:0.41 [[ 4.43258823e-01 -8.96375712e-01 -5.67433517e-03 1.14739327e+02] [ 8.96304156e-01 4.43295137e-01 -1.13261826e-02 6.91711134e+01] [ 1.26679202e-02 -6.54998278e-05 9.99919757e-01 4.09068794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351858064 meters Centerline goodness [0,1] 0.9994232731467104 Centerline is valid? [True, True] Translation: X:114.75, Y:69.20, Z:0.41 [[ 4.43368059e-01 -8.96321746e-01 -5.66494844e-03 1.14753510e+02] [ 8.96250323e-01 4.43404244e-01 -1.13152354e-02 6.91953524e+01] [ 1.26539538e-02 -6.03978929e-05 9.99919934e-01 4.08792191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381858064 meters Centerline goodness [0,1] 0.9995996530326283 Centerline is valid? [True, True] Translation: X:114.77, Y:69.22, Z:0.41 [[ 4.43306518e-01 -8.96351978e-01 -5.69759471e-03 1.14767269e+02] [ 8.96279632e-01 4.43343127e-01 -1.13882809e-02 6.92194214e+01] [ 1.27338976e-02 -5.81389418e-05 9.99918919e-01 4.08608841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411858064 meters Centerline goodness [0,1] 0.9997551256650564 Centerline is valid? [True, True] Translation: X:114.78, Y:69.24, Z:0.41 [[ 4.43471047e-01 -8.96271184e-01 -5.60303778e-03 1.14782435e+02] [ 8.96201116e-01 4.43506439e-01 -1.12070538e-02 6.92437344e+01] [ 1.25295428e-02 -5.14448025e-05 9.99921501e-01 4.08543399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441858064 meters Centerline goodness [0,1] 0.9998214046524088 Centerline is valid? [True, True] Translation: X:114.80, Y:69.27, Z:0.41 [[ 4.42997636e-01 -8.96507727e-01 -5.19508835e-03 1.14796350e+02] [ 8.96447431e-01 4.43028094e-01 -1.03976105e-02 6.92672820e+01] [ 1.16231083e-02 -5.10067228e-05 9.99932448e-01 4.08171945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471858064 meters Centerline goodness [0,1] 0.9996201456853019 Centerline is valid? [True, True] Translation: X:114.81, Y:69.29, Z:0.41 [[ 4.42341734e-01 -8.96833589e-01 -4.82745707e-03 1.14810114e+02] [ 8.96781475e-01 4.42368072e-01 -9.66824566e-03 6.92913022e+01] [ 1.08063203e-02 -5.25055226e-05 9.99941609e-01 4.09332572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501858064 meters Centerline goodness [0,1] 0.9997310743579401 Centerline is valid? [True, True] Translation: X:114.82, Y:69.31, Z:0.41 [[ 4.41903299e-01 -8.97051545e-01 -4.47212619e-03 1.14824219e+02] [ 8.97006775e-01 4.41925925e-01 -8.96232059e-03 6.93147719e+01] [ 1.00160120e-02 -5.10484570e-05 9.99949837e-01 4.09585475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531858064 meters Centerline goodness [0,1] 0.999709198282033 Centerline is valid? [True, True] Translation: X:114.84, Y:69.34, Z:0.41 [[ 4.41415606e-01 -8.97292142e-01 -4.36752346e-03 1.14838466e+02] [ 8.97249400e-01 4.41437209e-01 -8.75812353e-03 6.93384311e+01] [ 9.78658279e-03 -5.27854039e-05 9.99952109e-01 4.09795334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561858064 meters Centerline goodness [0,1] 0.9997528145434934 Centerline is valid? [True, True] Translation: X:114.85, Y:69.36, Z:0.41 [[ 4.40763843e-01 -8.97614948e-01 -3.82617593e-03 1.14854630e+02] [ 8.97582116e-01 4.40780446e-01 -7.67745506e-03 6.93614898e+01] [ 8.57790196e-03 -5.03624947e-05 9.99963208e-01 4.10397469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591858064 meters Centerline goodness [0,1] 0.9997528423133959 Centerline is valid? [True, True] Translation: X:114.87, Y:69.39, Z:0.41 [[ 4.40303078e-01 -8.97841152e-01 -3.80346405e-03 1.14869094e+02] [ 8.97808671e-01 4.40319502e-01 -7.63717505e-03 6.93861475e+01] [ 8.53170943e-03 -5.21113231e-05 9.99963603e-01 4.10551941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621858064 meters Centerline goodness [0,1] 0.9997750230601363 Centerline is valid? [True, True] Translation: X:114.88, Y:69.41, Z:0.41 [[ 4.39883560e-01 -8.98047556e-01 -3.61124895e-03 1.14882988e+02] [ 8.98018242e-01 4.39898380e-01 -7.25613344e-03 6.94110958e+01] [ 8.10493546e-03 -5.11136297e-05 9.99967153e-01 4.10585641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651858064 meters Centerline goodness [0,1] 0.9998200224971878 Centerline is valid? [True, True] Translation: X:114.90, Y:69.44, Z:0.41 [[ 4.40031599e-01 -8.97975305e-01 -3.54155836e-03 1.14897312e+02] [ 8.97947071e-01 4.40045848e-01 -7.12100569e-03 6.94350272e+01] [ 7.95293531e-03 -4.66644369e-05 9.99968374e-01 4.09977544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681858064 meters Centerline goodness [0,1] 0.9998873061666066 Centerline is valid? [True, True] Translation: X:114.91, Y:69.46, Z:0.41 [[ 4.40050694e-01 -8.97966271e-01 -3.45872541e-03 1.14910648e+02] [ 8.97939307e-01 4.40064284e-01 -6.95895272e-03 6.94586819e+01] [ 7.77096634e-03 -4.34335214e-05 9.99969805e-01 4.09604227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:69.48, Z:0.41 [[ 4.40408583e-01 -8.97789860e-01 -3.69415952e-03 1.14924124e+02] [ 8.97759052e-01 4.40424074e-01 -7.43774862e-03 6.94834195e+01] [ 8.30453208e-03 -4.08168211e-05 9.99965516e-01 4.10333156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74185806399998 meters Centerline goodness [0,1] 0.9999773827294522 Centerline is valid? [True, True] Translation: X:114.94, Y:69.51, Z:0.41 [[ 4.41764399e-01 -8.97125569e-01 -3.15119915e-03 1.14937404e+02] [ 8.97103107e-01 4.41775637e-01 -6.34836177e-03 6.95073159e+01] [ 7.08740068e-03 -2.24703255e-05 9.99974884e-01 4.10323365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77185806399999 meters Centerline goodness [0,1] 0.9999324430832977 Centerline is valid? [True, True] Translation: X:114.95, Y:69.53, Z:0.41 [[ 4.42431965e-01 -8.96796965e-01 -3.02650294e-03 1.14949367e+02] [ 8.96776212e-01 4.42442316e-01 -6.10109027e-03 6.95314522e+01] [ 6.81049221e-03 -1.47784828e-05 9.99976808e-01 4.10763979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:69.56, Z:0.41 [[ 4.42653659e-01 -8.96688780e-01 -2.63995801e-03 1.14961462e+02] [ 8.96672967e-01 4.42661531e-01 -5.32535061e-03 6.95564033e+01] [ 5.94379000e-03 -9.89304248e-06 9.99982335e-01 4.11230947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.831858064 meters Centerline goodness [0,1] 0.9998649834604739 Centerline is valid? [True, True] Translation: X:114.97, Y:69.58, Z:0.41 [[ 4.43103807e-01 -8.96466268e-01 -2.69192388e-03 1.14973934e+02] [ 8.96449798e-01 4.43111984e-01 -5.43409032e-03 6.95807404e+01] [ 6.06430240e-03 -5.30851726e-06 9.99981612e-01 4.10768050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:69.61, Z:0.41 [[ 4.43159277e-01 -8.96438057e-01 -2.94369245e-03 1.14987762e+02] [ 8.96418332e-01 4.43169053e-01 -5.94681050e-03 6.96054786e+01] [ 6.63550065e-03 -3.39563682e-06 9.99977985e-01 4.11283450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.00, Y:69.63, Z:0.41 [[ 4.42758472e-01 -8.96635421e-01 -3.13966661e-03 1.15000732e+02] [ 8.96612954e-01 4.42769604e-01 -6.34731642e-03 6.96301608e+01] [ 7.08137767e-03 -4.73762935e-06 9.99974927e-01 4.11152474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:69.65, Z:0.41 [[ 4.42648582e-01 -8.96688844e-01 -3.36910898e-03 1.15013408e+02] [ 8.96662939e-01 4.42661403e-01 -6.81587167e-03 6.96544802e+01] [ 7.60309060e-03 -3.91922708e-06 9.99971096e-01 4.10756085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.951858064 meters Centerline goodness [0,1] 0.9999324035060049 Centerline is valid? [True, True] Translation: X:115.03, Y:69.68, Z:0.41 [[ 4.43634610e-01 -8.96201788e-01 -3.26922926e-03 1.15025325e+02] [ 8.96177351e-01 4.43646656e-01 -6.61815661e-03 6.96795894e+01] [ 7.38158641e-03 6.23410638e-06 9.99972756e-01 4.11385525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981858064 meters Centerline goodness [0,1] 0.9999324734958471 Centerline is valid? [True, True] Translation: X:115.04, Y:69.70, Z:0.41 [[ 4.43957405e-01 -8.96042718e-01 -3.04484132e-03 1.15036329e+02] [ 8.96021487e-01 4.43967846e-01 -6.16814927e-03 6.97047284e+01] [ 6.87873688e-03 1.01522939e-05 9.99976341e-01 4.11757284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.011858064 meters Centerline goodness [0,1] 0.9999103219442202 Centerline is valid? [True, True] Translation: X:115.05, Y:69.73, Z:0.41 [[ 4.44252327e-01 -8.95896506e-01 -3.05296481e-03 1.15047777e+02] [ 8.95875128e-01 4.44262817e-01 -6.18902525e-03 6.97307156e+01] [ 6.90104484e-03 1.44136292e-05 9.99976187e-01 4.12213915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041858064 meters Centerline goodness [0,1] 0.9999775664034458 Centerline is valid? [True, True] Translation: X:115.06, Y:69.76, Z:0.41 [[ 4.44206558e-01 -8.95920185e-01 -2.74900633e-03 1.15057693e+02] [ 8.95902830e-01 4.44215064e-01 -5.57649518e-03 6.97568308e+01] [ 6.21724462e-03 1.42731783e-05 9.99980673e-01 4.11990832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.07, Y:69.78, Z:0.41 [[ 4.44142702e-01 -8.95951227e-01 -2.94255299e-03 1.15068841e+02] [ 8.95931318e-01 4.44152449e-01 -5.97285970e-03 6.97810828e+01] [ 6.65833309e-03 1.64766678e-05 9.99977833e-01 4.11821045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:69.81, Z:0.41 [[ 4.43461019e-01 -8.96288370e-01 -3.07949522e-03 1.15081427e+02] [ 8.96266545e-01 4.43471711e-01 -6.25471464e-03 6.98060370e+01] [ 6.97169700e-03 1.36735836e-05 9.99975697e-01 4.12055873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:69.83, Z:0.41 [[ 4.42625387e-01 -8.96700641e-01 -3.27533826e-03 1.15093377e+02] [ 8.96675929e-01 4.42637505e-01 -6.65708661e-03 6.98299043e+01] [ 7.41920139e-03 9.67856080e-06 9.99972477e-01 4.11562891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:69.85, Z:0.41 [[ 4.41064871e-01 -8.97468367e-01 -3.50852147e-03 1.15106719e+02] [ 8.97439997e-01 4.41078826e-01 -7.13586185e-03 6.98547238e+01] [ 7.95174481e-03 -1.30951318e-06 9.99968384e-01 4.11491212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.12, Y:69.88, Z:0.41 [[ 4.39818589e-01 -8.98080276e-01 -3.38040860e-03 1.15119522e+02] [ 8.98053923e-01 4.39831579e-01 -6.87996207e-03 6.98795321e+01] [ 7.66556869e-03 -9.85400298e-06 9.99970619e-01 4.12200289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:69.90, Z:0.41 [[ 4.38704812e-01 -8.98624978e-01 -3.35216663e-03 1.15131914e+02] [ 8.98599042e-01 4.38717619e-01 -6.82738539e-03 6.99034909e+01] [ 7.60591360e-03 -1.70469020e-05 9.99971074e-01 4.11906155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:69.93, Z:0.41 [[ 4.37702082e-01 -8.99113510e-01 -3.43284066e-03 1.15144252e+02] [ 8.99086286e-01 4.37715542e-01 -6.99676324e-03 6.99288026e+01] [ 7.79349206e-03 -2.39221267e-05 9.99969630e-01 4.12103598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281858064 meters Centerline goodness [0,1] 0.9999774240884975 Centerline is valid? [True, True] Translation: X:115.16, Y:69.95, Z:0.41 [[ 4.35969130e-01 -8.99955303e-01 -3.37194370e-03 1.15156463e+02] [ 8.99929025e-01 4.35982169e-01 -6.87742882e-03 6.99541471e+01] [ 7.65948586e-03 -3.61633476e-05 9.99970665e-01 4.11824702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311858064 meters Centerline goodness [0,1] 0.9998870286269459 Centerline is valid? [True, True] Translation: X:115.17, Y:69.98, Z:0.41 [[ 4.34763050e-01 -9.00539188e-01 -3.20321938e-03 1.15168580e+02] [ 9.00515459e-01 4.34774848e-01 -6.53754519e-03 6.99780660e+01] [ 7.27999486e-03 -4.22654926e-05 9.99973500e-01 4.11637205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:70.00, Z:0.41 [[ 4.33484657e-01 -9.01154630e-01 -3.37420224e-03 1.15181303e+02] [ 9.01128282e-01 4.33497786e-01 -6.89120809e-03 7.00027263e+01] [ 7.67275327e-03 -5.33560876e-05 9.99970563e-01 4.12174734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:70.03, Z:0.41 [[ 4.30358373e-01 -9.02652537e-01 -3.17305435e-03 1.15195541e+02] [ 9.02629246e-01 4.30370065e-01 -6.48469285e-03 7.00275954e+01] [ 7.21901206e-03 -7.33497900e-05 9.99973940e-01 4.13141018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:70.05, Z:0.41 [[ 4.28616644e-01 -9.03481206e-01 -3.07945673e-03 1.15209375e+02] [ 9.03459262e-01 4.28627698e-01 -6.29743071e-03 7.00511929e+01] [ 7.00955074e-03 -8.29800870e-05 9.99975429e-01 4.13323096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:70.08, Z:0.41 [[ 4.27154689e-01 -9.04172788e-01 -3.23123768e-03 1.15222349e+02] [ 9.04148616e-01 4.27166899e-01 -6.61220941e-03 7.00766692e+01] [ 7.35885760e-03 -9.70828246e-05 9.99972919e-01 4.13767963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:70.10, Z:0.41 [[ 4.25845418e-01 -9.04789684e-01 -3.36273416e-03 1.15235473e+02] [ 9.04763497e-01 4.25858680e-01 -6.88461774e-03 7.01002315e+01] [ 7.66118064e-03 -1.10696198e-04 9.99970647e-01 4.13337461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:70.13, Z:0.41 [[ 4.25303831e-01 -9.05044342e-01 -3.37505178e-03 1.15246813e+02] [ 9.05017943e-01 4.25317207e-01 -6.91347467e-03 7.01257461e+01] [ 7.69246873e-03 -1.14155160e-04 9.99970406e-01 4.13103066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:70.15, Z:0.41 [[ 4.24944987e-01 -9.05212840e-01 -3.38698343e-03 1.15258598e+02] [ 9.05186222e-01 4.24958469e-01 -6.94291326e-03 7.01498148e+01] [ 7.72414153e-03 -1.15494550e-04 9.99970162e-01 4.12113829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:70.18, Z:0.41 [[ 4.25094762e-01 -9.05142315e-01 -3.43997368e-03 1.15269116e+02] [ 9.05114815e-01 4.25108665e-01 -7.05655703e-03 7.01763819e+01] [ 7.84955098e-03 -1.13865709e-04 9.99969185e-01 4.12537091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:70.20, Z:0.41 [[ 4.25950920e-01 -9.04740054e-01 -3.35388388e-03 1.15278427e+02] [ 9.04713865e-01 4.25964111e-01 -6.88467730e-03 7.02033018e+01] [ 7.65747748e-03 -1.01770621e-04 9.99970676e-01 4.12957007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:70.23, Z:0.41 [[ 4.26433483e-01 -9.04513414e-01 -3.15744321e-03 1.15289341e+02] [ 9.04490164e-01 4.26445162e-01 -6.48585429e-03 7.02287971e+01] [ 7.21301859e-03 -9.00908981e-05 9.99973982e-01 4.13740380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:70.25, Z:0.41 [[ 4.26731475e-01 -9.04374185e-01 -2.75351696e-03 1.15300659e+02] [ 9.04356481e-01 4.26740352e-01 -5.65923451e-03 7.02533283e+01] [ 6.29310240e-03 -7.51874208e-05 9.99980195e-01 4.14384136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:70.28, Z:0.42 [[ 4.27061385e-01 -9.04219037e-01 -2.55084708e-03 1.15310187e+02] [ 9.04203823e-01 4.27068998e-01 -5.24559759e-03 7.02799403e+01] [ 5.83255691e-03 -6.62935062e-05 9.99982988e-01 4.15144521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.701858064 meters Centerline goodness [0,1] 0.9999552752806476 Centerline is valid? [True, True] Translation: X:115.32, Y:70.30, Z:0.41 [[ 4.27110480e-01 -9.04195993e-01 -2.49890859e-03 1.15321884e+02] [ 9.04181372e-01 4.27117786e-01 -5.14226777e-03 7.03046521e+01] [ 5.71694621e-03 -6.31501462e-05 9.99983656e-01 4.14942341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:70.33, Z:0.41 [[ 4.26679509e-01 -9.04399232e-01 -2.57412288e-03 1.15332981e+02] [ 9.04383700e-01 4.26687269e-01 -5.30067417e-03 7.03296304e+01] [ 5.89227111e-03 -6.63057198e-05 9.99982638e-01 4.14146829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:70.36, Z:0.41 [[ 4.25213167e-01 -9.05088810e-01 -2.83014338e-03 1.15344222e+02] [ 9.05070022e-01 4.25222577e-01 -5.83218067e-03 7.03552585e+01] [ 6.48208233e-03 -8.15579221e-05 9.99978988e-01 4.13058707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.791858064 meters Centerline goodness [0,1] 0.9998886091741485 Centerline is valid? [True, True] Translation: X:115.36, Y:70.38, Z:0.41 [[ 4.24146368e-01 -9.05588696e-01 -2.99523470e-03 1.15356048e+02] [ 9.05567636e-01 4.24156934e-01 -6.17674562e-03 7.03807462e+01] [ 6.86404058e-03 -9.25433874e-05 9.99976438e-01 4.13140064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.37, Y:70.41, Z:0.41 [[ 4.22732453e-01 -9.06248928e-01 -3.18636005e-03 1.15368041e+02] [ 9.06225080e-01 4.22744448e-01 -6.57537309e-03 7.04071495e+01] [ 7.30594084e-03 -1.07935795e-04 9.99973305e-01 4.13433917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851858064 meters Centerline goodness [0,1] 0.9999776266332557 Centerline is valid? [True, True] Translation: X:115.38, Y:70.43, Z:0.41 [[ 4.21628714e-01 -9.06761960e-01 -3.46073093e-03 1.15381604e+02] [ 9.06733818e-01 4.21642898e-01 -7.14499855e-03 7.04311533e+01] [ 7.93800550e-03 -1.25425215e-04 9.99968486e-01 4.13500665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:70.46, Z:0.41 [[ 4.20528966e-01 -9.07271933e-01 -3.60941296e-03 1.15393078e+02] [ 9.07241307e-01 4.20544432e-01 -7.45598647e-03 7.04570440e+01] [ 8.28252578e-03 -1.39150251e-04 9.99965690e-01 4.13864014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:70.48, Z:0.41 [[ 4.20726428e-01 -9.07180710e-01 -3.52601002e-03 1.15404069e+02] [ 9.07151441e-01 4.20741182e-01 -7.28835035e-03 7.04816879e+01] [ 8.09538847e-03 -1.32223462e-04 9.99967223e-01 4.14106922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:70.51, Z:0.41 [[ 4.21062052e-01 -9.07025215e-01 -3.46521243e-03 1.15414712e+02] [ 9.06996904e-01 4.21076292e-01 -7.16741893e-03 7.05077608e+01] [ 7.96014849e-03 -1.25008822e-04 9.99968310e-01 4.14299365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:70.53, Z:0.41 [[ 4.22795977e-01 -9.06217759e-01 -3.59653769e-03 1.15424110e+02] [ 9.06187188e-01 4.22811259e-01 -7.44438544e-03 7.05337615e+01] [ 8.26689092e-03 -1.11680154e-04 9.99965822e-01 4.13823127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:70.56, Z:0.41 [[ 4.23493526e-01 -9.05891346e-01 -3.75538496e-03 1.15435717e+02] [ 9.05857953e-01 4.23510163e-01 -7.77887001e-03 7.05583271e+01] [ 8.63725472e-03 -1.07544245e-04 9.99962692e-01 4.13290097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:70.58, Z:0.41 [[ 4.24072852e-01 -9.05618985e-01 -4.05843186e-03 1.15445767e+02] [ 9.05579915e-01 4.24092257e-01 -8.41278487e-03 7.05849614e+01] [ 9.33992722e-03 -1.07600706e-04 9.99956376e-01 4.14144649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:70.61, Z:0.41 [[ 4.24660333e-01 -9.05344243e-01 -3.92480399e-03 1.15456986e+02] [ 9.05307640e-01 4.24678459e-01 -8.14145158e-03 7.06106381e+01] [ 9.03759602e-03 -9.58034963e-05 9.99959156e-01 4.14522146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:70.64, Z:0.42 [[ 4.26844494e-01 -9.04317309e-01 -3.73925713e-03 1.15466967e+02] [ 9.04284001e-01 4.26860867e-01 -7.76182653e-03 7.06373785e+01] [ 8.61529662e-03 -6.82574773e-05 9.99962885e-01 4.15660637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:70.66, Z:0.42 [[ 4.27849175e-01 -9.03842792e-01 -3.64567111e-03 1.15477277e+02] [ 9.03811068e-01 4.27864703e-01 -7.57292301e-03 7.06624664e+01] [ 8.40458586e-03 -5.49290436e-05 9.99964679e-01 4.15954150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151858064 meters Centerline goodness [0,1] 0.999867056633874 Centerline is valid? [True, True] Translation: X:115.49, Y:70.69, Z:0.42 [[ 4.29077753e-01 -9.03259809e-01 -3.74164872e-03 1.15487746e+02] [ 9.03226321e-01 4.29094065e-01 -7.77793013e-03 7.06891377e+01] [ 8.63101094e-03 -4.22188272e-05 9.99962751e-01 4.16185410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:70.72, Z:0.42 [[ 4.29674194e-01 -9.02976446e-01 -3.69127483e-03 1.15498172e+02] [ 9.02943798e-01 4.29690048e-01 -7.67858715e-03 7.07154750e+01] [ 8.51968739e-03 -3.37229719e-05 9.99963706e-01 4.16093585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:70.74, Z:0.42 [[ 4.29427261e-01 -9.03093914e-01 -3.68917267e-03 1.15510053e+02] [ 9.03061262e-01 4.29443106e-01 -7.67959721e-03 7.07403773e+01] [ 8.51968727e-03 -3.37205284e-05 9.99963706e-01 4.16187361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:70.77, Z:0.42 [[ 4.30544493e-01 -9.02563124e-01 -3.35368194e-03 1.15519125e+02] [ 9.02536087e-01 4.30557554e-01 -6.98605087e-03 7.07660213e+01] [ 7.74930499e-03 -1.90132472e-05 9.99969974e-01 4.15904541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.53, Y:70.79, Z:0.42 [[ 4.30258682e-01 -9.02698998e-01 -3.46199141e-03 1.15530117e+02] [ 9.02670148e-01 4.30272609e-01 -7.21703355e-03 7.07903541e+01] [ 8.00440903e-03 -1.98449579e-05 9.99967964e-01 4.15819963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.301858064 meters Centerline goodness [0,1] 0.9999779137310334 Centerline is valid? [True, True] Translation: X:115.54, Y:70.82, Z:0.42 [[ 4.29936511e-01 -9.02851339e-01 -3.74927195e-03 1.15541719e+02] [ 9.02817457e-01 4.29952857e-01 -7.82174317e-03 7.08159057e+01] [ 8.67388148e-03 -2.20552027e-05 9.99962381e-01 4.15700282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:70.84, Z:0.42 [[ 4.28921073e-01 -9.03333022e-01 -4.02056992e-03 1.15553997e+02] [ 9.03294023e-01 4.28939915e-01 -8.39390506e-03 7.08414393e+01] [ 9.30707454e-03 -3.14340140e-05 9.99956688e-01 4.15192182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:70.87, Z:0.42 [[ 4.28333970e-01 -9.03611415e-01 -4.05223028e-03 1.15566250e+02] [ 9.03571754e-01 4.28353136e-01 -8.46614508e-03 7.08669422e+01] [ 9.38589089e-03 -3.51432854e-05 9.99955951e-01 4.15758505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:70.89, Z:0.42 [[ 4.27702879e-01 -9.03910764e-01 -3.94688227e-03 1.15578227e+02] [ 9.03873100e-01 4.27721088e-01 -8.25160286e-03 7.08915747e+01] [ 9.14687742e-03 -3.82464111e-05 9.99958166e-01 4.16025909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.421858064 meters Centerline goodness [0,1] 0.9999779594895418 Centerline is valid? [True, True] Translation: X:115.59, Y:70.92, Z:0.42 [[ 4.26929178e-01 -9.04276328e-01 -3.97489248e-03 1.15590148e+02] [ 9.04238093e-01 4.26947680e-01 -8.31559645e-03 7.09164356e+01] [ 9.21666814e-03 -4.40784361e-05 9.99957525e-01 4.16400777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:70.94, Z:0.42 [[ 4.26142142e-01 -9.04647784e-01 -3.90659138e-03 1.15602027e+02] [ 9.04610817e-01 4.26160045e-01 -8.17838699e-03 7.09418278e+01] [ 9.06339283e-03 -4.87894701e-05 9.99958925e-01 4.17220814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:70.97, Z:0.42 [[ 4.25557941e-01 -9.04922075e-01 -4.05930063e-03 1.15614113e+02] [ 9.04882114e-01 4.25577297e-01 -8.50436841e-03 7.09666780e+01] [ 9.42333690e-03 -5.40870288e-05 9.99955598e-01 4.17424656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:70.99, Z:0.42 [[ 4.25022732e-01 -9.05174229e-01 -3.91053316e-03 1.15626263e+02] [ 9.05137104e-01 4.25040718e-01 -8.19821914e-03 7.09907811e+01] [ 9.08295251e-03 -5.51391679e-05 9.99958748e-01 4.17270657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:71.02, Z:0.42 [[ 4.23814452e-01 -9.05741016e-01 -3.81087381e-03 1.15638292e+02] [ 9.05705736e-01 4.23831581e-01 -7.99447191e-03 7.10151391e+01] [ 8.85608978e-03 -6.33575341e-05 9.99960782e-01 4.17295724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:71.04, Z:0.42 [[ 4.21677999e-01 -9.06738623e-01 -3.56859612e-03 1.15651978e+02] [ 9.06707681e-01 4.21693092e-01 -7.49115451e-03 7.10403847e+01] [ 8.29737146e-03 -7.68184709e-05 9.99965573e-01 4.17392826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:71.06, Z:0.42 [[ 4.20380471e-01 -9.07341076e-01 -3.52580814e-03 1.15665161e+02] [ 9.07310860e-01 4.20395247e-01 -7.40541673e-03 7.10646774e+01] [ 8.20147177e-03 -8.59114457e-05 9.99966364e-01 4.17471925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:71.09, Z:0.42 [[ 4.19180280e-01 -9.07896004e-01 -3.56908520e-03 1.15678188e+02] [ 9.07865024e-01 4.19195463e-01 -7.50085969e-03 7.10892432e+01] [ 8.30614486e-03 -9.60351557e-05 9.99965499e-01 4.17845035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:71.11, Z:0.42 [[ 4.18331022e-01 -9.08288450e-01 -3.35368702e-03 1.15691086e+02] [ 9.08261071e-01 4.18344454e-01 -7.05304180e-03 7.11144947e+01] [ 7.80919277e-03 -9.55171800e-05 9.99969503e-01 4.18624858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:71.14, Z:0.42 [[ 4.16772531e-01 -9.09005388e-01 -3.14059118e-03 1.15703950e+02] [ 9.08981364e-01 4.16784351e-01 -6.60936738e-03 7.11399744e+01] [ 7.31689982e-03 -1.00136083e-04 9.99973226e-01 4.19464995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:71.17, Z:0.42 [[ 4.16069716e-01 -9.09327647e-01 -3.03674798e-03 1.15715432e+02] [ 9.09305163e-01 4.16080786e-01 -6.39527663e-03 7.11651753e+01] [ 7.07893434e-03 -1.00449686e-04 9.99974939e-01 4.19164868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751858064 meters Centerline goodness [0,1] 0.9999778697412973 Centerline is valid? [True, True] Translation: X:115.73, Y:71.19, Z:0.42 [[ 4.15267809e-01 -9.09694072e-01 -3.05665551e-03 1.15726845e+02] [ 9.09671269e-01 4.15279045e-01 -6.44187569e-03 7.11911993e+01] [ 7.12950110e-03 -1.05448094e-04 9.99974579e-01 4.18399668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.74, Y:71.22, Z:0.42 [[ 4.13967958e-01 -9.10284194e-01 -3.63533599e-03 1.15739051e+02] [ 9.10251915e-01 4.13983898e-01 -7.66702241e-03 7.12177339e+01] [ 8.48413988e-03 -1.35169937e-04 9.99964000e-01 4.16384647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811858064 meters Centerline goodness [0,1] 0.9999778535677902 Centerline is valid? [True, True] Translation: X:115.75, Y:71.24, Z:0.42 [[ 4.13035915e-01 -9.10706564e-01 -3.85831613e-03 1.15751491e+02] [ 9.10670174e-01 4.13053908e-01 -8.14266749e-03 7.12421243e+01] [ 9.00927330e-03 -1.50439304e-04 9.99959404e-01 4.15857256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.76, Y:71.27, Z:0.42 [[ 4.11749224e-01 -9.11289351e-01 -3.78091653e-03 1.15763900e+02] [ 9.11254383e-01 4.11766553e-01 -7.98469462e-03 7.12680854e+01] [ 8.83322215e-03 -1.57684945e-04 9.99960974e-01 4.15978502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.78, Y:71.29, Z:0.42 [[ 4.09595350e-01 -9.12260731e-01 -3.46523097e-03 1.15776514e+02] [ 9.12231364e-01 4.09609976e-01 -7.32159834e-03 7.12929831e+01] [ 8.09859983e-03 -1.62199742e-04 9.99967193e-01 4.16076315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:71.32, Z:0.42 [[ 4.08463542e-01 -9.12768248e-01 -3.41473942e-03 1.15788831e+02] [ 9.12739718e-01 4.08477781e-01 -7.21872329e-03 7.13179236e+01] [ 7.98386659e-03 -1.68183011e-04 9.99968114e-01 4.15965179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:71.34, Z:0.42 [[ 4.07244643e-01 -9.13312351e-01 -3.51434777e-03 1.15800561e+02] [ 9.13282113e-01 4.07259765e-01 -7.43411768e-03 7.13446068e+01] [ 8.22092395e-03 -1.82086359e-04 9.99966191e-01 4.15886508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:71.37, Z:0.42 [[ 4.06661443e-01 -9.13572649e-01 -3.38896665e-03 1.15812849e+02] [ 9.13544503e-01 4.06675525e-01 -7.17352482e-03 7.13691731e+01] [ 7.93174587e-03 -1.78775899e-04 9.99968527e-01 4.15608363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:71.39, Z:0.42 [[ 4.06455341e-01 -9.13665702e-01 -3.00665114e-03 1.15824438e+02] [ 9.13643523e-01 4.06466430e-01 -6.36820618e-03 7.13937076e+01] [ 7.04051433e-03 -1.58615921e-04 9.99975203e-01 4.15496860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.84, Y:71.42, Z:0.42 [[ 4.06663115e-01 -9.13573339e-01 -2.97745099e-03 1.15835617e+02] [ 9.13551556e-01 4.06673986e-01 -6.31062806e-03 7.14200331e+01] [ 6.97607341e-03 -1.53755323e-04 9.99975655e-01 4.15228185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.85, Y:71.45, Z:0.41 [[ 4.07194310e-01 -9.13336828e-01 -2.93822080e-03 1.15846589e+02] [ 9.13315579e-01 4.07204884e-01 -6.23184029e-03 7.14458564e+01] [ 6.88822710e-03 -1.45952924e-04 9.99976265e-01 4.14664104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:71.47, Z:0.41 [[ 4.09180760e-01 -9.12448802e-01 -2.87905293e-03 1.15856745e+02] [ 9.12428355e-01 4.09190869e-01 -6.10982138e-03 7.14716687e+01] [ 6.75298137e-03 -1.26908167e-04 9.99977190e-01 4.13048386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.111858064 meters Centerline goodness [0,1] 0.9999778201659052 Centerline is valid? [True, True] Translation: X:115.87, Y:71.50, Z:0.41 [[ 4.10127651e-01 -9.12024016e-01 -2.73928945e-03 1.15868150e+02] [ 9.12005476e-01 4.10136783e-01 -5.81645343e-03 7.14972614e+01] [ 6.42822858e-03 -1.12758601e-04 9.99979332e-01 4.13051129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.88, Y:71.52, Z:0.41 [[ 4.11018963e-01 -9.11623520e-01 -2.44324218e-03 1.15879902e+02] [ 9.11608744e-01 4.11026214e-01 -5.19122108e-03 7.15231774e+01] [ 5.73667582e-03 -9.35906281e-05 9.99983541e-01 4.13336849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.171858064 meters Centerline goodness [0,1] 0.9998675291987724 Centerline is valid? [True, True] Translation: X:115.89, Y:71.55, Z:0.41 [[ 4.13736699e-01 -9.10394456e-01 -1.96939287e-03 1.15890817e+02] [ 9.10384832e-01 4.13741381e-01 -4.18663345e-03 7.15479456e+01] [ 4.62630721e-03 -6.07414971e-05 9.99989297e-01 4.12875336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.90, Y:71.57, Z:0.41 [[ 4.14595676e-01 -9.10004091e-01 -1.72619163e-03 1.15901769e+02] [ 9.09996687e-01 4.14599267e-01 -3.67121742e-03 7.15734991e+01] [ 4.05650066e-03 -4.87577909e-05 9.99991771e-01 4.14672943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.91, Y:71.60, Z:0.41 [[ 4.15747644e-01 -9.09478644e-01 -1.57888715e-03 1.15912511e+02] [ 9.09472438e-01 4.15750640e-01 -3.36004962e-03 7.15982390e+01] [ 3.71231671e-03 -3.90216345e-05 9.99993109e-01 4.14893729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.92, Y:71.63, Z:0.41 [[ 4.17997426e-01 -9.08447352e-01 -1.24938587e-03 1.15921276e+02] [ 9.08443457e-01 4.17999293e-01 -2.66024749e-03 7.16255971e+01] [ 2.93893720e-03 -2.30198173e-05 9.99995681e-01 4.14246648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.291858064 meters Centerline goodness [0,1] 0.9999557766721946 Centerline is valid? [True, True] Translation: X:115.93, Y:71.65, Z:0.41 [[ 4.18982149e-01 -9.07993708e-01 -1.17659692e-03 1.15932436e+02] [ 9.07990248e-01 4.18983801e-01 -2.50687936e-03 7.16511346e+01] [ 2.76920574e-03 -1.80008295e-05 9.99996166e-01 4.13437447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:71.68, Z:0.41 [[ 4.19674767e-01 -9.07674097e-01 -9.07399241e-04 1.15943635e+02] [ 9.07672036e-01 4.19675747e-01 -1.93432843e-03 7.16756312e+01] [ 2.13655327e-03 -1.18320822e-05 9.99997717e-01 4.14466927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351858064 meters Centerline goodness [0,1] 0.9999559675040179 Centerline is valid? [True, True] Translation: X:115.96, Y:71.70, Z:0.41 [[ 4.20746383e-01 -9.07177969e-01 -7.83949520e-04 1.15955036e+02] [ 9.07176428e-01 4.20747113e-01 -1.67190250e-03 7.17009421e+01] [ 1.84655761e-03 -7.73359471e-06 9.99998295e-01 4.14051326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381858064 meters Centerline goodness [0,1] 0.9999558118468439 Centerline is valid? [True, True] Translation: X:115.97, Y:71.73, Z:0.41 [[ 4.20595628e-01 -9.07247950e-01 -6.88778778e-04 1.15966515e+02] [ 9.07246760e-01 4.20596192e-01 -1.46973410e-03 7.17262332e+01] [ 1.62311098e-03 -6.72857645e-06 9.99998683e-01 4.13454006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.98, Y:71.75, Z:0.41 [[ 4.20272926e-01 -9.07397329e-01 -8.68491648e-04 1.15978445e+02] [ 9.07395433e-01 4.20273823e-01 -1.85514097e-03 7.17519579e+01] [ 2.04835427e-03 -8.39983033e-06 9.99997902e-01 4.13089006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441858064 meters Centerline goodness [0,1] 0.9999778985987712 Centerline is valid? [True, True] Translation: X:115.99, Y:71.78, Z:0.41 [[ 4.19637654e-01 -9.07691406e-01 -7.41748338e-04 1.15990364e+02] [ 9.07690022e-01 4.19638310e-01 -1.58534180e-03 7.17766584e+01] [ 1.75026714e-03 -8.00845266e-06 9.99998468e-01 4.12684973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471858064 meters Centerline goodness [0,1] 0.9998671949357002 Centerline is valid? [True, True] Translation: X:116.00, Y:71.80, Z:0.41 [[ 4.18044257e-01 -9.08426166e-01 -9.48969277e-04 1.16004459e+02] [ 9.08423898e-01 4.18045334e-01 -2.03006351e-03 7.18014819e+01] [ 2.24087499e-03 -1.34099786e-05 9.99997489e-01 4.10959224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501858064 meters Centerline goodness [0,1] 0.9999556462343653 Centerline is valid? [True, True] Translation: X:116.02, Y:71.83, Z:0.41 [[ 4.16983933e-01 -9.08913427e-01 -8.84349529e-04 1.16017226e+02] [ 9.08911455e-01 4.16984871e-01 -1.89303946e-03 7.18262042e+01] [ 2.08936936e-03 -1.44283773e-05 9.99997817e-01 4.11864002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531858064 meters Centerline goodness [0,1] 0.9999779711421963 Centerline is valid? [True, True] Translation: X:116.03, Y:71.85, Z:0.41 [[ 4.16237463e-01 -9.09255317e-01 -1.06902240e-03 1.16030101e+02] [ 9.09252433e-01 4.16238835e-01 -2.29041823e-03 7.18515009e+01] [ 2.52754359e-03 -1.86533413e-05 9.99996806e-01 4.11689024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:71.88, Z:0.41 [[ 4.15177887e-01 -9.09739597e-01 -1.09012377e-03 1.16043163e+02] [ 9.09736594e-01 4.15179318e-01 -2.33739767e-03 7.18765668e+01] [ 2.57902005e-03 -2.12896636e-05 9.99996674e-01 4.11530797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591858064 meters Centerline goodness [0,1] 0.9999777955413447 Centerline is valid? [True, True] Translation: X:116.06, Y:71.90, Z:0.41 [[ 4.13517089e-01 -9.10495712e-01 -1.08384119e-03 1.16056658e+02] [ 9.10492742e-01 4.13518509e-01 -2.32582237e-03 7.19008559e+01] [ 2.56583969e-03 -2.50622468e-05 9.99996708e-01 4.10797164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.07, Y:71.93, Z:0.41 [[ 4.12499349e-01 -9.10957399e-01 -9.50952725e-04 1.16069133e+02] [ 9.10955113e-01 4.12500444e-01 -2.04113873e-03 7.19263808e+01] [ 2.25165885e-03 -2.43068506e-05 9.99997465e-01 4.10442040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:71.95, Z:0.41 [[ 4.11194602e-01 -9.11546981e-01 -1.04923372e-03 1.16083702e+02] [ 9.11544194e-01 4.11195940e-01 -2.25401121e-03 7.19508836e+01] [ 2.48607776e-03 -2.95856639e-05 9.99996909e-01 4.10542647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.10, Y:71.97, Z:0.41 [[ 4.10734482e-01 -9.11754375e-01 -1.07026642e-03 1.16096582e+02] [ 9.11751472e-01 4.10735875e-01 -2.30093691e-03 7.19747335e+01] [ 2.53748611e-03 -3.07428566e-05 9.99996780e-01 4.10834453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:72.00, Z:0.41 [[ 4.10505327e-01 -9.11857672e-01 -9.80703752e-04 1.16109002e+02] [ 9.11855232e-01 4.10506498e-01 -2.10955413e-03 7.20001697e+01] [ 2.32619839e-03 -2.82766373e-05 9.99997294e-01 4.10760077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:72.03, Z:0.41 [[ 4.10286866e-01 -9.11955919e-01 -1.04333518e-03 1.16121666e+02] [ 9.11953154e-01 4.10288192e-01 -2.24608284e-03 7.20255508e+01] [ 2.47639665e-03 -2.99345167e-05 9.99996933e-01 4.11005465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:72.05, Z:0.41 [[ 4.10251793e-01 -9.11971836e-01 -9.14944222e-04 1.16133894e+02] [ 9.11969707e-01 4.10252813e-01 -1.97085450e-03 7.20511395e+01] [ 2.17272224e-03 -2.58548208e-05 9.99997639e-01 4.10361306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:72.08, Z:0.41 [[ 4.09847749e-01 -9.12153792e-01 -5.30601048e-04 1.16145251e+02] [ 9.12153077e-01 4.09848092e-01 -1.14280426e-03 7.20764518e+01] [ 1.25987906e-03 -1.56136251e-05 9.99999206e-01 4.10331434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.831858064 meters Centerline goodness [0,1] 0.9999553870176221 Centerline is valid? [True, True] Translation: X:116.16, Y:72.10, Z:0.41 [[ 4.09306293e-01 -9.12397030e-01 -1.35339795e-04 1.16157691e+02] [ 9.12396984e-01 4.09306315e-01 -2.90186879e-04 7.21005177e+01] [ 3.20161079e-04 -4.70830468e-06 9.99999949e-01 4.10725872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:72.12, Z:0.41 [[ 4.08087365e-01 -9.12942754e-01 4.80767087e-04 1.16172202e+02] [ 9.12942160e-01 4.08087648e-01 1.04115753e-03 7.21248310e+01] [-1.14671233e-03 1.40293113e-05 9.99999342e-01 4.11772079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:72.15, Z:0.41 [[ 4.07401568e-01 -9.13249039e-01 3.92737455e-04 1.16185004e+02] [ 9.13248643e-01 4.07401757e-01 8.51367938e-04 7.21484106e+01] [-9.37512881e-04 1.18183150e-05 9.99999560e-01 4.12600252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:72.17, Z:0.41 [[ 4.06609295e-01 -9.13602052e-01 4.15058152e-04 1.16198374e+02] [ 9.13601608e-01 4.06609507e-01 9.00465234e-04 7.21733839e+01] [-9.91433476e-04 1.30602610e-05 9.99999508e-01 4.12793510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.21, Y:72.20, Z:0.41 [[ 4.06646767e-01 -9.13585425e-01 2.79748834e-04 1.16210067e+02] [ 9.13585222e-01 4.06646864e-01 6.08124926e-04 7.21990027e+01] [-6.69333055e-04 8.28236588e-06 9.99999776e-01 4.12200739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:72.22, Z:0.41 [[ 4.07142107e-01 -9.13364807e-01 1.87216442e-04 1.16221615e+02] [ 9.13364716e-01 4.07142150e-01 4.07654502e-04 7.22236697e+01] [-4.48560980e-04 5.02357998e-06 9.99999899e-01 4.11642686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:72.25, Z:0.41 [[ 4.07908962e-01 -9.13022606e-01 1.34993094e-05 1.16232873e+02] [ 9.13022605e-01 4.07908962e-01 3.15069638e-05 7.22493110e+01] [-3.42730597e-05 -5.26798227e-07 9.99999999e-01 4.11260416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:72.27, Z:0.41 [[ 4.09646762e-01 -9.12244226e-01 -5.31465235e-05 1.16243690e+02] [ 9.12244219e-01 4.09646765e-01 -1.13068630e-04 7.22740124e+01] [ 1.24917506e-04 -2.16441086e-06 9.99999992e-01 4.11377138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:72.30, Z:0.41 [[ 4.09401135e-01 -9.12354486e-01 -5.30875168e-05 1.16255161e+02] [ 9.12354479e-01 4.09401139e-01 -1.13095950e-04 7.22991094e+01] [ 1.24917687e-04 -2.13302330e-06 9.99999992e-01 4.11470905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101858064 meters Centerline goodness [0,1] 0.9999102595741817 Centerline is valid? [True, True] Translation: X:116.27, Y:72.33, Z:0.41 [[ 4.09803108e-01 -9.12173986e-01 -1.80343982e-04 1.16265675e+02] [ 9.12173902e-01 4.09803148e-01 -3.89649856e-04 7.23255459e+01] [ 4.29333994e-04 -4.82535225e-06 9.99999908e-01 4.11191348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:72.35, Z:0.41 [[ 4.10057037e-01 -9.12059837e-01 -2.84399238e-04 1.16277401e+02] [ 9.12059628e-01 4.10057136e-01 -6.16848632e-04 7.23494177e+01] [ 6.79222799e-04 -6.44594102e-06 9.99999769e-01 4.11498972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:72.37, Z:0.41 [[ 4.10233865e-01 -9.11980031e-01 -7.74161370e-04 1.16289212e+02] [ 9.11978479e-01 4.10234595e-01 -1.68265197e-03 7.23735876e+01] [ 1.85213277e-03 -1.57376863e-05 9.99998285e-01 4.10447599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.30, Y:72.40, Z:0.41 [[ 4.09919188e-01 -9.12121278e-01 -1.01642738e-03 1.16300501e+02] [ 9.12118599e-01 4.09920448e-01 -2.21065928e-03 7.23993064e+01] [ 2.43304374e-03 -2.09106618e-05 9.99997040e-01 4.10005177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:72.42, Z:0.41 [[ 4.09431281e-01 -9.12340285e-01 -1.10962572e-03 1.16312020e+02] [ 9.12337088e-01 4.09432784e-01 -2.41528225e-03 7.24239137e+01] [ 2.65787644e-03 -2.34605929e-05 9.99996468e-01 4.09758434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251858064 meters Centerline goodness [0,1] 0.9999550844412505 Centerline is valid? [True, True] Translation: X:116.32, Y:72.45, Z:0.41 [[ 4.08846383e-01 -9.12602705e-01 -9.68347030e-04 1.16323593e+02] [ 9.12600268e-01 4.08847530e-01 -2.10910499e-03 7.24489753e+01] [ 2.32068121e-03 -2.14138132e-05 9.99997307e-01 4.09849228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:72.47, Z:0.41 [[ 4.07100108e-01 -9.13383430e-01 -4.60755396e-04 1.16336442e+02] [ 9.13382879e-01 4.07100369e-01 -1.00314321e-03 7.24746421e+01] [ 1.10382808e-03 -1.24663817e-05 9.99999391e-01 4.11076365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:72.50, Z:0.41 [[ 4.05923415e-01 -9.13907026e-01 -3.58349771e-04 1.16348451e+02] [ 9.13906693e-01 4.05923573e-01 -7.80629901e-04 7.24986738e+01] [ 8.58885771e-04 -1.06222983e-05 9.99999631e-01 4.11182801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341858064 meters Centerline goodness [0,1] 0.9999775990681212 Centerline is valid? [True, True] Translation: X:116.36, Y:72.52, Z:0.41 [[ 4.04916174e-01 -9.14353709e-01 -4.32805314e-04 1.16360055e+02] [ 9.14353222e-01 4.04916405e-01 -9.43293850e-04 7.25245639e+01] [ 1.03775420e-03 -1.37819966e-05 9.99999461e-01 4.10799702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:72.55, Z:0.41 [[ 4.04170100e-01 -9.14683603e-01 -6.61229415e-04 1.16371788e+02] [ 9.14682464e-01 4.04170640e-01 -1.44337275e-03 7.25495999e+01] [ 1.58747890e-03 -2.14468440e-05 9.99998740e-01 4.10601770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401858064 meters Centerline goodness [0,1] 0.9999775628800287 Centerline is valid? [True, True] Translation: X:116.38, Y:72.57, Z:0.41 [[ 4.03184732e-01 -9.15118396e-01 -6.27660886e-04 1.16383911e+02] [ 9.15117368e-01 4.03185220e-01 -1.37133737e-03 7.25734541e+01] [ 1.50799965e-03 -2.14810883e-05 9.99998863e-01 4.10942649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:72.60, Z:0.41 [[ 4.02577646e-01 -9.15385539e-01 -7.44308263e-04 1.16394998e+02] [ 9.15384093e-01 4.02578334e-01 -1.62706697e-03 7.25991892e+01] [ 1.78903595e-03 -2.63071544e-05 9.99998399e-01 4.10851075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:72.63, Z:0.41 [[ 4.02216486e-01 -9.15544041e-01 -1.00356486e-03 1.16406218e+02] [ 9.15541407e-01 4.02217737e-01 -2.19625348e-03 7.26250526e+01] [ 2.41441838e-03 -3.54358303e-05 9.99997085e-01 4.10763553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:72.65, Z:0.41 [[ 4.01508928e-01 -9.15854114e-01 -1.34994586e-03 1.16416181e+02] [ 9.15849341e-01 4.01511195e-01 -2.95730570e-03 7.26505038e+01] [ 3.25047897e-03 -4.89623806e-05 9.99994716e-01 4.09348601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:72.68, Z:0.41 [[ 4.00878628e-01 -9.16129755e-01 -1.61160784e-03 1.16426616e+02] [ 9.16122944e-01 4.00881863e-01 -3.53335745e-03 7.26769807e+01] [ 3.88307825e-03 -5.99834377e-05 9.99992459e-01 4.08531859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:72.70, Z:0.41 [[ 4.00100974e-01 -9.16469319e-01 -1.78794519e-03 1.16438050e+02] [ 9.16460925e-01 4.00104963e-01 -3.92310034e-03 7.27014336e+01] [ 4.31076684e-03 -6.89456375e-05 9.99990706e-01 4.08219694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.581858064 meters Centerline goodness [0,1] 0.9999775860136725 Centerline is valid? [True, True] Translation: X:116.45, Y:72.73, Z:0.41 [[ 3.98889657e-01 -9.16996443e-01 -2.13657242e-03 1.16450441e+02] [ 9.16984445e-01 3.98895369e-01 -4.69169084e-03 7.27268932e+01] [ 5.15453266e-03 -8.77367299e-05 9.99986711e-01 4.08375040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.46, Y:72.75, Z:0.41 [[ 3.98022164e-01 -9.17372967e-01 -2.27951375e-03 1.16462825e+02] [ 9.17359296e-01 3.98028680e-01 -5.00917776e-03 7.27513582e+01] [ 5.50259611e-03 -9.73693597e-05 9.99984856e-01 4.08393503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:72.78, Z:0.41 [[ 3.97495604e-01 -9.17601287e-01 -2.26357809e-03 1.16473486e+02] [ 9.17587791e-01 3.97502037e-01 -4.97757514e-03 7.27775431e+01] [ 5.46720625e-03 -9.84673793e-05 9.99985050e-01 4.08132788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:72.80, Z:0.41 [[ 3.97180933e-01 -9.17736875e-01 -2.51695500e-03 1.16484545e+02] [ 9.17720166e-01 3.97188892e-01 -5.53907626e-03 7.28036111e+01] [ 6.08312110e-03 -1.09844887e-04 9.99981492e-01 4.08116193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:72.83, Z:0.41 [[ 3.96764812e-01 -9.17916427e-01 -2.66765681e-03 1.16494877e+02] [ 9.17897636e-01 3.96773762e-01 -5.87462602e-03 7.28282351e+01] [ 6.45087196e-03 -1.17790991e-04 9.99979186e-01 4.07598562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:72.86, Z:0.41 [[ 3.96458667e-01 -9.18048364e-01 -2.77960554e-03 1.16504458e+02] [ 9.18027939e-01 3.96468392e-01 -6.12516366e-03 7.28552165e+01] [ 6.72522222e-03 -1.23381320e-04 9.99977378e-01 4.07783317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.761858064 meters Centerline goodness [0,1] 0.9999554476398387 Centerline is valid? [True, True] Translation: X:116.52, Y:72.88, Z:0.41 [[ 3.96014867e-01 -9.18239900e-01 -2.77696366e-03 1.16515663e+02] [ 9.18219488e-01 3.96024584e-01 -6.12374171e-03 7.28800360e+01] [ 6.72280985e-03 -1.24769394e-04 9.99977394e-01 4.07697384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:72.91, Z:0.41 [[ 3.95077970e-01 -9.18645065e-01 -2.15435971e-03 1.16525625e+02] [ 9.18632772e-01 3.95083831e-01 -4.75362575e-03 7.29066599e+01] [ 5.21804752e-03 -1.01012614e-04 9.99986381e-01 4.08567191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:72.93, Z:0.41 [[ 3.94392301e-01 -9.18939966e-01 -2.01306340e-03 1.16536614e+02] [ 9.18929220e-01 3.94397427e-01 -4.44496196e-03 7.29325624e+01] [ 4.87860022e-03 -9.68040072e-05 9.99988095e-01 4.08894843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:72.96, Z:0.41 [[ 3.93734215e-01 -9.19222240e-01 -1.96003489e-03 1.16548006e+02] [ 9.19212042e-01 3.93739082e-01 -4.33101558e-03 7.29584695e+01] [ 4.75290818e-03 -9.64186491e-05 9.99988700e-01 4.09218233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:72.98, Z:0.41 [[ 3.93037748e-01 -9.19520020e-01 -2.06442947e-03 1.16560471e+02] [ 9.19508694e-01 3.93043156e-01 -4.56508401e-03 7.29831734e+01] [ 5.00909601e-03 -1.04010509e-04 9.99987449e-01 4.09677576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:73.01, Z:0.41 [[ 3.92612561e-01 -9.19701820e-01 -1.98472403e-03 1.16570553e+02] [ 9.19691340e-01 3.92617565e-01 -4.39178622e-03 7.30098124e+01] [ 4.81837130e-03 -1.01063063e-04 9.99988386e-01 4.09583154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.58, Y:73.03, Z:0.41 [[ 3.92232876e-01 -9.19863892e-01 -1.94715541e-03 1.16581270e+02] [ 9.19853793e-01 3.92237696e-01 -4.31154782e-03 7.30342130e+01] [ 4.72978490e-03 -9.99674860e-05 9.99988810e-01 4.09524071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:73.06, Z:0.41 [[ 3.91840151e-01 -9.20031746e-01 -1.69770198e-03 1.16589591e+02] [ 9.20024063e-01 3.91843819e-01 -3.76105265e-03 7.30612415e+01] [ 4.12552187e-03 -8.81952373e-05 9.99991486e-01 4.09285055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001858064 meters Centerline goodness [0,1] 0.9999555555555556 Centerline is valid? [True, True] Translation: X:116.60, Y:73.09, Z:0.41 [[ 3.91420545e-01 -9.20209861e-01 -1.94117038e-03 1.16600114e+02] [ 9.20199802e-01 3.91425345e-01 -4.30397813e-03 7.30876446e+01] [ 4.72038640e-03 -1.01599138e-04 9.99988854e-01 4.09219269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:73.11, Z:0.41 [[ 3.90734868e-01 -9.20500554e-01 -2.23428938e-03 1.16610538e+02] [ 9.20487210e-01 3.90741238e-01 -4.95794895e-03 7.31137764e+01] [ 5.43682376e-03 -1.19391267e-04 9.99985213e-01 4.08751704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:73.14, Z:0.41 [[ 3.89268295e-01 -9.21120227e-01 -2.77883770e-03 1.16621991e+02] [ 9.21099573e-01 3.89278182e-01 -6.17036285e-03 7.31391430e+01] [ 6.76538692e-03 -1.57659591e-04 9.99977102e-01 4.07778808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:73.16, Z:0.41 [[ 3.88104427e-01 -9.21610581e-01 -2.98169585e-03 1.16633376e+02] [ 9.21586795e-01 3.88115841e-01 -6.62371828e-03 7.31646263e+01] [ 7.26173224e-03 -1.77197128e-04 9.99973618e-01 4.07782860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:73.19, Z:0.41 [[ 3.86964412e-01 -9.22089532e-01 -3.07230419e-03 1.16644996e+02] [ 9.22064263e-01 3.86976561e-01 -6.82907195e-03 7.31906061e+01] [ 7.48592547e-03 -1.90254084e-04 9.99971962e-01 4.07751476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151858064 meters Centerline goodness [0,1] 0.9998671272920542 Centerline is valid? [True, True] Translation: X:116.65, Y:73.22, Z:0.41 [[ 3.85092927e-01 -9.22872795e-01 -3.04016947e-03 1.16654265e+02] [ 9.22848042e-01 3.85104875e-01 -6.76218117e-03 7.32180364e+01] [ 7.41141712e-03 -2.01546306e-04 9.99972515e-01 4.07285766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:73.24, Z:0.41 [[ 3.84287693e-01 -9.23208507e-01 -3.00375513e-03 1.16665038e+02] [ 9.23184326e-01 3.84299378e-01 -6.68488412e-03 7.32428485e+01] [ 7.32588312e-03 -2.04100962e-04 9.99973145e-01 4.07569155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:73.27, Z:0.41 [[ 3.83609513e-01 -9.23490884e-01 -2.88582327e-03 1.16675433e+02] [ 9.23468547e-01 3.83620316e-01 -6.42623678e-03 7.32690352e+01] [ 7.04163152e-03 -1.99801459e-04 9.99975187e-01 4.07944868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:73.29, Z:0.41 [[ 3.83671549e-01 -9.23465633e-01 -2.71435460e-03 1.16686037e+02] [ 9.23445844e-01 3.83681105e-01 -6.04841836e-03 7.32940069e+01] [ 6.62695306e-03 -1.85953431e-04 9.99978024e-01 4.08922103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:73.32, Z:0.41 [[ 3.84351097e-01 -9.23183002e-01 -2.71636325e-03 1.16695190e+02] [ 9.23163149e-01 3.84360654e-01 -6.05707030e-03 7.33206634e+01] [ 6.63584750e-03 -1.79604837e-04 9.99977966e-01 4.09694277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.301858064 meters Centerline goodness [0,1] 0.9999338215829877 Centerline is valid? [True, True] Translation: X:116.71, Y:73.35, Z:0.41 [[ 3.85320302e-01 -9.22778791e-01 -2.75103334e-03 1.16705095e+02] [ 9.22758387e-01 3.85330084e-01 -6.13884046e-03 7.33471799e+01] [ 6.72484768e-03 -1.73119224e-04 9.99977373e-01 4.09880678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:73.38, Z:0.41 [[ 3.87929779e-01 -9.21684240e-01 -2.94075199e-03 1.16712190e+02] [ 9.21660861e-01 3.87940891e-01 -6.56684039e-03 7.33756065e+01] [ 7.19339124e-03 -1.62903071e-04 9.99974114e-01 4.10126997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:73.40, Z:0.41 [[ 3.89176906e-01 -9.21158288e-01 -2.95701597e-03 1.16721668e+02] [ 9.21134601e-01 3.89188110e-01 -6.60769054e-03 7.34018304e+01] [ 7.23756436e-03 -1.52249164e-04 9.99973797e-01 4.10040081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:73.43, Z:0.41 [[ 3.90774117e-01 -9.20481407e-01 -3.09336237e-03 1.16729576e+02] [ 9.20455426e-01 3.90786334e-01 -6.91734845e-03 7.34290788e+01] [ 7.57613437e-03 -1.44181443e-04 9.99971290e-01 4.09853711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:73.46, Z:0.41 [[ 3.92234805e-01 -9.19859417e-01 -3.24199738e-03 1.16738182e+02] [ 9.19830816e-01 3.92248179e-01 -7.25506037e-03 7.34565780e+01] [ 7.94530317e-03 -1.36401905e-04 9.99968426e-01 4.09802225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:73.48, Z:0.41 [[ 3.95257169e-01 -9.18564120e-01 -3.42453967e-03 1.16746314e+02] [ 9.18532129e-01 3.95271987e-01 -7.66702596e-03 7.34834450e+01] [ 8.39627956e-03 -1.15102737e-04 9.99964744e-01 4.09702585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:73.51, Z:0.41 [[ 3.96180976e-01 -9.18165719e-01 -3.51376934e-03 1.16755984e+02] [ 9.18131986e-01 3.96196543e-01 -7.87117974e-03 7.35086036e+01] [ 8.61919067e-03 -1.07692354e-04 9.99962848e-01 4.09568566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:73.54, Z:0.41 [[ 3.97507549e-01 -9.17591157e-01 -3.77045557e-03 1.16763767e+02] [ 9.17552230e-01 3.97525418e-01 -8.45265332e-03 7.35356811e+01] [ 9.25493187e-03 -9.95964166e-05 9.99957167e-01 4.09557871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:73.56, Z:0.41 [[ 3.97947235e-01 -9.17400743e-01 -3.72500628e-03 1.16773118e+02] [ 9.17362683e-01 3.97964658e-01 -8.35695237e-03 7.35627546e+01] [ 9.14909516e-03 -9.15556744e-05 9.99958142e-01 4.09714529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:73.59, Z:0.41 [[ 3.98532951e-01 -9.17146650e-01 -3.67557671e-03 1.16782827e+02] [ 9.17109539e-01 3.98549891e-01 -8.25096208e-03 7.35885174e+01] [ 9.03224293e-03 -8.26261950e-05 9.99959205e-01 4.10091076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:73.61, Z:0.41 [[ 3.98801209e-01 -9.17030800e-01 -3.47948292e-03 1.16792493e+02] [ 9.16997496e-01 3.98816381e-01 -7.81574836e-03 7.36147736e+01] [ 8.55495676e-03 -7.37472278e-05 9.99963403e-01 4.10786808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:73.64, Z:0.41 [[ 3.99849509e-01 -9.16575443e-01 -3.13480266e-03 1.16800874e+02] [ 9.16548358e-01 3.99861793e-01 -7.04656255e-03 7.36423535e+01] [ 7.71219400e-03 -5.56336595e-05 9.99970259e-01 4.12542244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661858064 meters Centerline goodness [0,1] 0.9999784417712241 Centerline is valid? [True, True] Translation: X:116.81, Y:73.67, Z:0.41 [[ 4.00119354e-01 -9.16458191e-01 -2.98099624e-03 1.16810724e+02] [ 9.16433661e-01 4.00130456e-01 -6.70551324e-03 7.36676372e+01] [ 7.33810992e-03 -4.88796648e-05 9.99973075e-01 4.12998476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:73.69, Z:0.41 [[ 4.00134255e-01 -9.16451780e-01 -2.95181636e-03 1.16820745e+02] [ 9.16427692e-01 4.00145140e-01 -6.64469886e-03 7.36939748e+01] [ 7.27070106e-03 -4.63546238e-05 9.99973567e-01 4.13439502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:73.72, Z:0.41 [[ 4.00369117e-01 -9.16349146e-01 -2.96873613e-03 1.16830474e+02] [ 9.16324742e-01 4.00380122e-01 -6.68765974e-03 7.37190003e+01] [ 7.31685422e-03 -4.27939436e-05 9.99973231e-01 4.13198238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:73.75, Z:0.41 [[ 4.00409025e-01 -9.16329823e-01 -3.50253011e-03 1.16838976e+02] [ 9.16295802e-01 4.00424341e-01 -7.89629399e-03 7.37454764e+01] [ 8.63810799e-03 -4.76062629e-05 9.99962690e-01 4.12272152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:73.77, Z:0.41 [[ 4.00701172e-01 -9.16201608e-01 -3.63116905e-03 1.16849964e+02] [ 9.16164990e-01 4.00717622e-01 -8.19137736e-03 7.37703516e+01] [ 8.96002653e-03 -4.44554481e-05 9.99959857e-01 4.11336690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811858064 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:116.86, Y:73.80, Z:0.41 [[ 3.99911835e-01 -9.16544978e-01 -3.97823571e-03 1.16860231e+02] [ 9.16500983e-01 3.99931618e-01 -8.98044734e-03 7.37970770e+01] [ 9.82200616e-03 -5.46697625e-05 9.99951761e-01 4.12895615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841858064 meters Centerline goodness [0,1] 0.999828200833226 Centerline is valid? [True, True] Translation: X:116.87, Y:73.82, Z:0.41 [[ 3.99245732e-01 -9.16835206e-01 -4.00632141e-03 1.16871574e+02] [ 9.16790535e-01 3.99265828e-01 -9.05062470e-03 7.38228511e+01] [ 9.89751859e-03 -5.95342720e-05 9.99951017e-01 4.13227210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:73.85, Z:0.41 [[ 3.98299027e-01 -9.17246889e-01 -4.00379498e-03 1.16882371e+02] [ 9.17202227e-01 3.98319144e-01 -9.05176068e-03 7.38485315e+01] [ 9.89748751e-03 -6.69822076e-05 9.99951016e-01 4.13911139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:73.87, Z:0.41 [[ 3.96946920e-01 -9.17832540e-01 -4.07092547e-03 1.16893096e+02] [ 9.17786332e-01 3.96967786e-01 -9.21011567e-03 7.38740045e+01] [ 1.00693701e-02 -8.03127113e-05 9.99949299e-01 4.13587516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931858064 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:116.90, Y:73.90, Z:0.41 [[ 3.96242728e-01 -9.18136565e-01 -4.11685681e-03 1.16903689e+02] [ 9.18089255e-01 3.96264105e-01 -9.32087358e-03 7.38996460e+01] [ 1.01891974e-02 -8.63136228e-05 9.99948085e-01 4.13916464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:73.93, Z:0.41 [[ 3.95538358e-01 -9.18440204e-01 -4.12290603e-03 1.16914967e+02] [ 9.18392700e-01 3.95559834e-01 -9.34162070e-03 7.39252710e+01] [ 1.02105761e-02 -9.14774925e-05 9.99947867e-01 4.14142105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:73.95, Z:0.41 [[ 3.95282557e-01 -9.18550338e-01 -4.12030353e-03 1.16926036e+02] [ 9.18502827e-01 3.95304021e-01 -9.34276873e-03 7.39505338e+01] [ 1.02105759e-02 -9.14769222e-05 9.99947867e-01 4.14235888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:73.98, Z:0.41 [[ 3.94437521e-01 -9.18914001e-01 -4.01257911e-03 1.16937675e+02] [ 9.18868894e-01 3.94457919e-01 -9.10529985e-03 7.39763251e+01] [ 9.94978112e-03 -9.55622251e-05 9.99950495e-01 4.14870499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:74.00, Z:0.41 [[ 3.93875214e-01 -9.19155410e-01 -3.95563074e-03 1.16948507e+02] [ 9.19111525e-01 3.93895065e-01 -8.98237111e-03 7.40013876e+01] [ 9.81429843e-03 -9.77324573e-05 9.99951834e-01 4.14883955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:74.03, Z:0.41 [[ 3.93294584e-01 -9.19404562e-01 -3.82380318e-03 1.16958953e+02] [ 9.19363506e-01 3.93313159e-01 -8.68918510e-03 7.40280083e+01] [ 9.49282853e-03 -9.80556589e-05 9.99954937e-01 4.14955935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:74.05, Z:0.42 [[ 3.92831685e-01 -9.19602531e-01 -3.80155557e-03 1.16968746e+02] [ 9.19561899e-01 3.92850066e-01 -8.64517593e-03 7.40545888e+01] [ 9.44356703e-03 -9.96666379e-05 9.99955404e-01 4.15181452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:74.08, Z:0.42 [[ 3.92312375e-01 -9.19824713e-01 -3.67399094e-03 1.16979341e+02] [ 9.19786717e-01 3.92329566e-01 -8.36103442e-03 7.40792654e+01] [ 9.13210135e-03 -9.91507915e-05 9.99958297e-01 4.15050394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:74.11, Z:0.42 [[ 3.92031299e-01 -9.19943624e-01 -3.89741489e-03 1.16990052e+02] [ 9.19900807e-01 3.92050658e-01 -8.87625357e-03 7.41056182e+01] [ 9.69363694e-03 -1.05465880e-04 9.99953010e-01 4.15842876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201858064 meters Centerline goodness [0,1] 0.9999138172494775 Centerline is valid? [True, True] Translation: X:117.00, Y:74.13, Z:0.42 [[ 3.91547771e-01 -9.20149438e-01 -3.91848448e-03 1.17001294e+02] [ 9.20106100e-01 3.91567363e-01 -8.93115797e-03 7.41310767e+01] [ 9.75235062e-03 -1.08446473e-04 9.99952439e-01 4.15771815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.231858064 meters Centerline goodness [0,1] 0.9999784649840641 Centerline is valid? [True, True] Translation: X:117.01, Y:74.16, Z:0.42 [[ 3.90836671e-01 -9.20451758e-01 -3.90622490e-03 1.17012127e+02] [ 9.20408642e-01 3.90856174e-01 -8.90966921e-03 7.41557375e+01] [ 9.72769281e-03 -1.13097703e-04 9.99952678e-01 4.15147900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:74.18, Z:0.42 [[ 3.90530031e-01 -9.20581256e-01 -4.05531506e-03 1.17023354e+02] [ 9.20534724e-01 3.90551068e-01 -9.25663692e-03 7.41816894e+01] [ 1.01052941e-02 -1.18063632e-04 9.99948933e-01 4.15011581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:74.21, Z:0.41 [[ 3.90286765e-01 -9.20684206e-01 -4.10280453e-03 1.17034270e+02] [ 9.20636511e-01 3.90308311e-01 -9.37211880e-03 7.42071140e+01] [ 1.02301205e-02 -1.19377724e-04 9.99947664e-01 4.14242916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:74.23, Z:0.41 [[ 3.90573670e-01 -9.20563554e-01 -3.86657616e-03 1.17043661e+02] [ 9.20521125e-01 3.90592794e-01 -8.83902197e-03 7.42331795e+01] [ 9.64713826e-03 -1.06975779e-04 9.99953460e-01 4.14038197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:74.26, Z:0.41 [[ 3.90927645e-01 -9.20413764e-01 -3.75234012e-03 1.17054102e+02] [ 9.20373742e-01 3.90945641e-01 -8.58376564e-03 7.42586227e+01] [ 9.36757705e-03 -9.79240285e-05 9.99956118e-01 4.13896376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:74.28, Z:0.41 [[ 3.91353405e-01 -9.20233199e-01 -3.65684934e-03 1.17064527e+02] [ 9.20195125e-01 3.91370480e-01 -8.37130766e-03 7.42845467e+01] [ 9.13473811e-03 -8.88751783e-05 9.99958273e-01 4.14353515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:74.31, Z:0.41 [[ 3.92077700e-01 -9.19924597e-01 -3.71671480e-03 1.17075967e+02] [ 9.19885193e-01 3.92095308e-01 -8.51482131e-03 7.43105740e+01] [ 9.29029999e-03 -8.04793576e-05 9.99956841e-01 4.14594701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:74.33, Z:0.41 [[ 3.92151297e-01 -9.19893114e-01 -3.74419962e-03 1.17087083e+02] [ 9.19853067e-01 3.92169163e-01 -8.58384141e-03 7.43347478e+01] [ 9.36457624e-03 -7.79489581e-05 9.99956148e-01 4.14910705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:74.36, Z:0.42 [[ 3.92576959e-01 -9.19713091e-01 -3.34080955e-03 1.17098227e+02] [ 9.19681166e-01 3.92591169e-01 -7.66340401e-03 7.43595417e+01] [ 8.35970532e-03 -6.40037811e-05 9.99965055e-01 4.15446644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:74.39, Z:0.42 [[ 3.92798736e-01 -9.19618895e-01 -3.20035604e-03 1.17108366e+02] [ 9.19589555e-01 3.92811769e-01 -7.34608209e-03 7.43852620e+01] [ 8.01273341e-03 -5.74822240e-05 9.99967896e-01 4.15942772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:74.41, Z:0.42 [[ 3.93224255e-01 -9.19436929e-01 -3.22785840e-03 1.17118902e+02] [ 9.19407031e-01 3.93237500e-01 -7.41489396e-03 7.44110833e+01] [ 8.08684230e-03 -5.19995509e-05 9.99967300e-01 4.15406134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:74.44, Z:0.41 [[ 3.93396280e-01 -9.19363269e-01 -3.24757308e-03 1.17129755e+02] [ 9.19332955e-01 3.93409682e-01 -7.46590434e-03 7.44368811e+01] [ 8.14150491e-03 -4.85419606e-05 9.99966856e-01 4.14988641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:74.46, Z:0.41 [[ 3.94157386e-01 -9.19036240e-01 -3.51351943e-03 1.17141355e+02] [ 9.19000692e-01 3.94173043e-01 -8.08327927e-03 7.44611430e+01] [ 8.81376123e-03 -4.28425552e-05 9.99961157e-01 4.14235541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621858064 meters Centerline goodness [0,1] 0.9999783783783783 Centerline is valid? [True, True] Translation: X:117.15, Y:74.49, Z:0.41 [[ 3.94542221e-01 -9.18871607e-01 -3.37732526e-03 1.17153015e+02] [ 9.18838708e-01 3.94556674e-01 -7.77557646e-03 7.44869540e+01] [ 8.47730266e-03 -3.54239765e-05 9.99964066e-01 4.14589244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:74.51, Z:0.41 [[ 3.94910434e-01 -9.18713444e-01 -3.36991930e-03 1.17164393e+02] [ 9.18680634e-01 3.94924811e-01 -7.76446035e-03 7.45127258e+01] [ 8.46417885e-03 -2.96131874e-05 9.99964178e-01 4.14510487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:74.54, Z:0.41 [[ 3.96849022e-01 -9.17877280e-01 -3.48602775e-03 1.17174252e+02] [ 9.17842093e-01 3.96864333e-01 -8.03699695e-03 7.45375129e+01] [ 8.76045698e-03 -1.01486336e-05 9.99961626e-01 4.13458289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:74.56, Z:0.41 [[ 3.97768604e-01 -9.17478897e-01 -3.55109284e-03 1.17185132e+02] [ 9.17442319e-01 3.97784455e-01 -8.19253835e-03 7.45637548e+01] [ 8.92905058e-03 8.11694695e-07 9.99960135e-01 4.12777423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:74.59, Z:0.41 [[ 3.98732106e-01 -9.17059856e-01 -3.73204159e-03 1.17196503e+02] [ 9.17019373e-01 3.98749571e-01 -8.61677570e-03 7.45896720e+01] [ 9.39024906e-03 1.34306787e-05 9.99955911e-01 4.12468460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:74.61, Z:0.41 [[ 3.99598783e-01 -9.16682129e-01 -3.83239419e-03 1.17207630e+02] [ 9.16639359e-01 3.99617159e-01 -8.85499373e-03 7.46147948e+01] [ 9.64870498e-03 2.55213606e-05 9.99953450e-01 4.11820675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:74.64, Z:0.41 [[ 4.00840376e-01 -9.16140543e-01 -3.67414871e-03 1.17220589e+02] [ 9.16101151e-01 4.00857212e-01 -8.49564678e-03 7.46403043e+01] [ 9.25601546e-03 3.95063813e-05 9.99957161e-01 4.11828110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.831858064 meters Centerline goodness [0,1] 0.9999784031272272 Centerline is valid? [True, True] Translation: X:117.23, Y:74.66, Z:0.41 [[ 4.01278008e-01 -9.15949134e-01 -3.62560596e-03 1.17231876e+02] [ 9.15910721e-01 4.01294384e-01 -8.38859495e-03 7.46643620e+01] [ 9.13846158e-03 4.54273056e-05 9.99958242e-01 4.11702417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:74.69, Z:0.41 [[ 4.00948753e-01 -9.16093254e-01 -3.63958883e-03 1.17244049e+02] [ 9.16054498e-01 4.00965269e-01 -8.42673213e-03 7.46894326e+01] [ 9.17902118e-03 4.46260201e-05 9.99957871e-01 4.11991660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.891858064 meters Centerline goodness [0,1] 0.9999783446662913 Centerline is valid? [True, True] Translation: X:117.26, Y:74.71, Z:0.41 [[ 4.00405371e-01 -9.16331410e-01 -3.50530869e-03 1.17257110e+02] [ 9.16295414e-01 4.00420712e-01 -8.12207288e-03 7.47140658e+01] [ 8.84610869e-03 4.02233267e-05 9.99960872e-01 4.12529516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:74.74, Z:0.41 [[ 3.99715866e-01 -9.16633171e-01 -3.29503798e-03 1.17269845e+02] [ 9.16601326e-01 3.99729445e-01 -7.64070736e-03 7.47394713e+01] [ 8.32084952e-03 3.38757791e-05 9.99965381e-01 4.13098225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:74.76, Z:0.41 [[ 3.98297287e-01 -9.17251235e-01 -3.07279245e-03 1.17284542e+02] [ 9.17223525e-01 3.98309140e-01 -7.12979392e-03 7.47628285e+01] [ 7.76373359e-03 2.13400580e-05 9.99969862e-01 4.13787758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:74.79, Z:0.41 [[ 3.97201166e-01 -9.17727048e-01 -2.88094632e-03 1.17297474e+02] [ 9.17702670e-01 3.97211614e-01 -6.68902610e-03 7.47881362e+01] [ 7.28304551e-03 1.30368346e-05 9.99973478e-01 4.14030760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:74.81, Z:0.41 [[ 3.95980648e-01 -9.18254408e-01 -2.85810239e-03 1.17309640e+02] [ 9.18230394e-01 3.95990962e-01 -6.64090868e-03 7.48127383e+01] [ 7.22982638e-03 5.27483285e-06 9.99973864e-01 4.13830278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:74.84, Z:0.41 [[ 3.93032260e-01 -9.19520762e-01 -2.68519560e-03 1.17323844e+02] [ 9.19499570e-01 3.93041432e-01 -6.24287557e-03 7.48356540e+01] [ 6.79584682e-03 -1.53847053e-05 9.99976908e-01 4.13298689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071858064 meters Centerline goodness [0,1] 0.9999565302440827 Centerline is valid? [True, True] Translation: X:117.34, Y:74.86, Z:0.41 [[ 3.91295679e-01 -9.20260875e-01 -2.75939505e-03 1.17337190e+02] [ 9.20238484e-01 3.91305408e-01 -6.41961908e-03 7.48603289e+01] [ 6.98749047e-03 -2.73323075e-05 9.99975587e-01 4.13744938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.35, Y:74.89, Z:0.41 [[ 3.89268843e-01 -9.21120469e-01 -2.61706491e-03 1.17350691e+02] [ 9.21100317e-01 3.89277639e-01 -6.09304214e-03 7.48850463e+01] [ 6.63119068e-03 -3.87478504e-05 9.99978013e-01 4.13911772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131858064 meters Centerline goodness [0,1] 0.9999563089828731 Centerline is valid? [True, True] Translation: X:117.36, Y:74.91, Z:0.41 [[ 3.87282952e-01 -9.21957670e-01 -2.44327036e-03 1.17364002e+02] [ 9.21940101e-01 3.87290656e-01 -5.69192164e-03 7.49096110e+01] [ 6.19396659e-03 -4.81647090e-05 9.99980816e-01 4.14332350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:74.93, Z:0.42 [[ 3.83434593e-01 -9.23565862e-01 -2.00272062e-03 1.17380621e+02] [ 9.23554068e-01 3.83439818e-01 -4.66795334e-03 7.49326732e+01] [ 5.07908518e-03 -5.97659886e-05 9.99987100e-01 4.15524595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:74.96, Z:0.42 [[ 3.81751027e-01 -9.24262999e-01 -2.01537601e-03 1.17393536e+02] [ 9.24251047e-01 3.81756341e-01 -4.70081121e-03 7.49576119e+01] [ 5.11416844e-03 -6.81738764e-05 9.99986920e-01 4.16172310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:74.98, Z:0.42 [[ 3.79974708e-01 -9.24994411e-01 -2.13582606e-03 1.17406571e+02] [ 9.24980979e-01 3.79980702e-01 -4.98548072e-03 7.49816871e+01] [ 5.42311448e-03 -8.12418996e-05 9.99985292e-01 4.15794841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:75.01, Z:0.41 [[ 3.77880314e-01 -9.25850528e-01 -2.69582523e-03 1.17420086e+02] [ 9.25829118e-01 3.77889912e-01 -6.29752597e-03 7.50073095e+01] [ 6.84929291e-03 -1.16162401e-04 9.99976537e-01 4.14619812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.43, Y:75.03, Z:0.41 [[ 3.76895705e-01 -9.26251083e-01 -2.92545682e-03 1.17432924e+02] [ 9.26225844e-01 3.76907035e-01 -6.83908316e-03 7.50327025e+01] [ 7.43733344e-03 -1.32012640e-04 9.99972334e-01 4.14238188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:75.06, Z:0.41 [[ 3.75413658e-01 -9.26852107e-01 -3.12363727e-03 1.17448162e+02] [ 9.26823320e-01 3.75426622e-01 -7.30648893e-03 7.50560895e+01] [ 7.94473125e-03 -1.52104127e-04 9.99968429e-01 4.13580072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:75.08, Z:0.41 [[ 3.74763101e-01 -9.27115492e-01 -3.07946247e-03 1.17459910e+02] [ 9.27087488e-01 3.74775721e-01 -7.20751012e-03 7.50818566e+01] [ 7.83630206e-03 -1.53822289e-04 9.99969284e-01 4.13442328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371858064 meters Centerline goodness [0,1] 0.9999556747412514 Centerline is valid? [True, True] Translation: X:117.47, Y:75.11, Z:0.41 [[ 3.74069668e-01 -9.27395232e-01 -3.15707701e-03 1.17472104e+02] [ 9.27365763e-01 3.74082955e-01 -7.39493811e-03 7.51068549e+01] [ 8.03903904e-03 -1.61543086e-04 9.99967673e-01 4.13219560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:75.13, Z:0.41 [[ 3.73545700e-01 -9.27606805e-01 -3.03721949e-03 1.17484082e+02] [ 9.27579504e-01 3.73558014e-01 -7.11857583e-03 7.51309377e+01] [ 7.73781707e-03 -1.58149163e-04 9.99970050e-01 4.12831341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:75.15, Z:0.41 [[ 3.73095791e-01 -9.27788272e-01 -2.90757415e-03 1.17497916e+02] [ 9.27763223e-01 3.73107089e-01 -6.81926852e-03 7.51544873e+01] [ 7.41167388e-03 -1.53299984e-04 9.99972521e-01 4.13462794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461858064 meters Centerline goodness [0,1] 0.9999554764024933 Centerline is valid? [True, True] Translation: X:117.51, Y:75.18, Z:0.41 [[ 3.72824924e-01 -9.27897962e-01 -2.63601129e-03 1.17510443e+02] [ 9.27877346e-01 3.72834216e-01 -6.18698224e-03 7.51794470e+01] [ 6.72368341e-03 -1.39233980e-04 9.99977386e-01 4.14577650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:75.20, Z:0.42 [[ 3.72680657e-01 -9.27956795e-01 -2.30555005e-03 1.17523052e+02] [ 9.27941002e-01 3.72687768e-01 -5.41516204e-03 7.52042175e+01] [ 5.88428671e-03 -1.21288280e-04 9.99982680e-01 4.15728452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:75.23, Z:0.42 [[ 3.73580695e-01 -9.27595772e-01 -1.88385390e-03 1.17535916e+02] [ 9.27585210e-01 3.73585433e-01 -4.42735458e-03 7.52283344e+01] [ 4.81057576e-03 -9.34608170e-05 9.99988425e-01 4.17325021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.551858064 meters Centerline goodness [0,1] 0.9999555249171651 Centerline is valid? [True, True] Translation: X:117.55, Y:75.25, Z:0.42 [[ 3.74184435e-01 -9.27352889e-01 -1.62134857e-03 1.17546287e+02] [ 9.27345055e-01 3.74187940e-01 -3.81242474e-03 7.52545608e+01] [ 4.14215217e-03 -7.69995812e-05 9.99991418e-01 4.17220699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.581858064 meters Centerline goodness [0,1] 0.9999331088764521 Centerline is valid? [True, True] Translation: X:117.56, Y:75.28, Z:0.42 [[ 3.75045173e-01 -9.27005398e-01 -1.45261792e-03 1.17555607e+02] [ 9.26999099e-01 3.75047981e-01 -3.41799120e-03 7.52810747e+01] [ 3.71329771e-03 -6.46744025e-05 9.99993104e-01 4.16945910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:75.31, Z:0.42 [[ 3.77781755e-01 -9.25893470e-01 -1.49242495e-03 1.17565806e+02] [ 9.25886803e-01 3.77784699e-01 -3.51427444e-03 7.53065624e+01] [ 3.81765907e-03 -5.41877972e-05 9.99992711e-01 4.16003321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:75.33, Z:0.42 [[ 3.78774543e-01 -9.25487596e-01 -1.59851534e-03 1.17576785e+02] [ 9.25479934e-01 3.78777912e-01 -3.76623128e-03 7.53311228e+01] [ 4.09108263e-03 -5.28413442e-05 9.99991630e-01 4.15736522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:75.36, Z:0.42 [[ 3.80442548e-01 -9.24802452e-01 -1.97302297e-03 1.17586188e+02] [ 9.24790749e-01 3.80447660e-01 -4.65276257e-03 7.53578882e+01] [ 5.05351820e-03 -5.45245407e-05 9.99987229e-01 4.15461268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701858064 meters Centerline goodness [0,1] 0.9999107043196785 Centerline is valid? [True, True] Translation: X:117.60, Y:75.38, Z:0.41 [[ 3.80910355e-01 -9.24609489e-01 -2.14334442e-03 1.17597123e+02] [ 9.24595654e-01 3.80916381e-01 -5.05838420e-03 7.53821828e+01] [ 5.49346503e-03 -5.49360198e-05 9.99984909e-01 4.14988507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:75.41, Z:0.41 [[ 3.81049917e-01 -9.24551888e-01 -2.18341275e-03 1.17607797e+02] [ 9.24537508e-01 3.81056169e-01 -5.15677576e-03 7.54082014e+01] [ 5.59970966e-03 -5.36580044e-05 9.99984320e-01 4.14532550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:75.43, Z:0.41 [[ 3.80753269e-01 -9.24673917e-01 -2.25721156e-03 1.17618824e+02] [ 9.24658527e-01 3.80759956e-01 -5.33521005e-03 7.54332720e+01] [ 5.79278535e-03 -5.57512501e-05 9.99983220e-01 4.13712513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:75.46, Z:0.41 [[ 3.80480093e-01 -9.24786098e-01 -2.36048842e-03 1.17629876e+02] [ 9.24769244e-01 3.80487411e-01 -5.58358247e-03 7.54594052e+01] [ 6.06175557e-03 -5.84651114e-05 9.99981626e-01 4.13451695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:75.48, Z:0.41 [[ 3.80111996e-01 -9.24937387e-01 -2.38781142e-03 1.17641166e+02] [ 9.24920117e-01 3.80119491e-01 -5.65249063e-03 7.54839679e+01] [ 6.13585358e-03 -5.99553229e-05 9.99981174e-01 4.13162485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851858064 meters Centerline goodness [0,1] 0.9998656846723826 Centerline is valid? [True, True] Translation: X:117.65, Y:75.51, Z:0.41 [[ 3.79587427e-01 -9.25152562e-01 -2.47434166e-03 1.17652216e+02] [ 9.25133994e-01 3.79595486e-01 -5.86174345e-03 7.55100608e+01] [ 6.36225589e-03 -6.40534758e-05 9.99979759e-01 4.13599888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881858064 meters Centerline goodness [0,1] 0.9998656846723826 Centerline is valid? [True, True] Translation: X:117.66, Y:75.54, Z:0.41 [[ 3.79329808e-01 -9.25258225e-01 -2.47271091e-03 1.17662877e+02] [ 9.25239655e-01 3.79337862e-01 -5.86243140e-03 7.55355142e+01] [ 6.36225574e-03 -6.40552107e-05 9.99979759e-01 4.13693670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:75.56, Z:0.41 [[ 3.79008120e-01 -9.25390673e-01 -2.22434974e-03 1.17673418e+02] [ 9.25375626e-01 3.79014642e-01 -5.27749033e-03 7.55617422e+01] [ 5.72680145e-03 -5.81473441e-05 9.99983600e-01 4.14285724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941858064 meters Centerline goodness [0,1] 0.999955415858579 Centerline is valid? [True, True] Translation: X:117.68, Y:75.59, Z:0.41 [[ 3.78447120e-01 -9.25620408e-01 -2.15353982e-03 1.17684273e+02] [ 9.25606286e-01 3.78453243e-01 -5.11330094e-03 7.55869351e+01] [ 5.54798983e-03 -5.82159784e-05 9.99984608e-01 4.14273621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971858064 meters Centerline goodness [0,1] 0.9999330820191386 Centerline is valid? [True, True] Translation: X:117.69, Y:75.61, Z:0.41 [[ 3.77760913e-01 -9.25900686e-01 -2.14758125e-03 1.17694857e+02] [ 9.25886626e-01 3.77767012e-01 -5.10290282e-03 7.56127567e+01] [ 5.53606658e-03 -6.07395350e-05 9.99984674e-01 4.14174516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:75.64, Z:0.41 [[ 3.76033898e-01 -9.26602878e-01 -2.36934420e-03 1.17704817e+02] [ 9.26585752e-01 3.76041355e-01 -5.63423983e-03 7.56394808e+01] [ 6.11167424e-03 -7.67354081e-05 9.99981321e-01 4.13760098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:75.66, Z:0.41 [[ 3.75151184e-01 -9.26960016e-01 -2.59171707e-03 1.17715963e+02] [ 9.26939502e-01 3.75160126e-01 -6.16759001e-03 7.56640255e+01] [ 6.68941823e-03 -8.85862336e-05 9.99977622e-01 4.13380099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061858064 meters Centerline goodness [0,1] 0.9999554535937814 Centerline is valid? [True, True] Translation: X:117.73, Y:75.69, Z:0.41 [[ 3.74356867e-01 -9.27280578e-01 -2.76857989e-03 1.17726579e+02] [ 9.27257141e-01 3.74367092e-01 -6.59357804e-03 7.56906154e+01] [ 7.15056206e-03 -9.88342508e-05 9.99974430e-01 4.13601385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:75.72, Z:0.41 [[ 3.72761397e-01 -9.27923307e-01 -2.69763346e-03 1.17737173e+02] [ 9.27901039e-01 3.72771143e-01 -6.42932089e-03 7.57155717e+01] [ 6.97151661e-03 -1.06534255e-04 9.99975693e-01 4.12901831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:75.74, Z:0.41 [[ 3.71567349e-01 -9.28401601e-01 -2.85879340e-03 1.17747291e+02] [ 9.28376571e-01 3.71578327e-01 -6.81826423e-03 7.57412188e+01] [ 7.39235309e-03 -1.20592454e-04 9.99972669e-01 4.12667782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.76, Y:75.77, Z:0.41 [[ 3.70526679e-01 -9.28817051e-01 -2.97750196e-03 1.17756560e+02] [ 9.28789873e-01 3.70538619e-01 -7.10663296e-03 7.57678503e+01] [ 7.70404134e-03 -1.32276556e-04 9.99970315e-01 4.12408330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:75.79, Z:0.41 [[ 3.68519373e-01 -9.29614506e-01 -3.21584922e-03 1.17768807e+02] [ 9.29582784e-01 3.68533370e-01 -7.68135895e-03 7.57926058e+01] [ 8.32585046e-03 -1.58668491e-04 9.99965327e-01 4.12189513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:75.82, Z:0.41 [[ 3.67187600e-01 -9.30141288e-01 -3.23276859e-03 1.17780043e+02] [ 9.30109205e-01 3.67201791e-01 -7.72736699e-03 7.58184410e+01] [ 8.37462150e-03 -1.69434485e-04 9.99964918e-01 4.12784107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:75.84, Z:0.41 [[ 3.66588878e-01 -9.30376854e-01 -3.39164488e-03 1.17790954e+02] [ 9.30341495e-01 3.66604523e-01 -8.11333272e-03 7.58444608e+01] [ 8.79184933e-03 -1.81130428e-04 9.99961335e-01 4.12867816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:75.87, Z:0.41 [[ 3.65528507e-01 -9.30793508e-01 -3.51515319e-03 1.17800769e+02] [ 9.30755488e-01 3.65545356e-01 -8.41510705e-03 7.58708877e+01] [ 9.11767494e-03 -1.95786605e-04 9.99958414e-01 4.12346807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:75.90, Z:0.41 [[ 3.65700397e-01 -9.30725791e-01 -3.56662994e-03 1.17810343e+02] [ 9.30686587e-01 3.65717738e-01 -8.54476420e-03 7.58969963e+01] [ 9.25721225e-03 -1.94590978e-04 9.99957132e-01 4.12345968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:75.92, Z:0.41 [[ 3.66004601e-01 -9.30606797e-01 -3.40912096e-03 1.17818567e+02] [ 9.30570919e-01 3.66020433e-01 -8.17359596e-03 7.59236235e+01] [ 8.85421188e-03 -1.80855096e-04 9.99960784e-01 4.13051050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:75.95, Z:0.41 [[ 3.66499817e-01 -9.30412476e-01 -3.24182472e-03 1.17828218e+02] [ 9.30379975e-01 3.66514117e-01 -7.77840653e-03 7.59505239e+01] [ 8.42530100e-03 -1.65344234e-04 9.99964493e-01 4.13858757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:75.98, Z:0.41 [[ 3.68081749e-01 -9.29787965e-01 -3.18857430e-03 1.17838284e+02] [ 9.29756461e-01 3.68095530e-01 -7.65533235e-03 7.59762394e+01] [ 8.29153583e-03 -1.46809435e-04 9.99965614e-01 4.14884774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421858064 meters Centerline goodness [0,1] 0.9998894025525891 Centerline is valid? [True, True] Translation: X:117.85, Y:76.00, Z:0.42 [[ 3.68286854e-01 -9.29707219e-01 -3.04625958e-03 1.17848509e+02] [ 9.29678425e-01 3.68299427e-01 -7.31839239e-03 7.60023377e+01] [ 7.92589790e-03 -1.36774089e-04 9.99968580e-01 4.15243392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.451858064 meters Centerline goodness [0,1] 0.9999778324577154 Centerline is valid? [True, True] Translation: X:117.86, Y:76.03, Z:0.42 [[ 3.68673302e-01 -9.29554122e-01 -3.02175636e-03 1.17857742e+02] [ 9.29525739e-01 3.68685663e-01 -7.26518171e-03 7.60286575e+01] [ 7.86745785e-03 -1.30321780e-04 9.99969043e-01 4.16147914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481858064 meters Centerline goodness [0,1] 0.9999556639326092 Centerline is valid? [True, True] Translation: X:117.87, Y:76.06, Z:0.42 [[ 3.69532653e-01 -9.29213195e-01 -2.90801621e-03 1.17866970e+02] [ 9.29186857e-01 3.69544077e-01 -6.99710368e-03 7.60551748e+01] [ 7.57644123e-03 -1.16432152e-04 9.99971292e-01 4.16926010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.511858064 meters Centerline goodness [0,1] 0.9999558118468439 Centerline is valid? [True, True] Translation: X:117.88, Y:76.08, Z:0.42 [[ 3.69667396e-01 -9.29160037e-01 -2.76435297e-03 1.17876868e+02] [ 9.29136199e-01 3.69677716e-01 -6.65653156e-03 7.60813820e+01] [ 7.20690280e-03 -1.07757720e-04 9.99974024e-01 4.17021126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:76.11, Z:0.42 [[ 3.69781725e-01 -9.29115052e-01 -2.58746899e-03 1.17887392e+02] [ 9.29094140e-01 3.69790765e-01 -6.23458773e-03 7.61061121e+01] [ 6.74947144e-03 -9.85656651e-05 9.99977217e-01 4.17169511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:76.13, Z:0.42 [[ 3.70532623e-01 -9.28816541e-01 -2.32574217e-03 1.17896008e+02] [ 9.28799618e-01 3.70539913e-01 -5.60736731e-03 7.61330925e+01] [ 6.06999581e-03 -8.24359253e-05 9.99981574e-01 4.18626618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:76.16, Z:0.42 [[ 3.70830288e-01 -9.28697989e-01 -2.22338669e-03 1.17906434e+02] [ 9.28682497e-01 3.70836946e-01 -5.36464659e-03 7.61593521e+01] [ 5.80665043e-03 -7.54468624e-05 9.99983138e-01 4.18882322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:76.19, Z:0.42 [[ 3.70701925e-01 -9.28749507e-01 -2.10616759e-03 1.17916871e+02] [ 9.28735586e-01 3.70707901e-01 -5.08566609e-03 7.61856416e+01] [ 5.50408284e-03 -7.08065869e-05 9.99984850e-01 4.19261580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661858064 meters Centerline goodness [0,1] 0.9999340441903924 Centerline is valid? [True, True] Translation: X:117.93, Y:76.21, Z:0.42 [[ 3.70469602e-01 -9.28842050e-01 -2.17270914e-03 1.17927203e+02] [ 9.28827212e-01 3.70475966e-01 -5.25061277e-03 7.62102548e+01] [ 5.68192644e-03 -7.28789483e-05 9.99983855e-01 4.19224057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:76.24, Z:0.42 [[ 3.70969821e-01 -9.28641730e-01 -2.43507693e-03 1.17937658e+02] [ 9.28623056e-01 3.70977805e-01 -5.88968050e-03 7.62363081e+01] [ 6.37276259e-03 -7.63748612e-05 9.99979691e-01 4.19437650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:76.26, Z:0.42 [[ 3.71264869e-01 -9.28523642e-01 -2.49878052e-03 1.17947333e+02] [ 9.28503944e-01 3.71273270e-01 -6.04848337e-03 7.62623204e+01] [ 6.54389022e-03 -7.45381881e-05 9.99978586e-01 4.19271102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:76.29, Z:0.42 [[ 3.71494677e-01 -9.28432082e-01 -2.36116411e-03 1.17956040e+02] [ 9.28414465e-01 3.71502174e-01 -5.71971396e-03 7.62888690e+01] [ 6.18754354e-03 -6.72956243e-05 9.99980855e-01 4.19300787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781858064 meters Centerline goodness [0,1] 0.9999781325169473 Centerline is valid? [True, True] Translation: X:117.97, Y:76.31, Z:0.42 [[ 3.72008193e-01 -9.28226721e-01 -2.24920516e-03 1.17965774e+02] [ 9.28210708e-01 3.72014988e-01 -5.45251022e-03 7.63141628e+01] [ 5.89790371e-03 -5.93578360e-05 9.99982605e-01 4.20137472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811858064 meters Centerline goodness [0,1] 0.9999122287319246 Centerline is valid? [True, True] Translation: X:117.98, Y:76.34, Z:0.42 [[ 3.71684678e-01 -9.28356371e-01 -2.22429925e-03 1.17976492e+02] [ 9.28340691e-01 3.71691329e-01 -5.39607662e-03 7.63401247e+01] [ 5.83623485e-03 -5.92684966e-05 9.99982967e-01 4.20485032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:76.37, Z:0.42 [[ 3.70857643e-01 -9.28686882e-01 -2.29853471e-03 1.17986775e+02] [ 9.28670117e-01 3.70864760e-01 -5.58067439e-03 7.63665626e+01] [ 6.03514463e-03 -6.49447493e-05 9.99981786e-01 4.20615886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:76.39, Z:0.42 [[ 3.70443071e-01 -9.28851573e-01 -2.58582408e-03 1.17997603e+02] [ 9.28830324e-01 3.70452089e-01 -6.28330476e-03 7.63917835e+01] [ 6.79418144e-03 -7.41851040e-05 9.99976917e-01 4.20207550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:76.42, Z:0.42 [[ 3.68616049e-01 -9.29577441e-01 -2.82658355e-03 1.18009131e+02] [ 9.29552040e-01 3.68626874e-01 -6.87266071e-03 7.64167542e+01] [ 7.43062501e-03 -9.40834648e-05 9.99972388e-01 4.20044984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:76.44, Z:0.42 [[ 3.67717611e-01 -9.29933290e-01 -2.79908907e-03 1.18019797e+02] [ 9.29908357e-01 3.67728251e-01 -6.81036250e-03 7.64413334e+01] [ 7.36248693e-03 -9.86060895e-05 9.99972892e-01 4.19962922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:76.47, Z:0.42 [[ 3.66646217e-01 -9.30355965e-01 -2.88616449e-03 1.18029881e+02] [ 9.30329426e-01 3.66657561e-01 -7.02789962e-03 7.64677122e+01] [ 7.59668237e-03 -1.08330944e-04 9.99971139e-01 4.20202775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99185806399998 meters Centerline goodness [0,1] 0.9999340311373032 Centerline is valid? [True, True] Translation: X:118.04, Y:76.49, Z:0.42 [[ 3.64528278e-01 -9.31187815e-01 -2.89619077e-03 1.18040150e+02] [ 9.31161087e-01 3.64539762e-01 -7.05633923e-03 7.64942297e+01] [ 7.62655381e-03 -1.24584958e-04 9.99970910e-01 4.20023215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:76.52, Z:0.42 [[ 3.63260043e-01 -9.31683165e-01 -2.93628037e-03 1.18051805e+02] [ 9.31655689e-01 3.63271884e-01 -7.15650972e-03 7.65190320e+01] [ 7.73426773e-03 -1.35928280e-04 9.99970081e-01 4.19968587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:76.55, Z:0.42 [[ 3.62171837e-01 -9.32107510e-01 -2.67381066e-03 1.18062161e+02] [ 9.32084714e-01 3.62181684e-01 -6.52028298e-03 7.65454502e+01] [ 7.04600999e-03 -1.30755176e-04 9.99975168e-01 4.20546331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:76.57, Z:0.42 [[ 3.60737795e-01 -9.32664206e-01 -2.39226172e-03 1.18072702e+02] [ 9.32645943e-01 3.60745705e-01 -5.83795576e-03 7.65718084e+01] [ 6.30785051e-03 -1.25161896e-04 9.99980097e-01 4.21620707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:76.60, Z:0.42 [[ 3.60305629e-01 -9.32831461e-01 -2.30648034e-03 1.18082401e+02] [ 9.32814462e-01 3.60312991e-01 -5.63274294e-03 7.65967367e+01] [ 6.08545466e-03 -1.22009230e-04 9.99981476e-01 4.21824802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:76.62, Z:0.42 [[ 3.60427556e-01 -9.32784563e-01 -2.22185708e-03 1.18091445e+02] [ 9.32768764e-01 3.60434386e-01 -5.43012556e-03 7.66232761e+01] [ 5.86597099e-03 -1.15311998e-04 9.99982788e-01 4.22033530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:76.65, Z:0.42 [[ 3.61548715e-01 -9.32350106e-01 -2.40986727e-03 1.18099313e+02] [ 9.32331484e-01 3.61556728e-01 -5.89381287e-03 7.66491879e+01] [ 6.36640078e-03 -1.15894660e-04 9.99979728e-01 4.21628724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:76.67, Z:0.42 [[ 3.62064654e-01 -9.32149732e-01 -2.46226014e-03 1.18108462e+02] [ 9.32130267e-01 3.62073008e-01 -6.02514365e-03 7.66744688e+01] [ 6.50785398e-03 -1.13655651e-04 9.99978817e-01 4.21579175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.231858064 meters Centerline goodness [0,1] 0.9999562592948998 Centerline is valid? [True, True] Translation: X:118.12, Y:76.70, Z:0.42 [[ 3.63359884e-01 -9.31645968e-01 -2.32077494e-03 1.18116108e+02] [ 9.31628643e-01 3.63367282e-01 -5.68248371e-03 7.67017599e+01] [ 6.13735672e-03 -9.73137900e-05 9.99981162e-01 4.21527894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:76.73, Z:0.42 [[ 3.64052075e-01 -9.31375672e-01 -2.33316201e-03 1.18124853e+02] [ 9.31358128e-01 3.64059540e-01 -5.71732792e-03 7.67285682e+01] [ 6.17439002e-03 -9.16043126e-05 9.99980934e-01 4.21804564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:76.76, Z:0.42 [[ 3.64531062e-01 -9.31188085e-01 -2.41970256e-03 1.18134035e+02] [ 9.31169181e-01 3.64539082e-01 -5.93418533e-03 7.67554602e+01] [ 6.40791882e-03 -8.99575662e-05 9.99979465e-01 4.21587067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:76.78, Z:0.42 [[ 3.65177273e-01 -9.30934863e-01 -2.41657952e-03 1.18143775e+02] [ 9.30915972e-01 3.65185259e-01 -5.93122321e-03 7.67822873e+01] [ 6.40408169e-03 -8.36845631e-05 9.99979490e-01 4.21289345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:76.81, Z:0.42 [[ 3.66212777e-01 -9.30527299e-01 -2.67358320e-03 1.18152298e+02] [ 9.30504127e-01 3.66222527e-01 -6.56744703e-03 7.68093241e+01] [ 7.09031515e-03 -8.26971873e-05 9.99974860e-01 4.20713795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:76.84, Z:0.42 [[ 3.66553904e-01 -9.30392997e-01 -2.66590309e-03 1.18161412e+02] [ 9.30369917e-01 3.66563590e-01 -6.55377511e-03 7.68357909e+01] [ 7.07480947e-03 -7.79641835e-05 9.99974970e-01 4.20429513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:76.86, Z:0.42 [[ 3.67332336e-01 -9.30085703e-01 -2.74586559e-03 1.18170257e+02] [ 9.30061170e-01 3.67342591e-01 -6.75583601e-03 7.68625736e+01] [ 7.29217986e-03 -7.21859405e-05 9.99973409e-01 4.19929708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:76.89, Z:0.42 [[ 3.67989640e-01 -9.29825636e-01 -2.81261376e-03 1.18179277e+02] [ 9.29799846e-01 3.68000382e-01 -6.92566295e-03 7.68887922e+01] [ 7.47470190e-03 -6.65956222e-05 9.99972062e-01 4.19535448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:76.91, Z:0.42 [[ 3.69582383e-01 -9.29193910e-01 -2.74597707e-03 1.18186856e+02] [ 9.29169274e-01 3.69592580e-01 -6.76639125e-03 7.69146023e+01] [ 7.30218229e-03 -5.07385157e-05 9.99973337e-01 4.19636844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501858064 meters Centerline goodness [0,1] 0.9999345521183298 Centerline is valid? [True, True] Translation: X:118.20, Y:76.94, Z:0.42 [[ 3.70412215e-01 -9.28863488e-01 -2.72229557e-03 1.18196120e+02] [ 9.28839231e-01 3.70422216e-01 -6.71297022e-03 7.69412255e+01] [ 7.24383170e-03 -4.20087576e-05 9.99973762e-01 4.20014315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531858064 meters Centerline goodness [0,1] 0.9999564611633577 Centerline is valid? [True, True] Translation: X:118.21, Y:76.97, Z:0.42 [[ 3.70907913e-01 -9.28665864e-01 -2.65199507e-03 1.18205466e+02] [ 9.28642803e-01 3.70917392e-01 -6.54457965e-03 7.69669361e+01] [ 7.06139882e-03 -3.53197567e-05 9.99975067e-01 4.19591003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561858064 meters Centerline goodness [0,1] 0.9999782054355644 Centerline is valid? [True, True] Translation: X:118.21, Y:76.99, Z:0.42 [[ 3.71457452e-01 -9.28445887e-01 -2.75612132e-03 1.18214569e+02] [ 9.28420935e-01 3.71467675e-01 -6.80690772e-03 7.69935573e+01] [ 7.34365546e-03 -3.03641319e-05 9.99973035e-01 4.19390315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591858064 meters Centerline goodness [0,1] 0.999978315552086 Centerline is valid? [True, True] Translation: X:118.22, Y:77.02, Z:0.42 [[ 3.71442386e-01 -9.28451991e-01 -2.73033028e-03 1.18224496e+02] [ 9.28427466e-01 3.71452420e-01 -6.74840242e-03 7.70183986e+01] [ 7.27975545e-03 -2.82709205e-05 9.99973502e-01 4.19455882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621858064 meters Centerline goodness [0,1] 0.9999783226030218 Centerline is valid? [True, True] Translation: X:118.23, Y:77.04, Z:0.42 [[ 3.70926570e-01 -9.28658497e-01 -2.62195562e-03 1.18234733e+02] [ 9.28635851e-01 3.70935836e-01 -6.48545049e-03 7.70441253e+01] [ 6.99534601e-03 -2.92160778e-05 9.99975532e-01 4.19331219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651858064 meters Centerline goodness [0,1] 0.9999565755476909 Centerline is valid? [True, True] Translation: X:118.24, Y:77.07, Z:0.42 [[ 3.70305720e-01 -9.28906818e-01 -2.40785266e-03 1.18244871e+02] [ 9.28887696e-01 3.70313547e-01 -5.96024356e-03 7.70688576e+01] [ 6.42817133e-03 -2.95124260e-05 9.99979339e-01 4.19300527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:77.09, Z:0.42 [[ 3.68729512e-01 -9.29533737e-01 -2.36186367e-03 1.18255851e+02] [ 9.29515324e-01 3.68737074e-01 -5.85080236e-03 7.70942873e+01] [ 6.30942489e-03 -3.80249751e-05 9.99980095e-01 4.19249791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:77.12, Z:0.42 [[ 3.67626697e-01 -9.29970531e-01 -2.32865895e-03 1.18266835e+02] [ 9.29952612e-01 3.67634069e-01 -5.77322501e-03 7.71193940e+01] [ 6.22502350e-03 -4.31508350e-05 9.99980623e-01 4.18948262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:77.15, Z:0.42 [[ 3.66140684e-01 -9.30556385e-01 -2.41094842e-03 1.18278137e+02] [ 9.30537158e-01 3.66148618e-01 -5.98221692e-03 7.71454153e+01] [ 6.44955559e-03 -5.31440946e-05 9.99979200e-01 4.18994692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:77.17, Z:0.42 [[ 3.63545737e-01 -9.31573485e-01 -2.31050587e-03 1.18289969e+02] [ 9.31555820e-01 3.63553073e-01 -5.73736045e-03 7.71715750e+01] [ 6.18476439e-03 -6.65722567e-05 9.99980872e-01 4.18547150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:77.20, Z:0.42 [[ 3.63285989e-01 -9.31674814e-01 -2.30894821e-03 1.18300205e+02] [ 9.31657146e-01 3.63293321e-01 -5.73798736e-03 7.71971910e+01] [ 6.18476377e-03 -6.66176838e-05 9.99980872e-01 4.18640948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:77.22, Z:0.42 [[ 3.62256231e-01 -9.32075619e-01 -2.33737344e-03 1.18311724e+02] [ 9.32057494e-01 3.62263765e-01 -5.81312878e-03 7.72220729e+01] [ 6.26502131e-03 -7.27243112e-05 9.99980372e-01 4.18197288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:77.25, Z:0.42 [[ 3.61047499e-01 -9.32544799e-01 -2.21389758e-03 1.18322397e+02] [ 9.32528524e-01 3.61054279e-01 -5.51004912e-03 7.72481256e+01] [ 5.93770484e-03 -7.51331851e-05 9.99982369e-01 4.18428561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.891858064 meters Centerline goodness [0,1] 0.9998911837036715 Centerline is valid? [True, True] Translation: X:118.33, Y:77.27, Z:0.42 [[ 3.59965535e-01 -9.32963138e-01 -2.14408591e-03 1.18333887e+02] [ 9.32947856e-01 3.59971912e-01 -5.34042845e-03 7.72741372e+01] [ 5.75423359e-03 -7.79501639e-05 9.99983441e-01 4.17889717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921858064 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:118.34, Y:77.30, Z:0.42 [[ 3.59393279e-01 -9.33183922e-01 -2.05906680e-03 1.18344379e+02] [ 9.33169809e-01 3.59399169e-01 -5.13266548e-03 7.72998214e+01] [ 5.52974780e-03 -7.68134971e-05 9.99984708e-01 4.18019159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.951858064 meters Centerline goodness [0,1] 0.9999782106593454 Centerline is valid? [True, True] Translation: X:118.36, Y:77.32, Z:0.42 [[ 3.59372759e-01 -9.33191337e-01 -2.26903300e-03 1.18355990e+02] [ 9.33174170e-01 3.59379912e-01 -5.66096140e-03 7.73245096e+01] [ 6.09820503e-03 -8.30076734e-05 9.99981402e-01 4.17674618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:77.35, Z:0.42 [[ 3.59076573e-01 -9.33304961e-01 -2.42178569e-03 1.18366304e+02] [ 9.33285375e-01 3.59084729e-01 -6.04702628e-03 7.73500904e+01] [ 6.51334588e-03 -8.88716870e-05 9.99978784e-01 4.17382365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.011858064 meters Centerline goodness [0,1] 0.9999563804497176 Centerline is valid? [True, True] Translation: X:118.38, Y:77.38, Z:0.42 [[ 3.58927628e-01 -9.33362093e-01 -2.48201951e-03 1.18377022e+02] [ 9.33341489e-01 3.58936199e-01 -6.20237187e-03 7.73752964e+01] [ 6.67994544e-03 -9.03691637e-05 9.99977685e-01 4.16671906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041858064 meters Centerline goodness [0,1] 0.9999781215131162 Centerline is valid? [True, True] Translation: X:118.39, Y:77.40, Z:0.42 [[ 3.58875505e-01 -9.33382126e-01 -2.48572115e-03 1.18386837e+02] [ 9.33361427e-01 3.58884102e-01 -6.21679367e-03 7.74013418e+01] [ 6.69472990e-03 -8.90212715e-05 9.99977586e-01 4.16904990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071858064 meters Centerline goodness [0,1] 0.9998910532967272 Centerline is valid? [True, True] Translation: X:118.40, Y:77.43, Z:0.42 [[ 3.58795922e-01 -9.33412614e-01 -2.52557916e-03 1.18398103e+02] [ 9.33391211e-01 3.58804799e-01 -6.32164889e-03 7.74270213e+01] [ 6.80689674e-03 -8.91715503e-05 9.99976829e-01 4.16732055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101858064 meters Centerline goodness [0,1] 0.9999345421221444 Centerline is valid? [True, True] Translation: X:118.41, Y:77.45, Z:0.42 [[ 3.58445995e-01 -9.33546661e-01 -2.66453444e-03 1.18408712e+02] [ 9.33522804e-01 3.58455886e-01 -6.67472416e-03 7.74515940e+01] [ 7.18628451e-03 -9.48755169e-05 9.99974174e-01 4.16558370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:77.48, Z:0.42 [[ 3.57987635e-01 -9.33722117e-01 -2.80381921e-03 1.18420310e+02] [ 9.33695663e-01 3.57998600e-01 -7.02934043e-03 7.74756653e+01] [ 7.56721398e-03 -1.01496883e-04 9.99971363e-01 4.15623908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:77.50, Z:0.42 [[ 3.57885752e-01 -9.33761267e-01 -2.77220601e-03 1.18430908e+02] [ 9.33735364e-01 3.57896475e-01 -6.95573617e-03 7.75014067e+01] [ 7.48715978e-03 -9.91479199e-05 9.99971966e-01 4.15223243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:77.53, Z:0.42 [[ 3.57693190e-01 -9.33834988e-01 -2.79237192e-03 1.18441417e+02] [ 9.33808667e-01 3.57704076e-01 -7.01197924e-03 7.75277651e+01] [ 7.54687437e-03 -9.94038784e-05 9.99971517e-01 4.15488177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:77.55, Z:0.42 [[ 3.57707736e-01 -9.33829670e-01 -2.70610217e-03 1.18451883e+02] [ 9.33804910e-01 3.57717959e-01 -6.80085599e-03 7.75540189e+01] [ 7.31886245e-03 -9.42527024e-05 9.99973212e-01 4.16012845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251858064 meters Centerline goodness [0,1] 0.9999342681858019 Centerline is valid? [True, True] Translation: X:118.46, Y:77.58, Z:0.42 [[ 3.57555522e-01 -9.33888871e-01 -2.37191115e-03 1.18463527e+02] [ 9.33869822e-01 3.57563380e-01 -5.96536577e-03 7.75790218e+01] [ 6.41909727e-03 -8.21067738e-05 9.99979394e-01 4.16069813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281858064 meters Centerline goodness [0,1] 0.9999341903215899 Centerline is valid? [True, True] Translation: X:118.48, Y:77.60, Z:0.42 [[ 3.57189312e-01 -9.34029909e-01 -1.98101026e-03 1.18475382e+02] [ 9.34016605e-01 3.57194799e-01 -4.98575813e-03 7.76031819e+01] [ 5.36445377e-03 -6.94369570e-05 9.99985609e-01 4.16802999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311858064 meters Centerline goodness [0,1] 0.9999780581459133 Centerline is valid? [True, True] Translation: X:118.49, Y:77.63, Z:0.42 [[ 3.56612412e-01 -9.34249937e-01 -2.15462485e-03 1.18486686e+02] [ 9.34234175e-01 3.56618913e-01 -5.42746546e-03 7.76290914e+01] [ 5.83898924e-03 -7.74226202e-05 9.99982950e-01 4.17063070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341858064 meters Centerline goodness [0,1] 0.9999559665345663 Centerline is valid? [True, True] Translation: X:118.50, Y:77.65, Z:0.42 [[ 3.56682200e-01 -9.34223354e-01 -2.12891181e-03 1.18498298e+02] [ 9.34207941e-01 3.56688546e-01 -5.36700282e-03 7.76548036e+01] [ 5.77333783e-03 -7.45319480e-05 9.99983331e-01 4.16967504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371858064 meters Centerline goodness [0,1] 0.9999336356597721 Centerline is valid? [True, True] Translation: X:118.51, Y:77.68, Z:0.42 [[ 3.56482700e-01 -9.34299656e-01 -2.05854852e-03 1.18510812e+02] [ 9.34285222e-01 3.56488636e-01 -5.19382224e-03 7.76787820e+01] [ 5.58643549e-03 -7.17636931e-05 9.99984393e-01 4.17000329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401858064 meters Centerline goodness [0,1] 0.9998894807807077 Centerline is valid? [True, True] Translation: X:118.52, Y:77.70, Z:0.42 [[ 3.56310542e-01 -9.34365323e-01 -2.05930268e-03 1.18522075e+02] [ 9.34350855e-01 3.56316486e-01 -5.20006183e-03 7.77049389e+01] [ 5.59252095e-03 -7.12743635e-05 9.99984359e-01 4.16958332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431858064 meters Centerline goodness [0,1] 0.9999558489149871 Centerline is valid? [True, True] Translation: X:118.53, Y:77.73, Z:0.42 [[ 3.56381946e-01 -9.34338192e-01 -2.01265802e-03 1.18532975e+02] [ 9.34324350e-01 3.56387623e-01 -5.08632260e-03 7.77311596e+01] [ 5.46963187e-03 -6.78018515e-05 9.99985039e-01 4.16993035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461858064 meters Centerline goodness [0,1] 0.9998222024669408 Centerline is valid? [True, True] Translation: X:118.54, Y:77.76, Z:0.42 [[ 3.57205829e-01 -9.34023383e-01 -2.07757491e-03 1.18544180e+02] [ 9.34008603e-01 3.57211865e-01 -5.25476856e-03 7.77572984e+01] [ 5.65021111e-03 -6.34388782e-05 9.99984035e-01 4.16853096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:77.78, Z:0.42 [[ 3.57620931e-01 -9.33864574e-01 -2.05591559e-03 1.18556161e+02] [ 9.33850076e-01 3.57626835e-01 -5.20409469e-03 7.77818089e+01] [ 5.59517026e-03 -5.88237432e-05 9.99984345e-01 4.16678113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:77.81, Z:0.42 [[ 3.58037623e-01 -9.33704439e-01 -2.25425069e-03 1.18567461e+02] [ 9.33686976e-01 3.58044714e-01 -5.71077363e-03 7.78080076e+01] [ 6.13929723e-03 -6.00927008e-05 9.99981153e-01 4.16637358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:77.83, Z:0.42 [[ 3.57697304e-01 -9.33834496e-01 -2.40257187e-03 1.18578568e+02] [ 9.33814630e-01 3.57705367e-01 -6.09164756e-03 7.78335688e+01] [ 6.54800348e-03 -6.45908503e-05 9.99978560e-01 4.16148045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:77.86, Z:0.42 [[ 3.57366320e-01 -9.33960738e-01 -2.57934179e-03 1.18589579e+02] [ 9.33937805e-01 3.57375621e-01 -6.54540807e-03 7.78595643e+01] [ 7.03494803e-03 -6.98364190e-05 9.99975252e-01 4.15643448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:77.89, Z:0.42 [[ 3.56725778e-01 -9.34205210e-01 -2.71016603e-03 1.18601515e+02] [ 9.34179855e-01 3.56736065e-01 -6.88322347e-03 7.78855582e+01] [ 7.39715719e-03 -7.63592654e-05 9.99972638e-01 4.15269657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.641858064 meters Centerline goodness [0,1] 0.9999777639420083 Centerline is valid? [True, True] Translation: X:118.61, Y:77.91, Z:0.41 [[ 3.55704963e-01 -9.34593730e-01 -2.92212115e-03 1.18614605e+02] [ 9.34564220e-01 3.55716954e-01 -7.42751310e-03 7.79095422e+01] [ 7.98115521e-03 -8.89065972e-05 9.99968146e-01 4.14786157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.671858064 meters Centerline goodness [0,1] 0.9998891917647319 Centerline is valid? [True, True] Translation: X:118.63, Y:77.94, Z:0.41 [[ 3.55658846e-01 -9.34610952e-01 -3.02552158e-03 1.18625813e+02] [ 9.34579266e-01 3.55671703e-01 -7.69641042e-03 7.79354095e+01] [ 8.26924188e-03 -9.02932882e-05 9.99965805e-01 4.14900772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:77.96, Z:0.41 [[ 3.55258252e-01 -9.34763210e-01 -3.05201089e-03 1.18636731e+02] [ 9.34730921e-01 3.55271350e-01 -7.77007309e-03 7.79616698e+01] [ 8.34747050e-03 -9.24263638e-05 9.99965155e-01 4.14868879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:77.99, Z:0.41 [[ 3.55378150e-01 -9.34717705e-01 -3.03035247e-03 1.18647496e+02] [ 9.34685818e-01 3.55391059e-01 -7.72115520e-03 7.79879591e+01] [ 8.29406064e-03 -8.84976249e-05 9.99965600e-01 4.14772498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:78.01, Z:0.41 [[ 3.55453633e-01 -9.34688899e-01 -3.06228982e-03 1.18659426e+02] [ 9.34656281e-01 3.55466813e-01 -7.80909258e-03 7.80125066e+01] [ 8.38761455e-03 -8.64180901e-05 9.99964820e-01 4.14777331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:78.04, Z:0.42 [[ 3.54934495e-01 -9.34886110e-01 -3.07670200e-03 1.18670495e+02] [ 9.34853136e-01 3.54947818e-01 -7.85238022e-03 7.80384401e+01] [ 8.43314986e-03 -8.91839114e-05 9.99964436e-01 4.15499283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:78.06, Z:0.42 [[ 3.54538947e-01 -9.35036531e-01 -2.97002341e-03 1.18681985e+02] [ 9.35005760e-01 3.54551376e-01 -7.58622512e-03 7.80646213e+01] [ 8.14642351e-03 -8.73767315e-05 9.99966814e-01 4.16019955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851858064 meters Centerline goodness [0,1] 0.9999776376403238 Centerline is valid? [True, True] Translation: X:118.69, Y:78.09, Z:0.42 [[ 3.54194437e-01 -9.35167558e-01 -2.81774549e-03 1.18693898e+02] [ 9.35139819e-01 3.54205635e-01 -7.20322241e-03 7.80885332e+01] [ 7.73428124e-03 -8.36447000e-05 9.99970087e-01 4.16056288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:78.12, Z:0.42 [[ 3.54208590e-01 -9.35161864e-01 -2.92610711e-03 1.18703463e+02] [ 9.35131900e-01 3.54220666e-01 -7.48663022e-03 7.81152939e+01] [ 8.03769869e-03 -8.44673691e-05 9.99967694e-01 4.16543370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:78.14, Z:0.42 [[ 3.54568299e-01 -9.35025982e-01 -2.78097256e-03 1.18714194e+02] [ 9.34998868e-01 3.54579197e-01 -7.12117114e-03 7.81399915e+01] [ 7.64455506e-03 -7.52646590e-05 9.99970777e-01 4.15985646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:78.17, Z:0.42 [[ 3.55733596e-01 -9.34583881e-01 -2.56485605e-03 1.18722463e+02] [ 9.34560768e-01 3.55742837e-01 -6.57307926e-03 7.81666112e+01] [ 7.05552309e-03 -5.87487169e-05 9.99975108e-01 4.17578423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971858064 meters Centerline goodness [0,1] 0.9998886910062333 Centerline is valid? [True, True] Translation: X:118.73, Y:78.19, Z:0.42 [[ 3.56084117e-01 -9.34450701e-01 -2.44743751e-03 1.18731993e+02] [ 9.34429620e-01 3.56092524e-01 -6.27696099e-03 7.81916312e+01] [ 6.73702479e-03 -5.18319907e-05 9.99977305e-01 4.18152114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001858064 meters Centerline goodness [0,1] 0.9999109904537261 Centerline is valid? [True, True] Translation: X:118.74, Y:78.22, Z:0.42 [[ 3.57214780e-01 -9.34018793e-01 -2.54847869e-03 1.18740801e+02] [ 9.33995887e-01 3.57223868e-01 -6.54148657e-03 7.82176294e+01] [ 7.02024881e-03 -4.35529342e-05 9.99975357e-01 4.17904460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031858064 meters Centerline goodness [0,1] 0.9999777728384085 Centerline is valid? [True, True] Translation: X:118.75, Y:78.24, Z:0.42 [[ 3.57798192e-01 -9.33795228e-01 -2.63160116e-03 1.18749548e+02] [ 9.33770755e-01 3.57807867e-01 -6.76064688e-03 7.82439684e+01] [ 7.25466740e-03 -3.83649760e-05 9.99973684e-01 4.17465135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061858064 meters Centerline goodness [0,1] 0.9999555831926801 Centerline is valid? [True, True] Translation: X:118.76, Y:78.27, Z:0.42 [[ 3.58492363e-01 -9.33528585e-01 -2.75793869e-03 1.18758605e+02] [ 9.33501653e-01 3.58502970e-01 -7.09117513e-03 7.82708179e+01] [ 7.60854390e-03 -3.24081948e-05 9.99971054e-01 4.17023096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:78.30, Z:0.42 [[ 3.59293934e-01 -9.33220206e-01 -2.81365393e-03 1.18767603e+02] [ 9.33192116e-01 3.59304950e-01 -7.24063530e-03 7.82960931e+01] [ 7.76806695e-03 -2.41633235e-05 9.99969828e-01 4.16681603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:78.32, Z:0.42 [[ 3.59051154e-01 -9.33313594e-01 -2.82918076e-03 1.18778041e+02] [ 9.33285149e-01 3.59062300e-01 -7.28673049e-03 7.83226588e+01] [ 7.81665678e-03 -2.41233941e-05 9.99969449e-01 4.16875604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.79, Y:78.35, Z:0.42 [[ 3.58736587e-01 -9.33434200e-01 -2.94203941e-03 1.18788180e+02] [ 9.33403393e-01 3.58748650e-01 -7.58373656e-03 7.83484102e+01] [ 8.13437174e-03 -2.55457957e-05 9.99966915e-01 4.17007879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:78.37, Z:0.42 [[ 3.58209904e-01 -9.33636138e-01 -3.03754294e-03 1.18798418e+02] [ 9.33603248e-01 3.58222782e-01 -7.83667542e-03 7.83739296e+01] [ 8.40472045e-03 -2.86852052e-05 9.99964679e-01 4.16591952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.81, Y:78.40, Z:0.42 [[ 3.57959377e-01 -9.33730063e-01 -3.64046139e-03 1.18808800e+02] [ 9.33682741e-01 3.57977887e-01 -9.40059914e-03 7.84000873e+01] [ 1.00808267e-02 -3.40033515e-05 9.99949187e-01 4.15950845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24185806399998 meters Centerline goodness [0,1] 0.9999777243161365 Centerline is valid? [True, True] Translation: X:118.82, Y:78.43, Z:0.42 [[ 3.58050596e-01 -9.33694634e-01 -3.75516562e-03 1.18819225e+02] [ 9.33644197e-01 3.58070286e-01 -9.70484169e-03 7.84259275e+01] [ 1.04059718e-02 -3.11642354e-05 9.99945856e-01 4.16098303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:78.45, Z:0.42 [[ 3.58056257e-01 -9.33691559e-01 -3.97356520e-03 1.18829417e+02] [ 9.33634990e-01 3.58078303e-01 -1.02778242e-02 7.84517305e+01] [ 1.10191652e-02 -2.98202468e-05 9.99939287e-01 4.15959775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.84, Y:78.48, Z:0.42 [[ 3.57822469e-01 -9.33781028e-01 -4.00896923e-03 1.18839297e+02] [ 9.33723358e-01 3.57844925e-01 -1.03779039e-02 7.84775199e+01] [ 1.11252791e-02 -2.98210074e-05 9.99938112e-01 4.15916360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.331858064 meters Centerline goodness [0,1] 0.9999778122919902 Centerline is valid? [True, True] Translation: X:118.85, Y:78.50, Z:0.42 [[ 3.57338189e-01 -9.33966838e-01 -3.91981100e-03 1.18849650e+02] [ 9.33911622e-01 3.57359686e-01 -1.01556577e-02 7.85028626e+01] [ 1.08858299e-02 -3.17527118e-05 9.99940747e-01 4.16373484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:78.53, Z:0.42 [[ 3.56593520e-01 -9.34252876e-01 -3.55327270e-03 1.18859825e+02] [ 9.34207443e-01 3.56611221e-01 -9.21361605e-03 7.85278950e+01] [ 9.87498421e-03 -3.39780242e-05 9.99951241e-01 4.17087130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.391858064 meters Centerline goodness [0,1] 0.9999554595461327 Centerline is valid? [True, True] Translation: X:118.87, Y:78.55, Z:0.42 [[ 3.55395187e-01 -9.34710619e-01 -3.21228050e-03 1.18870806e+02] [ 9.34673446e-01 3.55409702e-01 -8.33620862e-03 7.85526318e+01] [ 8.93361838e-03 -3.97848630e-05 9.99960094e-01 4.18609818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.88, Y:78.58, Z:0.42 [[ 3.54771002e-01 -9.34948058e-01 -3.10872456e-03 1.18880607e+02] [ 9.34913195e-01 3.54784620e-01 -8.07415190e-03 7.85789935e+01] [ 8.65184030e-03 -4.19126517e-05 9.99962571e-01 4.19874405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:78.60, Z:0.42 [[ 3.54302937e-01 -9.35125849e-01 -3.01244481e-03 1.18890843e+02] [ 9.35093062e-01 3.54315741e-01 -7.83076651e-03 7.86036962e+01] [ 8.39010880e-03 -4.24526681e-05 9.99964802e-01 4.19721217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.90, Y:78.63, Z:0.42 [[ 3.53221555e-01 -9.35534608e-01 -3.08699879e-03 1.18902454e+02] [ 9.35500135e-01 3.53235040e-01 -8.03141715e-03 7.86296987e+01] [ 8.60410485e-03 -5.10181338e-05 9.99962983e-01 4.21593372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:78.66, Z:0.42 [[ 3.52489046e-01 -9.35810713e-01 -3.12747613e-03 1.18912926e+02] [ 9.35775282e-01 3.52502916e-01 -8.14344994e-03 7.86557093e+01] [ 8.72317215e-03 -5.61379586e-05 9.99961951e-01 4.21912253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.92, Y:78.68, Z:0.42 [[ 3.52051023e-01 -9.35974897e-01 -3.32701701e-03 1.18922839e+02] [ 9.35934740e-01 3.52066738e-01 -8.67032595e-03 7.86824215e+01] [ 9.28653947e-03 -6.14736758e-05 9.99956877e-01 4.21701488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.93, Y:78.71, Z:0.42 [[ 3.51193030e-01 -9.36296329e-01 -3.55520716e-03 1.18931618e+02] [ 9.36250413e-01 3.51211017e-01 -9.27282553e-03 7.87088182e+01] [ 9.93074043e-03 -7.20124769e-05 9.99950686e-01 4.20774470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601858064 meters Centerline goodness [0,1] 0.9999554516093107 Centerline is valid? [True, True] Translation: X:118.94, Y:78.73, Z:0.42 [[ 3.50752855e-01 -9.36461194e-01 -3.58701420e-03 1.18941121e+02] [ 9.36414382e-01 3.50771188e-01 -9.36366660e-03 7.87349450e+01] [ 1.00269316e-02 -7.45988907e-05 9.99949726e-01 4.20846662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.95, Y:78.76, Z:0.42 [[ 3.49929319e-01 -9.36768219e-01 -3.84393932e-03 1.18951261e+02] [ 9.36714386e-01 3.49950420e-01 -1.00429927e-02 7.87607352e+01] [ 1.07531446e-02 -8.63356737e-05 9.99942180e-01 4.21128792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:78.79, Z:0.42 [[ 3.48309357e-01 -9.37370537e-01 -4.13129996e-03 1.18962382e+02] [ 9.37308317e-01 3.48333840e-01 -1.08007148e-02 7.87863284e+01] [ 1.15633435e-02 -1.10311769e-04 9.99933136e-01 4.20711280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.97, Y:78.81, Z:0.42 [[ 3.48050134e-01 -9.37466831e-01 -4.12862613e-03 1.18972170e+02] [ 9.37404605e-01 3.48074603e-01 -1.08017371e-02 7.88121301e+01] [ 1.15633401e-02 -1.10647105e-04 9.99933136e-01 4.20805197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.98, Y:78.84, Z:0.42 [[ 3.46924233e-01 -9.37883748e-01 -4.20132595e-03 1.18983157e+02] [ 9.37819234e-01 3.46949649e-01 -1.10011102e-02 7.88379973e+01] [ 1.17754110e-02 -1.23532567e-04 9.99930660e-01 4.20812468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:78.86, Z:0.42 [[ 3.45573448e-01 -9.38381479e-01 -4.38076840e-03 1.18994223e+02] [ 9.38311258e-01 3.45601184e-01 -1.14805823e-02 7.88634374e+01] [ 1.22871646e-02 -1.43139891e-04 9.99924500e-01 4.21140855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781858064 meters Centerline goodness [0,1] 0.9999326961906044 Centerline is valid? [True, True] Translation: X:119.00, Y:78.89, Z:0.42 [[ 3.44025995e-01 -9.38949613e-01 -4.44293128e-03 1.19004813e+02] [ 9.38877319e-01 3.44054645e-01 -1.16525492e-02 7.88891980e+01] [ 1.24697677e-02 -1.62587586e-04 9.99922236e-01 4.21682441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:78.91, Z:0.42 [[ 3.41774975e-01 -9.39771313e-01 -4.44368809e-03 1.19016531e+02] [ 9.39698953e-01 3.41803810e-01 -1.16633491e-02 7.89145495e+01] [ 1.24797504e-02 -1.89488204e-04 9.99922107e-01 4.21183123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.03, Y:78.94, Z:0.42 [[ 3.40527818e-01 -9.40224091e-01 -4.41186050e-03 1.19026379e+02] [ 9.40152687e-01 3.40556337e-01 -1.15890680e-02 7.89413165e+01] [ 1.23988080e-02 -2.01422467e-04 9.99923112e-01 4.21422836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:78.97, Z:0.42 [[ 3.39858808e-01 -9.40466757e-01 -4.27428616e-03 1.19036249e+02] [ 9.40399646e-01 3.39885626e-01 -1.12368302e-02 7.89676731e+01] [ 1.20206337e-02 -2.00601473e-04 9.99927729e-01 4.21782935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:78.99, Z:0.42 [[ 3.39090148e-01 -9.40744266e-01 -4.25399978e-03 1.19046312e+02] [ 9.40677703e-01 3.39116768e-01 -1.11926742e-02 7.89939743e+01] [ 1.19720468e-02 -2.06317176e-04 9.99928311e-01 4.23132660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:79.02, Z:0.42 [[ 3.38801143e-01 -9.40848430e-01 -4.24477010e-03 1.19055143e+02] [ 9.40782052e-01 3.38827670e-01 -1.11777223e-02 7.90211412e+01] [ 1.19547881e-02 -2.06378428e-04 9.99928518e-01 4.23865341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:79.05, Z:0.42 [[ 3.38716711e-01 -9.40879506e-01 -4.09212072e-03 1.19064296e+02] [ 9.40817735e-01 3.38741371e-01 -1.07830085e-02 7.90465159e+01] [ 1.15316823e-02 -1.97554567e-04 9.99933488e-01 4.23793142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:79.07, Z:0.42 [[ 3.38864855e-01 -9.40826195e-01 -4.08428527e-03 1.19071375e+02] [ 9.40764562e-01 3.38889413e-01 -1.07705669e-02 7.90734152e+01] [ 1.15173525e-02 -1.92584248e-04 9.99933655e-01 4.24309018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02185806399999 meters Centerline goodness [0,1] 0.9999555545678793 Centerline is valid? [True, True] Translation: X:119.08, Y:79.10, Z:0.42 [[ 3.38733297e-01 -9.40873137e-01 -4.18247698e-03 1.19080069e+02] [ 9.40808399e-01 3.38759061e-01 -1.10388172e-02 7.91006194e+01] [ 1.18029785e-02 -1.95694522e-04 9.99930323e-01 4.24769078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.051858064 meters Centerline goodness [0,1] 0.9999331237878687 Centerline is valid? [True, True] Translation: X:119.09, Y:79.13, Z:0.42 [[ 3.38233395e-01 -9.41052768e-01 -4.22582646e-03 1.19089379e+02] [ 9.40986578e-01 3.38259733e-01 -1.11630408e-02 7.91263553e+01] [ 1.19344373e-02 -2.00732799e-04 9.99928762e-01 4.24445712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.10, Y:79.15, Z:0.42 [[ 3.36919661e-01 -9.41523779e-01 -4.25623612e-03 1.19098641e+02] [ 9.41456558e-01 3.36946475e-01 -1.12526300e-02 7.91529876e+01] [ 1.20287425e-02 -2.15829120e-04 9.99927629e-01 4.24596630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:79.18, Z:0.42 [[ 3.35987138e-01 -9.41856919e-01 -4.26470111e-03 1.19109326e+02] [ 9.41789367e-01 3.36014127e-01 -1.12824621e-02 7.91779785e+01] [ 1.20594648e-02 -2.25688000e-04 9.99927257e-01 4.24651844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.12, Y:79.20, Z:0.43 [[ 3.34952410e-01 -9.42225804e-01 -4.17342484e-03 1.19118114e+02] [ 9.42161043e-01 3.34978329e-01 -1.10493811e-02 7.92043285e+01] [ 1.18090189e-02 -2.31021449e-04 9.99930244e-01 4.25674963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:79.23, Z:0.43 [[ 3.33153351e-01 -9.42863597e-01 -4.13296692e-03 1.19127079e+02] [ 9.42800033e-01 3.33178894e-01 -1.09509210e-02 7.92316655e+01] [ 1.17022421e-02 -2.48225308e-04 9.99931496e-01 4.26023286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201858064 meters Centerline goodness [0,1] 0.9999555969983571 Centerline is valid? [True, True] Translation: X:119.13, Y:79.26, Z:0.43 [[ 3.32613872e-01 -9.43053941e-01 -4.15641619e-03 1.19134867e+02] [ 9.42989561e-01 3.32639744e-01 -1.10221948e-02 7.92583351e+01] [ 1.17771135e-02 -2.53322176e-04 9.99930615e-01 4.26145851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.14, Y:79.28, Z:0.43 [[ 3.32093955e-01 -9.43237562e-01 -4.06294845e-03 1.19144102e+02] [ 9.43175973e-01 3.32118713e-01 -1.07816895e-02 7.92835118e+01] [ 1.15190758e-02 -2.51541434e-04 9.99933622e-01 4.26298683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.15, Y:79.31, Z:0.43 [[ 3.31832399e-01 -9.43329552e-01 -4.07620244e-03 1.19152602e+02] [ 9.43267469e-01 3.31857337e-01 -1.08253875e-02 7.93100048e+01] [ 1.15646257e-02 -2.52734843e-04 9.99933096e-01 4.27053980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.291858064 meters Centerline goodness [0,1] 0.9999778951789385 Centerline is valid? [True, True] Translation: X:119.16, Y:79.34, Z:0.43 [[ 3.31819515e-01 -9.43334324e-01 -4.02019660e-03 1.19161709e+02] [ 9.43273852e-01 3.31843775e-01 -1.06840388e-02 7.93359575e+01] [ 1.14126977e-02 -2.46973771e-04 9.99934843e-01 4.27212231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.17, Y:79.36, Z:0.43 [[ 3.31931850e-01 -9.43295445e-01 -3.86661578e-03 1.19170140e+02] [ 9.43239416e-01 3.31954288e-01 -1.02837082e-02 7.93624789e+01] [ 1.09841148e-02 -2.33654120e-04 9.99939645e-01 4.27504101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.18, Y:79.39, Z:0.43 [[ 3.32271069e-01 -9.43177093e-01 -3.59270343e-03 1.19178576e+02] [ 9.43128634e-01 3.32290425e-01 -9.56313810e-03 7.93880744e+01] [ 1.02135537e-02 -2.10827355e-04 9.99947818e-01 4.27438170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.18, Y:79.42, Z:0.43 [[ 3.33991317e-01 -9.42570941e-01 -3.13387128e-03 1.19183762e+02] [ 9.42533984e-01 3.34005979e-01 -8.34839218e-03 7.94162530e+01] [ 8.91568362e-03 -1.65489679e-04 9.99960241e-01 4.28033369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:79.44, Z:0.43 [[ 3.34942124e-01 -9.42234010e-01 -2.97382916e-03 1.19191700e+02] [ 9.42200663e-01 3.34955293e-01 -7.92853065e-03 7.94429215e+01] [ 8.46663105e-03 -1.46344908e-04 9.99964147e-01 4.28229325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441858064 meters Centerline goodness [0,1] 0.9999780069937759 Centerline is valid? [True, True] Translation: X:119.20, Y:79.47, Z:0.43 [[ 3.37607904e-01 -9.41281583e-01 -3.14394168e-03 1.19197814e+02] [ 9.41244206e-01 3.37622519e-01 -8.38921783e-03 7.94706620e+01] [ 8.95808174e-03 -1.26950641e-04 9.99959868e-01 4.28435993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.21, Y:79.50, Z:0.43 [[ 3.38798116e-01 -9.40853490e-01 -3.24774702e-03 1.19206251e+02] [ 9.40813524e-01 3.38813662e-01 -8.67271820e-03 7.94969322e+01] [ 9.26013824e-03 -1.17223735e-04 9.99957117e-01 4.28145629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.21, Y:79.52, Z:0.43 [[ 3.39912165e-01 -9.40451159e-01 -3.36711246e-03 1.19213956e+02] [ 9.40408112e-01 3.39928825e-01 -8.99868991e-03 7.95238082e+01] [ 9.60740694e-03 -1.07695705e-04 9.99953842e-01 4.27809459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:79.55, Z:0.43 [[ 3.42733910e-01 -9.39425334e-01 -3.67543049e-03 1.19219610e+02] [ 9.39373892e-01 3.42753607e-01 -9.83138118e-03 7.95510114e+01] [ 1.04956156e-02 -8.30557315e-05 9.99944916e-01 4.26619831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.23, Y:79.58, Z:0.43 [[ 3.43734257e-01 -9.39060447e-01 -3.49816893e-03 1.19227275e+02] [ 9.39013750e-01 3.43752051e-01 -9.36507001e-03 7.95784101e+01] [ 9.99686957e-03 -6.57333411e-05 9.99950028e-01 4.26058974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.24, Y:79.61, Z:0.43 [[ 3.44597742e-01 -9.38744117e-01 -3.44666043e-03 1.19235009e+02] [ 9.38698693e-01 3.44614975e-01 -9.23491372e-03 7.96059720e+01] [ 9.85699172e-03 -5.30452185e-05 9.99951417e-01 4.25532039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621858064 meters Centerline goodness [0,1] 0.9999347556599465 Centerline is valid? [True, True] Translation: X:119.24, Y:79.63, Z:0.43 [[ 3.46942005e-01 -9.37881040e-01 -3.22496823e-03 1.19241003e+02] [ 9.37841167e-01 3.46956992e-01 -8.64819131e-03 7.96326717e+01] [ 9.22989994e-03 -2.40871382e-05 9.99957403e-01 4.25801332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651858064 meters Centerline goodness [0,1] 0.9999346163066931 Centerline is valid? [True, True] Translation: X:119.25, Y:79.66, Z:0.43 [[ 3.47421136e-01 -9.37703807e-01 -3.18200983e-03 1.19249007e+02] [ 9.37664914e-01 3.47435708e-01 -8.54039652e-03 7.96595121e+01] [ 9.11390616e-03 -1.65447109e-05 9.99958467e-01 4.26451772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:79.69, Z:0.43 [[ 3.47705117e-01 -9.37598601e-01 -3.16472637e-03 1.19257164e+02] [ 9.37560062e-01 3.47719519e-01 -8.50092054e-03 7.96853828e+01] [ 9.07088834e-03 -1.13074788e-05 9.99958859e-01 4.26121700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:79.71, Z:0.43 [[ 3.47852434e-01 -9.37544367e-01 -3.04027330e-03 1.19265500e+02] [ 9.37508741e-01 3.47865720e-01 -8.17315983e-03 7.97121737e+01] [ 8.72030682e-03 -7.22924922e-06 9.99961977e-01 4.25944921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:79.74, Z:0.43 [[ 3.48619745e-01 -9.37259619e-01 -2.94601910e-03 1.19273187e+02] [ 9.37226102e-01 3.48632193e-01 -7.92645903e-03 7.97395588e+01] [ 8.45622707e-03 2.23412668e-06 9.99964245e-01 4.26615945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77185806399999 meters Centerline goodness [0,1] 0.9998475709339547 Centerline is valid? [True, True] Translation: X:119.28, Y:79.77, Z:0.43 [[ 3.48901722e-01 -9.37154876e-01 -2.88552020e-03 1.19281569e+02] [ 9.37122662e-01 3.48913654e-01 -7.77039311e-03 7.97662986e+01] [ 8.28885919e-03 7.01716923e-06 9.99965647e-01 4.26639072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.801858064 meters Centerline goodness [0,1] 0.9999565642306439 Centerline is valid? [True, True] Translation: X:119.29, Y:79.79, Z:0.43 [[ 3.49216398e-01 -9.37037415e-01 -2.96497751e-03 1.19289804e+02] [ 9.37003337e-01 3.49228984e-01 -7.99138266e-03 7.97931264e+01] [ 8.52368063e-03 1.25280384e-05 9.99963673e-01 4.26279321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:79.82, Z:0.43 [[ 3.49592053e-01 -9.36897754e-01 -2.82761692e-03 1.19296954e+02] [ 9.36866707e-01 3.49603488e-01 -7.62724630e-03 7.98196130e+01] [ 8.13449467e-03 1.73245384e-05 9.99966914e-01 4.25697264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.861858064 meters Centerline goodness [0,1] 0.9998908082374266 Centerline is valid? [True, True] Translation: X:119.31, Y:79.85, Z:0.43 [[ 3.48925468e-01 -9.37146489e-01 -2.73412867e-03 1.19305838e+02] [ 9.37117422e-01 3.48936179e-01 -7.38107053e-03 7.98460006e+01] [ 7.87118074e-03 1.32438699e-05 9.99969022e-01 4.26374753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.891858064 meters Centerline goodness [0,1] 0.9998695084819487 Centerline is valid? [True, True] Translation: X:119.31, Y:79.87, Z:0.43 [[ 3.48323877e-01 -9.37370267e-01 -2.73134727e-03 1.19314507e+02] [ 9.37341215e-01 3.48334585e-01 -7.37995692e-03 7.98726990e+01] [ 7.86917491e-03 1.04108350e-05 9.99969038e-01 4.26665767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921858064 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:119.32, Y:79.90, Z:0.43 [[ 3.46357055e-01 -9.38099619e-01 -2.42812781e-03 1.19323137e+02] [ 9.38076639e-01 3.46365566e-01 -6.56607161e-03 7.98994333e+01] [ 7.00064914e-03 -3.56475347e-06 9.99975495e-01 4.27178403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:79.93, Z:0.43 [[ 3.45020161e-01 -9.38592543e-01 -2.26407771e-03 1.19332865e+02] [ 9.38572541e-01 3.45027589e-01 -6.12755546e-03 7.99256476e+01] [ 6.53244714e-03 -1.08710013e-05 9.99978663e-01 4.27686459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981858064 meters Centerline goodness [0,1] 0.9998702366019292 Centerline is valid? [True, True] Translation: X:119.34, Y:79.95, Z:0.43 [[ 3.43828130e-01 -9.39030065e-01 -2.18015194e-03 1.19342514e+02] [ 9.39011498e-01 3.43835042e-01 -5.90516505e-03 7.99511458e+01] [ 6.29474016e-03 -1.68258750e-05 9.99980188e-01 4.28239147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:79.98, Z:0.43 [[ 3.41499517e-01 -9.39880461e-01 -1.67311331e-03 1.19351596e+02] [ 9.39869521e-01 3.41503614e-01 -4.53483749e-03 7.99781075e+01] [ 4.83357939e-03 -2.38633974e-05 9.99988318e-01 4.29856255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041858064 meters Centerline goodness [0,1] 0.9999132960506351 Centerline is valid? [True, True] Translation: X:119.36, Y:80.00, Z:0.43 [[ 3.40565892e-01 -9.40219640e-01 -1.37906560e-03 1.19360391e+02] [ 9.40212199e-01 3.40568684e-01 -3.74055202e-03 8.00049354e+01] [ 3.98660703e-03 -2.27098609e-05 9.99992053e-01 4.30819446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071858064 meters Centerline goodness [0,1] 0.9999783033195921 Centerline is valid? [True, True] Translation: X:119.37, Y:80.03, Z:0.43 [[ 3.39702123e-01 -9.40532324e-01 -1.18938892e-03 1.19368782e+02] [ 9.40526783e-01 3.39704205e-01 -3.22846559e-03 8.00310643e+01] [ 3.44051666e-03 -2.19355148e-05 9.99994081e-01 4.31311402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101858064 meters Centerline goodness [0,1] 0.999956759561542 Centerline is valid? [True, True] Translation: X:119.38, Y:80.06, Z:0.43 [[ 3.38118151e-01 -9.41103178e-01 -9.61922865e-04 1.19376493e+02] [ 9.41099553e-01 3.38119518e-01 -2.61216481e-03 8.00578253e+01] [ 2.78356150e-03 -2.20448441e-05 9.99996126e-01 4.31512211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131858064 meters Centerline goodness [0,1] 0.9999352918338295 Centerline is valid? [True, True] Translation: X:119.39, Y:80.08, Z:0.43 [[ 3.37455979e-01 -9.41340840e-01 -9.41006632e-04 1.19385545e+02] [ 9.41337366e-01 3.37457290e-01 -2.55743882e-03 8.00841489e+01] [ 2.72497116e-03 -2.27816827e-05 9.99996287e-01 4.31894106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:80.11, Z:0.43 [[ 3.36490847e-01 -9.41686372e-01 -8.29186740e-04 1.19394635e+02] [ 9.41683672e-01 3.36491868e-01 -2.25515571e-03 8.01103304e+01] [ 2.40266400e-03 -2.19923585e-05 9.99997113e-01 4.32566730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.40, Y:80.14, Z:0.43 [[ 3.35410040e-01 -9.42072107e-01 -5.00407739e-04 1.19402468e+02] [ 9.42071124e-01 3.35410413e-01 -1.36107396e-03 8.01370492e+01] [ 1.45007178e-03 -1.49018098e-05 9.99998949e-01 4.33525545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.41, Y:80.16, Z:0.43 [[ 3.34630946e-01 -9.42349179e-01 -3.93582968e-04 1.19410143e+02] [ 9.42348571e-01 3.34631178e-01 -1.07074049e-03 8.01636557e+01] [ 1.14071656e-03 -1.25894423e-05 9.99999349e-01 4.33718500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:80.19, Z:0.43 [[ 3.34227145e-01 -9.42492424e-01 -4.96833945e-04 1.19418388e+02] [ 9.42491452e-01 3.34227513e-01 -1.35375432e-03 8.01896248e+01] [ 1.44195877e-03 -1.58003039e-05 9.99998960e-01 4.33585077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:80.22, Z:0.43 [[ 3.33944309e-01 -9.42592546e-01 -7.00599952e-04 1.19426960e+02] [ 9.42590608e-01 3.33945043e-01 -1.91156743e-03 8.02158227e+01] [ 2.03579109e-03 -2.20218714e-05 9.99997928e-01 4.33038727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311858064 meters Centerline goodness [0,1] 0.9999784640565104 Centerline is valid? [True, True] Translation: X:119.44, Y:80.24, Z:0.43 [[ 3.33782890e-01 -9.42649595e-01 -8.49862054e-04 1.19435273e+02] [ 9.42646738e-01 3.33783971e-01 -2.32111870e-03 8.02423361e+01] [ 2.47167194e-03 -2.63699831e-05 9.99996945e-01 4.32568787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:80.27, Z:0.43 [[ 3.34466776e-01 -9.42407142e-01 -8.68329849e-04 1.19442412e+02] [ 9.42404153e-01 3.34467902e-01 -2.37378548e-03 8.02681457e+01] [ 2.52750085e-03 -2.43652801e-05 9.99996806e-01 4.32744749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371858064 meters Centerline goodness [0,1] 0.9999784557049294 Centerline is valid? [True, True] Translation: X:119.45, Y:80.30, Z:0.43 [[ 3.34683605e-01 -9.42330358e-01 -6.16959109e-04 1.19451025e+02] [ 9.42328848e-01 3.34684174e-01 -1.68710014e-03 8.02954168e+01] [ 1.79629212e-03 -1.67336103e-05 9.99998387e-01 4.33067717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401858064 meters Centerline goodness [0,1] 0.9999784324720701 Centerline is valid? [True, True] Translation: X:119.46, Y:80.32, Z:0.43 [[ 3.35116292e-01 -9.42176733e-01 -2.73583795e-04 1.19458104e+02] [ 9.42176436e-01 3.35116404e-01 -7.47376849e-04 8.03215927e+01] [ 7.95843495e-04 -7.30604632e-06 9.99999683e-01 4.33794452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:80.35, Z:0.43 [[ 3.34975351e-01 -9.42226874e-01 -1.78043796e-04 1.19466305e+02] [ 9.42226749e-01 3.34975398e-01 -4.85539097e-04 8.03477961e+01] [ 5.17128278e-04 -5.11399791e-06 9.99999866e-01 4.34313333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:80.37, Z:0.43 [[ 3.35102091e-01 -9.42181823e-01 8.31089642e-06 1.19474265e+02] [ 9.42181823e-01 3.35102091e-01 2.55760056e-05 8.03744580e+01] [-2.68822466e-05 -7.40197435e-07 1.00000000e+00 4.34392507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.48, Y:80.40, Z:0.43 [[ 3.35301564e-01 -9.42110840e-01 1.63533262e-04 1.19482337e+02] [ 9.42110731e-01 3.35301604e-01 4.52249105e-04 8.04012147e+01] [-4.80901749e-04 2.42660830e-06 9.99999884e-01 4.34606930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.49, Y:80.43, Z:0.44 [[ 3.35931926e-01 -9.41886189e-01 3.85970601e-04 1.19490447e+02] [ 9.41885588e-01 3.35932148e-01 1.06407876e-03 8.04268038e+01] [-1.13190102e-03 6.08211759e-06 9.99999359e-01 4.35690282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:80.45, Z:0.44 [[ 3.35811640e-01 -9.41929070e-01 4.11066227e-04 1.19499633e+02] [ 9.41928388e-01 3.35811891e-01 1.13430970e-03 8.04534253e+01] [-1.20648020e-03 6.28054955e-06 9.99999272e-01 4.36068918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:80.48, Z:0.43 [[ 3.36131144e-01 -9.41815110e-01 3.90848903e-04 1.19506554e+02] [ 9.41814491e-01 3.36131371e-01 1.07975375e-03 8.04809647e+01] [-1.14830497e-03 5.16829861e-06 9.99999341e-01 4.34819212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.52, Y:80.51, Z:0.43 [[ 3.35858676e-01 -9.41912309e-01 3.90536813e-04 1.19515910e+02] [ 9.41911690e-01 3.35858903e-01 1.07986682e-03 8.05069067e+01] [-1.14830511e-03 5.16854936e-06 9.99999341e-01 4.34912990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.52, Y:80.53, Z:0.43 [[ 3.35637993e-01 -9.41990982e-01 3.56480294e-04 1.19523428e+02] [ 9.41990466e-01 3.35638182e-01 9.86453596e-04 8.05327909e+01] [-1.04887879e-03 4.70973280e-06 9.99999450e-01 4.34364325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.53, Y:80.56, Z:0.43 [[ 3.35842153e-01 -9.41918205e-01 3.77625416e-04 1.19531076e+02] [ 9.41917624e-01 3.35842366e-01 1.04601380e-03 8.05602227e+01] [-1.11208205e-03 4.39650819e-06 9.99999382e-01 4.33472916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:80.59, Z:0.43 [[ 3.36950305e-01 -9.41522421e-01 1.53857424e-04 1.19538244e+02] [ 9.41522323e-01 3.36950340e-01 4.27857222e-04 8.05868683e+01] [-4.54679479e-04 6.93577820e-07 9.99999897e-01 4.32648603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:80.61, Z:0.43 [[ 3.37662094e-01 -9.41267393e-01 6.71796798e-05 1.19547219e+02] [ 9.41267374e-01 3.37662101e-01 1.88725812e-04 8.06134237e+01] [-2.00325485e-04 -4.91512022e-07 9.99999980e-01 4.32737527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.56, Y:80.64, Z:0.43 [[ 3.38099680e-01 -9.41110305e-01 1.83678808e-05 1.19555878e+02] [ 9.41110304e-01 3.38099680e-01 5.37083000e-05 8.06398585e+01] [-5.67556094e-05 -8.72557136e-07 9.99999998e-01 4.32573751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.56, Y:80.67, Z:0.43 [[ 3.39387754e-01 -9.40646452e-01 -4.51400781e-04 1.19561938e+02] [ 9.40645624e-01 3.39388055e-01 -1.24858329e-03 8.06660483e+01] [ 1.32767548e-03 -8.54288952e-07 9.99999119e-01 4.31217482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:80.69, Z:0.43 [[ 3.39748017e-01 -9.40516161e-01 -7.97411353e-04 1.19569879e+02] [ 9.40513566e-01 3.39748953e-01 -2.20923237e-03 8.06930617e+01] [ 2.34873842e-03 6.06121298e-07 9.99997242e-01 4.29904986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:80.72, Z:0.43 [[ 3.40301667e-01 -9.40315401e-01 -1.31221729e-03 1.19577858e+02] [ 9.40308354e-01 3.40304197e-01 -3.64052111e-03 8.07193600e+01] [ 3.86979112e-03 4.98652672e-06 9.99992512e-01 4.28423009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:80.75, Z:0.43 [[ 3.40260659e-01 -9.40328957e-01 -2.03397224e-03 1.19586280e+02] [ 9.40311988e-01 3.40266738e-01 -5.64904775e-03 8.07457558e+01] [ 6.00405627e-03 9.58022603e-06 9.99981975e-01 4.26808272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:80.77, Z:0.42 [[ 3.39267107e-01 -9.40685985e-01 -2.77628819e-03 1.19595169e+02] [ 9.40654320e-01 3.39278466e-01 -7.71830571e-03 8.07716569e+01] [ 8.20243680e-03 7.03976434e-06 9.99966359e-01 4.24225906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:80.80, Z:0.42 [[ 3.37888407e-01 -9.41181454e-01 -2.98246632e-03 1.19605624e+02] [ 9.41144866e-01 3.37901569e-01 -8.29882148e-03 8.07980213e+01] [ 8.81847692e-03 -2.85729771e-06 9.99961116e-01 4.24899799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:80.82, Z:0.42 [[ 3.36187371e-01 -9.41790095e-01 -3.07719899e-03 1.19616425e+02] [ 9.41751101e-01 3.36201453e-01 -8.57012081e-03 8.08244268e+01] [ 9.10581366e-03 -1.67891597e-05 9.99958541e-01 4.24907057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.63, Y:80.85, Z:0.43 [[ 3.32393842e-01 -9.43134823e-01 -3.32260887e-03 1.19629297e+02] [ 9.43089347e-01 3.32410444e-01 -9.26179438e-03 8.08502166e+01] [ 9.83959069e-03 -5.49536081e-05 9.99951589e-01 4.25115744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:80.88, Z:0.42 [[ 3.30081089e-01 -9.43946545e-01 -3.37553598e-03 1.19640397e+02] [ 9.43899571e-01 3.30098339e-01 -9.41733145e-03 8.08758572e+01] [ 1.00037163e-02 -7.76839462e-05 9.99949959e-01 4.24918259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.65, Y:80.90, Z:0.42 [[ 3.27909540e-01 -9.44702352e-01 -3.57780827e-03 1.19651229e+02] [ 9.44649537e-01 3.27929041e-01 -9.98981472e-03 8.09013447e+01] [ 1.06106687e-02 -1.04019374e-04 9.99943700e-01 4.24755279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091858064 meters Centerline goodness [0,1] 0.9999569836968211 Centerline is valid? [True, True] Translation: X:119.66, Y:80.93, Z:0.42 [[ 3.26109652e-01 -9.45325139e-01 -3.58846390e-03 1.19662180e+02] [ 9.45271957e-01 3.26129372e-01 -1.00279802e-02 8.09268131e+01] [ 1.06500052e-02 -1.21853166e-04 9.99943280e-01 4.24359792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121858064 meters Centerline goodness [0,1] 0.9999352625105199 Centerline is valid? [True, True] Translation: X:119.68, Y:80.95, Z:0.42 [[ 3.23187909e-01 -9.46327325e-01 -3.76432812e-03 1.19675203e+02] [ 9.46268774e-01 3.23209792e-01 -1.05280064e-02 8.09528674e+01] [ 1.11796078e-02 -1.59541772e-04 9.99937494e-01 4.24787644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:80.98, Z:0.42 [[ 3.21918307e-01 -9.46759481e-01 -3.88448612e-03 1.19686768e+02] [ 9.46697064e-01 3.21941693e-01 -1.08726404e-02 8.09778830e+01] [ 1.15443534e-02 -1.77329623e-04 9.99933346e-01 4.24737743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.70, Y:81.00, Z:0.42 [[ 3.21039539e-01 -9.47057820e-01 -3.88588685e-03 1.19697695e+02] [ 9.46995275e-01 3.21063002e-01 -1.08856712e-02 8.10037509e+01] [ 1.15569745e-02 -1.85185635e-04 9.99933199e-01 4.24817846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.71, Y:81.03, Z:0.42 [[ 3.20502536e-01 -9.47239143e-01 -4.01625862e-03 1.19707787e+02] [ 9.47172255e-01 3.20527639e-01 -1.12584105e-02 8.10283464e+01] [ 1.19517290e-02 -1.95739626e-04 9.99928556e-01 4.24547637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:81.05, Z:0.43 [[ 3.20778989e-01 -9.47145579e-01 -4.01149605e-03 1.19718062e+02] [ 9.47078735e-01 3.20804015e-01 -1.12540488e-02 8.10547460e+01] [ 1.19461266e-02 -1.89140224e-04 9.99928625e-01 4.25660112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:81.08, Z:0.43 [[ 3.20952171e-01 -9.47087556e-01 -3.85556851e-03 1.19728368e+02] [ 9.47025695e-01 3.20975280e-01 -1.08260366e-02 8.10812016e+01] [ 1.14907468e-02 -1.76682483e-04 9.99933964e-01 4.26400733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.74, Y:81.11, Z:0.43 [[ 3.21366502e-01 -9.46947456e-01 -3.75324514e-03 1.19738295e+02] [ 9.46888723e-01 3.21388377e-01 -1.05478477e-02 8.11073545e+01] [ 1.11945069e-02 -1.64180581e-04 9.99937326e-01 4.27130539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:81.13, Z:0.43 [[ 3.22126252e-01 -9.46689874e-01 -3.60003929e-03 1.19748308e+02] [ 9.46635730e-01 3.22146335e-01 -1.01259182e-02 8.11340327e+01] [ 1.07458437e-02 -1.46101727e-04 9.99942251e-01 4.27850657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:81.16, Z:0.43 [[ 3.22280268e-01 -9.46637716e-01 -3.53030867e-03 1.19757956e+02] [ 9.46585552e-01 3.22299573e-01 -9.93873507e-03 8.11596613e+01] [ 1.05461984e-02 -1.38680979e-04 9.99944378e-01 4.28091799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:81.19, Z:0.43 [[ 3.22354731e-01 -9.46612681e-01 -3.44388521e-03 1.19767324e+02] [ 9.46562950e-01 3.22373100e-01 -9.70395689e-03 8.11859680e+01] [ 1.02961046e-02 -1.31737730e-04 9.99946985e-01 4.28721813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:81.21, Z:0.43 [[ 3.22413588e-01 -9.46593303e-01 -3.25527253e-03 1.19777123e+02] [ 9.46548791e-01 3.22429998e-01 -9.18054499e-03 8.12114497e+01] [ 9.73983992e-03 -1.21341825e-04 9.99952559e-01 4.29178298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.79, Y:81.24, Z:0.43 [[ 3.22243492e-01 -9.46650904e-01 -3.34631981e-03 1.19786005e+02] [ 9.46603786e-01 3.22260842e-01 -9.44576762e-03 8.12376479e+01] [ 1.00202323e-02 -1.23801861e-04 9.99949789e-01 4.29450468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481858064 meters Centerline goodness [0,1] 0.999978453383896 Centerline is valid? [True, True] Translation: X:119.79, Y:81.26, Z:0.43 [[ 3.21866451e-01 -9.46778216e-01 -3.60511167e-03 1.19794526e+02] [ 9.46723435e-01 3.21886612e-01 -1.01855670e-02 8.12639799e+01] [ 1.08039102e-02 -1.34651386e-04 9.99941627e-01 4.29634158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.511858064 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:119.80, Y:81.29, Z:0.43 [[ 3.20703775e-01 -9.47171240e-01 -3.96613422e-03 1.19803734e+02] [ 9.47104856e-01 3.20728259e-01 -1.12150004e-02 8.12912503e+01] [ 1.18945772e-02 -1.59652008e-04 9.99929244e-01 4.28695443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:81.32, Z:0.43 [[ 3.20056528e-01 -9.47389022e-01 -4.22617284e-03 1.19812920e+02] [ 9.47313535e-01 3.20084381e-01 -1.19605726e-02 8.13183284e+01] [ 1.26840471e-02 -1.75451399e-04 9.99919539e-01 4.28541334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.82, Y:81.35, Z:0.43 [[ 3.18920368e-01 -9.47771535e-01 -4.34933128e-03 1.19822171e+02] [ 9.47691481e-01 3.18949966e-01 -1.23197768e-02 8.13453996e+01] [ 1.30635529e-02 -1.92796434e-04 9.99914650e-01 4.27962556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:81.37, Z:0.43 [[ 3.16378375e-01 -9.48622413e-01 -4.49908598e-03 1.19832152e+02] [ 9.48536692e-01 3.16410278e-01 -1.27546119e-02 8.13708930e+01] [ 1.35228677e-02 -2.32264762e-04 9.99908535e-01 4.26665444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.84, Y:81.40, Z:0.43 [[ 3.14930248e-01 -9.49104537e-01 -4.41774164e-03 1.19841358e+02] [ 9.49021798e-01 3.14961136e-01 -1.25343367e-02 8.13976290e+01] [ 1.32878128e-02 -2.45091348e-04 9.99911683e-01 4.27049686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:81.42, Z:0.43 [[ 3.13399380e-01 -9.49611361e-01 -4.36949136e-03 1.19851258e+02] [ 9.49530334e-01 3.13429730e-01 -1.24076501e-02 8.14243507e+01] [ 1.31519740e-02 -2.60414733e-04 9.99913475e-01 4.27193184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.86, Y:81.45, Z:0.43 [[ 3.11880832e-01 -9.50110896e-01 -4.43070783e-03 1.19860659e+02] [ 9.50027499e-01 3.11912175e-01 -1.25914887e-02 8.14506611e+01] [ 1.33453024e-02 -2.82250302e-04 9.99910908e-01 4.27172000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.87, Y:81.48, Z:0.43 [[ 3.09743409e-01 -9.50810114e-01 -4.37582593e-03 1.19870391e+02] [ 9.50728742e-01 3.09774165e-01 -1.24429026e-02 8.14765511e+01] [ 1.31863555e-02 -3.06116419e-04 9.99913009e-01 4.27077832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.88, Y:81.50, Z:0.43 [[ 3.08870812e-01 -9.51094587e-01 -4.23182034e-03 1.19879742e+02] [ 9.51018387e-01 3.08899650e-01 -1.20430132e-02 8.15019486e+01] [ 1.27612525e-02 -3.04803678e-04 9.99918525e-01 4.27424348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.89, Y:81.53, Z:0.43 [[ 3.08384264e-01 -9.51253418e-01 -4.01013515e-03 1.19888945e+02] [ 9.51184889e-01 3.08410198e-01 -1.14218092e-02 8.15283907e+01] [ 1.21018016e-02 -2.92073731e-04 9.99926728e-01 4.28014785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:81.55, Z:0.43 [[ 3.08737411e-01 -9.51140836e-01 -3.51025534e-03 1.19897429e+02] [ 9.51088233e-01 3.08757265e-01 -1.00062079e-02 8.15538891e+01] [ 1.06011297e-02 -2.49271837e-04 9.99943775e-01 4.29715395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:81.58, Z:0.43 [[ 3.09437320e-01 -9.50914081e-01 -3.30985455e-03 1.19905490e+02] [ 9.50867223e-01 3.09454939e-01 -9.44272238e-03 8.15812636e+01] [ 1.00034685e-02 -2.25301500e-04 9.99949939e-01 4.30513571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:81.61, Z:0.43 [[ 3.10434350e-01 -9.50589646e-01 -3.13660137e-03 1.19913252e+02] [ 9.50547483e-01 3.10450131e-01 -8.95543505e-03 8.16087324e+01] [ 9.48670215e-03 -2.01413873e-04 9.99954980e-01 4.30703380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.92, Y:81.64, Z:0.43 [[ 3.13935541e-01 -9.49438732e-01 -3.25125414e-03 1.19918388e+02] [ 9.49393292e-01 3.13952330e-01 -9.29041981e-03 8.16360121e+01] [ 9.84142321e-03 -1.70125908e-04 9.99951558e-01 4.30834993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:81.66, Z:0.43 [[ 3.15618129e-01 -9.48880732e-01 -3.24847935e-03 1.19925600e+02] [ 9.48835265e-01 3.15634810e-01 -9.29012779e-03 8.16635873e+01] [ 9.84055642e-03 -1.50139018e-04 9.99951569e-01 4.30939082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:81.69, Z:0.43 [[ 3.17609827e-01 -9.48216184e-01 -3.17255342e-03 1.19932367e+02] [ 9.48172714e-01 3.17625648e-01 -9.08033753e-03 8.16909788e+01] [ 9.61780734e-03 -1.24124149e-04 9.99953740e-01 4.30788102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:81.72, Z:0.43 [[ 3.19113488e-01 -9.47710995e-01 -3.23302279e-03 1.19938523e+02] [ 9.47665742e-01 3.19129846e-01 -9.26189640e-03 8.17163469e+01] [ 9.80935512e-03 -1.08228879e-04 9.99951881e-01 4.30516606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:81.74, Z:0.43 [[ 3.21699486e-01 -9.46835997e-01 -3.32198026e-03 1.19942480e+02] [ 9.46788086e-01 3.21716627e-01 -9.52536299e-03 8.17449326e+01] [ 1.00876929e-02 -8.09069550e-05 9.99949115e-01 4.31246195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.95, Y:81.77, Z:0.43 [[ 3.22531474e-01 -9.46551877e-01 -3.60465296e-03 1.19950226e+02] [ 9.46495342e-01 3.22551607e-01 -1.03454422e-02 8.17715868e+01] [ 1.09551843e-02 -7.50565307e-05 9.99939987e-01 4.31483383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.96, Y:81.80, Z:0.43 [[ 3.23160952e-01 -9.46336644e-01 -3.73573934e-03 1.19959972e+02] [ 9.46275803e-01 3.23182536e-01 -1.07308939e-02 8.17970634e+01] [ 1.13623638e-02 -6.72338786e-05 9.99935444e-01 4.29395304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.97, Y:81.82, Z:0.43 [[ 3.23685772e-01 -9.46156909e-01 -3.82419725e-03 1.19966729e+02] [ 9.46093027e-01 3.23708356e-01 -1.09947132e-02 8.18248047e+01] [ 1.16406485e-02 -5.92141242e-05 9.99932244e-01 4.31240601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.98, Y:81.85, Z:0.43 [[ 3.23733822e-01 -9.46140363e-01 -3.85038148e-03 1.19975803e+02] [ 9.46075483e-01 3.23756714e-01 -1.10801726e-02 8.18518605e+01] [ 1.17299854e-02 -5.57248820e-05 9.99931200e-01 4.31575159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.99, Y:81.88, Z:0.43 [[ 3.23557210e-01 -9.46200100e-01 -4.01275551e-03 1.19986014e+02] [ 9.46129514e-01 3.23582087e-01 -1.15574807e-02 8.18765812e+01] [ 1.22341452e-02 -5.70802065e-05 9.99925158e-01 4.28583772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.99, Y:81.90, Z:0.43 [[ 3.22943803e-01 -9.46409930e-01 -3.94258512e-03 1.19994553e+02] [ 9.46341687e-01 3.22967863e-01 -1.13653590e-02 8.19037372e+01] [ 1.20296169e-02 -6.06604029e-05 9.99927640e-01 4.31336846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.00, Y:81.93, Z:0.43 [[ 3.21297208e-01 -9.46969744e-01 -4.05077640e-03 1.20004951e+02] [ 9.46897626e-01 3.21322732e-01 -1.16870649e-02 8.19286798e+01] [ 1.23689034e-02 -8.06492227e-05 9.99923499e-01 4.31314183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:81.95, Z:0.43 [[ 3.20361363e-01 -9.47286251e-01 -4.16597749e-03 1.20014562e+02] [ 9.47209864e-01 3.20388435e-01 -1.20300955e-02 8.19547372e+01] [ 1.27306751e-02 -9.20771890e-05 9.99918957e-01 4.31783977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.02, Y:81.98, Z:0.43 [[ 3.19619884e-01 -9.47536891e-01 -4.11948007e-03 1.20024184e+02] [ 9.47462094e-01 3.19646416e-01 -1.19058440e-02 8.19796161e+01] [ 1.25980034e-02 -9.77067395e-05 9.99920637e-01 4.31515561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.03, Y:82.01, Z:0.43 [[ 3.18703489e-01 -9.47845942e-01 -4.01953736e-03 1.20034771e+02] [ 9.47774631e-01 3.18728818e-01 -1.16270871e-02 8.20054017e+01] [ 1.23018298e-02 -1.04022305e-04 9.99924324e-01 4.32996025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:82.03, Z:0.43 [[ 3.18616683e-01 -9.47874982e-01 -4.05318283e-03 1.20043900e+02] [ 9.47802343e-01 3.18642446e-01 -1.17349791e-02 8.20316456e+01] [ 1.24148092e-02 -1.02656069e-04 9.99922928e-01 4.33573517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.05, Y:82.06, Z:0.43 [[ 3.18570069e-01 -9.47890730e-01 -4.03420053e-03 1.20053209e+02] [ 9.47818637e-01 3.18595596e-01 -1.16909598e-02 8.20575746e+01] [ 1.23670309e-02 -9.93005963e-05 9.99923520e-01 4.33528523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.06, Y:82.08, Z:0.44 [[ 3.18669916e-01 -9.47857827e-01 -3.87623411e-03 1.20061869e+02] [ 9.47791142e-01 3.18693477e-01 -1.12436215e-02 8.20847198e+01] [ 1.18926852e-02 -9.08564310e-05 9.99929275e-01 4.35007227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.07, Y:82.11, Z:0.44 [[ 3.19272176e-01 -9.47654838e-01 -3.94783625e-03 1.20071605e+02] [ 9.47585551e-01 3.19296573e-01 -1.14596190e-02 8.21101636e+01] [ 1.21202939e-02 -8.21750973e-05 9.99926543e-01 4.35557575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.08, Y:82.14, Z:0.43 [[ 3.19009446e-01 -9.47742305e-01 -4.18287524e-03 1.20081016e+02] [ 9.47664406e-01 3.19036856e-01 -1.21514267e-02 8.21355651e+01] [ 1.28509126e-02 -8.75420610e-05 9.99917420e-01 4.34372723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.09, Y:82.16, Z:0.43 [[ 3.18755028e-01 -9.47827918e-01 -4.17965832e-03 1.20089906e+02] [ 9.47750012e-01 3.18782418e-01 -1.21525335e-02 8.21616624e+01] [ 1.28509121e-02 -8.75900671e-05 9.99917420e-01 4.34466520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.10, Y:82.19, Z:0.44 [[ 3.18724741e-01 -9.47837544e-01 -4.30468907e-03 1.20099038e+02] [ 9.47754757e-01 3.18753797e-01 -1.25274467e-02 8.21883635e+01] [ 1.32461203e-02 -8.69823339e-05 9.99912263e-01 4.35003396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.11, Y:82.21, Z:0.44 [[ 3.17910357e-01 -9.48111340e-01 -4.22990628e-03 1.20110068e+02] [ 9.48031318e-01 3.17938482e-01 -1.23183456e-02 8.22136129e+01] [ 1.30240132e-02 -9.39539665e-05 9.99915180e-01 4.35756660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.12, Y:82.24, Z:0.44 [[ 3.17517184e-01 -9.48243570e-01 -4.11950361e-03 1.20120243e+02] [ 9.48167556e-01 3.17543892e-01 -1.20067542e-02 8.22400916e+01] [ 1.26934507e-02 -9.36289001e-05 9.99919431e-01 4.36962683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.13, Y:82.27, Z:0.44 [[ 3.16915780e-01 -9.48444993e-01 -4.06003119e-03 1.20130080e+02] [ 9.48371039e-01 3.16941771e-01 -1.18442219e-02 8.22660195e+01] [ 1.25203864e-02 -9.67951798e-05 9.99921612e-01 4.37950388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.14, Y:82.29, Z:0.44 [[ 3.16102516e-01 -9.48714918e-01 -4.38218204e-03 1.20140891e+02] [ 9.48628630e-01 3.16132871e-01 -1.27956968e-02 8.22917653e+01] [ 1.35248203e-02 -1.12311377e-04 9.99908529e-01 4.37518506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.15, Y:82.32, Z:0.44 [[ 3.15623467e-01 -9.48873988e-01 -4.47017757e-03 1.20150940e+02] [ 9.48784050e-01 3.15655099e-01 -1.30646245e-02 8.23178818e+01] [ 1.38077167e-02 -1.17731108e-04 9.99904662e-01 4.37217671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.16, Y:82.34, Z:0.44 [[ 3.15291686e-01 -9.48983764e-01 -4.57907939e-03 1.20161155e+02] [ 9.48889239e-01 3.15324913e-01 -1.33944414e-02 8.23426550e+01] [ 1.41550052e-02 -1.21883133e-04 9.99899805e-01 4.37093416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:82.37, Z:0.44 [[ 3.14848884e-01 -9.49131270e-01 -4.47354927e-03 1.20171631e+02] [ 9.49040906e-01 3.14880640e-01 -1.30973906e-02 8.23684284e+01] [ 1.38397771e-02 -1.21882435e-04 9.99904218e-01 4.37566318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.18, Y:82.39, Z:0.44 [[ 3.14103993e-01 -9.49379576e-01 -4.13558558e-03 1.20183028e+02] [ 9.49302227e-01 3.14131194e-01 -1.21192121e-02 8.23932274e+01] [ 1.28048488e-02 -1.19227694e-04 9.99918007e-01 4.38130492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:82.42, Z:0.44 [[ 3.13895951e-01 -9.49449002e-01 -3.99051438e-03 1.20192326e+02] [ 9.49376858e-01 3.13921294e-01 -1.17048326e-02 8.24197240e+01] [ 1.23658491e-02 -1.14402436e-04 9.99923533e-01 4.38805612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:82.45, Z:0.44 [[ 3.13086621e-01 -9.49717296e-01 -3.71839951e-03 1.20203959e+02] [ 9.49654561e-01 3.13108680e-01 -1.09164274e-02 8.24450614e+01] [ 1.15317831e-02 -1.13407695e-04 9.99933500e-01 4.39476329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.21, Y:82.47, Z:0.44 [[ 3.12387396e-01 -9.49947735e-01 -3.66276168e-03 1.20214446e+02] [ 9.49886768e-01 3.12408846e-01 -1.07628890e-02 8.24707114e+01] [ 1.13684612e-02 -1.17017977e-04 9.99935370e-01 4.39699380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:82.50, Z:0.44 [[ 3.11423786e-01 -9.50264442e-01 -3.56581295e-03 1.20225269e+02] [ 9.50206572e-01 3.11444176e-01 -1.04879134e-02 8.24953124e+01] [ 1.10768429e-02 -1.22073187e-04 9.99938642e-01 4.39569343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.24, Y:82.52, Z:0.44 [[ 3.10627500e-01 -9.50525148e-01 -3.53554760e-03 1.20236045e+02] [ 9.50468166e-01 3.10647594e-01 -1.04085340e-02 8.25209202e+01] [ 1.09918827e-02 -1.27248543e-04 9.99939579e-01 4.39476028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.25, Y:82.55, Z:0.44 [[ 3.10299512e-01 -9.50631747e-01 -3.67351108e-03 1.20248747e+02] [ 9.50570125e-01 3.10321227e-01 -1.08246885e-02 8.25466962e+01] [ 1.14302610e-02 -1.33034311e-04 9.99934664e-01 4.39078253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:82.57, Z:0.44 [[ 3.10253653e-01 -9.50646593e-01 -3.70498178e-03 1.20259107e+02] [ 9.50583796e-01 3.10275746e-01 -1.09274189e-02 8.25726765e+01] [ 1.15376795e-02 -1.31624027e-04 9.99933430e-01 4.38730058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.27, Y:82.60, Z:0.44 [[ 3.10808325e-01 -9.50465215e-01 -3.74967244e-03 1.20269189e+02] [ 9.50400763e-01 3.10830918e-01 -1.10693719e-02 8.25990766e+01] [ 1.16865671e-02 -1.23238610e-04 9.99931702e-01 4.38386195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.28, Y:82.62, Z:0.44 [[ 3.12397857e-01 -9.49943648e-01 -3.82685645e-03 1.20279856e+02] [ 9.49876351e-01 3.12421279e-01 -1.13076357e-02 8.26246839e+01] [ 1.19372081e-02 -1.02559271e-04 9.99928744e-01 4.38006785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:82.65, Z:0.44 [[ 3.13264488e-01 -9.49658621e-01 -3.72348483e-03 1.20289831e+02] [ 9.49594796e-01 3.13286604e-01 -1.10102802e-02 8.26496770e+01] [ 1.16225254e-02 -8.66720265e-05 9.99932452e-01 4.37459389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.30, Y:82.68, Z:0.44 [[ 3.14125888e-01 -9.49374641e-01 -3.56623704e-03 1.20299874e+02] [ 9.49315979e-01 3.14146123e-01 -1.05539072e-02 8.26756848e+01] [ 1.11399314e-02 -7.02303402e-05 9.99937947e-01 4.37439858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:82.70, Z:0.44 [[ 3.16134744e-01 -9.48707390e-01 -3.62107700e-03 1.20311504e+02] [ 9.48646754e-01 3.16155479e-01 -1.07261311e-02 8.27018380e+01] [ 1.13207832e-02 -4.42202223e-05 9.99935917e-01 4.37597339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:82.73, Z:0.44 [[ 3.16706066e-01 -9.48516914e-01 -3.59607876e-03 1.20321989e+02] [ 9.48456996e-01 3.16726479e-01 -1.06612981e-02 8.27269846e+01] [ 1.12513950e-02 -3.42282742e-05 9.99936700e-01 4.37198494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.33, Y:82.75, Z:0.44 [[ 3.17272205e-01 -9.48328080e-01 -3.49294536e-03 1.20332838e+02] [ 9.48271438e-01 3.17291431e-01 -1.03647132e-02 8.27530426e+01] [ 1.09374302e-02 -2.38249138e-05 9.99940184e-01 4.37308590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:82.78, Z:0.44 [[ 3.17242333e-01 -9.48338543e-01 -3.36313158e-03 1.20343824e+02] [ 9.48285938e-01 3.17260159e-01 -9.98860813e-03 8.27786318e+01] [ 1.05395697e-02 -2.04010303e-05 9.99944457e-01 4.37906543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251858064 meters Centerline goodness [0,1] 0.9999559587774156 Centerline is valid? [True, True] Translation: X:120.36, Y:82.80, Z:0.44 [[ 3.16590263e-01 -9.48557461e-01 -3.05760961e-03 1.20357742e+02] [ 9.48513909e-01 3.16605027e-01 -9.08962424e-03 8.28020368e+01] [ 9.59008546e-03 -2.24987144e-05 9.99954014e-01 4.38085385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.37, Y:82.83, Z:0.44 [[ 3.16140462e-01 -9.48707720e-01 -2.97841992e-03 1.20369284e+02] [ 9.48666324e-01 3.16154491e-01 -8.86249715e-03 8.28282204e+01] [ 9.34956029e-03 -2.37327317e-05 9.99956292e-01 4.39282636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.38, Y:82.85, Z:0.44 [[ 3.15699234e-01 -9.48854515e-01 -3.01721017e-03 1.20381165e+02] [ 9.48811961e-01 3.15713651e-01 -8.98628647e-03 8.28536935e+01] [ 9.47925292e-03 -2.58013422e-05 9.99955071e-01 4.39516691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341858064 meters Centerline goodness [0,1] 0.9999556698288855 Centerline is valid? [True, True] Translation: X:120.40, Y:82.88, Z:0.44 [[ 3.15411922e-01 -9.48950070e-01 -3.01396713e-03 1.20396110e+02] [ 9.48907534e-01 3.15426321e-01 -8.98492605e-03 8.28782045e+01] [ 9.47693077e-03 -2.60233192e-05 9.99955093e-01 4.39473242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371858064 meters Centerline goodness [0,1] 0.9999556186756613 Centerline is valid? [True, True] Translation: X:120.41, Y:82.90, Z:0.44 [[ 3.15188618e-01 -9.49024592e-01 -2.90850491e-03 1.20407153e+02] [ 9.48984910e-01 3.15202037e-01 -8.67846499e-03 8.29038836e+01] [ 9.15284337e-03 -2.47738829e-05 9.99958112e-01 4.39263214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.42, Y:82.93, Z:0.44 [[ 3.15178991e-01 -9.49027918e-01 -2.86627261e-03 1.20418039e+02] [ 9.48989309e-01 3.15192023e-01 -8.56035944e-03 8.29298575e+01] [ 9.02744636e-03 -2.20166136e-05 9.99959252e-01 4.39020431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.43, Y:82.95, Z:0.44 [[ 3.15133012e-01 -9.49043183e-01 -2.86734918e-03 1.20428521e+02] [ 9.49004472e-01 3.15146056e-01 -8.57181520e-03 8.29545764e+01] [ 9.03865656e-03 -1.98652521e-05 9.99959150e-01 4.38521781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:82.98, Z:0.44 [[ 3.15109058e-01 -9.49051099e-01 -2.87969552e-03 1.20441895e+02] [ 9.49011981e-01 3.15122215e-01 -8.61684322e-03 8.29802418e+01] [ 9.08528056e-03 -1.76202069e-05 9.99958728e-01 4.37565163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:83.01, Z:0.44 [[ 3.14759852e-01 -9.49166612e-01 -2.99642632e-03 1.20453020e+02] [ 9.49124184e-01 3.14774113e-01 -8.97450312e-03 8.30056815e+01] [ 9.46149616e-03 -1.91674125e-05 9.99955239e-01 4.37323719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:83.03, Z:0.44 [[ 3.14130267e-01 -9.49375145e-01 -3.00155639e-03 1.20464722e+02] [ 9.49332502e-01 3.14144606e-01 -8.99819070e-03 8.30316734e+01] [ 9.48558135e-03 -2.28709949e-05 9.99955011e-01 4.37391395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.48, Y:83.06, Z:0.44 [[ 3.12182286e-01 -9.50017541e-01 -2.98204049e-03 1.20480320e+02] [ 9.49975401e-01 3.12196526e-01 -8.94801334e-03 8.30557617e+01] [ 9.43175231e-03 -3.94538442e-05 9.99955519e-01 4.38507610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.49, Y:83.08, Z:0.44 [[ 3.11486100e-01 -9.50245916e-01 -3.01806558e-03 1.20490805e+02] [ 9.50202678e-01 3.11500718e-01 -9.06495872e-03 8.30807595e+01] [ 9.55406960e-03 -4.41653542e-05 9.99954358e-01 4.39070989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:83.11, Z:0.44 [[ 3.12612346e-01 -9.49876911e-01 -2.71555382e-03 1.20497462e+02] [ 9.49841829e-01 3.12624139e-01 -8.16379438e-03 8.31081753e+01] [ 8.60354747e-03 -2.72436934e-05 9.99962988e-01 4.39257467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:83.14, Z:0.44 [[ 3.12994697e-01 -9.49750636e-01 -2.83711756e-03 1.20505108e+02] [ 9.49712265e-01 3.13007554e-01 -8.53725226e-03 8.31354905e+01] [ 8.99629999e-03 -2.23306642e-05 9.99959532e-01 4.38443584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:83.16, Z:0.44 [[ 3.12652548e-01 -9.49862530e-01 -3.09165590e-03 1.20513292e+02] [ 9.49816884e-01 3.12667832e-01 -9.31201397e-03 8.31623296e+01] [ 9.81179450e-03 -2.50820766e-05 9.99951863e-01 4.37842203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:83.19, Z:0.44 [[ 3.12030264e-01 -9.50067235e-01 -3.06001989e-03 1.20521651e+02] [ 9.50022460e-01 3.12045267e-01 -9.22367039e-03 8.31881182e+01] [ 9.71797175e-03 -2.90233155e-05 9.99952779e-01 4.37477218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.731858064 meters Centerline goodness [0,1] 0.9999549954995499 Centerline is valid? [True, True] Translation: X:120.53, Y:83.21, Z:0.44 [[ 3.09342195e-01 -9.50947010e-01 -2.68154359e-03 1.20531255e+02] [ 9.50912605e-01 3.09353814e-01 -8.08927713e-03 8.32145301e+01] [ 8.52201963e-03 -4.75588588e-05 9.99963686e-01 4.39146283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.54, Y:83.24, Z:0.44 [[ 3.07650125e-01 -9.51496767e-01 -2.30287309e-03 1.20541115e+02] [ 9.51471363e-01 3.07658739e-01 -6.95307022e-03 8.32412561e+01] [ 7.32432287e-03 -5.20048732e-05 9.99973175e-01 4.40578082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.55, Y:83.27, Z:0.44 [[ 3.05821787e-01 -9.52086605e-01 -2.03255074e-03 1.20549670e+02] [ 9.52066793e-01 3.05828536e-01 -6.14233551e-03 8.32675590e+01] [ 6.46964738e-03 -5.66640457e-05 9.99979070e-01 4.41656054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:83.29, Z:0.44 [[ 3.01551653e-01 -9.53447875e-01 -1.93668333e-03 1.20559722e+02] [ 9.53429883e-01 3.01557861e-01 -5.85785275e-03 8.32943667e+01] [ 6.16917934e-03 -8.00465854e-05 9.99980967e-01 4.41806881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.57, Y:83.32, Z:0.44 [[ 2.98896821e-01 -9.54283200e-01 -2.06507760e-03 1.20569939e+02] [ 9.54262726e-01 2.98903937e-01 -6.25192197e-03 8.33210349e+01] [ 6.58336393e-03 -1.01946980e-04 9.99978324e-01 4.41359547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:83.35, Z:0.44 [[ 2.96304107e-01 -9.55091316e-01 -2.11062750e-03 1.20580267e+02] [ 9.55069910e-01 2.96311599e-01 -6.39556819e-03 8.33480177e+01] [ 6.73375505e-03 -1.20763691e-04 9.99977321e-01 4.41344068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:83.37, Z:0.44 [[ 2.93859564e-01 -9.55846012e-01 -2.22678277e-03 1.20590383e+02] [ 9.55822163e-01 2.93867965e-01 -6.75363466e-03 8.33736165e+01] [ 7.10981488e-03 -1.43788185e-04 9.99974715e-01 4.41194973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.60, Y:83.40, Z:0.44 [[ 2.89865605e-01 -9.57064499e-01 -2.34010475e-03 1.20599947e+02] [ 9.57038151e-01 2.89874995e-01 -7.10387765e-03 8.34000273e+01] [ 7.47720696e-03 -1.80399731e-04 9.99972029e-01 4.40683085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:83.43, Z:0.44 [[ 2.88070022e-01 -9.57606093e-01 -2.49652898e-03 1.20609537e+02] [ 9.57576070e-01 2.88080767e-01 -7.58565430e-03 8.34260315e+01] [ 7.98327076e-03 -2.05416809e-04 9.99968112e-01 4.40698645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:83.45, Z:0.44 [[ 2.85750875e-01 -9.58300564e-01 -2.54306439e-03 1.20618673e+02] [ 9.58269383e-01 2.85762101e-01 -7.73373009e-03 8.34531669e+01] [ 8.13794932e-03 -2.27020608e-04 9.99966861e-01 4.40937378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.63, Y:83.48, Z:0.44 [[ 2.85330448e-01 -9.58425966e-01 -2.49055598e-03 1.20627087e+02] [ 9.58396012e-01 2.85341230e-01 -7.58073042e-03 8.34798933e+01] [ 7.97622718e-03 -2.23925711e-04 9.99968164e-01 4.41084629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:83.51, Z:0.44 [[ 2.85127375e-01 -9.58486437e-01 -2.47578664e-03 1.20635512e+02] [ 9.58456783e-01 2.85138037e-01 -7.54285488e-03 8.35060475e+01] [ 7.93566504e-03 -2.22260085e-04 9.99968487e-01 4.41368329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:83.53, Z:0.44 [[ 2.85364219e-01 -9.58416308e-01 -2.33317737e-03 1.20641867e+02] [ 9.58389920e-01 2.85373683e-01 -7.11494418e-03 8.35331672e+01] [ 7.48490595e-03 -2.05743184e-04 9.99971967e-01 4.42115957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:83.56, Z:0.44 [[ 2.85707096e-01 -9.58314297e-01 -2.27224992e-03 1.20649932e+02] [ 9.58289220e-01 2.85716065e-01 -6.93555025e-03 8.35600882e+01] [ 7.29565527e-03 -1.95936681e-04 9.99973367e-01 4.42670760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:83.59, Z:0.44 [[ 2.87266682e-01 -9.57847670e-01 -2.38624650e-03 1.20658244e+02] [ 9.57819954e-01 2.87276529e-01 -7.28915983e-03 8.35863502e+01] [ 7.66741737e-03 -1.91661759e-04 9.99970587e-01 4.41860094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:83.61, Z:0.44 [[ 2.88063817e-01 -9.57607868e-01 -2.53151077e-03 1.20662715e+02] [ 9.57576613e-01 2.88074875e-01 -7.73931026e-03 8.36148086e+01] [ 8.14048904e-03 -1.94700255e-04 9.99966847e-01 4.42679451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.67, Y:83.64, Z:0.44 [[ 2.88955029e-01 -9.57339457e-01 -2.48104903e-03 1.20671289e+02] [ 9.57309368e-01 2.88965623e-01 -7.59221764e-03 8.36410420e+01] [ 7.98526739e-03 -1.81322014e-04 9.99968101e-01 4.43065741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:83.67, Z:0.44 [[ 2.91431563e-01 -9.56589099e-01 -2.22269811e-03 1.20677321e+02] [ 9.56564886e-01 2.91440004e-01 -6.80762217e-03 8.36687984e+01] [ 7.15988031e-03 -1.42198991e-04 9.99974358e-01 4.44401903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:83.69, Z:0.44 [[ 2.92655482e-01 -9.56215600e-01 -2.12007560e-03 1.20684753e+02] [ 9.56193521e-01 2.92663135e-01 -6.49920243e-03 8.36949423e+01] [ 6.83510672e-03 -1.25175332e-04 9.99976633e-01 4.44832995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.69, Y:83.72, Z:0.44 [[ 2.93735846e-01 -9.55884512e-01 -2.01295727e-03 1.20692111e+02] [ 9.55864563e-01 2.93742723e-01 -6.17651543e-03 8.37214640e+01] [ 6.49532699e-03 -1.09850541e-04 9.99978899e-01 4.44956080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:83.75, Z:0.44 [[ 2.95927730e-01 -9.55207748e-01 -2.22173997e-03 1.20698391e+02] [ 9.55183381e-01 2.95936052e-01 -6.82362990e-03 8.37495445e+01] [ 7.17547710e-03 -1.02867790e-04 9.99974251e-01 4.44855096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:83.78, Z:0.44 [[ 2.96049875e-01 -9.55169260e-01 -2.48133152e-03 1.20706345e+02] [ 9.55138806e-01 2.96060253e-01 -7.62817024e-03 8.37763920e+01] [ 8.02081735e-03 -1.11697178e-04 9.99967826e-01 4.44409686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.72, Y:83.80, Z:0.44 [[ 2.96063911e-01 -9.55164597e-01 -2.59850530e-03 1.20715397e+02] [ 9.55131135e-01 2.96075292e-01 -7.99598170e-03 8.38029989e+01] [ 8.40683186e-03 -1.14591702e-04 9.99964655e-01 4.43905442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.72, Y:83.83, Z:0.44 [[ 2.95803053e-01 -9.55245420e-01 -2.59632103e-03 1.20723848e+02] [ 9.55211955e-01 2.95814425e-01 -7.99669107e-03 8.38292661e+01] [ 8.40683174e-03 -1.14591255e-04 9.99964655e-01 4.43999225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.73, Y:83.86, Z:0.44 [[ 2.94387204e-01 -9.55682360e-01 -2.72053497e-03 1.20733702e+02] [ 9.55645566e-01 2.94399745e-01 -8.38701056e-03 8.38562887e+01] [ 8.81624285e-03 -1.30838593e-04 9.99961128e-01 4.43720496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:83.88, Z:0.44 [[ 2.93321124e-01 -9.56010022e-01 -2.74873052e-03 1.20743270e+02] [ 9.55972404e-01 2.93333970e-01 -8.48200690e-03 8.38814879e+01] [ 8.91517964e-03 -1.39758724e-04 9.99960249e-01 4.43862075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.75, Y:83.91, Z:0.44 [[ 2.91994296e-01 -9.56415569e-01 -2.93088924e-03 1.20752072e+02] [ 9.56372739e-01 2.92008961e-01 -9.05269379e-03 8.39081397e+01] [ 9.51398321e-03 -1.59687617e-04 9.99954728e-01 4.43975070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.76, Y:83.94, Z:0.44 [[ 2.89755180e-01 -9.57094613e-01 -3.44057342e-03 1.20760480e+02] [ 9.57035524e-01 2.89775529e-01 -1.06370902e-02 8.39356635e+01] [ 1.11776957e-02 -2.10599007e-04 9.99937505e-01 4.43564908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:83.96, Z:0.44 [[ 2.88452805e-01 -9.57487275e-01 -3.61902188e-03 1.20771136e+02] [ 9.57421811e-01 2.88475412e-01 -1.11987626e-02 8.39609027e+01] [ 1.17666715e-02 -2.34616001e-04 9.99930743e-01 4.42272613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601858064 meters Centerline goodness [0,1] 0.9999777975133215 Centerline is valid? [True, True] Translation: X:120.78, Y:83.99, Z:0.44 [[ 2.87556178e-01 -9.57756407e-01 -3.75631574e-03 1.20779967e+02] [ 9.57685775e-01 2.87580601e-01 -1.16342150e-02 8.39875463e+01] [ 1.22229875e-02 -2.51879754e-04 9.99925265e-01 4.42029395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.79, Y:84.01, Z:0.44 [[ 2.85350220e-01 -9.58416235e-01 -3.68401521e-03 1.20789692e+02] [ 9.58348228e-01 2.85373871e-01 -1.14205347e-02 8.40147327e+01] [ 1.19969476e-02 -2.71717353e-04 9.99927997e-01 4.43508335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:84.04, Z:0.44 [[ 2.84419511e-01 -9.58693285e-01 -3.56755747e-03 1.20799607e+02] [ 9.58629406e-01 2.84441755e-01 -1.10702106e-02 8.40402720e+01] [ 1.16276989e-02 -2.71381618e-04 9.99932359e-01 4.43641011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.81, Y:84.07, Z:0.44 [[ 2.83429213e-01 -9.58986085e-01 -3.68368512e-03 1.20808595e+02] [ 9.58917875e-01 2.83453002e-01 -1.14413522e-02 8.40669673e+01] [ 1.20162492e-02 -2.89538067e-04 9.99927760e-01 4.43835915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:84.09, Z:0.44 [[ 2.82642712e-01 -9.59217778e-01 -3.78847429e-03 1.20819741e+02] [ 9.59145525e-01 2.82667936e-01 -1.17770459e-02 8.40919982e+01] [ 1.23676320e-02 -3.05001963e-04 9.99923471e-01 4.42323344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:84.12, Z:0.44 [[ 2.82591113e-01 -9.59233063e-01 -3.76755739e-03 1.20826564e+02] [ 9.59161475e-01 2.82616066e-01 -1.17227909e-02 8.41196676e+01] [ 1.23096609e-02 -3.00939372e-04 9.99924188e-01 4.43276817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781858064 meters Centerline goodness [0,1] 0.9999106444767117 Centerline is valid? [True, True] Translation: X:120.84, Y:84.15, Z:0.44 [[ 2.82774745e-01 -9.59179384e-01 -3.65409234e-03 1.20835521e+02] [ 9.59111936e-01 2.82798208e-01 -1.13783782e-02 8.41456676e+01] [ 1.19472766e-02 -2.87165592e-04 9.99928588e-01 4.43769155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.84, Y:84.17, Z:0.44 [[ 2.83173433e-01 -9.59061924e-01 -3.60997215e-03 1.20843658e+02] [ 9.58995970e-01 2.83196308e-01 -1.12508247e-02 8.41723627e+01] [ 1.18125683e-02 -2.76014092e-04 9.99930191e-01 4.44673811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841858064 meters Centerline goodness [0,1] 0.9999553810458682 Centerline is valid? [True, True] Translation: X:120.85, Y:84.20, Z:0.44 [[ 2.83890824e-01 -9.58850082e-01 -3.53828932e-03 1.20853296e+02] [ 9.58786582e-01 2.83912755e-01 -1.10379733e-02 8.41981211e+01] [ 1.15883271e-02 -2.58884991e-04 9.99932820e-01 4.44153864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:84.23, Z:0.44 [[ 2.84322483e-01 -9.58722036e-01 -3.57546349e-03 1.20861074e+02] [ 9.58657061e-01 2.84344851e-01 -1.11644260e-02 8.42255639e+01] [ 1.17202458e-02 -2.53346006e-04 9.99931283e-01 4.44524180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.87, Y:84.25, Z:0.45 [[ 2.84710669e-01 -9.58607182e-01 -3.47927989e-03 1.20868559e+02] [ 9.58545532e-01 2.84731827e-01 -1.08742795e-02 8.42524447e+01] [ 1.14148241e-02 -2.39024798e-04 9.99934820e-01 4.45338475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:84.28, Z:0.45 [[ 2.85369515e-01 -9.58411571e-01 -3.39112870e-03 1.20878071e+02] [ 9.58352901e-01 2.85389576e-01 -1.06069202e-02 8.42778553e+01] [ 1.11335878e-02 -2.23006356e-04 9.99937995e-01 4.45373786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:84.30, Z:0.45 [[ 2.85574780e-01 -9.58351165e-01 -3.17629759e-03 1.20884819e+02] [ 9.58299600e-01 2.85592370e-01 -9.94355010e-03 8.43048568e+01] [ 1.04365392e-02 -2.04217578e-04 9.99945517e-01 4.46382711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.89, Y:84.33, Z:0.45 [[ 2.85742732e-01 -9.58301281e-01 -3.12190162e-03 1.20893666e+02] [ 9.58251367e-01 2.85759719e-01 -9.78264459e-03 8.43313263e+01] [ 1.02668346e-02 -1.96246897e-04 9.99947275e-01 4.47109552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:84.36, Z:0.45 [[ 2.85696383e-01 -9.58315870e-01 -2.87571352e-03 1.20903596e+02] [ 9.58273454e-01 2.85710800e-01 -9.01815284e-03 8.43566801e+01] [ 9.46386140e-03 -1.79266275e-04 9.99955201e-01 4.47191824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.91, Y:84.38, Z:0.45 [[ 2.84687246e-01 -9.58616513e-01 -2.74840954e-03 1.20912931e+02] [ 9.58577716e-01 2.84700456e-01 -8.62626228e-03 8.43834926e+01] [ 9.05175091e-03 -1.78777290e-04 9.99959016e-01 4.48541909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:84.41, Z:0.45 [[ 2.84020915e-01 -9.58814574e-01 -2.59482309e-03 1.20923349e+02] [ 9.58779933e-01 2.84032716e-01 -8.15207314e-03 8.44090118e+01] [ 8.55334118e-03 -1.72505038e-04 9.99963405e-01 4.48532459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:84.44, Z:0.45 [[ 2.83522954e-01 -9.58962106e-01 -2.53242830e-03 1.20930079e+02] [ 9.58929053e-01 2.83534212e-01 -7.96377408e-03 8.44364105e+01] [ 8.35498763e-03 -1.70506318e-04 9.99965082e-01 4.49172318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:84.46, Z:0.45 [[ 2.83306284e-01 -9.59026485e-01 -2.39799508e-03 1.20938768e+02] [ 9.58996792e-01 2.83316387e-01 -7.54834610e-03 8.44625260e+01] [ 7.91845513e-03 -1.61175707e-04 9.99968636e-01 4.49193750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:84.49, Z:0.45 [[ 2.82916581e-01 -9.59141415e-01 -2.44006204e-03 1.20946978e+02] [ 9.59110614e-01 2.82927055e-01 -7.68843105e-03 8.44893856e+01] [ 8.06465221e-03 -1.65104780e-04 9.99967467e-01 4.49290621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:84.52, Z:0.45 [[ 2.82834416e-01 -9.59165924e-01 -2.32906666e-03 1.20955847e+02] [ 9.59137808e-01 2.82843962e-01 -7.34567698e-03 8.45162467e+01] [ 7.70448548e-03 -1.56285634e-04 9.99970308e-01 4.49007000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:84.54, Z:0.45 [[ 2.83016961e-01 -9.59111722e-01 -2.47060673e-03 1.20964089e+02] [ 9.59080018e-01 2.83027698e-01 -7.80006089e-03 8.45416486e+01] [ 8.18037997e-03 -1.61960025e-04 9.99966527e-01 4.48390636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:84.57, Z:0.45 [[ 2.83188531e-01 -9.59060789e-01 -2.58048879e-03 1.20972208e+02] [ 9.59026128e-01 2.83200240e-01 -8.15536294e-03 8.45670362e+01] [ 8.55228386e-03 -1.65250920e-04 9.99963415e-01 4.47599056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.98, Y:84.59, Z:0.45 [[ 2.83357855e-01 -9.59010403e-01 -2.71533094e-03 1.20979065e+02] [ 9.58971944e-01 2.83370814e-01 -8.59019739e-03 8.45946289e+01] [ 9.00753420e-03 -1.69826287e-04 9.99959417e-01 4.47226300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:84.62, Z:0.45 [[ 2.84269845e-01 -9.58740953e-01 -2.53777241e-03 1.20987725e+02] [ 9.58707295e-01 2.84281134e-01 -8.03489162e-03 8.46200712e+01] [ 8.42482047e-03 -1.48903526e-04 9.99964499e-01 4.47183967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:84.65, Z:0.45 [[ 2.84270778e-01 -9.58741164e-01 -2.34634610e-03 1.20994920e+02] [ 9.58712344e-01 2.84280428e-01 -7.43504124e-03 8.46471878e+01] [ 7.79530037e-03 -1.35906008e-04 9.99969607e-01 4.47736763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:84.67, Z:0.45 [[ 2.84857555e-01 -9.58567386e-01 -2.17716006e-03 1.21002054e+02] [ 9.58542520e-01 2.84865850e-01 -6.90545305e-03 8.46742305e+01] [ 7.23954063e-03 -1.19830021e-04 9.99973787e-01 4.47599858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:84.70, Z:0.45 [[ 2.84654974e-01 -9.58627540e-01 -2.18755892e-03 1.21010527e+02] [ 9.58602388e-01 2.84663354e-01 -6.94524903e-03 8.47008516e+01] [ 7.28062485e-03 -1.19999528e-04 9.99973489e-01 4.47372499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:84.73, Z:0.45 [[ 2.84147396e-01 -9.58778322e-01 -2.09445037e-03 1.21019401e+02] [ 9.58755224e-01 2.84155091e-01 -6.65618992e-03 8.47264615e+01] [ 6.97695933e-03 -1.16726200e-04 9.99975654e-01 4.47316641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471858064 meters Centerline goodness [0,1] 0.9998883579690082 Centerline is valid? [True, True] Translation: X:121.03, Y:84.75, Z:0.45 [[ 2.83776056e-01 -9.58888632e-01 -1.93414708e-03 1.21027880e+02] [ 9.58868899e-01 2.83782626e-01 -6.15261841e-03 8.47529701e+01] [ 6.44855319e-03 -1.08627694e-04 9.99979202e-01 4.47488937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:84.78, Z:0.45 [[ 2.83453012e-01 -9.58984414e-01 -1.81222452e-03 1.21036092e+02] [ 9.58967060e-01 2.83458787e-01 -5.77009611e-03 8.47795512e+01] [ 6.04712320e-03 -1.02312495e-04 9.99981711e-01 4.48016659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531858064 meters Centerline goodness [0,1] 0.9999330715688024 Centerline is valid? [True, True] Translation: X:121.04, Y:84.81, Z:0.45 [[ 2.83346532e-01 -9.59016431e-01 -1.49282310e-03 1.21043714e+02] [ 9.59004635e-01 2.83350452e-01 -4.75719891e-03 8.48059911e+01] [ 4.98522402e-03 -8.36884597e-05 9.99987570e-01 4.48319268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:84.83, Z:0.45 [[ 2.83291929e-01 -9.59032627e-01 -1.45007023e-03 1.21050673e+02] [ 9.59021476e-01 2.83295629e-01 -4.62546175e-03 8.48330812e+01] [ 4.84676729e-03 -8.02925094e-05 9.99988251e-01 4.48096034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:84.86, Z:0.45 [[ 2.83541238e-01 -9.58958815e-01 -1.53562789e-03 1.21057771e+02] [ 9.58946283e-01 2.83545384e-01 -4.90329652e-03 8.48604715e+01] [ 5.13747962e-03 -8.22978875e-05 9.99986800e-01 4.47854322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621858064 meters Centerline goodness [0,1] 0.9999777208421522 Centerline is valid? [True, True] Translation: X:121.06, Y:84.89, Z:0.45 [[ 2.83839886e-01 -9.58870624e-01 -1.43050914e-03 1.21063881e+02] [ 9.58859727e-01 2.83843481e-01 -4.57192409e-03 8.48879969e+01] [ 4.78992440e-03 -7.39631922e-05 9.99988526e-01 4.47690615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651858064 meters Centerline goodness [0,1] 0.9999777084262149 Centerline is valid? [True, True] Translation: X:121.07, Y:84.91, Z:0.45 [[ 2.83415185e-01 -9.58996290e-01 -1.39582307e-03 1.21071566e+02] [ 9.58985896e-01 2.83418612e-01 -4.46551991e-03 8.49136415e+01] [ 4.67801926e-03 -7.29784932e-05 9.99989055e-01 4.47342459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:84.94, Z:0.45 [[ 2.82582056e-01 -9.59242239e-01 -1.30710495e-03 1.21079726e+02] [ 9.59233109e-01 2.82585070e-01 -4.18582947e-03 8.49406012e+01] [ 4.38459278e-03 -7.09780482e-05 9.99990385e-01 4.47061727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:84.97, Z:0.45 [[ 2.81115144e-01 -9.59673207e-01 -1.26953171e-03 1.21086950e+02] [ 9.59664582e-01 2.81118001e-01 -4.06940537e-03 8.49680822e+01] [ 4.26218752e-03 -7.43531379e-05 9.99990914e-01 4.46753099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:84.99, Z:0.45 [[ 2.80203163e-01 -9.59940069e-01 -1.11841382e-03 1.21095160e+02] [ 9.59933366e-01 2.80205387e-01 -3.58799365e-03 8.49935164e+01] [ 3.75764445e-03 -6.82355746e-05 9.99992938e-01 4.46701914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:85.02, Z:0.45 [[ 2.79369743e-01 -9.60182961e-01 -1.10822468e-03 1.21103487e+02] [ 9.60176371e-01 2.79371932e-01 -3.55798252e-03 8.50188581e+01] [ 3.72592106e-03 -7.00984945e-05 9.99993056e-01 4.46916717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:85.05, Z:0.45 [[ 2.78108036e-01 -9.60549425e-01 -8.50371119e-04 1.21110734e+02] [ 9.60545540e-01 2.78109330e-01 -2.73224360e-03 8.50462887e+01] [ 2.86095116e-03 -5.69612832e-05 9.99995906e-01 4.47625996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.831858064 meters Centerline goodness [0,1] 0.9999778452267541 Centerline is valid? [True, True] Translation: X:121.12, Y:85.07, Z:0.45 [[ 2.77305536e-01 -9.60781580e-01 -6.29384101e-04 1.21117283e+02] [ 9.60779450e-01 2.77306247e-01 -2.02322699e-03 8.50735969e+01] [ 2.11841136e-03 -4.36472653e-05 9.99997755e-01 4.47866740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.861858064 meters Centerline goodness [0,1] 0.9999557756943216 Centerline is valid? [True, True] Translation: X:121.12, Y:85.10, Z:0.45 [[ 2.76707175e-01 -9.60954167e-01 -4.78331938e-04 1.21123159e+02] [ 9.60952935e-01 2.76707586e-01 -1.53887215e-03 8.51004672e+01] [ 1.61114368e-03 -3.38375155e-05 9.99998702e-01 4.47677424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:85.13, Z:0.45 [[ 2.76180314e-01 -9.61105727e-01 -4.64653989e-04 1.21130265e+02] [ 9.61104564e-01 2.76180703e-01 -1.49544130e-03 8.51277387e+01] [ 1.56560566e-03 -3.35696214e-05 9.99998774e-01 4.47217048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921858064 meters Centerline goodness [0,1] 0.9999337455830388 Centerline is valid? [True, True] Translation: X:121.14, Y:85.15, Z:0.45 [[ 2.75696983e-01 -9.61244342e-01 -6.99247675e-04 1.21138002e+02] [ 9.61241699e-01 2.75697865e-01 -2.25455187e-03 8.51538057e+01] [ 2.35995632e-03 -5.05728743e-05 9.99997214e-01 4.47090242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.951858064 meters Centerline goodness [0,1] 0.9999779852060585 Centerline is valid? [True, True] Translation: X:121.15, Y:85.18, Z:0.45 [[ 2.74868693e-01 -9.61481450e-01 -7.89481613e-04 1.21145241e+02] [ 9.61478077e-01 2.74869821e-01 -2.54742699e-03 8.51813624e+01] [ 2.66630846e-03 -5.88613351e-05 9.99996444e-01 4.46873374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:85.21, Z:0.45 [[ 2.73518571e-01 -9.61866348e-01 -8.48706595e-04 1.21151542e+02] [ 9.61862443e-01 2.73519880e-01 -2.74146951e-03 8.52090229e+01] [ 2.86906539e-03 -6.64961757e-05 9.99995882e-01 4.47150513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.011858064 meters Centerline goodness [0,1] 0.9999779570603535 Centerline is valid? [True, True] Translation: X:121.16, Y:85.24, Z:0.45 [[ 2.72965699e-01 -9.62023390e-01 -8.51490508e-04 1.21158246e+02] [ 9.62019453e-01 2.72967018e-01 -2.75312826e-03 8.52351240e+01] [ 2.88100261e-03 -6.76408520e-05 9.99995848e-01 4.46892432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:85.26, Z:0.45 [[ 2.72653386e-01 -9.62111944e-01 -8.59523800e-04 1.21164613e+02] [ 9.62107927e-01 2.72654733e-01 -2.78098727e-03 8.52622998e+01] [ 2.90997430e-03 -6.87090655e-05 9.99995764e-01 4.46468737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:85.29, Z:0.45 [[ 2.72305988e-01 -9.62210233e-01 -9.56925521e-04 1.21171209e+02] [ 9.62205244e-01 2.72307659e-01 -3.09946999e-03 8.52887166e+01] [ 3.24291989e-03 -7.67545146e-05 9.99994739e-01 4.46056544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:85.32, Z:0.44 [[ 2.71883203e-01 -9.62329353e-01 -1.31913449e-03 1.21175762e+02] [ 9.62319849e-01 2.71886382e-01 -4.27826177e-03 8.53152276e+01] [ 4.47575159e-03 -1.06241791e-04 9.99989978e-01 4.44446927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:85.34, Z:0.44 [[ 2.71602596e-01 -9.62408444e-01 -1.41984848e-03 1.21182091e+02] [ 9.62397411e-01 2.71606283e-01 -4.60978882e-03 8.53412041e+01] [ 4.82213946e-03 -1.14427888e-04 9.99988367e-01 4.43905875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:85.37, Z:0.44 [[ 2.70865403e-01 -9.62616088e-01 -1.48315501e-03 1.21187410e+02] [ 9.62604028e-01 2.70869436e-01 -4.82023663e-03 8.53694324e+01] [ 5.04177869e-03 -1.22055646e-04 9.99987283e-01 4.43723629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:85.40, Z:0.44 [[ 2.69661414e-01 -9.62954013e-01 -1.51339346e-03 1.21192313e+02] [ 9.62941439e-01 2.69665630e-01 -4.92271983e-03 8.53965685e+01] [ 5.14846302e-03 -1.29841682e-04 9.99986738e-01 4.43571783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:85.42, Z:0.44 [[ 2.69082045e-01 -9.63115772e-01 -1.69203075e-03 1.21198745e+02] [ 9.63100033e-01 2.69087324e-01 -5.50811160e-03 8.54238264e+01] [ 5.76025318e-03 -1.47460940e-04 9.99983399e-01 4.43564365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:85.45, Z:0.44 [[ 2.68224401e-01 -9.63354843e-01 -1.76575182e-03 1.21202854e+02] [ 9.63337672e-01 2.68230167e-01 -5.75383720e-03 8.54522724e+01] [ 6.01661484e-03 -1.57695713e-04 9.99981888e-01 4.43570727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:85.48, Z:0.44 [[ 2.65897232e-01 -9.63998978e-01 -2.15241093e-03 1.21212157e+02] [ 9.63973429e-01 2.65905863e-01 -7.02139528e-03 8.54784463e+01] [ 7.34095656e-03 -2.07897370e-04 9.99973033e-01 4.42151163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:85.51, Z:0.44 [[ 2.64541010e-01 -9.64371636e-01 -2.32404198e-03 1.21214797e+02] [ 9.64341805e-01 2.64551115e-01 -7.58882515e-03 8.55074704e+01] [ 7.93327562e-03 -2.33615372e-04 9.99968504e-01 4.42423734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:85.53, Z:0.44 [[ 2.64265829e-01 -9.64447085e-01 -2.32192844e-03 1.21222819e+02] [ 9.64417251e-01 2.64275926e-01 -7.58947195e-03 8.55338774e+01] [ 7.93327389e-03 -2.33669747e-04 9.99968504e-01 4.42517570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:85.56, Z:0.44 [[ 2.62045046e-01 -9.65052441e-01 -2.48588030e-03 1.21230595e+02] [ 9.65018201e-01 2.62056700e-01 -8.13371747e-03 8.55599123e+01] [ 8.50090549e-03 -2.67519368e-04 9.99963831e-01 4.42445420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:85.59, Z:0.44 [[ 2.58741614e-01 -9.65943045e-01 -2.60980692e-03 1.21237459e+02] [ 9.65905290e-01 2.58754590e-01 -8.54592440e-03 8.55870320e+01] [ 8.93017576e-03 -3.09640036e-04 9.99960077e-01 4.43011281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431858064 meters Centerline goodness [0,1] 0.9998479285698768 Centerline is valid? [True, True] Translation: X:121.25, Y:85.61, Z:0.44 [[ 2.56891810e-01 -9.66436882e-01 -2.51995401e-03 1.21245893e+02] [ 9.66401647e-01 2.56903978e-01 -8.25849560e-03 8.56134956e+01] [ 8.62870095e-03 -3.13747827e-04 9.99962723e-01 4.43179303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:85.64, Z:0.44 [[ 2.55018678e-01 -9.66932881e-01 -2.50532604e-03 1.21253410e+02] [ 9.66898011e-01 2.55030775e-01 -8.21829307e-03 8.56412786e+01] [ 8.58547304e-03 -3.26576528e-04 9.99963091e-01 4.43842880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49185806399998 meters Centerline goodness [0,1] 0.9998915142441798 Centerline is valid? [True, True] Translation: X:121.26, Y:85.67, Z:0.44 [[ 2.52618346e-01 -9.67563000e-01 -2.41081368e-03 1.21257278e+02] [ 9.67530680e-01 2.52629630e-01 -7.91536213e-03 8.56703627e+01] [ 8.26765450e-03 -3.32970507e-04 9.99965767e-01 4.44574508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52185806399999 meters Centerline goodness [0,1] 0.999783132007547 Centerline is valid? [True, True] Translation: X:121.27, Y:85.70, Z:0.44 [[ 2.51774542e-01 -9.67783068e-01 -2.34789884e-03 1.21265923e+02] [ 9.67752384e-01 2.51785273e-01 -7.71363926e-03 8.56958820e+01] [ 8.05629582e-03 -3.30086709e-04 9.99967493e-01 4.44605338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.551858064 meters Centerline goodness [0,1] 0.9999783305885412 Centerline is valid? [True, True] Translation: X:121.27, Y:85.72, Z:0.45 [[ 2.50996688e-01 -9.67985360e-01 -2.23712157e-03 1.21272074e+02] [ 9.67957470e-01 2.51006455e-01 -7.35499170e-03 8.57235832e+01] [ 7.68105624e-03 -3.19359976e-04 9.99970449e-01 4.45275710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:85.75, Z:0.45 [[ 2.50748357e-01 -9.68050175e-01 -2.02962402e-03 1.21275812e+02] [ 9.68027177e-01 2.50756404e-01 -6.67907893e-03 8.57518622e+01] [ 6.97462475e-03 -2.89963138e-04 9.99975635e-01 4.45868232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:85.78, Z:0.45 [[ 2.50659494e-01 -9.68073304e-01 -1.97364096e-03 1.21282613e+02] [ 9.68051514e-01 2.50667106e-01 -6.50131363e-03 8.57794192e+01] [ 6.78847503e-03 -2.80970136e-04 9.99976919e-01 4.45897338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:85.81, Z:0.45 [[ 2.51051536e-01 -9.67971560e-01 -2.04583315e-03 1.21288729e+02] [ 9.67948095e-01 2.51059708e-01 -6.74601096e-03 8.58071991e+01] [ 7.04357302e-03 -2.86663887e-04 9.99975153e-01 4.45658732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:85.83, Z:0.45 [[ 2.51695531e-01 -9.67804119e-01 -2.13211686e-03 1.21294837e+02] [ 9.67778576e-01 2.51704392e-01 -7.03754515e-03 8.58343584e+01] [ 7.34762837e-03 -2.92098353e-04 9.99972963e-01 4.45669518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:85.86, Z:0.44 [[ 2.54070890e-01 -9.67182540e-01 -2.43269001e-03 1.21297575e+02] [ 9.67149207e-01 2.54082345e-01 -8.03572724e-03 8.58616405e+01] [ 8.39011867e-03 -3.11129844e-04 9.99964754e-01 4.44747851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:85.89, Z:0.44 [[ 2.55189580e-01 -9.66887567e-01 -2.59047061e-03 1.21302469e+02] [ 9.66849695e-01 2.55202529e-01 -8.56373760e-03 8.58895364e+01] [ 8.94126607e-03 -3.19219116e-04 9.99959975e-01 4.44595447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:85.92, Z:0.44 [[ 2.56407524e-01 -9.66564446e-01 -2.89014029e-03 1.21307340e+02] [ 9.66517194e-01 2.56423584e-01 -9.56347198e-03 8.59181809e+01] [ 9.98481213e-03 -3.41224114e-04 9.99950092e-01 4.44480873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:85.95, Z:0.44 [[ 2.57285274e-01 -9.66330069e-01 -3.23814934e-03 1.21310879e+02] [ 9.66270613e-01 2.57305386e-01 -1.07256890e-02 8.59458833e+01] [ 1.11977491e-02 -3.69366704e-04 9.99937235e-01 4.43521198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:85.97, Z:0.44 [[ 2.56801795e-01 -9.66458569e-01 -3.26695937e-03 1.21317606e+02] [ 9.66397940e-01 2.56822300e-01 -1.08318104e-02 8.59731715e+01] [ 1.13075240e-02 -3.75554441e-04 9.99935997e-01 4.43403453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:86.00, Z:0.44 [[ 2.55901124e-01 -9.66697296e-01 -3.30956335e-03 1.21324698e+02] [ 9.66634975e-01 2.55922230e-01 -1.09834986e-02 8.60007093e+01] [ 1.14647093e-02 -3.88450038e-04 9.99934203e-01 4.43663388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.33, Y:86.03, Z:0.44 [[ 2.54623024e-01 -9.67035453e-01 -3.08998138e-03 1.21331042e+02] [ 9.66981052e-01 2.54641497e-01 -1.02641406e-02 8.60282273e+01] [ 1.07126254e-02 -3.74466932e-04 9.99942548e-01 4.44416111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:86.06, Z:0.45 [[ 2.52300857e-01 -9.67645101e-01 -2.68994917e-03 1.21336027e+02] [ 9.67603834e-01 2.52314959e-01 -8.94326827e-03 8.60563097e+01] [ 9.33262414e-03 -3.46410881e-04 9.99956390e-01 4.45877104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:86.08, Z:0.45 [[ 2.51300746e-01 -9.67905648e-01 -2.56741503e-03 1.21343359e+02] [ 9.67867999e-01 2.51313633e-01 -8.54371622e-03 8.60835877e+01] [ 8.91473758e-03 -3.37876588e-04 9.99960206e-01 4.46303965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971858064 meters Centerline goodness [0,1] 0.9999787672250886 Centerline is valid? [True, True] Translation: X:121.35, Y:86.11, Z:0.45 [[ 2.49805222e-01 -9.68292962e-01 -2.46804088e-03 1.21349217e+02] [ 9.68258137e-01 2.49817187e-01 -8.21905883e-03 8.61110292e+01] [ 8.57501584e-03 -3.36536846e-04 9.99963177e-01 4.47210458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:86.14, Z:0.45 [[ 2.47083003e-01 -9.68991016e-01 -2.52987872e-03 1.21356829e+02] [ 9.68954417e-01 2.47095679e-01 -8.42988345e-03 8.61368017e+01] [ 8.79360343e-03 -3.68456244e-04 9.99961268e-01 4.47525846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:86.16, Z:0.45 [[ 2.45795076e-01 -9.69318717e-01 -2.45059275e-03 1.21362620e+02] [ 9.69284338e-01 2.45807018e-01 -8.17203649e-03 8.61645726e+01] [ 8.52368083e-03 -3.66674843e-04 9.99963606e-01 4.47737133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:86.19, Z:0.45 [[ 2.44396946e-01 -9.69672511e-01 -2.31399455e-03 1.21369063e+02] [ 9.69641816e-01 2.44407641e-01 -7.72360439e-03 8.61911746e+01] [ 8.05492481e-03 -3.56120552e-04 9.99967495e-01 4.47992764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:86.22, Z:0.45 [[ 2.44440325e-01 -9.69661760e-01 -2.23584583e-03 1.21375782e+02] [ 9.69633049e-01 2.44450311e-01 -7.46961180e-03 8.62189972e+01] [ 7.78955014e-03 -3.42075673e-04 9.99969602e-01 4.48254974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:86.25, Z:0.45 [[ 2.45137820e-01 -9.69485805e-01 -2.17315441e-03 1.21380296e+02] [ 9.69458626e-01 2.45147237e-01 -7.26674882e-03 8.62477000e+01] [ 7.57775263e-03 -3.25428321e-04 9.99971235e-01 4.49042322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.39, Y:86.28, Z:0.45 [[ 2.46319582e-01 -9.69186130e-01 -2.21559256e-03 1.21386165e+02] [ 9.69157812e-01 2.46329337e-01 -7.41570229e-03 8.62758918e+01] [ 7.73296125e-03 -3.20626150e-04 9.99970049e-01 4.49391134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.39, Y:86.30, Z:0.45 [[ 2.49964624e-01 -9.68251950e-01 -2.41815663e-03 1.21392123e+02] [ 9.68218102e-01 2.49976120e-01 -8.10219516e-03 8.63026877e+01] [ 8.44944768e-03 -3.16040863e-04 9.99964253e-01 4.48733326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:86.33, Z:0.45 [[ 2.51660060e-01 -9.67812377e-01 -2.53311509e-03 1.21395439e+02] [ 9.67775136e-01 2.51672613e-01 -8.49599300e-03 8.63312235e+01] [ 8.86004287e-03 -3.13383690e-04 9.99960700e-01 4.48695358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:86.36, Z:0.45 [[ 2.54100539e-01 -9.67174854e-01 -2.39116493e-03 1.21399171e+02] [ 9.67141580e-01 2.54111643e-01 -8.02728666e-03 8.63599475e+01] [ 8.37141265e-03 -2.72857163e-04 9.99964922e-01 4.48392116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:86.39, Z:0.45 [[ 2.54608312e-01 -9.67041632e-01 -2.25611616e-03 1.21406180e+02] [ 9.67011948e-01 2.54618183e-01 -7.58109238e-03 8.63864793e+01] [ 7.90568015e-03 -2.51482153e-04 9.99968718e-01 4.48649287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:86.41, Z:0.45 [[ 2.54897489e-01 -9.66965498e-01 -2.23498684e-03 1.21413133e+02] [ 9.66936309e-01 2.54907169e-01 -7.51723027e-03 8.64141925e+01] [ 7.83861649e-03 -2.44966810e-04 9.99969248e-01 4.48881462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:86.44, Z:0.45 [[ 2.54323074e-01 -9.67116955e-01 -2.13762991e-03 1.21418431e+02] [ 9.67090208e-01 2.54331947e-01 -7.19660760e-03 8.64419788e+01] [ 7.50362881e-03 -2.37017580e-04 9.99971819e-01 4.48910518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:86.47, Z:0.45 [[ 2.53376580e-01 -9.67365420e-01 -2.11036248e-03 1.21423177e+02] [ 9.67339309e-01 2.53385255e-01 -7.11154502e-03 8.64706822e+01] [ 7.41419747e-03 -2.39537636e-04 9.99972486e-01 4.49192785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:86.50, Z:0.45 [[ 2.52918546e-01 -9.67485694e-01 -1.90808387e-03 1.21429934e+02] [ 9.67464312e-01 2.52925649e-01 -6.43588220e-03 8.64975220e+01] [ 6.70922731e-03 -2.18249078e-04 9.99977469e-01 4.49625258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:86.52, Z:0.45 [[ 2.52417971e-01 -9.67616653e-01 -1.78342992e-03 1.21437633e+02] [ 9.67597940e-01 2.52424188e-01 -6.02123398e-03 8.65236178e+01] [ 6.27642712e-03 -2.05775448e-04 9.99980282e-01 4.49659169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:86.55, Z:0.45 [[ 2.52084581e-01 -9.67703464e-01 -1.83588679e-03 1.21444924e+02] [ 9.67683596e-01 2.52091177e-01 -6.20455616e-03 8.65511983e+01] [ 6.46698134e-03 -2.12484596e-04 9.99979066e-01 4.49528744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:86.58, Z:0.45 [[ 2.52305673e-01 -9.67645529e-01 -1.99453797e-03 1.21451897e+02] [ 9.67622027e-01 2.52313455e-01 -6.74789792e-03 8.65780371e+01] [ 7.03282202e-03 -2.27425942e-04 9.99975244e-01 4.48815206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:86.61, Z:0.45 [[ 2.52777955e-01 -9.67522141e-01 -2.05222075e-03 1.21459465e+02] [ 9.67497205e-01 2.52786182e-01 -6.95011135e-03 8.66054171e+01] [ 7.24315966e-03 -2.28682907e-04 9.99973742e-01 4.48418084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:86.63, Z:0.45 [[ 2.53180254e-01 -9.67416643e-01 -2.19025353e-03 1.21465129e+02] [ 9.67388176e-01 2.53189615e-01 -7.42536504e-03 8.66332564e+01] [ 7.73797117e-03 -2.38869558e-04 9.99970033e-01 4.48469752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:86.66, Z:0.45 [[ 2.55400031e-01 -9.66832467e-01 -2.40926563e-03 1.21475148e+02] [ 9.66797950e-01 2.55411280e-01 -8.17320526e-03 8.66595349e+01] [ 8.51747382e-03 -2.41836201e-04 9.99963696e-01 4.46733510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:86.69, Z:0.45 [[ 2.56702735e-01 -9.66487522e-01 -2.36133349e-03 1.21480814e+02] [ 9.66454305e-01 2.56713497e-01 -8.01596399e-03 8.66883516e+01] [ 8.35351535e-03 -2.24401038e-04 9.99965084e-01 4.47208235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:86.72, Z:0.45 [[ 2.58095596e-01 -9.66117001e-01 -2.14542418e-03 1.21488849e+02] [ 9.66089523e-01 2.58104442e-01 -7.28910701e-03 8.67165800e+01] [ 7.59587372e-03 -1.91385402e-04 9.99971133e-01 4.47781693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:86.74, Z:0.45 [[ 2.59572227e-01 -9.65721477e-01 -2.07081818e-03 1.21496278e+02] [ 9.65695818e-01 2.59580431e-01 -7.04175415e-03 8.67449094e+01] [ 7.33791709e-03 -1.71936644e-04 9.99973062e-01 4.48327472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:86.77, Z:0.45 [[ 2.62046796e-01 -9.65053191e-01 -1.95322868e-03 1.21503692e+02] [ 9.65030305e-01 2.62054036e-01 -6.64781137e-03 8.67724043e+01] [ 6.92734304e-03 -1.42887199e-04 9.99975995e-01 4.48271738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:86.80, Z:0.45 [[ 2.62714901e-01 -9.64871627e-01 -1.90360280e-03 1.21511178e+02] [ 9.64849842e-01 2.62721763e-01 -6.48510838e-03 8.67999605e+01] [ 6.75741496e-03 -1.32956263e-04 9.99977160e-01 4.48313952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:86.83, Z:0.45 [[ 2.63291324e-01 -9.64714758e-01 -1.76490514e-03 1.21521031e+02] [ 9.64695994e-01 2.63297213e-01 -6.01803722e-03 8.68257448e+01] [ 6.27038393e-03 -1.18099933e-04 9.99980334e-01 4.48521157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:86.85, Z:0.45 [[ 2.64067565e-01 -9.64502840e-01 -1.61018034e-03 1.21530062e+02] [ 9.64487191e-01 2.64072454e-01 -5.49520944e-03 8.68523693e+01] [ 5.72534939e-03 -1.01891736e-04 9.99983605e-01 4.49884165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:86.88, Z:0.45 [[ 2.64067406e-01 -9.64503158e-01 -1.43682645e-03 1.21537976e+02] [ 9.64490673e-01 2.64071299e-01 -4.90818603e-03 8.68787794e+01] [ 5.11338555e-03 -8.97137601e-05 9.99986923e-01 4.50233629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:86.91, Z:0.45 [[ 2.64151395e-01 -9.64480167e-01 -1.43081743e-03 1.21545890e+02] [ 9.64467761e-01 2.64155256e-01 -4.89266554e-03 8.69057479e+01] [ 5.09683682e-03 -8.75728505e-05 9.99987007e-01 4.50421439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:86.93, Z:0.45 [[ 2.63860546e-01 -9.64559865e-01 -1.37051542e-03 1.21553920e+02] [ 9.64548461e-01 2.63864092e-01 -4.69122187e-03 8.69312485e+01] [ 4.88659414e-03 -8.41001780e-05 9.99988057e-01 4.50412297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:86.96, Z:0.45 [[ 2.62642824e-01 -9.64892153e-01 -1.37134721e-03 1.21562685e+02] [ 9.64880714e-01 2.62646389e-01 -4.69908127e-03 8.69581622e+01] [ 4.89428604e-03 -8.90065000e-05 9.99988019e-01 4.50338525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.57, Y:86.98, Z:0.45 [[ 2.61609161e-01 -9.65172958e-01 -1.34446540e-03 1.21573820e+02] [ 9.65161946e-01 2.61612600e-01 -4.61151849e-03 8.69830749e+01] [ 4.80264203e-03 -9.12113582e-05 9.99988463e-01 4.49980541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:87.01, Z:0.45 [[ 2.60502017e-01 -9.65472282e-01 -1.40389308e-03 1.21581376e+02] [ 9.65460255e-01 2.60505781e-01 -4.82019749e-03 8.70108547e+01] [ 5.01948933e-03 -9.97318033e-05 9.99987397e-01 4.50408313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99185806399998 meters Centerline goodness [0,1] 0.9999366647666097 Centerline is valid? [True, True] Translation: X:121.59, Y:87.04, Z:0.45 [[ 2.58040629e-01 -9.66133108e-01 -1.36090436e-03 1.21593882e+02] [ 9.66121792e-01 2.58044196e-01 -4.67719886e-03 8.70374522e+01] [ 4.86997014e-03 -1.07892019e-04 9.99988136e-01 4.50245754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:87.06, Z:0.45 [[ 2.57166168e-01 -9.66365894e-01 -1.58787992e-03 1.21603793e+02] [ 9.66350467e-01 2.57171038e-01 -5.46191564e-03 8.70641212e+01] [ 5.68656572e-03 -1.29828581e-04 9.99983823e-01 4.50154907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:87.09, Z:0.45 [[ 2.56210360e-01 -9.66619546e-01 -1.70437379e-03 1.21613006e+02] [ 9.66601751e-01 2.56215989e-01 -5.86696426e-03 8.70910681e+01] [ 6.10781014e-03 -1.44273669e-04 9.99981337e-01 4.49415073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:87.12, Z:0.45 [[ 2.55584796e-01 -9.66784945e-01 -1.81166816e-03 1.21622004e+02] [ 9.66764802e-01 2.55591169e-01 -6.24269402e-03 8.71168877e+01] [ 6.49838897e-03 -1.55919331e-04 9.99978873e-01 4.48487033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:87.14, Z:0.45 [[ 2.55742403e-01 -9.66743429e-01 -1.72218069e-03 1.21631111e+02] [ 9.66725191e-01 2.55748160e-01 -5.94011159e-03 8.71437149e+01] [ 6.18300839e-03 -1.45737047e-04 9.99980874e-01 4.48003292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:87.17, Z:0.45 [[ 2.56137766e-01 -9.66638714e-01 -1.74387547e-03 1.21639907e+02] [ 9.66619974e-01 2.56143662e-01 -6.02082242e-03 8.71689629e+01] [ 6.26664269e-03 -1.43504854e-04 9.99980354e-01 4.48271216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:87.20, Z:0.45 [[ 2.56775678e-01 -9.66469407e-01 -1.77136191e-03 1.21648832e+02] [ 9.66450030e-01 2.56781749e-01 -6.12157933e-03 8.71951136e+01] [ 6.37117255e-03 -1.40060094e-04 9.99979694e-01 4.48468794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:87.22, Z:0.45 [[ 2.59165018e-01 -9.65831737e-01 -1.59659282e-03 1.21657031e+02] [ 9.65815959e-01 2.59169912e-01 -5.52183923e-03 8.72232085e+01] [ 5.74695640e-03 -1.10947258e-04 9.99983480e-01 4.49838130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:87.25, Z:0.45 [[ 2.58887595e-01 -9.65906138e-01 -1.59549125e-03 1.21664634e+02] [ 9.65890359e-01 2.58892488e-01 -5.52215754e-03 8.72497144e+01] [ 5.74694656e-03 -1.11451530e-04 9.99983480e-01 4.49932073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:87.28, Z:0.45 [[ 2.60793161e-01 -9.65393589e-01 -1.46504233e-03 1.21673606e+02] [ 9.65380256e-01 2.60797260e-01 -5.07450354e-03 8.72762341e+01] [ 5.28097220e-03 -9.09271196e-05 9.99986051e-01 4.50364420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:87.30, Z:0.45 [[ 2.65025362e-01 -9.64240839e-01 -1.07832404e-03 1.21679085e+02] [ 9.64233601e-01 2.65027551e-01 -3.73625028e-03 8.73049149e+01] [ 3.88843068e-03 -4.95551852e-05 9.99992439e-01 4.50682431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:87.33, Z:0.45 [[ 2.67589311e-01 -9.63532338e-01 -1.18103915e-03 1.21686726e+02] [ 9.63523632e-01 2.67591914e-01 -4.09613512e-03 8.73310281e+01] [ 4.26279518e-03 -4.18771609e-05 9.99990913e-01 4.50451499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:87.36, Z:0.45 [[ 2.69960529e-01 -9.62870538e-01 -1.28051986e-03 1.21693232e+02] [ 9.62860278e-01 2.69963564e-01 -4.44513680e-03 8.73582665e+01] [ 4.62578497e-03 -3.29502254e-05 9.99989300e-01 4.50281155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:87.38, Z:0.45 [[ 2.72401037e-01 -9.62183017e-01 -1.23196467e-03 1.21700694e+02] [ 9.62173494e-01 2.72403822e-01 -4.28075888e-03 8.73847758e+01] [ 4.45446537e-03 -1.92805940e-05 9.99990079e-01 4.50357219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411858064 meters Centerline goodness [0,1] 0.9999788027810751 Centerline is valid? [True, True] Translation: X:121.71, Y:87.41, Z:0.45 [[ 2.77643566e-01 -9.60683455e-01 -1.16162242e-03 1.21707515e+02] [ 9.60674961e-01 2.77645996e-01 -4.03988158e-03 8.74118494e+01] [ 4.20356721e-03 5.70556163e-06 9.99991165e-01 4.50779082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:87.44, Z:0.45 [[ 2.80069404e-01 -9.59979170e-01 -1.05908851e-03 1.21714301e+02] [ 9.59972090e-01 2.80071406e-01 -3.68693255e-03 8.74392784e+01] [ 3.83599885e-03 1.59015909e-05 9.99992642e-01 4.50602244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:87.47, Z:0.45 [[ 2.82454606e-01 -9.59279940e-01 -1.18012115e-03 1.21720284e+02] [ 9.59271122e-01 2.82457070e-01 -4.11306303e-03 8.74658830e+01] [ 4.27891242e-03 2.96974641e-05 9.99990845e-01 4.50065557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.73, Y:87.49, Z:0.45 [[ 2.86289564e-01 -9.58141980e-01 -1.49373446e-03 1.21726716e+02] [ 9.58127806e-01 2.86293455e-01 -5.21200539e-03 8.74930560e+01] [ 5.42148756e-03 6.09542334e-05 9.99985302e-01 4.48453930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:87.52, Z:0.45 [[ 2.87434608e-01 -9.57798781e-01 -1.68580385e-03 1.21735811e+02] [ 9.57780682e-01 2.87439541e-01 -5.88852492e-03 8.75202785e+01] [ 6.12458867e-03 7.79354849e-05 9.99981241e-01 4.48250036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:87.55, Z:0.45 [[ 2.87810915e-01 -9.57685339e-01 -1.91550023e-03 1.21744504e+02] [ 9.57661917e-01 2.87817274e-01 -6.69845773e-03 8.75470514e+01] [ 6.96632881e-03 9.34876229e-05 9.99975730e-01 4.47820823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.76, Y:87.57, Z:0.45 [[ 2.86375882e-01 -9.58115168e-01 -2.04433981e-03 1.21755388e+02] [ 9.58088446e-01 2.86383165e-01 -7.15633192e-03 8.75718473e+01] [ 7.44205466e-03 9.07425164e-05 9.99972303e-01 4.47658091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:87.60, Z:0.45 [[ 2.84196402e-01 -9.58764059e-01 -1.97066005e-03 1.21766681e+02] [ 9.58739196e-01 2.84203225e-01 -6.90511067e-03 8.75980562e+01] [ 7.18043988e-03 7.30585770e-05 9.99974218e-01 4.48548206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:87.62, Z:0.45 [[ 2.81475903e-01 -9.59566702e-01 -1.74925859e-03 1.21778120e+02] [ 9.59547089e-01 2.81481335e-01 -6.13535063e-03 8.76244912e+01] [ 6.37966181e-03 4.84573765e-05 9.99979649e-01 4.49171039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.79, Y:87.65, Z:0.45 [[ 2.78211712e-01 -9.60518218e-01 -1.73088859e-03 1.21789842e+02] [ 9.60498993e-01 2.78217094e-01 -6.07721101e-03 8.76508430e+01] [ 6.31883469e-03 2.82345323e-05 9.99980036e-01 4.49337645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:87.67, Z:0.45 [[ 2.71174428e-01 -9.62528621e-01 -1.75621867e-03 1.21806237e+02] [ 9.62508827e-01 2.71180114e-01 -6.17285763e-03 8.76744937e+01] [ 6.41780371e-03 -1.64548324e-05 9.99979406e-01 4.48893261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74185806399998 meters Centerline goodness [0,1] 0.9999784115196131 Centerline is valid? [True, True] Translation: X:121.82, Y:87.70, Z:0.45 [[ 2.67418795e-01 -9.63579033e-01 -1.62355031e-03 1.21818223e+02] [ 9.63562100e-01 2.67423721e-01 -5.71247006e-03 8.77009707e+01] [ 5.93859224e-03 -3.67696902e-05 9.99982366e-01 4.49176362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:87.73, Z:0.45 [[ 2.64525761e-01 -9.64377308e-01 -1.59056077e-03 1.21830372e+02] [ 9.64361038e-01 2.64530538e-01 -5.60208560e-03 8.77266903e+01] [ 5.82327612e-03 -5.19788770e-05 9.99983043e-01 4.49562295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.85, Y:87.75, Z:0.45 [[ 2.59239517e-01 -9.65811991e-01 -1.43915993e-03 1.21846781e+02] [ 9.65798667e-01 2.59243500e-01 -5.07367318e-03 8.77507637e+01] [ 5.27330725e-03 -7.46421591e-05 9.99986093e-01 4.50410147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:87.78, Z:0.45 [[ 2.57261724e-01 -9.66340684e-01 -1.44507648e-03 1.21859411e+02] [ 9.66327232e-01 2.57265768e-01 -5.09954663e-03 8.77756537e+01] [ 5.29966809e-03 -8.44985977e-05 9.99985953e-01 4.50376943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.861858064 meters Centerline goodness [0,1] 0.9999348137847116 Centerline is valid? [True, True] Translation: X:121.87, Y:87.80, Z:0.45 [[ 2.56000768e-01 -9.66675457e-01 -1.47239708e-03 1.21866664e+02] [ 9.66661469e-01 2.56004985e-01 -5.20106005e-03 8.78029841e+01] [ 5.40467810e-03 -9.18341627e-05 9.99985390e-01 4.50768629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:87.83, Z:0.45 [[ 2.54675968e-01 -9.67024956e-01 -1.69898457e-03 1.21878412e+02] [ 9.67006297e-01 2.54681610e-01 -6.00818185e-03 8.78287609e+01] [ 6.24276191e-03 -1.12789253e-04 9.99980507e-01 4.50128288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:87.86, Z:0.45 [[ 2.54477673e-01 -9.67076774e-01 -1.90474750e-03 1.21888148e+02] [ 9.67053272e-01 2.54484770e-01 -6.74315090e-03 8.78550985e+01] [ 7.00587385e-03 -1.26010952e-04 9.99975451e-01 4.49845046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.90, Y:87.88, Z:0.45 [[ 2.54501057e-01 -9.67070143e-01 -2.13320248e-03 1.21898302e+02] [ 9.67040599e-01 2.54509959e-01 -7.56051154e-03 8.78799859e+01] [ 7.85446626e-03 -1.38735228e-04 9.99969144e-01 4.49212155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:87.91, Z:0.45 [[ 2.54537082e-01 -9.67059688e-01 -2.53652521e-03 1.21908773e+02] [ 9.67017819e-01 2.54549668e-01 -9.00027873e-03 8.79057399e+01] [ 9.34947839e-03 -1.61960393e-04 9.99956280e-01 4.48617780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.011858064 meters Centerline goodness [0,1] 0.9999563480804068 Centerline is valid? [True, True] Translation: X:121.92, Y:87.93, Z:0.45 [[ 2.54016742e-01 -9.67196108e-01 -2.68010325e-03 1.21918033e+02] [ 9.67149271e-01 2.54030821e-01 -9.51995729e-03 8.79327298e+01] [ 9.88849447e-03 -1.73831366e-04 9.99951093e-01 4.48506937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.93, Y:87.96, Z:0.45 [[ 2.53572958e-01 -9.67312268e-01 -2.78059043e-03 1.21927264e+02] [ 9.67261751e-01 2.53588137e-01 -9.88746406e-03 8.79591046e+01] [ 1.02693900e-02 -1.82365256e-04 9.99947252e-01 4.48132370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:87.99, Z:0.45 [[ 2.52316761e-01 -9.67640292e-01 -2.91854963e-03 1.21938056e+02] [ 9.67584541e-01 2.52333559e-01 -1.03889537e-02 8.79853857e+01] [ 1.07892182e-02 -2.02636352e-04 9.99941774e-01 4.48305661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.95, Y:88.01, Z:0.45 [[ 2.51067723e-01 -9.67965456e-01 -2.80616345e-03 1.21948396e+02] [ 9.67913836e-01 2.51083321e-01 -9.99856796e-03 8.80108142e+01] [ 1.03828492e-02 -2.05806740e-04 9.99946076e-01 4.48520316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.96, Y:88.04, Z:0.45 [[ 2.49936656e-01 -9.68259010e-01 -2.48156331e-03 1.21958520e+02] [ 9.68218576e-01 2.49948902e-01 -8.85073987e-03 8.80371026e+01] [ 9.19007265e-03 -1.90571369e-04 9.99957752e-01 4.50009707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161858064 meters Centerline goodness [0,1] 0.9999780359770696 Centerline is valid? [True, True] Translation: X:121.97, Y:88.06, Z:0.45 [[ 2.49031402e-01 -9.68492992e-01 -2.16466647e-03 1.21968686e+02] [ 9.68462172e-01 2.49040750e-01 -7.72832541e-03 8.80638139e+01] [ 8.02391916e-03 -1.71801876e-04 9.99967793e-01 4.51411995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:88.09, Z:0.45 [[ 2.49178161e-01 -9.68456049e-01 -1.76753679e-03 1.21979016e+02] [ 9.68435459e-01 2.49184392e-01 -6.31661804e-03 8.80900384e+01] [ 6.55780953e-03 -1.37782030e-04 9.99978488e-01 4.52940530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.99, Y:88.11, Z:0.45 [[ 2.49439879e-01 -9.68388734e-01 -1.73392116e-03 1.21991251e+02] [ 9.68368875e-01 2.49445871e-01 -6.20322028e-03 8.81148293e+01] [ 6.43964811e-03 -1.31744769e-04 9.99979257e-01 4.52368642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251858064 meters Centerline goodness [0,1] 0.9999337952950523 Centerline is valid? [True, True] Translation: X:122.00, Y:88.14, Z:0.45 [[ 2.50212656e-01 -9.68189173e-01 -1.83087644e-03 1.21996550e+02] [ 9.68166975e-01 2.50219320e-01 -6.55741891e-03 8.81424448e+01] [ 6.80694265e-03 -1.31844899e-04 9.99976824e-01 4.53078106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281858064 meters Centerline goodness [0,1] 0.9999778545486757 Centerline is valid? [True, True] Translation: X:122.01, Y:88.17, Z:0.45 [[ 2.52385724e-01 -9.67624998e-01 -1.81929917e-03 1.22006535e+02] [ 9.67603020e-01 2.52392255e-01 -6.52265530e-03 8.81694844e+01] [ 6.77066134e-03 -1.14134290e-04 9.99977072e-01 4.52847529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311858064 meters Centerline goodness [0,1] 0.9999337104472336 Centerline is valid? [True, True] Translation: X:122.01, Y:88.20, Z:0.45 [[ 2.53946925e-01 -9.67216113e-01 -1.98751264e-03 1.22014017e+02] [ 9.67189813e-01 2.53954678e-01 -7.13350848e-03 8.81967828e+01] [ 7.40438248e-03 -1.10769440e-04 9.99972581e-01 4.52783954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341858064 meters Centerline goodness [0,1] 0.9998672008145016 Centerline is valid? [True, True] Translation: X:122.02, Y:88.22, Z:0.45 [[ 2.55302722e-01 -9.66859016e-01 -2.04049716e-03 1.22022088e+02] [ 9.66831222e-01 2.55310856e-01 -7.33177830e-03 8.82223509e+01] [ 7.60975703e-03 -1.00993410e-04 9.99971040e-01 4.51939091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371858064 meters Centerline goodness [0,1] 0.9999558255107676 Centerline is valid? [True, True] Translation: X:122.03, Y:88.25, Z:0.45 [[ 2.57076231e-01 -9.66388767e-01 -2.13617276e-03 1.22029091e+02] [ 9.66358221e-01 2.57085091e-01 -7.68409842e-03 8.82492115e+01] [ 7.97500457e-03 -8.89090404e-05 9.99968195e-01 4.51808924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401858064 meters Centerline goodness [0,1] 0.9998668294306958 Centerline is valid? [True, True] Translation: X:122.04, Y:88.28, Z:0.45 [[ 2.60483476e-01 -9.65474777e-01 -2.61029678e-03 1.22037104e+02] [ 9.65429012e-01 2.60496544e-01 -9.40065297e-03 8.82754378e+01] [ 9.75606662e-03 -7.13414876e-05 9.99952406e-01 4.50251679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431858064 meters Centerline goodness [0,1] 0.9997999733297773 Centerline is valid? [True, True] Translation: X:122.05, Y:88.30, Z:0.45 [[ 2.61821417e-01 -9.65111931e-01 -2.91654798e-03 1.22046040e+02] [ 9.65054646e-01 2.61837654e-01 -1.05154062e-02 8.83025631e+01] [ 1.09122060e-02 -6.14696374e-05 9.99940458e-01 4.49596744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46185806399998 meters Centerline goodness [0,1] 0.9997333985025882 Centerline is valid? [True, True] Translation: X:122.06, Y:88.33, Z:0.45 [[ 2.62414406e-01 -9.64950264e-01 -3.10932488e-03 1.22055287e+02] [ 9.64884998e-01 2.62432821e-01 -1.12230123e-02 8.83296298e+01] [ 1.16456376e-02 -5.50608055e-05 9.99932186e-01 4.49983111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49185806399998 meters Centerline goodness [0,1] 0.9996428172787142 Centerline is valid? [True, True] Translation: X:122.07, Y:88.35, Z:0.45 [[ 2.62987567e-01 -9.64794231e-01 -3.10347858e-03 1.22065630e+02] [ 9.64729083e-01 2.63005874e-01 -1.12119140e-02 8.83549301e+01] [ 1.16334231e-02 -4.54220510e-05 9.99932328e-01 4.49733940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52185806399999 meters Centerline goodness [0,1] 0.9996204848863687 Centerline is valid? [True, True] Translation: X:122.07, Y:88.38, Z:0.45 [[ 2.62221016e-01 -9.65003252e-01 -2.97713291e-03 1.22074630e+02] [ 9.64943195e-01 2.62237911e-01 -1.07660679e-02 8.83817146e+01] [ 1.11700077e-02 -4.96748781e-05 9.99937612e-01 4.49655915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.551858064 meters Centerline goodness [0,1] 0.9995090491174042 Centerline is valid? [True, True] Translation: X:122.08, Y:88.41, Z:0.45 [[ 2.61320052e-01 -9.65248013e-01 -2.84688075e-03 1.22084073e+02] [ 9.65192993e-01 2.61335553e-01 -1.03060769e-02 8.84081709e+01] [ 1.06919114e-02 -5.46047925e-05 9.99942838e-01 4.50170103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.581858064 meters Centerline goodness [0,1] 0.9996193205992342 Centerline is valid? [True, True] Translation: X:122.10, Y:88.43, Z:0.45 [[ 2.59429514e-01 -9.65758756e-01 -2.52043925e-03 1.22097001e+02] [ 9.65715581e-01 2.59441749e-01 -9.13213491e-03 8.84324300e+01] [ 9.47334642e-03 -6.48821285e-05 9.99955125e-01 4.52124838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.611858064 meters Centerline goodness [0,1] 0.9996190049305245 Centerline is valid? [True, True] Translation: X:122.11, Y:88.46, Z:0.45 [[ 2.57687655e-01 -9.66225691e-01 -2.23287966e-03 1.22107177e+02] [ 9.66191761e-01 2.57697319e-01 -8.09770491e-03 8.84583126e+01] [ 8.39961763e-03 -7.07113421e-05 9.99964720e-01 4.53634787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.641858064 meters Centerline goodness [0,1] 0.9996858309770656 Centerline is valid? [True, True] Translation: X:122.12, Y:88.49, Z:0.45 [[ 2.55899552e-01 -9.66701430e-01 -1.94021297e-03 1.22116960e+02] [ 9.66675773e-01 2.55906896e-01 -7.04346043e-03 8.84852330e+01] [ 7.30543715e-03 -7.31385049e-05 9.99973312e-01 4.54872094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.671858064 meters Centerline goodness [0,1] 0.9995531225561389 Centerline is valid? [True, True] Translation: X:122.13, Y:88.51, Z:0.45 [[ 2.53878418e-01 -9.67234550e-01 -1.75317121e-03 1.22128532e+02] [ 9.67213573e-01 2.53884459e-01 -6.37063819e-03 8.85102389e+01] [ 6.60700429e-03 -7.83234405e-05 9.99978170e-01 4.54741981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701858064 meters Centerline goodness [0,1] 0.9997754474210137 Centerline is valid? [True, True] Translation: X:122.14, Y:88.54, Z:0.45 [[ 2.50901038e-01 -9.68011272e-01 -1.68714925e-03 1.22137073e+02] [ 9.67991824e-01 2.50906693e-01 -6.13675696e-03 8.85369487e+01] [ 6.36376695e-03 -9.34279934e-05 9.99979747e-01 4.54765931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.731858064 meters Centerline goodness [0,1] 0.9992802519118309 Centerline is valid? [True, True] Translation: X:122.14, Y:88.56, Z:0.45 [[ 2.50252309e-01 -9.68179194e-01 -1.68216338e-03 1.22144125e+02] [ 9.68159823e-01 2.50257944e-01 -6.12519629e-03 8.85632025e+01] [ 6.35126235e-03 -9.57584854e-05 9.99979826e-01 4.53845430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761858064 meters Centerline goodness [0,1] 0.9991249130522584 Centerline is valid? [True, True] Translation: X:122.15, Y:88.59, Z:0.45 [[ 2.49818045e-01 -9.68291022e-01 -1.85510109e-03 1.22150469e+02] [ 9.68267412e-01 2.49824910e-01 -6.76260953e-03 8.85905930e+01] [ 7.01162456e-03 -1.06812034e-04 9.99975413e-01 4.53348577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.791858064 meters Centerline goodness [0,1] 0.9988748115309314 Centerline is valid? [True, True] Translation: X:122.16, Y:88.62, Z:0.45 [[ 2.49883334e-01 -9.68273765e-01 -2.05797683e-03 1.22158983e+02] [ 9.68244653e-01 2.49891781e-01 -7.50932975e-03 8.86160176e+01] [ 7.78535849e-03 -1.16168707e-04 9.99969687e-01 4.52560997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821858064 meters Centerline goodness [0,1] 0.9987394485087225 Centerline is valid? [True, True] Translation: X:122.17, Y:88.64, Z:0.45 [[ 2.49760971e-01 -9.68304265e-01 -2.51142650e-03 1.22166822e+02] [ 9.68260818e-01 2.49773557e-01 -9.17379788e-03 8.86422949e+01] [ 9.51031554e-03 -1.40459213e-04 9.99954766e-01 4.52229852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851858064 meters Centerline goodness [0,1] 0.9986958379241337 Centerline is valid? [True, True] Translation: X:122.17, Y:88.67, Z:0.45 [[ 2.49656439e-01 -9.68330687e-01 -2.70976410e-03 1.22172144e+02] [ 9.68279993e-01 2.49671099e-01 -9.90950080e-03 8.86696336e+01] [ 1.02722235e-02 -1.49839676e-04 9.99947228e-01 4.52581370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881858064 meters Centerline goodness [0,1] 0.9992152466367713 Centerline is valid? [True, True] Translation: X:122.18, Y:88.70, Z:0.45 [[ 2.49267985e-01 -9.68429538e-01 -3.11484515e-03 1.22178305e+02] [ 9.68362409e-01 2.49287385e-01 -1.14036935e-02 8.86973850e+01] [ 1.18201652e-02 -1.73723260e-04 9.99930124e-01 4.51351699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911858064 meters Centerline goodness [0,1] 0.9990140276968583 Centerline is valid? [True, True] Translation: X:122.18, Y:88.72, Z:0.45 [[ 2.48902745e-01 -9.68523026e-01 -3.25137256e-03 1.22184224e+02] [ 9.68449728e-01 2.48923913e-01 -1.19168117e-02 8.87245423e+01] [ 1.23510510e-02 -1.82663721e-04 9.99923706e-01 4.51383741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941858064 meters Centerline goodness [0,1] 0.9987710595700943 Centerline is valid? [True, True] Translation: X:122.19, Y:88.75, Z:0.45 [[ 2.48459724e-01 -9.68636751e-01 -3.25719041e-03 1.22190864e+02] [ 9.68563029e-01 2.48481005e-01 -1.19519685e-02 8.87503792e+01] [ 1.23864659e-02 -1.85211402e-04 9.99923268e-01 4.50690963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971858064 meters Centerline goodness [0,1] 0.9988204135229575 Centerline is valid? [True, True] Translation: X:122.20, Y:88.78, Z:0.45 [[ 2.48245502e-01 -9.68691885e-01 -3.19415633e-03 1.22197179e+02] [ 9.68620837e-01 2.48265984e-01 -1.17335362e-02 8.87776922e+01] [ 1.21591817e-02 -1.81128785e-04 9.99926058e-01 4.50772069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001858064 meters Centerline goodness [0,1] 0.9989266547406083 Centerline is valid? [True, True] Translation: X:122.20, Y:88.80, Z:0.45 [[ 2.48123561e-01 -9.68723268e-01 -3.15096609e-03 1.22203309e+02] [ 9.68653981e-01 2.48143505e-01 -1.15873149e-02 8.88047789e+01] [ 1.20067933e-02 -1.77110002e-04 9.99927900e-01 4.50792233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031858064 meters Centerline goodness [0,1] 0.9989543937708565 Centerline is valid? [True, True] Translation: X:122.21, Y:88.83, Z:0.45 [[ 2.47510020e-01 -9.68880590e-01 -3.03195625e-03 1.22209959e+02] [ 9.68816310e-01 2.47528528e-01 -1.11617861e-02 8.88319805e+01] [ 1.15649336e-02 -1.74754763e-04 9.99933109e-01 4.51949815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061858064 meters Centerline goodness [0,1] 0.9986835940114683 Centerline is valid? [True, True] Translation: X:122.22, Y:88.86, Z:0.45 [[ 2.46717844e-01 -9.69083037e-01 -2.89375241e-03 1.22217332e+02] [ 9.69024369e-01 2.46734753e-01 -1.06646069e-02 8.88591828e+01] [ 1.10488789e-02 -1.72967788e-04 9.99938944e-01 4.52579997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091858064 meters Centerline goodness [0,1] 0.9991981468282253 Centerline is valid? [True, True] Translation: X:122.22, Y:88.89, Z:0.45 [[ 2.44877052e-01 -9.69551091e-01 -2.43130129e-03 1.22224261e+02] [ 9.69509613e-01 2.44889069e-01 -8.96957941e-03 8.88863447e+01] [ 9.29186462e-03 -1.60725806e-04 9.99956817e-01 4.54272803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121858064 meters Centerline goodness [0,1] 0.9988413805396493 Centerline is valid? [True, True] Translation: X:122.23, Y:88.91, Z:0.46 [[ 2.44202234e-01 -9.69721843e-01 -2.19442433e-03 1.22231684e+02] [ 9.69687990e-01 2.44212048e-01 -8.10423826e-03 8.89134943e+01] [ 8.39476173e-03 -1.48833833e-04 9.99964752e-01 4.55186276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151858064 meters Centerline goodness [0,1] 0.9988413805396493 Centerline is valid? [True, True] Translation: X:122.24, Y:88.94, Z:0.46 [[ 2.43933548e-01 -9.69789471e-01 -2.19217873e-03 1.22238825e+02] [ 9.69755615e-01 2.43943352e-01 -8.10484584e-03 8.89401533e+01] [ 8.39476159e-03 -1.48833830e-04 9.99964752e-01 4.55280064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181858064 meters Centerline goodness [0,1] 0.9988412514484357 Centerline is valid? [True, True] Translation: X:122.25, Y:88.97, Z:0.46 [[ 2.43546050e-01 -9.69886957e-01 -2.14779973e-03 1.22246293e+02] [ 9.69854389e-01 2.43555476e-01 -7.94943136e-03 8.89671181e+01] [ 8.23315817e-03 -1.47000386e-04 9.99966096e-01 4.55902076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21185806399998 meters Centerline goodness [0,1] 0.9987982106692186 Centerline is valid? [True, True] Translation: X:122.25, Y:88.99, Z:0.46 [[ 2.43741496e-01 -9.69838254e-01 -1.96091861e-03 1.22251777e+02] [ 9.69811047e-01 2.43749349e-01 -7.26549016e-03 8.89948825e+01] [ 7.52432293e-03 -1.30819094e-04 9.99971683e-01 4.56320451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24185806399998 meters Centerline goodness [0,1] 0.9987992795677406 Centerline is valid? [True, True] Translation: X:122.26, Y:89.02, Z:0.46 [[ 2.44228709e-01 -9.69715683e-01 -1.95729379e-03 1.22258476e+02] [ 9.69688512e-01 2.44236520e-01 -7.26034852e-03 8.90207484e+01] [ 7.51851645e-03 -1.24779753e-04 9.99971728e-01 4.55988691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27185806399999 meters Centerline goodness [0,1] 0.9989553930611429 Centerline is valid? [True, True] Translation: X:122.26, Y:89.05, Z:0.46 [[ 2.44780883e-01 -9.69576612e-01 -1.87405944e-03 1.22263816e+02] [ 9.69551643e-01 2.44788030e-01 -6.95927589e-03 8.90483397e+01] [ 7.20629846e-03 -1.13499720e-04 9.99974028e-01 4.55879568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.301858064 meters Centerline goodness [0,1] 0.9988240253833012 Centerline is valid? [True, True] Translation: X:122.27, Y:89.08, Z:0.45 [[ 2.46264251e-01 -9.69200061e-01 -2.27173782e-03 1.22268704e+02] [ 9.69163267e-01 2.46274699e-01 -8.44602026e-03 8.90758470e+01] [ 8.74535490e-03 -1.21731991e-04 9.99961751e-01 4.54485395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.331858064 meters Centerline goodness [0,1] 0.9988225362125656 Centerline is valid? [True, True] Translation: X:122.27, Y:89.10, Z:0.45 [[ 2.46457759e-01 -9.69150127e-01 -2.56974867e-03 1.22274795e+02] [ 9.69102934e-01 2.46471120e-01 -9.56506368e-03 8.91034399e+01] [ 9.90335152e-03 -1.32966809e-04 9.99950952e-01 4.53902037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.361858064 meters Centerline goodness [0,1] 0.9989333096291029 Centerline is valid? [True, True] Translation: X:122.28, Y:89.13, Z:0.45 [[ 2.46277829e-01 -9.69194861e-01 -2.92455695e-03 1.22281609e+02] [ 9.69133589e-01 2.46295148e-01 -1.08989147e-02 8.91293186e+01] [ 1.12834763e-02 -1.50125311e-04 9.99936328e-01 4.53345500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.391858064 meters Centerline goodness [0,1] 0.9988437764041446 Centerline is valid? [True, True] Translation: X:122.29, Y:89.16, Z:0.45 [[ 2.46006027e-01 -9.69263375e-01 -3.08949169e-03 1.22289315e+02] [ 9.69194838e-01 2.46025375e-01 -1.15273484e-02 8.91553253e+01] [ 1.19331300e-02 -1.58522206e-04 9.99928785e-01 4.52709541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421858064 meters Centerline goodness [0,1] 0.9988691294514169 Centerline is valid? [True, True] Translation: X:122.29, Y:89.18, Z:0.45 [[ 2.44893359e-01 -9.69545152e-01 -3.07251458e-03 1.22294487e+02] [ 9.69477234e-01 2.44912575e-01 -1.14770600e-02 8.91827518e+01] [ 1.18800253e-02 -1.68077169e-04 9.99929416e-01 4.53466801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.451858064 meters Centerline goodness [0,1] 0.9991590687793219 Centerline is valid? [True, True] Translation: X:122.30, Y:89.21, Z:0.45 [[ 2.43544219e-01 -9.69885353e-01 -2.93518608e-03 1.22301705e+02] [ 9.69823251e-01 2.43561844e-01 -1.09767517e-02 8.92092292e+01] [ 1.13610901e-02 -1.73287275e-04 9.99935446e-01 4.52638357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481858064 meters Centerline goodness [0,1] 0.9989857117657435 Centerline is valid? [True, True] Translation: X:122.31, Y:89.24, Z:0.45 [[ 2.41934149e-01 -9.70288689e-01 -2.77979307e-03 1.22308074e+02] [ 9.70232890e-01 2.41950052e-01 -1.04072470e-02 8.92369413e+01] [ 1.07706051e-02 -1.79178225e-04 9.99941979e-01 4.53227369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.511858064 meters Centerline goodness [0,1] 0.9993355776045358 Centerline is valid? [True, True] Translation: X:122.32, Y:89.26, Z:0.45 [[ 2.38490670e-01 -9.71141409e-01 -2.56212818e-03 1.22316683e+02] [ 9.71093956e-01 2.38504349e-01 -9.60224023e-03 8.92641245e+01] [ 9.93621182e-03 -1.98022492e-04 9.99950615e-01 4.54273208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541858064 meters Centerline goodness [0,1] 0.9994688855448349 Centerline is valid? [True, True] Translation: X:122.32, Y:89.29, Z:0.46 [[ 2.36516659e-01 -9.71624563e-01 -2.36206260e-03 1.22324696e+02] [ 9.71584175e-01 2.36528370e-01 -8.86116553e-03 8.92909165e+01] [ 9.16842089e-03 -1.99129371e-04 9.99957949e-01 4.55027563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571858064 meters Centerline goodness [0,1] 0.9994688502821732 Centerline is valid? [True, True] Translation: X:122.33, Y:89.32, Z:0.46 [[ 2.34894619e-01 -9.72018428e-01 -2.16653888e-03 1.22332984e+02] [ 9.71984401e-01 2.34904530e-01 -8.13548110e-03 8.93168716e+01] [ 8.41676735e-03 -1.94861258e-04 9.99964559e-01 4.55736257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601858064 meters Centerline goodness [0,1] 0.999182248154533 Centerline is valid? [True, True] Translation: X:122.34, Y:89.34, Z:0.46 [[ 2.33735682e-01 -9.72297834e-01 -2.13376981e-03 1.22341171e+02] [ 9.72264773e-01 2.33745336e-01 -8.02051728e-03 8.93439081e+01] [ 8.29709032e-03 -1.99908143e-04 9.99965559e-01 4.56330848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631858064 meters Centerline goodness [0,1] 0.9996019548439884 Centerline is valid? [True, True] Translation: X:122.35, Y:89.37, Z:0.46 [[ 2.32001537e-01 -9.72713149e-01 -2.10149081e-03 1.22347880e+02] [ 9.72681032e-01 2.32010960e-01 -7.90728377e-03 8.93718076e+01] [ 8.17908780e-03 -2.09578260e-04 9.99966529e-01 4.56710480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661858064 meters Centerline goodness [0,1] 0.9993831376264017 Centerline is valid? [True, True] Translation: X:122.35, Y:89.40, Z:0.46 [[ 2.31587865e-01 -9.72811658e-01 -2.13025838e-03 1.22354157e+02] [ 9.72778586e-01 2.31597563e-01 -8.02442342e-03 8.93978831e+01] [ 8.29961531e-03 -2.13910646e-04 9.99965535e-01 4.56266767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691858064 meters Centerline goodness [0,1] 0.9994489143612918 Centerline is valid? [True, True] Translation: X:122.36, Y:89.43, Z:0.46 [[ 2.31578877e-01 -9.72813772e-01 -2.14222462e-03 1.22359506e+02] [ 9.72780251e-01 2.31588687e-01 -8.07852665e-03 8.94250521e+01] [ 8.35501697e-03 -2.13097671e-04 9.99965074e-01 4.55940522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721858064 meters Centerline goodness [0,1] 0.9994055482166446 Centerline is valid? [True, True] Translation: X:122.37, Y:89.45, Z:0.46 [[ 2.32002234e-01 -9.72712758e-01 -2.20310556e-03 1.22366366e+02] [ 9.72677220e-01 2.32012597e-01 -8.31743853e-03 8.94509802e+01] [ 8.60162682e-03 -2.13246272e-04 9.99962983e-01 4.55519437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751858064 meters Centerline goodness [0,1] 0.9994056921485329 Centerline is valid? [True, True] Translation: X:122.37, Y:89.48, Z:0.46 [[ 2.33464379e-01 -9.72362609e-01 -2.31098796e-03 1.22370372e+02] [ 9.72323402e-01 2.33475724e-01 -8.73432384e-03 8.94795308e+01] [ 9.03248950e-03 -2.07874182e-04 9.99959185e-01 4.56212362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781858064 meters Centerline goodness [0,1] 0.9994943610262272 Centerline is valid? [True, True] Translation: X:122.38, Y:89.51, Z:0.46 [[ 2.34338569e-01 -9.72152005e-01 -2.43204535e-03 1.22377221e+02] [ 9.72108474e-01 2.34351096e-01 -9.20207298e-03 8.95054679e+01] [ 9.51576619e-03 -2.07811284e-04 9.99954702e-01 4.56232418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811858064 meters Centerline goodness [0,1] 0.9995378622829604 Centerline is valid? [True, True] Translation: X:122.38, Y:89.53, Z:0.46 [[ 2.35292829e-01 -9.71921315e-01 -2.49846262e-03 1.22382054e+02] [ 9.71875258e-01 2.35306008e-01 -9.46393993e-03 8.95327783e+01] [ 9.78610820e-03 -2.01396801e-04 9.99952095e-01 4.56490121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841858064 meters Centerline goodness [0,1] 0.9994710277490026 Centerline is valid? [True, True] Translation: X:122.39, Y:89.56, Z:0.46 [[ 2.36504566e-01 -9.71626043e-01 -2.90237403e-03 1.22385953e+02] [ 9.71563720e-01 2.36522275e-01 -1.10068450e-02 8.95603601e+01] [ 1.13810133e-02 -2.16672217e-04 9.99935211e-01 4.55686296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871858064 meters Centerline goodness [0,1] 0.9993622589228773 Centerline is valid? [True, True] Translation: X:122.39, Y:89.59, Z:0.46 [[ 2.37061859e-01 -9.71489665e-01 -3.08302751e-03 1.22391946e+02] [ 9.71419169e-01 2.37081804e-01 -1.17054340e-02 8.95876448e+01] [ 1.21026379e-02 -2.20000066e-04 9.99926736e-01 4.55378039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901858064 meters Centerline goodness [0,1] 0.9992967496648573 Centerline is valid? [True, True] Translation: X:122.40, Y:89.61, Z:0.46 [[ 2.37234587e-01 -9.71447146e-01 -3.19278746e-03 1.22397920e+02] [ 9.71371360e-01 2.37255967e-01 -1.21361726e-02 8.96148133e+01] [ 1.25471581e-02 -2.22262392e-04 9.99921257e-01 4.55282455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931858064 meters Centerline goodness [0,1] 0.9996477167642784 Centerline is valid? [True, True] Translation: X:122.40, Y:89.64, Z:0.46 [[ 2.37284711e-01 -9.71435119e-01 -3.12660404e-03 1.22404511e+02] [ 9.71362275e-01 2.37305213e-01 -1.18981695e-02 8.96416958e+01] [ 1.23002591e-02 -2.13811505e-04 9.99924326e-01 4.55466804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96185806399998 meters Centerline goodness [0,1] 0.9994274893204739 Centerline is valid? [True, True] Translation: X:122.41, Y:89.67, Z:0.46 [[ 2.36804768e-01 -9.71553097e-01 -2.84286321e-03 1.22412073e+02] [ 9.71492743e-01 2.36821750e-01 -1.08309712e-02 8.96673652e+01] [ 1.11961154e-02 -1.96995358e-04 9.99937302e-01 4.56345839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99185806399998 meters Centerline goodness [0,1] 0.9996029995588884 Centerline is valid? [True, True] Translation: X:122.42, Y:89.69, Z:0.46 [[ 2.35868652e-01 -9.71781153e-01 -2.71462683e-03 1.22419443e+02] [ 9.71726004e-01 2.35884192e-01 -1.03547135e-02 8.96939451e+01] [ 1.07028530e-02 -1.95521159e-04 9.99942704e-01 4.57200071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02185806399999 meters Centerline goodness [0,1] 0.9996690422081503 Centerline is valid? [True, True] Translation: X:122.43, Y:89.72, Z:0.46 [[ 2.34973939e-01 -9.71998471e-01 -2.49400639e-03 1.22426991e+02] [ 9.71951825e-01 2.34987101e-01 -9.52426275e-03 8.97199752e+01] [ 9.84362816e-03 -1.86100531e-04 9.99951533e-01 4.58088263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.051858064 meters Centerline goodness [0,1] 0.999801429706116 Centerline is valid? [True, True] Translation: X:122.43, Y:89.75, Z:0.46 [[ 2.33893238e-01 -9.72259633e-01 -2.27141507e-03 1.22433523e+02] [ 9.72220867e-01 2.33904200e-01 -8.68395001e-03 8.97469930e+01] [ 8.97434757e-03 -1.77199942e-04 9.99959714e-01 4.59291739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.081858064 meters Centerline goodness [0,1] 0.9997130496203426 Centerline is valid? [True, True] Translation: X:122.44, Y:89.77, Z:0.46 [[ 2.32497207e-01 -9.72595031e-01 -1.98854368e-03 1.22441253e+02] [ 9.72565271e-01 2.32505652e-01 -7.61014641e-03 8.97733688e+01] [ 7.86393823e-03 -1.64650735e-04 9.99969065e-01 4.60745210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:89.80, Z:0.46 [[ 2.31715592e-01 -9.72781779e-01 -1.86975386e-03 1.22448452e+02] [ 9.72755430e-01 2.31723081e-01 -7.16157122e-03 8.97989506e+01] [ 7.39991111e-03 -1.59365509e-04 9.99972608e-01 4.61181164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.141858064 meters Centerline goodness [0,1] 0.9998233293582439 Centerline is valid? [True, True] Translation: X:122.46, Y:89.83, Z:0.46 [[ 2.31341526e-01 -9.72870894e-01 -1.82263074e-03 1.22455745e+02] [ 9.72845812e-01 2.31348652e-01 -6.98759606e-03 8.98260727e+01] [ 7.21969199e-03 -1.56617551e-04 9.99973925e-01 4.61686377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.171858064 meters Centerline goodness [0,1] 0.9998671066911781 Centerline is valid? [True, True] Translation: X:122.46, Y:89.85, Z:0.46 [[ 2.30678430e-01 -9.73028597e-01 -1.67679598e-03 1.22461625e+02] [ 9.73007326e-01 2.30684477e-01 -6.43543302e-03 8.98533700e+01] [ 6.64867116e-03 -1.47019195e-04 9.99977887e-01 4.62345969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201858064 meters Centerline goodness [0,1] 0.9999779147065969 Centerline is valid? [True, True] Translation: X:122.47, Y:89.88, Z:0.46 [[ 2.29765070e-01 -9.73245011e-01 -1.47023404e-03 1.22467687e+02] [ 9.73228628e-01 2.29769735e-01 -5.64859096e-03 8.98812507e+01] [ 5.83527825e-03 -1.33024961e-04 9.99982966e-01 4.62735306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:89.91, Z:0.46 [[ 2.28827431e-01 -9.73466067e-01 -1.35062844e-03 1.22473563e+02] [ 9.73452215e-01 2.28831382e-01 -5.19465408e-03 8.99089711e+01] [ 5.36588564e-03 -1.26092897e-04 9.99985596e-01 4.62670565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261858064 meters Centerline goodness [0,1] 0.9998896125400154 Centerline is valid? [True, True] Translation: X:122.48, Y:89.94, Z:0.46 [[ 2.27961097e-01 -9.73669195e-01 -1.42738172e-03 1.22479729e+02] [ 9.73653691e-01 2.27965525e-01 -5.49637235e-03 8.99360394e+01] [ 5.67704226e-03 -1.36816409e-04 9.99983876e-01 4.62058919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:89.96, Z:0.46 [[ 2.26913668e-01 -9.73913450e-01 -1.66728408e-03 1.22486511e+02] [ 9.73892252e-01 2.26919733e-01 -6.42779863e-03 8.99624493e+01] [ 6.63845919e-03 -1.65199687e-04 9.99977952e-01 4.61117761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321858064 meters Centerline goodness [0,1] 0.9999560507174721 Centerline is valid? [True, True] Translation: X:122.49, Y:89.99, Z:0.46 [[ 2.26642820e-01 -9.73976535e-01 -1.65546258e-03 1.22494178e+02] [ 9.73955592e-01 2.26648806e-01 -6.38928911e-03 8.99885237e+01] [ 6.59822629e-03 -1.64260538e-04 9.99978218e-01 4.60527855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:90.02, Z:0.46 [[ 2.26423165e-01 -9.74027587e-01 -1.67643159e-03 1.22499667e+02] [ 9.74006060e-01 2.26429310e-01 -6.47781167e-03 9.00165166e+01] [ 6.68916052e-03 -1.66127912e-04 9.99977614e-01 4.60251901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:90.04, Z:0.46 [[ 2.26082555e-01 -9.74106656e-01 -1.70303176e-03 1.22504858e+02] [ 9.74084392e-01 2.26088906e-01 -6.58816826e-03 9.00445983e+01] [ 6.80261515e-03 -1.69426739e-04 9.99976848e-01 4.60390360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:90.07, Z:0.46 [[ 2.26031878e-01 -9.74118305e-01 -1.76586409e-03 1.22510345e+02] [ 9.74094309e-01 2.26038709e-01 -6.83950689e-03 9.00709181e+01] [ 7.06164249e-03 -1.74171571e-04 9.99975051e-01 4.59419747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:90.10, Z:0.46 [[ 2.25936385e-01 -9.74140351e-01 -1.82385374e-03 1.22516051e+02] [ 9.74114692e-01 2.25943676e-01 -7.07258016e-03 9.00989313e+01] [ 7.30177394e-03 -1.78689534e-04 9.99973326e-01 4.59343518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:90.13, Z:0.46 [[ 2.25918922e-01 -9.74144389e-01 -1.83023938e-03 1.22521940e+02] [ 9.74118491e-01 2.25926266e-01 -7.10545709e-03 9.01266231e+01] [ 7.33524030e-03 -1.77612819e-04 9.99973081e-01 4.59100129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:90.15, Z:0.46 [[ 2.26267180e-01 -9.74063571e-01 -1.82305586e-03 1.22527792e+02] [ 9.74037823e-01 2.26274459e-01 -7.08445695e-03 9.01528218e+01] [ 7.31322241e-03 -1.72745263e-04 9.99973243e-01 4.58956413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:90.18, Z:0.46 [[ 2.26046338e-01 -9.74114646e-01 -1.92577602e-03 1.22532999e+02] [ 9.74085857e-01 2.26054467e-01 -7.49144258e-03 9.01807480e+01] [ 7.73285421e-03 -1.82458025e-04 9.99970084e-01 4.59430011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:90.21, Z:0.46 [[ 2.25760476e-01 -9.74180775e-01 -2.00631647e-03 1.22539723e+02] [ 9.74149454e-01 2.25769311e-01 -7.81406437e-03 9.02079360e+01] [ 8.06527597e-03 -1.90345200e-04 9.99967457e-01 4.59614597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:90.23, Z:0.46 [[ 2.25222958e-01 -9.74305353e-01 -1.92318706e-03 1.22545753e+02] [ 9.74276512e-01 2.25231093e-01 -7.49893339e-03 9.02348906e+01] [ 7.73941247e-03 -1.84784024e-04 9.99970033e-01 4.59937608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:90.26, Z:0.46 [[ 2.25542762e-01 -9.74231974e-01 -1.58883299e-03 1.22551087e+02] [ 9.74212244e-01 2.25548309e-01 -6.20193028e-03 9.02610396e+01] [ 6.40047737e-03 -1.49060066e-04 9.99979506e-01 4.59589415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:90.29, Z:0.46 [[ 2.25831091e-01 -9.74165395e-01 -1.44963618e-03 1.22554948e+02] [ 9.74148932e-01 2.25835705e-01 -5.66500652e-03 9.02885882e+01] [ 5.84603292e-03 -1.32826936e-04 9.99982903e-01 4.59633582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:90.32, Z:0.46 [[ 2.26549046e-01 -9.73998856e-01 -1.32583447e-03 1.22561318e+02] [ 9.73985055e-01 2.26552896e-01 -5.18637697e-03 9.03151330e+01] [ 5.35189688e-03 -1.16374204e-04 9.99985672e-01 4.59863347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:90.34, Z:0.46 [[ 2.28049502e-01 -9.73648615e-01 -1.34102765e-03 1.22567042e+02] [ 9.73634465e-01 2.28053419e-01 -5.25032488e-03 9.03416114e+01] [ 5.41779749e-03 -1.08336763e-04 9.99985318e-01 4.60143482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:90.37, Z:0.46 [[ 2.28398455e-01 -9.73566884e-01 -1.29173552e-03 1.22572498e+02] [ 9.73553729e-01 2.28402085e-01 -5.06203096e-03 9.03688837e+01] [ 5.22326080e-03 -1.01413882e-04 9.99986354e-01 4.59767926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:90.40, Z:0.46 [[ 2.28741227e-01 -9.73486476e-01 -1.23750858e-03 1.22578862e+02] [ 9.73474375e-01 2.28744555e-01 -4.85494242e-03 9.03965116e+01] [ 5.00929414e-03 -9.41574019e-05 9.99987449e-01 4.59852719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:90.42, Z:0.46 [[ 2.28721540e-01 -9.73491049e-01 -1.27833472e-03 1.22585457e+02] [ 9.73478106e-01 2.28725092e-01 -5.02101090e-03 9.04242715e+01] [ 5.18029640e-03 -9.60175143e-05 9.99986578e-01 4.59960428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:90.45, Z:0.46 [[ 2.28555601e-01 -9.73530084e-01 -1.22983371e-03 1.22590960e+02] [ 9.73518077e-01 2.28558892e-01 -4.83602848e-03 9.04504998e+01] [ 4.98910865e-03 -9.19639553e-05 9.99987550e-01 4.60251027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:90.48, Z:0.46 [[ 2.28376865e-01 -9.73571938e-01 -1.29954299e-03 1.22596447e+02] [ 9.73558498e-01 2.28380542e-01 -5.11652421e-03 9.04780213e+01] [ 5.27809472e-03 -9.66853605e-05 9.99986066e-01 4.59952377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:90.50, Z:0.46 [[ 2.27892281e-01 -9.73685415e-01 -1.34925248e-03 1.22603385e+02] [ 9.73670893e-01 2.27896252e-01 -5.31879850e-03 9.05040030e+01] [ 5.48632611e-03 -1.01614752e-04 9.99984945e-01 4.59700719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:90.53, Z:0.46 [[ 2.27873986e-01 -9.73689438e-01 -1.52476325e-03 1.22609976e+02] [ 9.73670844e-01 2.27879059e-01 -6.01854210e-03 9.05317355e+01] [ 6.20765249e-03 -1.13148341e-04 9.99980726e-01 4.59865189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.951858064 meters Centerline goodness [0,1] 0.9999564782173478 Centerline is valid? [True, True] Translation: X:122.62, Y:90.56, Z:0.46 [[ 2.27411745e-01 -9.73797374e-01 -1.60395598e-03 1.22616797e+02] [ 9.73776750e-01 2.27417369e-01 -6.33885325e-03 9.05592279e+01] [ 6.53752610e-03 -1.20365369e-04 9.99978623e-01 4.60066279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:90.59, Z:0.46 [[ 2.26944411e-01 -9.73906644e-01 -1.44362018e-03 1.22623571e+02] [ 9.73889901e-01 2.26948975e-01 -5.71173601e-03 9.05854871e+01] [ 5.89032577e-03 -1.09680548e-04 9.99982646e-01 4.60312857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:90.61, Z:0.46 [[ 2.26083309e-01 -9.74107065e-01 -1.32786699e-03 1.22632145e+02] [ 9.74092869e-01 2.26087184e-01 -5.25997869e-03 9.06108041e+01] [ 5.42399611e-03 -1.04272377e-04 9.99985285e-01 4.60728291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:90.64, Z:0.46 [[ 2.25826469e-01 -9.74166642e-01 -1.32637870e-03 1.22638805e+02] [ 9.74152445e-01 2.25830340e-01 -5.26035404e-03 9.06375724e+01] [ 5.42399798e-03 -1.04167874e-04 9.99985285e-01 4.60822044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:90.67, Z:0.46 [[ 2.24900462e-01 -9.74380940e-01 -1.25157100e-03 1.22644429e+02] [ 9.74368275e-01 2.24903921e-01 -4.96905774e-03 9.06653818e+01] [ 5.12323838e-03 -1.01947690e-04 9.99986871e-01 4.61354343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:90.69, Z:0.46 [[ 2.24283833e-01 -9.74523083e-01 -1.23422835e-03 1.22650924e+02] [ 9.74510740e-01 2.24287205e-01 -4.90581051e-03 9.06929121e+01] [ 5.05764721e-03 -1.02474798e-04 9.99987205e-01 4.61555227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:90.72, Z:0.46 [[ 2.23811437e-01 -9.74631771e-01 -1.16258310e-03 1.22657652e+02] [ 9.74620796e-01 2.23814435e-01 -4.62624192e-03 9.07189029e+01] [ 4.76908523e-03 -9.76718158e-05 9.99988623e-01 4.61729680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:90.75, Z:0.46 [[ 2.24209030e-01 -9.74540322e-01 -1.21299501e-03 1.22662468e+02] [ 9.74528344e-01 2.24212290e-01 -4.83285760e-03 9.07464108e+01] [ 4.98178299e-03 -9.85277009e-05 9.99987586e-01 4.62392768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:90.77, Z:0.46 [[ 2.24749035e-01 -9.74415786e-01 -1.32168902e-03 1.22668380e+02] [ 9.74401526e-01 2.24752898e-01 -5.27259917e-03 9.07726694e+01] [ 5.43475730e-03 -1.02844225e-04 9.99985226e-01 4.62735625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:90.80, Z:0.46 [[ 2.25618656e-01 -9.74214846e-01 -1.28662860e-03 1.22673809e+02] [ 9.74201297e-01 2.25622305e-01 -5.13882680e-03 9.08001777e+01] [ 5.29661348e-03 -9.40200564e-05 9.99985968e-01 4.62839562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:90.83, Z:0.46 [[ 2.26715123e-01 -9.73960273e-01 -1.28081913e-03 1.22678251e+02] [ 9.73946810e-01 2.26718724e-01 -5.12162562e-03 9.08284388e+01] [ 5.27864556e-03 -8.62997223e-05 9.99986064e-01 4.62626108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:90.86, Z:0.46 [[ 2.29633558e-01 -9.73276420e-01 -1.19963653e-03 1.22680992e+02] [ 9.73264577e-01 2.29636682e-01 -4.80180354e-03 9.08556040e+01] [ 4.94896271e-03 -6.49085149e-05 9.99987752e-01 4.62462082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:90.88, Z:0.46 [[ 2.30871218e-01 -9.72983505e-01 -1.25684262e-03 1.22685806e+02] [ 9.72970477e-01 2.30874632e-01 -5.03546160e-03 9.08837755e+01] [ 5.18959416e-03 -6.03276043e-05 9.99986532e-01 4.62804467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:90.91, Z:0.46 [[ 2.31590968e-01 -9.72812264e-01 -1.38649956e-03 1.22691637e+02] [ 9.72796365e-01 2.31595110e-01 -5.56209237e-03 9.09106963e+01] [ 5.73197819e-03 -6.06513797e-05 9.99983570e-01 4.62985429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:90.94, Z:0.46 [[ 2.32638055e-01 -9.72562195e-01 -1.52088996e-03 1.22696440e+02] [ 9.72543009e-01 2.32643019e-01 -6.10911574e-03 9.09383373e+01] [ 6.29531944e-03 -5.79180917e-05 9.99980183e-01 4.63275983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:90.96, Z:0.46 [[ 2.32936119e-01 -9.72490677e-01 -1.62713663e-03 1.22702256e+02] [ 9.72468659e-01 2.32941795e-01 -6.54426673e-03 9.09645883e+01] [ 6.74326651e-03 -5.79432827e-05 9.99977262e-01 4.63608123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431858064 meters Centerline goodness [0,1] 0.9999569975703627 Centerline is valid? [True, True] Translation: X:122.71, Y:90.99, Z:0.46 [[ 2.33070952e-01 -9.72458370e-01 -1.62759182e-03 1.22708179e+02] [ 9.72436285e-01 2.33076629e-01 -6.55415210e-03 9.09919958e+01] [ 6.75299368e-03 -5.51468676e-05 9.99977197e-01 4.63788407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46185806399998 meters Centerline goodness [0,1] 0.9999784357276864 Centerline is valid? [True, True] Translation: X:122.71, Y:91.02, Z:0.46 [[ 2.33112258e-01 -9.72448461e-01 -1.63257469e-03 1.22713752e+02] [ 9.72426187e-01 2.33117968e-01 -6.58208626e-03 9.10191711e+01] [ 6.78132215e-03 -5.31933929e-05 9.99977005e-01 4.64387816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:91.05, Z:0.46 [[ 2.33282804e-01 -9.72407589e-01 -1.61693972e-03 1.22719239e+02] [ 9.72385686e-01 2.33288403e-01 -6.52684389e-03 9.10471053e+01] [ 6.72396582e-03 -4.96885955e-05 9.99977393e-01 4.64688917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52185806399999 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:122.73, Y:91.07, Z:0.47 [[ 2.33021861e-01 -9.72470165e-01 -1.60928323e-03 1.22725140e+02] [ 9.72448417e-01 2.33027413e-01 -6.50391379e-03 9.10730521e+01] [ 6.69986923e-03 -4.93908301e-05 9.99977554e-01 4.65372664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:91.10, Z:0.47 [[ 2.32820589e-01 -9.72518506e-01 -1.52586958e-03 1.22731606e+02] [ 9.72498909e-01 2.32825584e-01 -6.17415917e-03 9.11008363e+01] [ 6.35974553e-03 -4.64351233e-05 9.99979776e-01 4.65853204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:91.13, Z:0.47 [[ 2.32378069e-01 -9.72624402e-01 -1.48531978e-03 1.22737737e+02] [ 9.72605790e-01 2.32382811e-01 -6.01710655e-03 9.11278499e+01] [ 6.19754744e-03 -4.63870222e-05 9.99980794e-01 4.66865704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.611858064 meters Centerline goodness [0,1] 0.9999567801188547 Centerline is valid? [True, True] Translation: X:122.74, Y:91.16, Z:0.47 [[ 2.31834824e-01 -9.72753910e-01 -1.56372562e-03 1.22743750e+02] [ 9.72733233e-01 2.31840093e-01 -6.34255364e-03 9.11553047e+01] [ 6.53227814e-03 -5.06630714e-05 9.99978663e-01 4.67081774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:91.18, Z:0.47 [[ 2.31348610e-01 -9.72869483e-01 -1.67024504e-03 1.22750020e+02] [ 9.72845837e-01 2.31354632e-01 -6.78312986e-03 9.11830983e+01] [ 6.98551897e-03 -5.56232687e-05 9.99975599e-01 4.67259103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:91.21, Z:0.47 [[ 2.30842948e-01 -9.72989486e-01 -1.73020179e-03 1.22756764e+02] [ 9.72964051e-01 2.30849425e-01 -7.03556347e-03 9.12094259e+01] [ 7.24494537e-03 -5.93139328e-05 9.99973753e-01 4.66713537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:91.24, Z:0.47 [[ 2.30082333e-01 -9.73169306e-01 -1.90289634e-03 1.22763009e+02] [ 9.73138469e-01 2.30090191e-01 -7.74755514e-03 9.12364926e+01] [ 7.97752065e-03 -6.92060720e-05 9.99968177e-01 4.66344306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:91.26, Z:0.47 [[ 2.28269813e-01 -9.73595476e-01 -2.17737801e-03 1.22767989e+02] [ 9.73555021e-01 2.28280178e-01 -8.87591306e-03 9.12641469e+01] [ 9.13860104e-03 -9.36942812e-05 9.99958238e-01 4.66306676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:91.29, Z:0.47 [[ 2.26881649e-01 -9.73919602e-01 -2.30779945e-03 1.22774461e+02] [ 9.73874060e-01 2.26893359e-01 -9.41909712e-03 9.12919045e+01] [ 9.69706769e-03 -1.10485739e-04 9.99952976e-01 4.66023340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:91.32, Z:0.46 [[ 2.25829680e-01 -9.74163614e-01 -2.49170034e-03 1.22782632e+02] [ 9.74110434e-01 2.25843389e-01 -1.01797015e-02 9.13172296e+01] [ 1.04794289e-02 -1.28312556e-04 9.99945081e-01 4.64541428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821858064 meters Centerline goodness [0,1] 0.9999138877526856 Centerline is valid? [True, True] Translation: X:122.79, Y:91.35, Z:0.47 [[ 2.23183862e-01 -9.74772596e-01 -2.71090328e-03 1.22788993e+02] [ 9.74709557e-01 2.23200263e-01 -1.10869999e-02 9.13452633e+01] [ 1.14123780e-02 -1.67903884e-04 9.99934863e-01 4.65239692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:91.37, Z:0.47 [[ 2.21849725e-01 -9.75076878e-01 -2.78949475e-03 1.22796119e+02] [ 9.75010008e-01 2.21867184e-01 -1.14209294e-02 9.13717866e+01] [ 1.17551815e-02 -1.86055254e-04 9.99930888e-01 4.65093488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:91.40, Z:0.47 [[ 2.20629250e-01 -9.75353791e-01 -2.77786821e-03 1.22802615e+02] [ 9.75287345e-01 2.20646649e-01 -1.13864530e-02 9.13986898e+01] [ 1.17187474e-02 -1.97035112e-04 9.99931314e-01 4.65250333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911858064 meters Centerline goodness [0,1] 0.9998705334023822 Centerline is valid? [True, True] Translation: X:122.81, Y:91.43, Z:0.47 [[ 2.19980493e-01 -9.75500065e-01 -2.86460685e-03 1.22808497e+02] [ 9.75429244e-01 2.19999045e-01 -1.17562671e-02 9.14260669e+01] [ 1.20984501e-02 -2.08071849e-04 9.99926789e-01 4.65364691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:91.45, Z:0.47 [[ 2.19299580e-01 -9.75653158e-01 -2.93421746e-03 1.22814274e+02] [ 9.75578677e-01 2.19319101e-01 -1.20572120e-02 9.14529548e+01] [ 1.24071869e-02 -2.18418467e-04 9.99923004e-01 4.65259576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:91.48, Z:0.47 [[ 2.19192359e-01 -9.75677509e-01 -2.84751807e-03 1.22821241e+02] [ 9.75607229e-01 2.19210753e-01 -1.17124032e-02 9.14787818e+01] [ 1.20517350e-02 -2.10789918e-04 9.99927353e-01 4.65258248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001858064 meters Centerline goodness [0,1] 0.9998059215491774 Centerline is valid? [True, True] Translation: X:122.83, Y:91.51, Z:0.47 [[ 2.18967093e-01 -9.75728376e-01 -2.74733598e-03 1.22826876e+02] [ 9.75662816e-01 2.18984233e-01 -1.13126423e-02 9.15067991e+01] [ 1.16396894e-02 -2.03377146e-04 9.99932236e-01 4.65922805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031858064 meters Centerline goodness [0,1] 0.9998277161623775 Centerline is valid? [True, True] Translation: X:122.83, Y:91.53, Z:0.47 [[ 2.19052612e-01 -9.75709120e-01 -2.76870553e-03 1.22833389e+02] [ 9.75642375e-01 2.19070016e-01 -1.14141864e-02 9.15339483e+01] [ 1.17434661e-02 -2.00959098e-04 9.99931023e-01 4.66341140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:91.56, Z:0.47 [[ 2.19473184e-01 -9.75614497e-01 -2.80625963e-03 1.22839639e+02] [ 9.75545757e-01 2.19491037e-01 -1.15828142e-02 9.15611806e+01] [ 1.19163103e-02 -1.95517567e-04 9.99928979e-01 4.66775264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:91.59, Z:0.47 [[ 2.19783610e-01 -9.75544255e-01 -2.92760428e-03 1.22845928e+02] [ 9.75469247e-01 2.19803019e-01 -1.20988163e-02 9.15877328e+01] [ 1.24464270e-02 -1.96666414e-04 9.99922521e-01 4.66223416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:91.62, Z:0.47 [[ 2.20201251e-01 -9.75449521e-01 -3.10504924e-03 1.22851200e+02] [ 9.75364925e-01 2.20223052e-01 -1.28479522e-02 9.16152571e+01] [ 1.32163322e-02 -1.99420969e-04 9.99912641e-01 4.66416275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151858064 meters Centerline goodness [0,1] 0.9998490891451978 Centerline is valid? [True, True] Translation: X:122.86, Y:91.64, Z:0.47 [[ 2.21277407e-01 -9.75205836e-01 -3.14445096e-03 1.22857502e+02] [ 9.75118847e-01 2.21299671e-01 -1.30265322e-02 9.16430881e+01] [ 1.33994162e-02 -1.83736124e-04 9.99910207e-01 4.66256765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:91.67, Z:0.47 [[ 2.21488557e-01 -9.75157778e-01 -3.18234181e-03 1.22863686e+02] [ 9.75068453e-01 2.21511345e-01 -1.31998795e-02 9.16691719e+01] [ 1.35768899e-02 -1.79378853e-04 9.99907814e-01 4.66362670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.87, Y:91.70, Z:0.47 [[ 2.22166769e-01 -9.75003433e-01 -3.19890755e-03 1.22869983e+02] [ 9.74912934e-01 2.22189735e-01 -1.32850306e-02 9.16951119e+01] [ 1.36637148e-02 -1.67164028e-04 9.99906633e-01 4.65603762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24185806399998 meters Centerline goodness [0,1] 0.9998274002157498 Centerline is valid? [True, True] Translation: X:122.88, Y:91.72, Z:0.47 [[ 2.22211089e-01 -9.74992996e-01 -3.29996134e-03 1.22876707e+02] [ 9.74896458e-01 2.22235528e-01 -1.37210437e-02 9.17225796e+01] [ 1.41112902e-02 -1.68152546e-04 9.99900417e-01 4.65591755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.88, Y:91.75, Z:0.47 [[ 2.22135797e-01 -9.75010434e-01 -3.21568723e-03 1.22883351e+02] [ 9.74918553e-01 2.22159013e-01 -1.33861415e-02 9.17496941e+01] [ 1.37660215e-02 -1.61491929e-04 9.99905231e-01 4.66241738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.89, Y:91.78, Z:0.47 [[ 2.22046977e-01 -9.75030541e-01 -3.25341512e-03 1.22890104e+02] [ 9.74936262e-01 2.22070751e-01 -1.35597073e-02 9.17756158e+01] [ 1.39436171e-02 -1.60980363e-04 9.99902770e-01 4.66247698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.90, Y:91.80, Z:0.47 [[ 2.21686209e-01 -9.75112071e-01 -3.41662139e-03 1.22896303e+02] [ 9.75007847e-01 2.21712471e-01 -1.42575562e-02 9.18028705e+01] [ 1.46602227e-02 -1.70529078e-04 9.99892519e-01 4.67324767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.90, Y:91.83, Z:0.47 [[ 2.20790315e-01 -9.75315025e-01 -3.49836451e-03 1.22904523e+02] [ 9.75205499e-01 2.20817952e-01 -1.46173560e-02 9.18283154e+01] [ 1.50290286e-02 -1.84253669e-04 9.99887041e-01 4.66581065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.91, Y:91.85, Z:0.47 [[ 2.19867469e-01 -9.75523446e-01 -3.50752786e-03 1.22912972e+02] [ 9.75413094e-01 2.19895359e-01 -1.46740425e-02 9.18537557e+01] [ 1.50861616e-02 -1.94944002e-04 9.99886178e-01 4.65985847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.92, Y:91.88, Z:0.47 [[ 2.18897915e-01 -9.75741391e-01 -3.52729560e-03 1.22921008e+02] [ 9.75629583e-01 2.18926233e-01 -1.47723243e-02 9.18791281e+01] [ 1.51861858e-02 -2.07702945e-04 9.99884662e-01 4.65788850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.93, Y:91.90, Z:0.47 [[ 2.17091046e-01 -9.76145302e-01 -3.43898540e-03 1.22930861e+02] [ 9.76038829e-01 2.17118165e-01 -1.44189442e-02 9.19041694e+01] [ 1.48216509e-02 -2.26359591e-04 9.99890128e-01 4.66523696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.94, Y:91.93, Z:0.47 [[ 2.16203306e-01 -9.76342463e-01 -3.39504926e-03 1.22935027e+02] [ 9.76238458e-01 2.16229835e-01 -1.42524120e-02 9.19318180e+01] [ 1.46493460e-02 -2.32959060e-04 9.99892665e-01 4.69544395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.94, Y:91.96, Z:0.47 [[ 2.15844515e-01 -9.76421548e-01 -3.47932055e-03 1.22943357e+02] [ 9.76312106e-01 2.15872421e-01 -1.46208513e-02 9.19580764e+01] [ 1.50272036e-02 -2.41072221e-04 9.99887056e-01 4.68952711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.95, Y:91.98, Z:0.47 [[ 2.15513579e-01 -9.76495316e-01 -3.28562901e-03 1.22952360e+02] [ 9.76397503e-01 2.15538502e-01 -1.38228418e-02 9.19843343e+01] [ 1.42061198e-02 -2.29069851e-04 9.99899062e-01 4.69854732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.96, Y:92.01, Z:0.47 [[ 2.15633362e-01 -9.76469230e-01 -3.17745297e-03 1.22960251e+02] [ 9.76377522e-01 2.15656663e-01 -1.33842856e-02 9.20116040e+01] [ 1.37545819e-02 -2.16295159e-04 9.99905378e-01 4.70606565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.97, Y:92.04, Z:0.47 [[ 2.16188981e-01 -9.76346385e-01 -3.17195745e-03 1.22967519e+02] [ 9.76254751e-01 2.16212153e-01 -1.33778440e-02 9.20386649e+01] [ 1.37472254e-02 -2.04496059e-04 9.99905482e-01 4.71093119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.97, Y:92.07, Z:0.47 [[ 2.18452214e-01 -9.75841960e-01 -3.33155606e-03 1.22974327e+02] [ 9.75740569e-01 2.18477544e-01 -1.40678301e-02 9.20663918e+01] [ 1.44558490e-02 -1.77585786e-04 9.99895493e-01 4.69976212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.98, Y:92.09, Z:0.47 [[ 2.19805410e-01 -9.75537596e-01 -3.46117162e-03 1.22980615e+02] [ 9.75427844e-01 2.19832601e-01 -1.46338163e-02 9.20931755e+01] [ 1.50367163e-02 -1.59531179e-04 9.99886929e-01 4.68935029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.99, Y:92.12, Z:0.47 [[ 2.21224339e-01 -9.75216427e-01 -3.56537315e-03 1.22986804e+02] [ 9.75099624e-01 2.21253025e-01 -1.50938061e-02 9.21192617e+01] [ 1.55085772e-02 -1.37476753e-04 9.99879725e-01 4.67914390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.99, Y:92.15, Z:0.47 [[ 2.24333874e-01 -9.74505476e-01 -3.65915061e-03 1.22992864e+02] [ 9.74382039e-01 2.24363699e-01 -1.55104276e-02 9.21468000e+01] [ 1.59359772e-02 -8.58963151e-05 9.99873011e-01 4.68700218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.00, Y:92.17, Z:0.47 [[ 2.25136060e-01 -9.74320990e-01 -3.51622064e-03 1.22999776e+02] [ 9.74206691e-01 2.25163507e-01 -1.49237320e-02 9.21729688e+01] [ 1.53322299e-02 -6.56554510e-05 9.99882452e-01 4.68859867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.01, Y:92.20, Z:0.47 [[ 2.25303351e-01 -9.74283207e-01 -3.26084798e-03 1.23007167e+02] [ 9.74184660e-01 2.25326941e-01 -1.38570875e-02 9.22003100e+01] [ 1.42354845e-02 -5.46198212e-05 9.99898669e-01 4.69878603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.01, Y:92.23, Z:0.47 [[ 2.24839020e-01 -9.74391091e-01 -3.06878195e-03 1.23014706e+02] [ 9.74303606e-01 2.24859956e-01 -1.30569534e-02 9.22271053e+01] [ 1.34126253e-02 -5.42126963e-05 9.99910045e-01 4.70683028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841858064 meters Centerline goodness [0,1] 0.9999781626012709 Centerline is valid? [True, True] Translation: X:123.02, Y:92.25, Z:0.47 [[ 2.23896286e-01 -9.74609099e-01 -2.74910541e-03 1.23024217e+02] [ 9.74538732e-01 2.23913156e-01 -1.17114894e-02 9.22525758e+01] [ 1.20296850e-02 -5.69507195e-05 9.99927639e-01 4.71090342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.03, Y:92.28, Z:0.47 [[ 2.22964460e-01 -9.74822573e-01 -2.79292627e-03 1.23032012e+02] [ 9.74749776e-01 2.22981942e-01 -1.19133663e-02 9.22799314e+01] [ 1.22361905e-02 -6.61469759e-05 9.99925133e-01 4.72307964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901858064 meters Centerline goodness [0,1] 0.9999560854576993 Centerline is valid? [True, True] Translation: X:123.04, Y:92.31, Z:0.47 [[ 2.22306129e-01 -9.74972925e-01 -2.78951009e-03 1.23040223e+02] [ 9.74900127e-01 2.22323618e-01 -1.19143344e-02 9.23061565e+01] [ 1.22363275e-02 -7.08641766e-05 9.99925131e-01 4.71971102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.05, Y:92.33, Z:0.47 [[ 2.21391484e-01 -9.75181291e-01 -2.69442542e-03 1.23048239e+02] [ 9.75113217e-01 2.21407866e-01 -1.15226376e-02 9.23333932e+01] [ 1.18332276e-02 -7.63560033e-05 9.99929982e-01 4.71908155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.05, Y:92.36, Z:0.47 [[ 2.21123165e-01 -9.75242177e-01 -2.69125474e-03 1.23054441e+02] [ 9.75174098e-01 2.21139529e-01 -1.15233784e-02 9.23602725e+01] [ 1.18332275e-02 -7.63560025e-05 9.99929982e-01 4.72001934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99185806399998 meters Centerline goodness [0,1] 0.9999338711810607 Centerline is valid? [True, True] Translation: X:123.06, Y:92.39, Z:0.47 [[ 2.19943182e-01 -9.75508534e-01 -2.84546056e-03 1.23064155e+02] [ 9.75432259e-01 2.19961568e-01 -1.21990323e-02 9.23871660e+01] [ 1.25261520e-02 -9.24600495e-05 9.99921540e-01 4.71456852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.07, Y:92.41, Z:0.47 [[ 2.19143120e-01 -9.75688424e-01 -2.89705294e-03 1.23071902e+02] [ 9.75609168e-01 2.19162245e-01 -1.24363365e-02 9.24132892e+01] [ 1.27689142e-02 -1.01053832e-04 9.99918469e-01 4.71001008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.08, Y:92.44, Z:0.47 [[ 2.18406294e-01 -9.75854031e-01 -2.75685749e-03 1.23079724e+02] [ 9.75782097e-01 2.18423668e-01 -1.18490884e-02 9.24398909e+01] [ 1.21651436e-02 -1.02176704e-04 9.99925997e-01 4.71047479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.081858064 meters Centerline goodness [0,1] 0.9999778226253576 Centerline is valid? [True, True] Translation: X:123.09, Y:92.47, Z:0.47 [[ 2.16859862e-01 -9.76199418e-01 -2.54882957e-03 1.23089987e+02] [ 9.76137807e-01 2.16874812e-01 -1.09680515e-02 9.24663685e+01] [ 1.12597824e-02 -1.09478780e-04 9.99936601e-01 4.71971861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.111858064 meters Centerline goodness [0,1] 0.9999778186899718 Centerline is valid? [True, True] Translation: X:123.10, Y:92.49, Z:0.47 [[ 2.15847187e-01 -9.76424056e-01 -2.46085600e-03 1.23098484e+02] [ 9.76366494e-01 2.15861184e-01 -1.06027561e-02 9.24925589e+01] [ 1.08839894e-02 -1.14122265e-04 9.99940761e-01 4.72145519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.11, Y:92.52, Z:0.47 [[ 2.15156841e-01 -9.76576348e-01 -2.48417327e-03 1.23106939e+02] [ 9.76517543e-01 2.15171149e-01 -1.07175028e-02 9.25188627e+01] [ 1.10009821e-02 -1.19894732e-04 9.99939480e-01 4.72268858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.171858064 meters Centerline goodness [0,1] 0.9999777228274187 Centerline is valid? [True, True] Translation: X:123.12, Y:92.55, Z:0.47 [[ 2.13868469e-01 -9.76859437e-01 -2.43274155e-03 1.23116280e+02] [ 9.76802916e-01 2.13882266e-01 -1.05089813e-02 9.25458922e+01] [ 1.07861178e-02 -1.28769296e-04 9.99941820e-01 4.72654453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.12, Y:92.57, Z:0.47 [[ 2.13221193e-01 -9.77000791e-01 -2.48547944e-03 1.23124975e+02] [ 9.76941681e-01 2.13235636e-01 -1.07478211e-02 9.25714663e+01] [ 1.10306225e-02 -1.36505222e-04 9.99939152e-01 4.71646074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:92.60, Z:0.47 [[ 2.12687807e-01 -9.77117058e-01 -2.48028642e-03 1.23130887e+02] [ 9.77058066e-01 2.12702223e-01 -1.07378286e-02 9.25986835e+01] [ 1.10196779e-02 -1.39578635e-04 9.99939272e-01 4.72578335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.14, Y:92.62, Z:0.47 [[ 2.12067797e-01 -9.77251696e-01 -2.52439292e-03 1.23138814e+02] [ 9.77190433e-01 2.12082770e-01 -1.09433223e-02 9.26244873e+01] [ 1.12297605e-02 -1.46086368e-04 9.99936934e-01 4.71459370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.15, Y:92.65, Z:0.47 [[ 2.10944324e-01 -9.77495386e-01 -2.29402533e-03 1.23147899e+02] [ 9.77444678e-01 2.10956750e-01 -9.95742919e-03 9.26502719e+01] [ 1.02172812e-02 -1.41819688e-04 9.99947792e-01 4.71729187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.15, Y:92.68, Z:0.47 [[ 2.10375895e-01 -9.77618220e-01 -2.14447150e-03 1.23154795e+02] [ 9.77573803e-01 2.10386781e-01 -9.31999559e-03 9.26775920e+01] [ 9.56256596e-03 -1.35676741e-04 9.99954268e-01 4.72697554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.16, Y:92.70, Z:0.47 [[ 2.09755584e-01 -9.77751832e-01 -1.98761472e-03 1.23162450e+02] [ 9.77713585e-01 2.09764961e-01 -8.64905990e-03 9.27045816e+01] [ 8.87356609e-03 -1.29129310e-04 9.99960621e-01 4.73313050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381858064 meters Centerline goodness [0,1] 0.9999330267446533 Centerline is valid? [True, True] Translation: X:123.17, Y:92.73, Z:0.47 [[ 2.09210608e-01 -9.77868840e-01 -1.85847220e-03 1.23171378e+02] [ 9.77835320e-01 2.09218826e-01 -8.09756676e-03 9.27299240e+01] [ 8.30718558e-03 -1.23182893e-04 9.99965487e-01 4.73499228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.18, Y:92.76, Z:0.47 [[ 2.08313557e-01 -9.78060702e-01 -1.65103255e-03 1.23179229e+02] [ 9.78034187e-01 2.08320068e-01 -7.20270436e-03 9.27568325e+01] [ 7.38862529e-03 -1.14345310e-04 9.99972697e-01 4.74460903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441858064 meters Centerline goodness [0,1] 0.9999775638868322 Centerline is valid? [True, True] Translation: X:123.19, Y:92.78, Z:0.47 [[ 2.08011019e-01 -9.78125031e-01 -1.68524115e-03 1.23186390e+02] [ 9.78097334e-01 2.08017813e-01 -7.36175064e-03 9.27833549e+01] [ 7.55127275e-03 -1.17004619e-04 9.99971482e-01 4.74311331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.19, Y:92.81, Z:0.47 [[ 2.08235112e-01 -9.78077394e-01 -1.65824763e-03 1.23192886e+02] [ 9.78050504e-01 2.08241685e-01 -7.25338427e-03 9.28111038e+01] [ 7.43968747e-03 -1.11440643e-04 9.99972319e-01 4.74422103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.20, Y:92.84, Z:0.47 [[ 2.09148828e-01 -9.77882238e-01 -1.75946918e-03 1.23201112e+02] [ 9.77851876e-01 2.09156200e-01 -7.70665525e-03 9.28365741e+01] [ 7.90420518e-03 -1.08662321e-04 9.99968755e-01 4.74575032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.21, Y:92.86, Z:0.47 [[ 2.09713066e-01 -9.77761241e-01 -1.84011705e-03 1.23208164e+02] [ 9.77727935e-01 2.09721112e-01 -8.07100744e-03 9.28632471e+01] [ 8.27742964e-03 -1.06538126e-04 9.99965736e-01 4.74469429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.21, Y:92.89, Z:0.47 [[ 2.10047251e-01 -9.77689449e-01 -1.86913192e-03 1.23214615e+02] [ 9.77654991e-01 2.10055542e-01 -8.20906356e-03 9.28908024e+01] [ 8.41853634e-03 -1.03074919e-04 9.99964558e-01 4.74378607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.22, Y:92.92, Z:0.47 [[ 2.10472924e-01 -9.77597861e-01 -1.88973666e-03 1.23221337e+02] [ 9.77562541e-01 2.10481384e-01 -8.31053156e-03 9.29170859e+01] [ 8.52211227e-03 -9.81938967e-05 9.99963681e-01 4.74238619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621858064 meters Centerline goodness [0,1] 0.9999774860976653 Centerline is valid? [True, True] Translation: X:123.23, Y:92.94, Z:0.47 [[ 2.11456492e-01 -9.77385845e-01 -1.74994839e-03 1.23228748e+02] [ 9.77355473e-01 2.11463717e-01 -7.70555903e-03 9.29441058e+01] [ 7.90135491e-03 -8.09311567e-05 9.99968781e-01 4.74554141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.24, Y:92.97, Z:0.47 [[ 2.11473524e-01 -9.77382279e-01 -1.68234398e-03 1.23235985e+02] [ 9.77354147e-01 2.11480202e-01 -7.41585634e-03 9.29704088e+01] [ 7.60390902e-03 -7.59885973e-05 9.99971087e-01 4.74478700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681858064 meters Centerline goodness [0,1] 0.9999774668198923 Centerline is valid? [True, True] Translation: X:123.24, Y:93.00, Z:0.47 [[ 2.11132959e-01 -9.77456123e-01 -1.54952818e-03 1.23242458e+02] [ 9.77432209e-01 2.11138633e-01 -6.83778670e-03 9.29978236e+01] [ 7.01080174e-03 -7.08766161e-05 9.99975422e-01 4.74747642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.25, Y:93.02, Z:0.48 [[ 2.10686424e-01 -9.77552667e-01 -1.41877978e-03 1.23249484e+02] [ 9.77532571e-01 2.10691191e-01 -6.26848947e-03 9.30248563e+01] [ 6.42670300e-03 -6.62178121e-05 9.99979346e-01 4.75041893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74185806399998 meters Centerline goodness [0,1] 0.9999323455787835 Centerline is valid? [True, True] Translation: X:123.26, Y:93.05, Z:0.48 [[ 2.10189942e-01 -9.77659773e-01 -1.24725276e-03 1.23257284e+02] [ 9.77644208e-01 2.10193634e-01 -5.51718772e-03 9.30521465e+01] [ 5.65609709e-03 -5.97120701e-05 9.99984002e-01 4.75573758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.26, Y:93.08, Z:0.48 [[ 2.09875309e-01 -9.77727363e-01 -1.24798219e-03 1.23263814e+02] [ 9.77711741e-01 2.09879011e-01 -5.52747850e-03 9.30794033e+01] [ 5.66629225e-03 -6.00855781e-05 9.99983945e-01 4.75722965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.27, Y:93.11, Z:0.48 [[ 2.09379168e-01 -9.77833654e-01 -1.30728029e-03 1.23270220e+02] [ 9.77816468e-01 2.09383239e-01 -5.79773960e-03 9.31066766e+01] [ 5.94294748e-03 -6.43543039e-05 9.99982338e-01 4.75717158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:93.13, Z:0.48 [[ 2.09176339e-01 -9.77877156e-01 -1.23582933e-03 1.23276360e+02] [ 9.77861759e-01 2.09179981e-01 -5.48781891e-03 9.31332736e+01] [ 5.62492351e-03 -6.05483787e-05 9.99984178e-01 4.75617191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:93.16, Z:0.48 [[ 2.09222683e-01 -9.77867187e-01 -1.27782290e-03 1.23281814e+02] [ 9.77850681e-01 2.09226576e-01 -5.68205816e-03 9.31612481e+01] [ 5.82365275e-03 -6.07045386e-05 9.99983041e-01 4.75890600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.29, Y:93.19, Z:0.48 [[ 2.08004054e-01 -9.78127083e-01 -1.31238661e-03 1.23287539e+02] [ 9.78109630e-01 2.08008183e-01 -5.84360222e-03 9.31888565e+01] [ 5.98877275e-03 -6.81650304e-05 9.99982065e-01 4.76274370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.29, Y:93.22, Z:0.48 [[ 2.07142415e-01 -9.78310133e-01 -1.14181259e-03 1.23293684e+02] [ 9.78296892e-01 2.07145553e-01 -5.09028868e-03 9.32164820e+01] [ 5.21640239e-03 -6.26170131e-05 9.99986393e-01 4.76739618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.30, Y:93.24, Z:0.48 [[ 2.05728079e-01 -9.78608663e-01 -1.02121648e-03 1.23301413e+02] [ 9.78598048e-01 2.05730605e-01 -4.55833612e-03 9.32429863e+01] [ 4.67092269e-03 -6.15827207e-05 9.99989089e-01 4.77252457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.31, Y:93.27, Z:0.48 [[ 2.02556410e-01 -9.79270275e-01 -7.93884802e-04 1.23306032e+02] [ 9.79263851e-01 2.02557957e-01 -3.54750739e-03 9.32711822e+01] [ 3.63477622e-03 -5.88523283e-05 9.99993392e-01 4.78483578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.31, Y:93.30, Z:0.48 [[ 2.00659963e-01 -9.79660687e-01 -7.19802969e-04 1.23313499e+02] [ 9.79655396e-01 2.00661245e-01 -3.22015863e-03 9.32978148e+01] [ 3.29909937e-03 -5.90019518e-05 9.99994556e-01 4.78975017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.041858064 meters Centerline goodness [0,1] 0.9999774256174093 Centerline is valid? [True, True] Translation: X:123.32, Y:93.33, Z:0.48 [[ 1.98665902e-01 -9.80067089e-01 -5.99963453e-04 1.23319884e+02] [ 9.80063408e-01 1.98666801e-01 -2.68657100e-03 9.33259421e+01] [ 2.75221264e-03 -5.42721743e-05 9.99996211e-01 4.79688792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:93.35, Z:0.48 [[ 1.94856818e-01 -9.80831622e-01 -3.86692112e-04 1.23326792e+02] [ 9.80830092e-01 1.94857197e-01 -1.73296017e-03 9.33523935e+01] [ 1.77509187e-03 -4.16001564e-05 9.99998424e-01 4.79759961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:93.38, Z:0.48 [[ 1.92883748e-01 -9.81221482e-01 -5.13842995e-04 1.23333233e+02] [ 9.81218776e-01 1.92884423e-01 -2.30513164e-03 9.33800007e+01] [ 2.36095699e-03 -5.95699643e-05 9.99997211e-01 4.79907295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.34, Y:93.41, Z:0.48 [[ 1.91315535e-01 -9.81528491e-01 -4.32775164e-04 1.23339723e+02] [ 9.81526569e-01 1.91316017e-01 -1.94320411e-03 9.34074485e+01] [ 1.99010702e-03 -5.30151880e-05 9.99998018e-01 4.79677833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161858064 meters Centerline goodness [0,1] 0.9999098489970701 Centerline is valid? [True, True] Translation: X:123.35, Y:93.43, Z:0.48 [[ 1.90396020e-01 -9.81707258e-01 -4.64625127e-04 1.23345899e+02] [ 9.81705036e-01 1.90396578e-01 -2.08916818e-03 9.34343859e+01] [ 2.13941460e-03 -5.83555213e-05 9.99997710e-01 4.79678939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.35, Y:93.46, Z:0.48 [[ 1.89611815e-01 -9.81859023e-01 -4.66486384e-04 1.23349658e+02] [ 9.81856780e-01 1.89612380e-01 -2.09981934e-03 9.34619273e+01] [ 2.15017816e-03 -5.98722613e-05 9.99997687e-01 4.79123436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.35, Y:93.49, Z:0.48 [[ 1.89615830e-01 -9.81858243e-01 -4.78114920e-04 1.23354349e+02] [ 9.81855880e-01 1.89616423e-01 -2.15498013e-03 9.34884478e+01] [ 2.20654345e-03 -6.08215989e-05 9.99997564e-01 4.79016444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.36, Y:93.52, Z:0.48 [[ 1.90192879e-01 -9.81746588e-01 -5.52355886e-04 1.23357528e+02] [ 9.81743424e-01 1.90193669e-01 -2.49373255e-03 9.35161563e+01] [ 2.55326802e-03 -6.79815852e-05 9.99996738e-01 4.78762330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.36, Y:93.54, Z:0.48 [[ 1.92069779e-01 -9.81381027e-01 -6.93233506e-04 1.23362227e+02] [ 9.81376022e-01 1.92071014e-01 -3.13505751e-03 9.35431951e+01] [ 3.20983602e-03 -7.81729384e-05 9.99994845e-01 4.78117367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311858064 meters Centerline goodness [0,1] 0.9999776945039258 Centerline is valid? [True, True] Translation: X:123.37, Y:93.57, Z:0.48 [[ 1.93126862e-01 -9.81173563e-01 -6.74967827e-04 1.23366694e+02] [ 9.81168810e-01 1.93128028e-01 -3.05477713e-03 9.35710884e+01] [ 3.12762176e-03 -7.22978590e-05 9.99995106e-01 4.78502228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341858064 meters Centerline goodness [0,1] 0.9999776656095055 Centerline is valid? [True, True] Translation: X:123.37, Y:93.60, Z:0.48 [[ 1.94127711e-01 -9.80976048e-01 -6.52023045e-04 1.23370591e+02] [ 9.80971601e-01 1.94128795e-01 -2.95442752e-03 9.35983115e+01] [ 3.02479908e-03 -6.60798371e-05 9.99995423e-01 4.78555521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.37, Y:93.63, Z:0.48 [[ 1.95297585e-01 -9.80743850e-01 -5.95571466e-04 1.23372799e+02] [ 9.80740129e-01 1.95298485e-01 -2.70209751e-03 9.36268682e+01] [ 2.76637972e-03 -5.63877183e-05 9.99996172e-01 4.78822249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.38, Y:93.65, Z:0.48 [[ 1.97482032e-01 -9.80306354e-01 -5.46734129e-04 1.23375356e+02] [ 9.80303209e-01 1.97482784e-01 -2.48379631e-03 9.36544586e+01] [ 2.54285189e-03 -4.54600773e-05 9.99996766e-01 4.79264302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431858064 meters Centerline goodness [0,1] 0.9999556668809434 Centerline is valid? [True, True] Translation: X:123.38, Y:93.68, Z:0.48 [[ 1.98193398e-01 -9.80162795e-01 -5.21209440e-04 1.23378249e+02] [ 9.80159933e-01 1.98194079e-01 -2.36928333e-03 9.36826347e+01] [ 2.42558399e-03 -4.12922977e-05 9.99997057e-01 4.79242424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.38, Y:93.71, Z:0.48 [[ 1.98817338e-01 -9.80036428e-01 -5.16218115e-04 1.23382503e+02] [ 9.80033612e-01 1.98818005e-01 -2.34971149e-03 9.37103521e+01] [ 2.40543631e-03 -3.87477186e-05 9.99997106e-01 4.79572733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.39, Y:93.74, Z:0.48 [[ 1.98604193e-01 -9.80079740e-01 -2.80242111e-04 1.23386955e+02] [ 9.80078910e-01 1.98604389e-01 -1.27525053e-03 9.37386329e+01] [ 1.30550452e-03 -2.13892796e-05 9.99999148e-01 4.80712806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.39, Y:93.76, Z:0.48 [[ 1.97917481e-01 -9.80218636e-01 -3.10872984e-04 1.23392770e+02] [ 9.80217612e-01 1.97917724e-01 -1.41693606e-03 9.37647564e+01] [ 1.45043441e-03 -2.42867578e-05 9.99998948e-01 4.80829316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:93.79, Z:0.48 [[ 1.97313323e-01 -9.80340401e-01 -3.88637747e-04 1.23398183e+02] [ 9.80338794e-01 1.97313703e-01 -1.77529848e-03 9.37923116e+01] [ 1.81708038e-03 -3.07066186e-05 9.99998349e-01 4.80597589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.581858064 meters Centerline goodness [0,1] 0.9999337850663252 Centerline is valid? [True, True] Translation: X:123.40, Y:93.82, Z:0.48 [[ 1.95220241e-01 -9.80759314e-01 -4.75853434e-04 1.23404804e+02] [ 9.80756897e-01 1.95220817e-01 -2.17774423e-03 9.38204160e+01] [ 2.22873943e-03 -4.15567842e-05 9.99997515e-01 4.80017375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.41, Y:93.85, Z:0.48 [[ 1.94139247e-01 -9.80973855e-01 -4.97954028e-04 1.23411068e+02] [ 9.80971202e-01 1.94139880e-01 -2.28190059e-03 9.38474673e+01] [ 2.33515755e-03 -4.54721003e-05 9.99997272e-01 4.80023907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.42, Y:93.87, Z:0.48 [[ 1.93280272e-01 -9.81143422e-01 -5.67302487e-04 1.23417261e+02] [ 9.81139968e-01 1.93281097e-01 -2.60383181e-03 9.38744200e+01] [ 2.66438130e-03 -5.33338252e-05 9.99996449e-01 4.80277163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.42, Y:93.90, Z:0.48 [[ 1.92159578e-01 -9.81363512e-01 -5.94276927e-04 1.23423466e+02] [ 9.81359713e-01 1.92160488e-01 -2.73154381e-03 9.39020542e+01] [ 2.79483397e-03 -5.83071280e-05 9.99996093e-01 4.79990641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.43, Y:93.93, Z:0.48 [[ 1.92103535e-01 -9.81374401e-01 -7.19029004e-04 1.23429656e+02] [ 9.81368820e-01 1.92104868e-01 -3.31043499e-03 9.39288199e+01] [ 3.38690513e-03 -6.96863790e-05 9.99994262e-01 4.79556460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.43, Y:93.96, Z:0.48 [[ 1.91761773e-01 -9.81441195e-01 -7.76417943e-04 1.23434541e+02] [ 9.81434668e-01 1.91763330e-01 -3.58018459e-03 9.39562255e+01] [ 3.66262914e-03 -7.54609407e-05 9.99993290e-01 4.79427922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.44, Y:93.98, Z:0.48 [[ 1.91158597e-01 -9.81558740e-01 -9.11935577e-04 1.23440412e+02] [ 9.81549708e-01 1.91160751e-01 -4.21165633e-03 9.39824167e+01] [ 4.30831437e-03 -9.00157847e-05 9.99990715e-01 4.79444387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.791858064 meters Centerline goodness [0,1] 0.9998892948079265 Centerline is valid? [True, True] Translation: X:123.45, Y:94.01, Z:0.48 [[ 1.90251895e-01 -9.81734812e-01 -9.87644813e-04 1.23447313e+02] [ 9.81724188e-01 1.90254432e-01 -4.56824174e-03 9.40086031e+01] [ 4.67270575e-03 -1.00478153e-04 9.99989078e-01 4.79036458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.45, Y:94.04, Z:0.48 [[ 1.89412796e-01 -9.81897133e-01 -9.01270118e-04 1.23451639e+02] [ 9.81888265e-01 1.89414916e-01 -4.17420261e-03 9.40361237e+01] [ 4.26935158e-03 -9.42991669e-05 9.99990882e-01 4.79121309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:94.06, Z:0.48 [[ 1.89136948e-01 -9.81950307e-01 -9.00095346e-04 1.23457394e+02] [ 9.81941438e-01 1.89139066e-01 -4.17445595e-03 9.40631167e+01] [ 4.26935150e-03 -9.42970591e-05 9.99990882e-01 4.79215103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881858064 meters Centerline goodness [0,1] 0.9999113828703088 Centerline is valid? [True, True] Translation: X:123.46, Y:94.09, Z:0.48 [[ 1.87243597e-01 -9.82313245e-01 -7.24038921e-04 1.23464651e+02] [ 9.82307496e-01 1.87244979e-01 -3.36163698e-03 9.40895367e+01] [ 3.43775318e-03 -8.17838607e-05 9.99994088e-01 4.79528993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.47, Y:94.12, Z:0.48 [[ 1.85850973e-01 -9.82577778e-01 -5.70472065e-04 1.23473226e+02] [ 9.82574204e-01 1.85851836e-01 -2.65107595e-03 9.41157999e+01] [ 2.71091160e-03 -6.78260903e-05 9.99996323e-01 4.80516779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.48, Y:94.14, Z:0.48 [[ 1.84373430e-01 -9.82856141e-01 -4.95009670e-04 1.23479853e+02] [ 9.82853445e-01 1.84374084e-01 -2.30260668e-03 9.41435548e+01] [ 2.35439807e-03 -6.19824688e-05 9.99997226e-01 4.81494983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971858064 meters Centerline goodness [0,1] 0.9999556068543017 Centerline is valid? [True, True] Translation: X:123.49, Y:94.17, Z:0.48 [[ 1.82965785e-01 -9.83119219e-01 -3.49756120e-04 1.23486545e+02] [ 9.83117873e-01 1.82966114e-01 -1.62770522e-03 9.41716156e+01] [ 1.66422180e-03 -4.60371280e-05 9.99998614e-01 4.82161415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:94.20, Z:0.48 [[ 1.80570983e-01 -9.83561899e-01 -3.33911746e-04 1.23496247e+02] [ 9.83560669e-01 1.80571286e-01 -1.55570146e-03 9.41982644e+01] [ 1.59042355e-03 -4.75079181e-05 9.99998734e-01 4.82923748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:94.22, Z:0.48 [[ 1.79560700e-01 -9.83746820e-01 -3.85451545e-04 1.23504836e+02] [ 9.83745176e-01 1.79561105e-01 -1.79952653e-03 9.42243902e+01] [ 1.83949061e-03 -5.60618544e-05 9.99998307e-01 4.83025799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.51, Y:94.25, Z:0.48 [[ 1.79241085e-01 -9.83805108e-01 -3.76782078e-04 1.23507505e+02] [ 9.83803536e-01 1.79241473e-01 -1.75961262e-03 9.42522892e+01] [ 1.79865086e-03 -5.52846645e-05 9.99998381e-01 4.82518462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.51, Y:94.28, Z:0.48 [[ 1.79488855e-01 -9.83759928e-01 -3.92645831e-04 1.23512359e+02] [ 9.83758216e-01 1.79489276e-01 -1.83638121e-03 9.42801606e+01] [ 1.87703397e-03 -5.66586001e-05 9.99998237e-01 4.82564054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:94.31, Z:0.48 [[ 1.81485348e-01 -9.83393483e-01 -5.71585809e-04 1.23518574e+02] [ 9.83389835e-01 1.81486232e-01 -2.67945202e-03 9.43064630e+01] [ 2.73869061e-03 -7.58103928e-05 9.99996247e-01 4.81758962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:94.33, Z:0.48 [[ 1.82338783e-01 -9.83235512e-01 -7.04191528e-04 1.23524411e+02] [ 9.83229963e-01 1.82340121e-01 -3.30444651e-03 9.43326400e+01] [ 3.37745152e-03 -8.98534544e-05 9.99994292e-01 4.81396671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:94.36, Z:0.48 [[ 1.83177600e-01 -9.83079505e-01 -8.08096257e-04 1.23529418e+02] [ 9.83072180e-01 1.83179356e-01 -3.79640247e-03 9.43600816e+01] [ 3.88019201e-03 -9.90010546e-05 9.99992467e-01 4.80766258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:94.39, Z:0.48 [[ 1.83880889e-01 -9.82948072e-01 -9.51710492e-04 1.23534710e+02] [ 9.82937881e-01 1.83883317e-01 -4.47736107e-03 9.43881615e+01] [ 4.57601711e-03 -1.12171162e-04 9.99989524e-01 4.79547287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24185806399998 meters Centerline goodness [0,1] 0.9999776606201412 Centerline is valid? [True, True] Translation: X:123.54, Y:94.41, Z:0.48 [[ 1.83366189e-01 -9.83044243e-01 -9.25400291e-04 1.23541531e+02] [ 9.83034590e-01 1.83368491e-01 -4.35785462e-03 9.44147677e+01] [ 4.45365315e-03 -1.10617304e-04 9.99990076e-01 4.79468310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:94.44, Z:0.48 [[ 1.81716510e-01 -9.83350579e-01 -8.65348330e-04 1.23548588e+02] [ 9.83342119e-01 1.81718537e-01 -4.08057574e-03 9.44426749e+01] [ 4.16988635e-03 -1.09425478e-04 9.99991300e-01 4.80253937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.56, Y:94.47, Z:0.48 [[ 1.80758347e-01 -9.83527201e-01 -8.15948753e-04 1.23556130e+02] [ 9.83519662e-01 1.80760158e-01 -3.85238842e-03 9.44687751e+01] [ 3.93641982e-03 -1.06150278e-04 9.99992247e-01 4.80390516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.56, Y:94.50, Z:0.48 [[ 1.79738588e-01 -9.83714026e-01 -8.69367621e-04 1.23561096e+02] [ 9.83705447e-01 1.79740652e-01 -4.11001553e-03 9.44969240e+01] [ 4.19934062e-03 -1.16473277e-04 9.99991176e-01 4.80463995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.57, Y:94.52, Z:0.48 [[ 1.77569292e-01 -9.84107870e-01 -9.19763362e-04 1.23567798e+02] [ 9.84098248e-01 1.77571625e-01 -4.35397143e-03 9.45230396e+01] [ 4.44810142e-03 -1.32005888e-04 9.99990098e-01 4.79672712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.391858064 meters Centerline goodness [0,1] 0.9999776900252103 Centerline is valid? [True, True] Translation: X:123.58, Y:94.55, Z:0.48 [[ 1.76585705e-01 -9.84284764e-01 -9.95617851e-04 1.23575403e+02] [ 9.84273469e-01 1.76588451e-01 -4.71781324e-03 9.45492000e+01] [ 4.81948631e-03 -1.46861857e-04 9.99988375e-01 4.78910471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:94.58, Z:0.48 [[ 1.75736549e-01 -9.84436706e-01 -1.01878400e-03 1.23578551e+02] [ 9.84424856e-01 1.75739435e-01 -4.83255539e-03 9.45771247e+01] [ 4.93638543e-03 -1.53659682e-04 9.99987804e-01 4.78799274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:94.61, Z:0.48 [[ 1.74620824e-01 -9.84635002e-01 -1.21703176e-03 1.23581643e+02] [ 9.84618045e-01 1.74624964e-01 -5.78169128e-03 9.46051430e+01] [ 5.90537973e-03 -1.88707736e-04 9.99982545e-01 4.77847227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:94.63, Z:0.48 [[ 1.74386330e-01 -9.84676359e-01 -1.36979976e-03 1.23590255e+02] [ 9.84654824e-01 1.74391580e-01 -6.51577472e-03 9.46312332e+01] [ 6.65481087e-03 -2.12517907e-04 9.99977834e-01 4.77069533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:94.66, Z:0.48 [[ 1.74177824e-01 -9.84712899e-01 -1.61016596e-03 1.23593139e+02] [ 9.84683065e-01 1.74185088e-01 -7.66915042e-03 9.46597032e+01] [ 7.83237824e-03 -2.49707219e-04 9.99969295e-01 4.76631948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:94.69, Z:0.48 [[ 1.74252205e-01 -9.84699319e-01 -1.84931413e-03 1.23597595e+02] [ 9.84659850e-01 1.74261786e-01 -8.82102735e-03 9.46877067e+01] [ 9.00832441e-03 -2.83861912e-04 9.99959384e-01 4.75870295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:94.72, Z:0.47 [[ 1.74324332e-01 -9.84686104e-01 -2.07438514e-03 1.23602298e+02] [ 9.84636298e-01 1.74336389e-01 -9.90878537e-03 9.47157720e+01] [ 1.01186841e-02 -3.15172512e-04 9.99948755e-01 4.74724459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:94.74, Z:0.47 [[ 1.75180932e-01 -9.84533577e-01 -2.29732708e-03 1.23603861e+02] [ 9.84472298e-01 1.75195672e-01 -1.09895528e-02 9.47441966e+01] [ 1.12220655e-02 -3.36494761e-04 9.99936974e-01 4.74154227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:94.77, Z:0.47 [[ 1.75695826e-01 -9.84441431e-01 -2.45870408e-03 1.23609124e+02] [ 9.84371031e-01 1.75712679e-01 -1.17783179e-02 9.47712935e+01] [ 1.20270896e-02 -3.50875781e-04 9.99927610e-01 4.73002790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:94.80, Z:0.47 [[ 1.77248677e-01 -9.84162256e-01 -2.74946570e-03 1.23611877e+02] [ 9.84073945e-01 1.77269619e-01 -1.31891151e-02 9.47999562e+01] [ 1.34676260e-02 -3.67924364e-04 9.99909240e-01 4.71932087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:94.83, Z:0.47 [[ 1.78132456e-01 -9.84002335e-01 -2.86918993e-03 1.23614387e+02] [ 9.83905875e-01 1.78155182e-01 -1.37826158e-02 9.48284251e+01] [ 1.40732872e-02 -3.67881615e-04 9.99900899e-01 4.71961389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:94.86, Z:0.47 [[ 1.78891292e-01 -9.83864446e-01 -2.94243450e-03 1.23617856e+02] [ 9.83762691e-01 1.78915122e-01 -1.41544051e-02 9.48568431e+01] [ 1.44524620e-02 -3.62557458e-04 9.99895492e-01 4.71097372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:94.89, Z:0.47 [[ 1.80851358e-01 -9.83505333e-01 -3.16972807e-03 1.23619110e+02] [ 9.83386865e-01 1.80878784e-01 -1.52688765e-02 9.48859161e+01] [ 1.55903580e-02 -3.55671909e-04 9.99878400e-01 4.70258776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:94.91, Z:0.47 [[ 1.81588455e-01 -9.83369437e-01 -3.19107207e-03 1.23623140e+02] [ 9.83249014e-01 1.81616169e-01 -1.53929923e-02 9.49137102e+01] [ 1.57165485e-02 -3.42428767e-04 9.99876429e-01 4.70072319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811858064 meters Centerline goodness [0,1] 0.9999559704121169 Centerline is valid? [True, True] Translation: X:123.63, Y:94.94, Z:0.47 [[ 1.82470991e-01 -9.83205973e-01 -3.21752219e-03 1.23626953e+02] [ 9.83083247e-01 1.82499062e-01 -1.55377290e-02 9.49404359e+01] [ 1.58639828e-02 -3.27907343e-04 9.99874105e-01 4.70299262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.63, Y:94.97, Z:0.47 [[ 1.84270646e-01 -9.82870087e-01 -3.27438622e-03 1.23628448e+02] [ 9.82742704e-01 1.84299489e-01 -1.58264463e-02 9.49692790e+01] [ 1.61588083e-02 -3.01529691e-04 9.99869392e-01 4.70183095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.63, Y:95.00, Z:0.47 [[ 1.85131163e-01 -9.82708573e-01 -3.21128249e-03 1.23631710e+02] [ 9.82585737e-01 1.85158803e-01 -1.55398500e-02 9.49977326e+01] [ 1.58657411e-02 -2.78449854e-04 9.99874092e-01 4.70453014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:95.03, Z:0.47 [[ 1.86043595e-01 -9.82536281e-01 -3.19953946e-03 1.23635069e+02] [ 9.82413987e-01 1.86070926e-01 -1.55038070e-02 9.50252591e+01] [ 1.58283942e-02 -2.58888318e-04 9.99874690e-01 4.70727256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:95.05, Z:0.47 [[ 1.87519210e-01 -9.82255942e-01 -3.13228777e-03 1.23635771e+02] [ 9.82138392e-01 1.87545232e-01 -1.51975358e-02 9.50542523e+01] [ 1.55153154e-02 -2.26510177e-04 9.99879605e-01 4.71167117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96185806399998 meters Centerline goodness [0,1] 0.9999780239099859 Centerline is valid? [True, True] Translation: X:123.64, Y:95.08, Z:0.47 [[ 1.87556711e-01 -9.82248860e-01 -3.10772568e-03 1.23638590e+02] [ 9.82132825e-01 1.87582327e-01 -1.50991436e-02 9.50818881e+01] [ 1.54140710e-02 -2.20253672e-04 9.99881172e-01 4.71443668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:95.11, Z:0.47 [[ 1.87522078e-01 -9.82255254e-01 -3.17585028e-03 1.23643210e+02] [ 9.82133718e-01 1.87548839e-01 -1.54529214e-02 9.51084613e+01] [ 1.57743403e-02 -2.21345704e-04 9.99875553e-01 4.70685478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02185806399999 meters Centerline goodness [0,1] 0.9998682939678637 Centerline is valid? [True, True] Translation: X:123.65, Y:95.14, Z:0.47 [[ 1.86824208e-01 -9.82388312e-01 -3.14970553e-03 1.23646515e+02] [ 9.82268443e-01 1.86850619e-01 -1.53477200e-02 9.51363032e+01] [ 1.56659452e-02 -2.26530716e-04 9.99877256e-01 4.71922374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.051858064 meters Centerline goodness [0,1] 0.9999340963511346 Centerline is valid? [True, True] Translation: X:123.65, Y:95.16, Z:0.47 [[ 1.85065327e-01 -9.82721383e-01 -3.08351823e-03 1.23650329e+02] [ 9.82606215e-01 1.85090851e-01 -1.50466822e-02 9.51645530e+01] [ 1.53574274e-02 -2.45265018e-04 9.99882038e-01 4.72752884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:95.19, Z:0.47 [[ 1.83718506e-01 -9.82974196e-01 -3.03987783e-03 1.23655831e+02] [ 9.82861963e-01 1.83743472e-01 -1.48559243e-02 9.51915486e+01] [ 1.51615480e-02 -2.58472066e-04 9.99885024e-01 4.72270202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.111858064 meters Centerline goodness [0,1] 0.9999780403179762 Centerline is valid? [True, True] Translation: X:123.66, Y:95.22, Z:0.47 [[ 1.82329937e-01 -9.83232795e-01 -3.01068269e-03 1.23660386e+02] [ 9.83122427e-01 1.82354587e-01 -1.47342467e-02 9.52189817e+01] [ 1.50362064e-02 -2.73375410e-04 9.99886912e-01 4.71882097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:95.25, Z:0.47 [[ 1.80490980e-01 -9.83571715e-01 -3.11254793e-03 1.23664015e+02] [ 9.83453480e-01 1.80517553e-01 -1.52533693e-02 9.52474463e+01] [ 1.55646521e-02 -3.07950529e-04 9.99878816e-01 4.71060137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:95.28, Z:0.47 [[ 1.79427442e-01 -9.83766252e-01 -3.12338479e-03 1.23669261e+02] [ 9.83646889e-01 1.79454336e-01 -1.53277051e-02 9.52754173e+01] [ 1.56393839e-02 -3.22096823e-04 9.99877645e-01 4.70681512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:95.30, Z:0.47 [[ 1.78487673e-01 -9.83937013e-01 -3.17885392e-03 1.23674652e+02] [ 9.83813051e-01 1.78515656e-01 -1.56217900e-02 9.53033076e+01] [ 1.59383326e-02 -3.39101035e-04 9.99872919e-01 4.70585893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:95.33, Z:0.47 [[ 1.76926568e-01 -9.84219317e-01 -3.05381490e-03 1.23678613e+02] [ 9.84104650e-01 1.76952582e-01 -1.50273753e-02 9.53311723e+01] [ 1.53306135e-02 -3.46531508e-04 9.99882419e-01 4.71035996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:95.36, Z:0.47 [[ 1.75987627e-01 -9.84387641e-01 -3.05422779e-03 1.23683885e+02] [ 9.84272633e-01 1.76013765e-01 -1.50511976e-02 9.53579381e+01] [ 1.53537991e-02 -3.57368285e-04 9.99882060e-01 4.70969720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.69, Y:95.39, Z:0.47 [[ 1.75338015e-01 -9.84503786e-01 -2.97931213e-03 1.23688920e+02] [ 9.84394060e-01 1.75362966e-01 -1.47025303e-02 9.53854469e+01] [ 1.49971577e-02 -3.54904689e-04 9.99887473e-01 4.71305495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321858064 meters Centerline goodness [0,1] 0.9999348746336698 Centerline is valid? [True, True] Translation: X:123.69, Y:95.41, Z:0.47 [[ 1.74906294e-01 -9.84580878e-01 -2.87793131e-03 1.23693503e+02] [ 9.84478209e-01 1.74929628e-01 -1.42225547e-02 9.54123430e+01] [ 1.45066909e-02 -3.45646329e-04 9.99894713e-01 4.72741541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351858064 meters Centerline goodness [0,1] 0.9999131869085858 Centerline is valid? [True, True] Translation: X:123.70, Y:95.44, Z:0.47 [[ 1.74907572e-01 -9.84581048e-01 -2.73877024e-03 1.23698148e+02] [ 9.84487777e-01 1.74928710e-01 -1.35559248e-02 9.54377096e+01] [ 1.38259962e-02 -3.25251939e-04 9.99904363e-01 4.73523489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.70, Y:95.46, Z:0.47 [[ 1.74649510e-01 -9.84627149e-01 -2.63192415e-03 1.23702410e+02] [ 9.84540753e-01 1.74669060e-01 -1.30470694e-02 9.54643611e+01] [ 1.33062144e-02 -3.12572313e-04 9.99911420e-01 4.74222444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411858064 meters Centerline goodness [0,1] 0.999956576490512 Centerline is valid? [True, True] Translation: X:123.70, Y:95.49, Z:0.48 [[ 1.75394350e-01 -9.84495007e-01 -2.53040077e-03 1.23703485e+02] [ 9.84414912e-01 1.75412366e-01 -1.25611437e-02 9.54932297e+01] [ 1.28102468e-02 -2.87810627e-04 9.99917904e-01 4.75991593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:95.52, Z:0.48 [[ 1.75597447e-01 -9.84458616e-01 -2.60178517e-03 1.23708746e+02] [ 9.84373682e-01 1.75616482e-01 -1.29346636e-02 9.55202232e+01] [ 1.31905574e-02 -2.89834942e-04 9.99912959e-01 4.75948688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471858064 meters Centerline goodness [0,1] 0.9999782556698341 Centerline is valid? [True, True] Translation: X:123.71, Y:95.55, Z:0.48 [[ 1.75898098e-01 -9.84404816e-01 -2.64912942e-03 1.23712820e+02] [ 9.84316492e-01 1.75917811e-01 -1.31896611e-02 9.55479107e+01] [ 1.34499949e-02 -2.87545481e-04 9.99909503e-01 4.76529976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:95.57, Z:0.48 [[ 1.77022234e-01 -9.84203072e-01 -2.72783611e-03 1.23718321e+02] [ 9.84109176e-01 1.77043033e-01 -1.35976204e-02 9.55741297e+01] [ 1.38657642e-02 -2.77407401e-04 9.99903827e-01 4.76804891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:95.60, Z:0.48 [[ 1.77925283e-01 -9.84040265e-01 -2.71127628e-03 1.23722488e+02] [ 9.83947234e-01 1.77945750e-01 -1.35333182e-02 9.56015982e+01] [ 1.37997901e-02 -2.59833333e-04 9.99904745e-01 4.77272656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561858064 meters Centerline goodness [0,1] 0.9999782646496261 Centerline is valid? [True, True] Translation: X:123.73, Y:95.63, Z:0.48 [[ 1.78982697e-01 -9.83848709e-01 -2.62914164e-03 1.23727209e+02] [ 9.83761008e-01 1.79001852e-01 -1.31383534e-02 9.56278905e+01] [ 1.33967732e-02 -2.34909098e-04 9.99910232e-01 4.77501197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.73, Y:95.66, Z:0.48 [[ 1.80066252e-01 -9.83650998e-01 -2.61898816e-03 1.23731976e+02] [ 9.83563719e-01 1.80085168e-01 -1.31051157e-02 9.56557002e+01] [ 1.33625010e-02 -2.16152668e-04 9.99910694e-01 4.77864887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:95.68, Z:0.48 [[ 1.82293714e-01 -9.83241043e-01 -2.46047662e-03 1.23736607e+02] [ 9.83163807e-01 1.82310237e-01 -1.23249900e-02 9.56824788e+01] [ 1.25670061e-02 -1.72283353e-04 9.99921017e-01 4.78781955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:95.71, Z:0.48 [[ 1.83043734e-01 -9.83101870e-01 -2.38837519e-03 1.23741565e+02] [ 9.83028892e-01 1.83059249e-01 -1.19795092e-02 9.57097278e+01] [ 1.22142921e-02 -1.55067719e-04 9.99925391e-01 4.79673433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.75, Y:95.74, Z:0.48 [[ 1.84412358e-01 -9.82845911e-01 -2.44889226e-03 1.23747885e+02] [ 9.82768933e-01 1.84428565e-01 -1.23016080e-02 9.57356734e+01] [ 1.25422308e-02 -1.38126696e-04 9.99921334e-01 4.79752250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.75, Y:95.76, Z:0.48 [[ 1.85126557e-01 -9.82711515e-01 -2.49747064e-03 1.23753122e+02] [ 9.82631203e-01 1.85143358e-01 -1.25640771e-02 9.57633657e+01] [ 1.28092533e-02 -1.28148249e-04 9.99917950e-01 4.79682298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.76, Y:95.79, Z:0.48 [[ 1.84855363e-01 -9.82762573e-01 -2.49400419e-03 1.23758423e+02] [ 9.82682257e-01 1.84872142e-01 -1.25647655e-02 9.57904305e+01] [ 1.28092532e-02 -1.28149377e-04 9.99917950e-01 4.79776079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.76, Y:95.82, Z:0.48 [[ 1.85109245e-01 -9.82715008e-01 -2.40444895e-03 1.23763298e+02] [ 9.82640136e-01 1.85124823e-01 -1.21311012e-02 9.58178355e+01] [ 1.23665384e-02 -1.17129058e-04 9.99923525e-01 4.79479462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.77, Y:95.85, Z:0.48 [[ 1.84596685e-01 -9.82811450e-01 -2.39113273e-03 1.23769831e+02] [ 9.82737196e-01 1.84612132e-01 -1.20815605e-02 9.58452567e+01] [ 1.23153281e-02 -1.19639053e-04 9.99924156e-01 4.79383637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.831858064 meters Centerline goodness [0,1] 0.9999567857220025 Centerline is valid? [True, True] Translation: X:123.78, Y:95.87, Z:0.48 [[ 1.84320133e-01 -9.82863847e-01 -2.17857261e-03 1.23776523e+02] [ 9.82802033e-01 1.84332975e-01 -1.10234929e-02 9.58727998e+01] [ 1.12361754e-02 -1.09253918e-04 9.99936866e-01 4.80644173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:95.90, Z:0.48 [[ 1.83544324e-01 -9.83009289e-01 -2.05412011e-03 1.23783866e+02] [ 9.82954177e-01 1.83555786e-01 -1.04096308e-02 9.58994284e+01] [ 1.06098094e-02 -1.08477294e-04 9.99943709e-01 4.81425399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.79, Y:95.93, Z:0.48 [[ 1.82059950e-01 -9.83285398e-01 -2.00014351e-03 1.23791888e+02] [ 9.83233003e-01 1.82070898e-01 -1.01513789e-02 9.59263038e+01] [ 1.03458706e-02 -1.18447573e-04 9.99946473e-01 4.82413340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.80, Y:95.95, Z:0.48 [[ 1.81002691e-01 -9.83480508e-01 -2.02899456e-03 1.23798547e+02] [ 9.83426440e-01 1.81014017e-01 -1.03132352e-02 9.59537550e+01] [ 1.05101422e-02 -1.28643573e-04 9.99944759e-01 4.81928258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:95.98, Z:0.48 [[ 1.79664325e-01 -9.83725660e-01 -2.13431819e-03 1.23805563e+02] [ 9.83665683e-01 1.79676942e-01 -1.08637561e-02 9.59804643e+01] [ 1.10704434e-02 -1.47626144e-04 9.99938710e-01 4.81463523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:96.01, Z:0.48 [[ 1.77797862e-01 -9.84064424e-01 -2.26503499e-03 1.23813923e+02] [ 9.83996718e-01 1.77812201e-01 -1.15446977e-02 9.60072675e+01] [ 1.17634772e-02 -1.76164425e-04 9.99930792e-01 4.80701957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.82, Y:96.03, Z:0.48 [[ 1.76553875e-01 -9.84288268e-01 -2.30958545e-03 1.23821425e+02] [ 9.84217705e-01 1.76568877e-01 -1.17873382e-02 9.60341033e+01] [ 1.20099396e-02 -1.92034645e-04 9.99927860e-01 4.80339561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:96.06, Z:0.48 [[ 1.75317599e-01 -9.84509092e-01 -2.36364660e-03 1.23828750e+02] [ 9.84434993e-01 1.75333407e-01 -1.20805839e-02 9.60614807e+01] [ 1.23078709e-02 -2.08917466e-04 9.99924233e-01 4.80334040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:96.09, Z:0.48 [[ 1.73139181e-01 -9.84894227e-01 -2.48713381e-03 1.23838290e+02] [ 9.84811983e-01 1.73156870e-01 -1.27301019e-02 9.60888918e+01] [ 1.29684682e-02 -2.45279760e-04 9.99915876e-01 4.81076526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:96.11, Z:0.48 [[ 1.72362848e-01 -9.85030636e-01 -2.38622780e-03 1.23846085e+02] [ 9.84954767e-01 1.72379194e-01 -1.22278380e-02 9.61148773e+01] [ 1.24561311e-02 -2.42701461e-04 9.99922390e-01 4.80687014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:96.14, Z:0.48 [[ 1.71417804e-01 -9.85195529e-01 -2.38879542e-03 1.23852468e+02] [ 9.85119303e-01 1.71434263e-01 -1.22577748e-02 9.61420933e+01] [ 1.24858263e-02 -2.52047640e-04 9.99922017e-01 4.80826031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.86, Y:96.17, Z:0.48 [[ 1.71054790e-01 -9.85258637e-01 -2.38270809e-03 1.23860643e+02] [ 9.85182581e-01 1.71071198e-01 -1.22444843e-02 9.61690632e+01] [ 1.24715967e-02 -2.52924807e-04 9.99922195e-01 4.81040146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:96.20, Z:0.48 [[ 1.71065642e-01 -9.85256525e-01 -2.47509991e-03 1.23867324e+02] [ 9.85174211e-01 1.71083351e-01 -1.27381738e-02 9.61959662e+01] [ 1.29738172e-02 -2.59340723e-04 9.99915803e-01 4.81176568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:96.22, Z:0.48 [[ 1.70894410e-01 -9.85286330e-01 -2.43892165e-03 1.23873818e+02] [ 9.85206173e-01 1.70911623e-01 -1.25703757e-02 9.62231025e+01] [ 1.28022594e-02 -2.54633724e-04 9.99918015e-01 4.81594759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:96.25, Z:0.48 [[ 1.71356492e-01 -9.85206130e-01 -2.41518151e-03 1.23880405e+02] [ 9.85127287e-01 1.71373340e-01 -1.24662118e-02 9.62506679e+01] [ 1.26956860e-02 -2.43094877e-04 9.99919377e-01 4.82192346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.89, Y:96.28, Z:0.48 [[ 1.72694736e-01 -9.84972435e-01 -2.41455003e-03 1.23886050e+02] [ 9.84893377e-01 1.72711471e-01 -1.24813001e-02 9.62779801e+01] [ 1.27107571e-02 -2.22619497e-04 9.99919190e-01 4.83164467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.89, Y:96.30, Z:0.48 [[ 1.73837192e-01 -9.84771690e-01 -2.31269354e-03 1.23891275e+02] [ 9.84698930e-01 1.73852465e-01 -1.19723895e-02 9.63046694e+01] [ 1.21921377e-02 -1.96060284e-04 9.99925654e-01 4.82934294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341858064 meters Centerline goodness [0,1] 0.9999562046992357 Centerline is valid? [True, True] Translation: X:123.90, Y:96.33, Z:0.48 [[ 1.76561890e-01 -9.84286776e-01 -2.33291312e-03 1.23896424e+02] [ 9.84212476e-01 1.76577229e-01 -1.20948103e-02 9.63321334e+01] [ 1.23167012e-02 -1.60599624e-04 9.99924134e-01 4.83500327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371858064 meters Centerline goodness [0,1] 0.9999339904946313 Centerline is valid? [True, True] Translation: X:123.90, Y:96.36, Z:0.48 [[ 1.77919514e-01 -9.84042341e-01 -2.30612163e-03 1.23901696e+02] [ 9.83969505e-01 1.77934405e-01 -1.19733235e-02 9.63601122e+01] [ 1.21925957e-02 -1.38865449e-04 9.99925658e-01 4.83994149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:96.39, Z:0.49 [[ 1.78992911e-01 -9.83847597e-01 -2.33331078e-03 1.23906525e+02] [ 9.83772793e-01 1.79008076e-01 -1.21326405e-02 9.63878006e+01] [ 1.23543507e-02 -1.23791018e-04 9.99923674e-01 4.85175972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431858064 meters Centerline goodness [0,1] 0.999977939554379 Centerline is valid? [True, True] Translation: X:123.91, Y:96.41, Z:0.49 [[ 1.80157874e-01 -9.83635019e-01 -2.29981553e-03 1.23911866e+02] [ 9.83562106e-01 1.80172522e-01 -1.19768989e-02 9.64145920e+01] [ 1.21952607e-02 -1.04278767e-04 9.99925630e-01 4.85080639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.92, Y:96.44, Z:0.49 [[ 1.81923865e-01 -9.83310139e-01 -2.20845233e-03 1.23916920e+02] [ 9.83242677e-01 1.81937253e-01 -1.15184098e-02 9.64423353e+01] [ 1.17279689e-02 -7.59709509e-05 9.99931222e-01 4.85959562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.92, Y:96.47, Z:0.49 [[ 1.81825943e-01 -9.83328277e-01 -2.19699590e-03 1.23922562e+02] [ 9.83261305e-01 1.81839200e-01 -1.14765894e-02 9.64692376e+01] [ 1.16847548e-02 -7.34793749e-05 9.99931728e-01 4.85982665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:96.50, Z:0.49 [[ 1.81624713e-01 -9.83365794e-01 -2.04431692e-03 1.23928723e+02] [ 9.83307635e-01 1.81636206e-01 -1.06950732e-02 9.64971020e+01] [ 1.08884911e-02 -6.77028270e-05 9.99940716e-01 4.86387877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.551858064 meters Centerline goodness [0,1] 0.9998902136442482 Centerline is valid? [True, True] Translation: X:123.94, Y:96.52, Z:0.49 [[ 1.79709001e-01 -9.83717763e-01 -2.00964569e-03 1.23936819e+02] [ 9.83661410e-01 1.79720217e-01 -1.05296311e-02 9.65241304e+01] [ 1.07193591e-02 -8.45414298e-05 9.99942542e-01 4.87565758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.94, Y:96.55, Z:0.49 [[ 1.78251675e-01 -9.83982723e-01 -2.08361254e-03 1.23943839e+02] [ 9.83922011e-01 1.78263823e-01 -1.09309238e-02 9.65507513e+01] [ 1.11272729e-02 -1.01656758e-04 9.99938085e-01 4.87723180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.611858064 meters Centerline goodness [0,1] 0.9999117737879925 Centerline is valid? [True, True] Translation: X:123.95, Y:96.58, Z:0.49 [[ 1.76426435e-01 -9.84311847e-01 -1.97503725e-03 1.23950582e+02] [ 9.84257169e-01 1.76437453e-01 -1.03755074e-02 9.65779733e+01] [ 1.05612054e-02 -1.13430787e-04 9.99944222e-01 4.87955822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.641858064 meters Centerline goodness [0,1] 0.9997791470659688 Centerline is valid? [True, True] Translation: X:123.96, Y:96.61, Z:0.49 [[ 1.73123324e-01 -9.84898500e-01 -1.80554900e-03 1.23958602e+02] [ 9.84852703e-01 1.73132687e-01 -9.49869428e-03 9.66050769e+01] [ 9.66784929e-03 -1.33754284e-04 9.99953256e-01 4.89153731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.671858064 meters Centerline goodness [0,1] 0.999977970656915 Centerline is valid? [True, True] Translation: X:123.97, Y:96.63, Z:0.49 [[ 1.71692491e-01 -9.85149042e-01 -1.74730195e-03 1.23965570e+02] [ 9.85106033e-01 1.71701325e-01 -9.20646867e-03 9.66309374e+01] [ 9.36975785e-03 -1.40596152e-04 9.99956093e-01 4.89496076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701858064 meters Centerline goodness [0,1] 0.9995801197763585 Centerline is valid? [True, True] Translation: X:123.97, Y:96.66, Z:0.49 [[ 1.69272290e-01 -9.85567839e-01 -1.71064725e-03 1.23972575e+02] [ 9.85526513e-01 1.69280860e-01 -9.02681839e-03 9.66586304e+01] [ 9.18612173e-03 -1.57897997e-04 9.99957794e-01 4.89561757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.731858064 meters Centerline goodness [0,1] 0.9998231692491324 Centerline is valid? [True, True] Translation: X:123.98, Y:96.69, Z:0.49 [[ 1.67806436e-01 -9.85818486e-01 -1.70685490e-03 1.23979001e+02] [ 9.85777235e-01 1.67815032e-01 -9.01988333e-03 9.66860866e+01] [ 9.17840364e-03 -1.68984222e-04 9.99957863e-01 4.89578779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761858064 meters Centerline goodness [0,1] 0.9994912742474177 Centerline is valid? [True, True] Translation: X:123.99, Y:96.71, Z:0.49 [[ 1.66339735e-01 -9.86066982e-01 -1.73199838e-03 1.23986264e+02] [ 9.86024400e-01 1.66348651e-01 -9.16565506e-03 9.67127607e+01] [ 9.32606542e-03 -1.83180028e-04 9.99956495e-01 4.88850755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.791858064 meters Centerline goodness [0,1] 0.9995804164918402 Centerline is valid? [True, True] Translation: X:123.99, Y:96.74, Z:0.49 [[ 1.64974652e-01 -9.86296007e-01 -1.88449907e-03 1.23992676e+02] [ 9.86245460e-01 1.64985280e-01 -9.98751423e-03 9.67402166e+01] [ 1.01615600e-02 -2.10891974e-04 9.99948348e-01 4.88815808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821858064 meters Centerline goodness [0,1] 0.9996228759039887 Centerline is valid? [True, True] Translation: X:124.00, Y:96.77, Z:0.49 [[ 1.63082772e-01 -9.86610062e-01 -2.14363450e-03 1.23999335e+02] [ 9.86544470e-01 1.63096654e-01 -1.13793499e-02 9.67671176e+01] [ 1.15766008e-02 -2.59014830e-04 9.99932955e-01 4.88169849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851858064 meters Centerline goodness [0,1] 0.999666940515576 Centerline is valid? [True, True] Translation: X:124.00, Y:96.80, Z:0.49 [[ 1.62613730e-01 -9.86687130e-01 -2.29844218e-03 1.24004757e+02] [ 9.86611493e-01 1.62629731e-01 -1.22201993e-02 9.67951122e+01] [ 1.24313084e-02 -2.80497287e-04 9.99922689e-01 4.87311506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881858064 meters Centerline goodness [0,1] 0.9998226282065494 Centerline is valid? [True, True] Translation: X:124.01, Y:96.82, Z:0.49 [[ 1.62349995e-01 -9.86729997e-01 -2.52822650e-03 1.24009932e+02] [ 9.86638200e-01 1.62369386e-01 -1.34626884e-02 9.68231062e+01] [ 1.36945451e-02 -3.08777441e-04 9.99906178e-01 4.86541260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911858064 meters Centerline goodness [0,1] 0.9996892824644339 Centerline is valid? [True, True] Translation: X:124.02, Y:96.85, Z:0.48 [[ 1.63085627e-01 -9.86608196e-01 -2.71044690e-03 1.24015553e+02] [ 9.86502413e-01 1.63107841e-01 -1.44506604e-02 9.68493879e+01] [ 1.46992351e-02 -3.17167392e-04 9.99891910e-01 4.84891993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941858064 meters Centerline goodness [0,1] 0.9998673974540311 Centerline is valid? [True, True] Translation: X:124.02, Y:96.88, Z:0.48 [[ 1.63065253e-01 -9.86611526e-01 -2.72399069e-03 1.24020578e+02] [ 9.86504384e-01 1.63087697e-01 -1.45431399e-02 9.68767975e+01] [ 1.47926789e-02 -3.15747970e-04 9.99890532e-01 4.84887147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971858064 meters Centerline goodness [0,1] 0.9996890892535921 Centerline is valid? [True, True] Translation: X:124.03, Y:96.90, Z:0.48 [[ 1.63392788e-01 -9.86557522e-01 -2.65572281e-03 1.24025618e+02] [ 9.86455334e-01 1.63414095e-01 -1.42024039e-02 9.69021674e+01] [ 1.44454709e-02 -2.99181569e-04 9.99895614e-01 4.84314881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001858064 meters Centerline goodness [0,1] 0.9996243758009634 Centerline is valid? [True, True] Translation: X:124.03, Y:96.93, Z:0.48 [[ 1.63362859e-01 -9.86562716e-01 -2.56571975e-03 1.24030552e+02] [ 9.86467019e-01 1.63382756e-01 -1.37438935e-02 9.69286403e+01] [ 1.39784073e-02 -2.85756168e-04 9.99902256e-01 4.84680297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031858064 meters Centerline goodness [0,1] 0.9997118730468317 Centerline is valid? [True, True] Translation: X:124.04, Y:96.96, Z:0.49 [[ 1.63530582e-01 -9.86534886e-01 -2.58202608e-03 1.24035111e+02] [ 9.86437663e-01 1.63550722e-01 -1.38527322e-02 9.69566572e+01] [ 1.40884959e-02 -2.81662404e-04 9.99900713e-01 4.85697519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061858064 meters Centerline goodness [0,1] 0.999445184198846 Centerline is valid? [True, True] Translation: X:124.04, Y:96.98, Z:0.49 [[ 1.64515762e-01 -9.86371229e-01 -2.52233021e-03 1.24040120e+02] [ 9.86278142e-01 1.64534895e-01 -1.35534187e-02 9.69846080e+01] [ 1.37837136e-02 -2.57968143e-04 9.99904967e-01 4.87177317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091858064 meters Centerline goodness [0,1] 0.9990479564274012 Centerline is valid? [True, True] Translation: X:124.05, Y:97.01, Z:0.49 [[ 1.64933163e-01 -9.86301525e-01 -2.52059881e-03 1.24045769e+02] [ 9.86208265e-01 1.64952236e-01 -1.35653123e-02 9.70124389e+01] [ 1.37952666e-02 -2.48465515e-04 9.99904810e-01 4.87555207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121858064 meters Centerline goodness [0,1] 0.9991125704397213 Centerline is valid? [True, True] Translation: X:124.05, Y:97.04, Z:0.49 [[ 1.65153839e-01 -9.86264733e-01 -2.46712139e-03 1.24050825e+02] [ 9.86175104e-01 1.65172095e-01 -1.32982223e-02 9.70402135e+01] [ 1.35230673e-02 -2.36761241e-04 9.99908531e-01 4.88404741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151858064 meters Centerline goodness [0,1] 0.9989805642355339 Centerline is valid? [True, True] Translation: X:124.06, Y:97.07, Z:0.49 [[ 1.66096057e-01 -9.86106346e-01 -2.52470091e-03 1.24056535e+02] [ 9.86012162e-01 1.66115091e-01 -1.36306054e-02 9.70671019e+01] [ 1.38606174e-02 -2.25395989e-04 9.99903912e-01 4.88490692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181858064 meters Centerline goodness [0,1] 0.9985785990316706 Centerline is valid? [True, True] Translation: X:124.06, Y:97.09, Z:0.49 [[ 1.66479839e-01 -9.86041271e-01 -2.65984894e-03 1.24061160e+02] [ 9.85936389e-01 1.66500930e-01 -1.43832411e-02 9.70944329e+01] [ 1.46253366e-02 -2.27922192e-04 9.99893018e-01 4.88897468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21185806399998 meters Centerline goodness [0,1] 0.9987602665426933 Centerline is valid? [True, True] Translation: X:124.07, Y:97.12, Z:0.49 [[ 1.66515065e-01 -9.86035138e-01 -2.72774313e-03 1.24066796e+02] [ 9.85924483e-01 1.66537247e-01 -1.47735941e-02 9.71221276e+01] [ 1.50215537e-02 -2.29322756e-04 9.99887144e-01 4.88882787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24185806399998 meters Centerline goodness [0,1] 0.9984927741821084 Centerline is valid? [True, True] Translation: X:124.07, Y:97.15, Z:0.49 [[ 1.66721777e-01 -9.86000063e-01 -2.77937620e-03 1.24072419e+02] [ 9.85884809e-01 1.66744788e-01 -1.50770874e-02 9.71501436e+01] [ 1.53294557e-02 -2.26465963e-04 9.99882471e-01 4.89495713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27185806399999 meters Centerline goodness [0,1] 0.9988696056918678 Centerline is valid? [True, True] Translation: X:124.08, Y:97.18, Z:0.49 [[ 1.66456876e-01 -9.86044689e-01 -2.82499551e-03 1.24077595e+02] [ 9.85925249e-01 1.66480687e-01 -1.53487494e-02 9.71775951e+01] [ 1.56048600e-02 -2.30329535e-04 9.99878210e-01 4.89133675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.301858064 meters Centerline goodness [0,1] 0.999115337830366 Centerline is valid? [True, True] Translation: X:124.08, Y:97.21, Z:0.49 [[ 1.65958797e-01 -9.86127964e-01 -3.05241084e-03 1.24081823e+02] [ 9.85988094e-01 1.65986672e-01 -1.66103041e-02 9.72056756e+01] [ 1.68865449e-02 -2.53014663e-04 9.99857380e-01 4.88881181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.331858064 meters Centerline goodness [0,1] 0.9993577961334899 Centerline is valid? [True, True] Translation: X:124.09, Y:97.23, Z:0.49 [[ 1.65080100e-01 -9.86275388e-01 -3.06905013e-03 1.24087269e+02] [ 9.86133543e-01 1.65108414e-01 -1.67286353e-02 9.72319639e+01] [ 1.70057672e-02 -2.64928487e-04 9.99855356e-01 4.88080565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.361858064 meters Centerline goodness [0,1] 0.9992927551606772 Centerline is valid? [True, True] Translation: X:124.09, Y:97.26, Z:0.49 [[ 1.64400529e-01 -9.86388811e-01 -3.09503716e-03 1.24093232e+02] [ 9.86244111e-01 1.64429431e-01 -1.68971904e-02 9.72594342e+01] [ 1.71761148e-02 -2.74555126e-04 9.99852442e-01 4.88355610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.391858064 meters Centerline goodness [0,1] 0.9991144957053042 Centerline is valid? [True, True] Translation: X:124.10, Y:97.29, Z:0.49 [[ 1.63522393e-01 -9.86534576e-01 -3.15563195e-03 1.24099495e+02] [ 9.86383809e-01 1.63552578e-01 -1.72492388e-02 9.72859055e+01] [ 1.75330822e-02 -2.92027464e-04 9.99846241e-01 4.89068955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421858064 meters Centerline goodness [0,1] 0.9997784669915818 Centerline is valid? [True, True] Translation: X:124.11, Y:97.31, Z:0.49 [[ 1.61961726e-01 -9.86792185e-01 -3.09560687e-03 1.24105707e+02] [ 9.86646712e-01 1.61991011e-01 -1.69463534e-02 9.73128710e+01] [ 1.72239896e-02 -3.09609688e-04 9.99851608e-01 4.90655578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.451858064 meters Centerline goodness [0,1] 0.9997556912826208 Centerline is valid? [True, True] Translation: X:124.11, Y:97.34, Z:0.49 [[ 1.59078232e-01 -9.87261105e-01 -3.10262961e-03 1.24113814e+02] [ 9.87114618e-01 1.59108086e-01 -1.70102062e-02 9.73405434e+01] [ 1.72871685e-02 -3.56697504e-04 9.99850502e-01 4.91570086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481858064 meters Centerline goodness [0,1] 0.9997123575616772 Centerline is valid? [True, True] Translation: X:124.12, Y:97.37, Z:0.49 [[ 1.57794574e-01 -9.87467105e-01 -3.09650822e-03 1.24119651e+02] [ 9.87320798e-01 1.57824509e-01 -1.70019188e-02 9.73684808e+01] [ 1.72775405e-02 -3.74436435e-04 9.99850662e-01 4.91247009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.511858064 meters Centerline goodness [0,1] 0.9994895581348898 Centerline is valid? [True, True] Translation: X:124.13, Y:97.40, Z:0.49 [[ 1.55859632e-01 -9.87773729e-01 -3.29184208e-03 1.24125967e+02] [ 9.87607953e-01 1.55893799e-01 -1.81012489e-02 9.73964414e+01] [ 1.83931159e-02 -4.29795413e-04 9.99830740e-01 4.90432667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541858064 meters Centerline goodness [0,1] 0.9996457669146298 Centerline is valid? [True, True] Translation: X:124.13, Y:97.42, Z:0.49 [[ 1.54864992e-01 -9.87930160e-01 -3.29146991e-03 1.24131703e+02] [ 9.87763943e-01 1.54899330e-01 -1.81270668e-02 9.74242102e+01] [ 1.84181225e-02 -4.43947254e-04 9.99830273e-01 4.90463376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571858064 meters Centerline goodness [0,1] 0.9995788166965929 Centerline is valid? [True, True] Translation: X:124.14, Y:97.45, Z:0.49 [[ 1.53667799e-01 -9.88117976e-01 -3.01213387e-03 1.24136297e+02] [ 9.87978377e-01 1.53696736e-01 -1.66144291e-02 9.74518438e+01] [ 1.68799712e-02 -4.22820376e-04 9.99857434e-01 4.91651584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601858064 meters Centerline goodness [0,1] 0.9996222977626696 Centerline is valid? [True, True] Translation: X:124.14, Y:97.48, Z:0.49 [[ 1.53082218e-01 -9.88209188e-01 -2.90422153e-03 1.24142446e+02] [ 9.88079108e-01 1.53109204e-01 -1.60389766e-02 9.74779377e+01] [ 1.62945271e-02 -4.14318504e-04 9.99867150e-01 4.90932780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631858064 meters Centerline goodness [0,1] 0.9995348734191234 Centerline is valid? [True, True] Translation: X:124.15, Y:97.51, Z:0.49 [[ 1.52477114e-01 -9.88302993e-01 -2.81484707e-03 1.24146527e+02] [ 9.88180453e-01 1.52502549e-01 -1.55681061e-02 9.75052498e+01] [ 1.58152772e-02 -4.07796969e-04 9.99874848e-01 4.91329762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661858064 meters Centerline goodness [0,1] 0.9995348734191234 Centerline is valid? [True, True] Translation: X:124.15, Y:97.53, Z:0.49 [[ 1.52208159e-01 -9.88344463e-01 -2.81061027e-03 1.24151359e+02] [ 9.88221915e-01 1.52233560e-01 -1.55688714e-02 9.75324284e+01] [ 1.58152771e-02 -4.07797407e-04 9.99874848e-01 4.91423572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691858064 meters Centerline goodness [0,1] 0.9995130373190491 Centerline is valid? [True, True] Translation: X:124.15, Y:97.56, Z:0.49 [[ 1.52702613e-01 -9.88268842e-01 -2.57069321e-03 1.24153817e+02] [ 9.88166005e-01 1.52723820e-01 -1.42611950e-02 9.75607190e+01] [ 1.44865007e-02 -3.62549905e-04 9.99894999e-01 4.91243848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721858064 meters Centerline goodness [0,1] 0.9996677593691858 Centerline is valid? [True, True] Translation: X:124.16, Y:97.59, Z:0.49 [[ 1.53331731e-01 -9.88171822e-01 -2.41477191e-03 1.24157793e+02] [ 9.88080788e-01 1.53350392e-01 -1.34168997e-02 9.75877929e+01] [ 1.36285085e-02 -3.28753280e-04 9.99907074e-01 4.90789451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751858064 meters Centerline goodness [0,1] 0.9996240185779056 Centerline is valid? [True, True] Translation: X:124.16, Y:97.62, Z:0.49 [[ 1.53819309e-01 -9.88096440e-01 -2.24600815e-03 1.24161355e+02] [ 9.88017436e-01 1.53835420e-01 -1.24983763e-02 9.76154907e+01] [ 1.26951167e-02 -2.96603610e-04 9.99919370e-01 4.90660889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781858064 meters Centerline goodness [0,1] 0.9996244670745985 Centerline is valid? [True, True] Translation: X:124.16, Y:97.64, Z:0.49 [[ 1.54659200e-01 -9.87965649e-01 -2.09939312e-03 1.24164215e+02] [ 9.87896398e-01 1.54673222e-01 -1.17004472e-02 9.76431925e+01] [ 1.18843598e-02 -2.64401092e-04 9.99929344e-01 4.91119614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811858064 meters Centerline goodness [0,1] 0.9996910787969726 Centerline is valid? [True, True] Translation: X:124.17, Y:97.67, Z:0.49 [[ 1.57153935e-01 -9.87572708e-01 -1.66975233e-03 1.24165639e+02] [ 9.87528751e-01 1.57162697e-01 -9.31951960e-03 9.76713685e+01] [ 9.46612598e-03 -1.84329251e-04 9.99955178e-01 4.92162397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841858064 meters Centerline goodness [0,1] 0.9996263654146245 Centerline is valid? [True, True] Translation: X:124.17, Y:97.70, Z:0.49 [[ 1.58322112e-01 -9.87386443e-01 -1.45631837e-03 1.24169027e+02] [ 9.87352898e-01 1.58328739e-01 -8.14030850e-03 9.76990782e+01] [ 8.26820730e-03 -1.49109328e-04 9.99965807e-01 4.92566774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871858064 meters Centerline goodness [0,1] 0.9995824634655532 Centerline is valid? [True, True] Translation: X:124.17, Y:97.73, Z:0.49 [[ 1.60799258e-01 -9.86986394e-01 -1.20659966e-03 1.24169900e+02] [ 9.86963293e-01 1.60803751e-01 -6.75363969e-03 9.77283040e+01] [ 6.85977624e-03 -1.04889319e-04 9.99976466e-01 4.93324853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901858064 meters Centerline goodness [0,1] 0.9996694943263192 Centerline is valid? [True, True] Translation: X:124.17, Y:97.76, Z:0.49 [[ 1.61662073e-01 -9.86845619e-01 -1.04825325e-03 1.24173085e+02] [ 9.86828131e-01 1.61665449e-01 -5.87554465e-03 9.77564821e+01] [ 5.96772183e-03 -8.45930703e-05 9.99982189e-01 4.93245462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931858064 meters Centerline goodness [0,1] 0.999669676282757 Centerline is valid? [True, True] Translation: X:124.18, Y:97.78, Z:0.49 [[ 1.62248873e-01 -9.86749469e-01 -8.88535649e-04 1.24175893e+02] [ 9.86736866e-01 1.62251292e-01 -4.98758410e-03 9.77845292e+01] [ 5.06566202e-03 -6.75209805e-05 9.99987167e-01 4.93264580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96185806399998 meters Centerline goodness [0,1] 0.9997576558713372 Centerline is valid? [True, True] Translation: X:124.18, Y:97.81, Z:0.49 [[ 1.63091036e-01 -9.86610787e-01 -6.84451635e-04 1.24180055e+02] [ 9.86603288e-01 1.63092465e-01 -3.84712454e-03 9.78109443e+01] [ 3.90724347e-03 -4.78507071e-05 9.99992366e-01 4.93606178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99185806399998 meters Centerline goodness [0,1] 0.9998681492550433 Centerline is valid? [True, True] Translation: X:124.18, Y:97.84, Z:0.49 [[ 1.62818673e-01 -9.86655854e-01 -5.51939440e-04 1.24184464e+02] [ 9.86650965e-01 1.62819604e-01 -3.10654323e-03 9.78391096e+01] [ 3.15495562e-03 -3.87683350e-05 9.99995022e-01 4.93995103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02185806399999 meters Centerline goodness [0,1] 0.9999560758131465 Centerline is valid? [True, True] Translation: X:124.19, Y:97.87, Z:0.49 [[ 1.62383197e-01 -9.86727670e-01 -4.49142856e-04 1.24189442e+02] [ 9.86724425e-01 1.62383815e-01 -2.53109216e-03 9.78668336e+01] [ 2.57043220e-03 -3.21733886e-05 9.99996696e-01 4.94434435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.051858064 meters Centerline goodness [0,1] 0.9997799779977998 Centerline is valid? [True, True] Translation: X:124.20, Y:97.89, Z:0.49 [[ 1.61031528e-01 -9.86949221e-01 -2.87236176e-04 1.24195633e+02] [ 9.86947893e-01 1.61031782e-01 -1.61919735e-03 9.78934052e+01] [ 1.64431972e-03 -2.27453153e-05 9.99998648e-01 4.94179687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.081858064 meters Centerline goodness [0,1] 0.9998674296824941 Centerline is valid? [True, True] Translation: X:124.20, Y:97.92, Z:0.49 [[ 1.59404284e-01 -9.87213368e-01 -2.00130155e-04 1.24200466e+02] [ 9.87212723e-01 1.59404409e-01 -1.12871823e-03 9.79210012e+01] [ 1.14618736e-03 -1.76485133e-05 9.99999343e-01 4.93965780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.111858064 meters Centerline goodness [0,1] 0.9999778976217841 Centerline is valid? [True, True] Translation: X:124.21, Y:97.95, Z:0.49 [[ 1.57884473e-01 -9.87457570e-01 -1.99907856e-04 1.24206104e+02] [ 9.87456924e-01 1.57884598e-01 -1.13041549e-03 9.79475316e+01] [ 1.14779970e-03 -1.89253425e-05 9.99999341e-01 4.93548466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.141858064 meters Centerline goodness [0,1] 0.9999557952435683 Centerline is valid? [True, True] Translation: X:124.21, Y:97.97, Z:0.49 [[ 1.56098848e-01 -9.87741423e-01 -1.75730249e-04 1.24212815e+02] [ 9.87740924e-01 1.56098946e-01 -9.93322127e-04 9.79744263e+01] [ 1.00857672e-03 -1.85195188e-05 9.99999491e-01 4.93709678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.22, Y:98.00, Z:0.49 [[ 1.53116587e-01 -9.88208128e-01 7.70109340e-05 1.24218327e+02] [ 9.88208030e-01 1.53116606e-01 4.41189247e-04 9.80018281e+01] [-4.47778453e-04 8.54943164e-06 9.99999900e-01 4.93926776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.22, Y:98.03, Z:0.49 [[ 1.51602042e-01 -9.88441592e-01 1.99374718e-04 1.24223686e+02] [ 9.88440935e-01 1.51602171e-01 1.14049068e-03 9.80298772e+01] [-1.15753406e-03 2.41694170e-05 9.99999330e-01 4.94210600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.231858064 meters Centerline goodness [0,1] 0.9999113828703088 Centerline is valid? [True, True] Translation: X:124.23, Y:98.06, Z:0.49 [[ 1.50422602e-01 -9.88621765e-01 2.15125497e-04 1.24228632e+02] [ 9.88620998e-01 1.50422753e-01 1.23228203e-03 9.80582911e+01] [-1.25062060e-03 2.73145154e-05 9.99999218e-01 4.94002353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.261858064 meters Centerline goodness [0,1] 0.9998666014495976 Centerline is valid? [True, True] Translation: X:124.24, Y:98.08, Z:0.49 [[ 1.49393947e-01 -9.88777733e-01 2.09677654e-04 1.24235793e+02] [ 9.88777003e-01 1.49394092e-01 1.20140828e-03 9.80845172e+01] [-1.21925036e-03 2.78413164e-05 9.99999256e-01 4.94195621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.24, Y:98.11, Z:0.49 [[ 1.47037064e-01 -9.89130943e-01 2.83320985e-04 1.24239005e+02] [ 9.89129608e-01 1.47037331e-01 1.62544861e-03 9.81131694e+01] [-1.64944028e-03 4.12399839e-05 9.99998639e-01 4.93061909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.24, Y:98.14, Z:0.49 [[ 1.46095993e-01 -9.89270395e-01 2.16190355e-04 1.24242915e+02] [ 9.89269613e-01 1.46096150e-01 1.24400306e-03 9.81411416e+01] [-1.26223998e-03 3.21266860e-05 9.99999203e-01 4.92310823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:98.17, Z:0.49 [[ 1.45116316e-01 -9.89414602e-01 -2.98901909e-05 1.24247345e+02] [ 9.89414588e-01 1.45116319e-01 -1.65954846e-04 9.81685271e+01] [ 1.68535702e-04 -5.49103492e-06 9.99999986e-01 4.90903308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:98.20, Z:0.49 [[ 1.45104674e-01 -9.89416299e-01 -1.44807919e-04 1.24252537e+02] [ 9.89415954e-01 1.45104744e-01 -8.26515745e-04 9.81952476e+01] [ 8.38780465e-04 -2.33439673e-05 9.99999648e-01 4.90793526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.26, Y:98.22, Z:0.49 [[ 1.44740566e-01 -9.89469619e-01 -2.05607583e-04 1.24256944e+02] [ 9.89468918e-01 1.44740708e-01 -1.17819963e-03 9.82233756e+01] [ 1.19555253e-03 -3.29090312e-05 9.99999285e-01 4.90231906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.26, Y:98.25, Z:0.49 [[ 1.44304529e-01 -9.89533304e-01 -2.06513998e-04 1.24261836e+02] [ 9.89532595e-01 1.44304672e-01 -1.18539844e-03 9.82507002e+01] [ 1.20279217e-03 -3.32939696e-05 9.99999276e-01 4.89848902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471858064 meters Centerline goodness [0,1] 0.9999555703654337 Centerline is valid? [True, True] Translation: X:124.27, Y:98.28, Z:0.49 [[ 1.44123837e-01 -9.89559621e-01 -2.75899759e-04 1.24266678e+02] [ 9.89558346e-01 1.44124094e-01 -1.58897428e-03 9.82773648e+01] [ 1.61214859e-03 -4.40098385e-05 9.99998700e-01 4.89246594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:98.31, Z:0.49 [[ 1.44141208e-01 -9.89557050e-01 -3.95841656e-04 1.24270104e+02] [ 9.89554417e-01 1.44141738e-01 -2.28382040e-03 9.83056814e+01] [ 2.31702789e-03 -6.25142271e-05 9.99997314e-01 4.88980707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:98.33, Z:0.49 [[ 1.44077455e-01 -9.89566272e-01 -5.30113753e-04 1.24273691e+02] [ 9.89561527e-01 1.44078406e-01 -3.06540431e-03 9.83337493e+01] [ 3.10979865e-03 -8.29245249e-05 9.99995161e-01 4.88755827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.28, Y:98.36, Z:0.49 [[ 1.44054471e-01 -9.89569613e-01 -5.39596650e-04 1.24277888e+02] [ 9.89564680e-01 1.44055457e-01 -3.12549373e-03 9.83618362e+01] [ 3.17062546e-03 -8.37244396e-05 9.99994970e-01 4.88954350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.28, Y:98.39, Z:0.49 [[ 1.43848036e-01 -9.89599745e-01 -2.95891113e-04 1.24282589e+02] [ 9.89598261e-01 1.43848333e-01 -1.71421253e-03 9.83899675e+01] [ 1.73894773e-03 -4.62272232e-05 9.99998487e-01 4.90579516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:98.42, Z:0.49 [[ 1.43721859e-01 -9.89618106e-01 -1.80606518e-04 1.24285955e+02] [ 9.89617553e-01 1.43721969e-01 -1.04580995e-03 9.84177585e+01] [ 1.06090959e-03 -2.84256295e-05 9.99999437e-01 4.91849643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:98.44, Z:0.49 [[ 1.43111855e-01 -9.89706520e-01 -4.72521393e-05 1.24291176e+02] [ 9.89706483e-01 1.43111862e-01 -2.69604754e-04 9.84440553e+01] [ 2.73591925e-04 -8.18211222e-06 9.99999963e-01 4.92461219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:98.47, Z:0.49 [[ 1.42409306e-01 -9.89807836e-01 -1.91689317e-04 1.24294783e+02] [ 9.89807210e-01 1.42409432e-01 -1.11427299e-03 9.84723768e+01] [ 1.13021450e-03 -3.10526256e-05 9.99999361e-01 4.92492606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.30, Y:98.50, Z:0.49 [[ 1.42003962e-01 -9.89866060e-01 -2.40172350e-04 1.24299364e+02] [ 9.89865071e-01 1.42004160e-01 -1.39963088e-03 9.84987599e+01] [ 1.41955258e-03 -3.89850896e-05 9.99998992e-01 4.92459777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74185806399998 meters Centerline goodness [0,1] 0.9999556403318103 Centerline is valid? [True, True] Translation: X:124.30, Y:98.53, Z:0.49 [[ 1.41831236e-01 -9.89890805e-01 -3.08800309e-04 1.24301280e+02] [ 9.89889161e-01 1.41831564e-01 -1.80443275e-03 9.85267363e+01] [ 1.82998901e-03 -4.97531515e-05 9.99998324e-01 4.92455757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:98.55, Z:0.49 [[ 1.41724197e-01 -9.89906079e-01 -4.55399701e-04 1.24305891e+02] [ 9.89902485e-01 1.41724910e-01 -2.66831023e-03 9.85535236e+01] [ 2.70591800e-03 -7.26371719e-05 9.99996336e-01 4.92616323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:98.58, Z:0.49 [[ 1.42693323e-01 -9.89766831e-01 -4.86703414e-04 1.24307295e+02] [ 9.89762709e-01 1.42694134e-01 -2.85740989e-03 9.85819404e+01] [ 2.89761925e-03 -7.39875781e-05 9.99995799e-01 4.92506274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:98.61, Z:0.49 [[ 1.43001995e-01 -9.89722259e-01 -5.29010167e-04 1.24309498e+02] [ 9.89717371e-01 1.43002952e-01 -3.11130941e-03 9.86100398e+01] [ 3.15498220e-03 -7.86470974e-05 9.99995020e-01 4.92294929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:98.64, Z:0.49 [[ 1.43403816e-01 -9.89664079e-01 -5.97015561e-04 1.24312467e+02] [ 9.89657830e-01 1.43405033e-01 -3.51799319e-03 9.86378959e+01] [ 3.56724653e-03 -8.63474765e-05 9.99993634e-01 4.91592087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:98.67, Z:0.49 [[ 1.43438966e-01 -9.89658955e-01 -6.44260042e-04 1.24316222e+02] [ 9.89651651e-01 1.43440383e-01 -3.80331373e-03 9.86652066e+01] [ 3.85639640e-03 -9.20496263e-05 9.99992560e-01 4.91207392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:98.69, Z:0.49 [[ 1.43454689e-01 -9.89656610e-01 -7.39682005e-04 1.24319822e+02] [ 9.89646946e-01 1.43456558e-01 -4.37473822e-03 9.86925081e+01] [ 4.43560083e-03 -1.04447327e-04 9.99990157e-01 4.91828005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:98.72, Z:0.49 [[ 1.43010454e-01 -9.89720900e-01 -7.41248896e-04 1.24322281e+02] [ 9.89711170e-01 1.43012336e-01 -4.38989468e-03 9.87204353e+01] [ 4.45077826e-03 -1.05821479e-04 9.99990090e-01 4.92455423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.981858064 meters Centerline goodness [0,1] 0.9999780456211992 Centerline is valid? [True, True] Translation: X:124.33, Y:98.75, Z:0.49 [[ 1.42968208e-01 -9.89727032e-01 -7.02071563e-04 1.24326850e+02] [ 9.89718276e-01 1.42969898e-01 -4.16435699e-03 9.87468000e+01] [ 4.22195179e-03 -9.94823991e-05 9.99991083e-01 4.92978518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.33, Y:98.77, Z:0.49 [[ 1.43332994e-01 -9.89674268e-01 -7.04644486e-04 1.24328411e+02] [ 9.89665423e-01 1.43334692e-01 -4.18524134e-03 9.87748970e+01] [ 4.24302566e-03 -9.74791134e-05 9.99990994e-01 4.92979805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.33, Y:98.80, Z:0.49 [[ 1.43748166e-01 -9.89613955e-01 -8.27103579e-04 1.24331173e+02] [ 9.89601727e-01 1.43750503e-01 -4.92090130e-03 9.88033608e+01] [ 4.98868916e-03 -1.11132592e-04 9.99987550e-01 4.92567654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.33, Y:98.83, Z:0.49 [[ 1.44444241e-01 -9.89512546e-01 -8.84341225e-04 1.24333361e+02] [ 9.89498527e-01 1.44446903e-01 -5.26854247e-03 9.88317596e+01] [ 5.34102922e-03 -1.14043719e-04 9.99985730e-01 4.92212030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:98.86, Z:0.49 [[ 1.45153668e-01 -9.89408733e-01 -8.78827989e-04 1.24337369e+02] [ 9.89394842e-01 1.45156288e-01 -5.24388290e-03 9.88581201e+01] [ 5.31591094e-03 -1.08339043e-04 9.99985865e-01 4.91958302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:98.89, Z:0.49 [[ 1.46699747e-01 -9.89180730e-01 -8.17369269e-04 1.24338866e+02] [ 9.89168679e-01 1.46701995e-01 -4.88359150e-03 9.88868223e+01] [ 4.95066430e-03 -9.20944427e-05 9.99987741e-01 4.92624984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161858064 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:124.34, Y:98.92, Z:0.49 [[ 1.47502258e-01 -9.89061412e-01 -7.79891098e-04 1.24341017e+02] [ 9.89050404e-01 1.47504296e-01 -4.66709787e-03 9.89153108e+01] [ 4.73108369e-03 -8.29441320e-05 9.99988805e-01 4.92734462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:98.94, Z:0.49 [[ 1.48500686e-01 -9.88911909e-01 -8.84908952e-04 1.24344214e+02] [ 9.88897680e-01 1.48503297e-01 -5.30556342e-03 9.89419253e+01] [ 5.37814675e-03 -8.72046028e-05 9.99985534e-01 4.92637016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:98.97, Z:0.49 [[ 1.50253638e-01 -9.88646870e-01 -1.10050737e-03 1.24345683e+02] [ 9.88624769e-01 1.50257638e-01 -6.61118738e-03 9.89697696e+01] [ 6.70148934e-03 -9.46338849e-05 9.99977540e-01 4.92155214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:99.00, Z:0.49 [[ 1.51130983e-01 -9.88513045e-01 -1.17771044e-03 1.24349093e+02] [ 9.88487640e-01 1.51135543e-01 -7.08753132e-03 9.89981441e+01] [ 7.18411107e-03 -9.30066451e-05 9.99974190e-01 4.92167708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281858064 meters Centerline goodness [0,1] 0.9999782575609332 Centerline is valid? [True, True] Translation: X:124.35, Y:99.03, Z:0.49 [[ 1.52411182e-01 -9.88316552e-01 -1.10641092e-03 1.24350879e+02] [ 9.88294050e-01 1.52415178e-01 -6.66963863e-03 9.90266543e+01] [ 6.76034808e-03 -7.69318260e-05 9.99977146e-01 4.93088270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311858064 meters Centerline goodness [0,1] 0.9999783376297035 Centerline is valid? [True, True] Translation: X:124.35, Y:99.05, Z:0.49 [[ 1.53057528e-01 -9.88216684e-01 -1.08609225e-03 1.24354842e+02] [ 9.88194932e-01 1.53061365e-01 -6.55701877e-03 9.90535249e+01] [ 6.64599411e-03 -6.96697789e-05 9.99977913e-01 4.93358193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:99.08, Z:0.49 [[ 1.53235840e-01 -9.88189072e-01 -1.06510516e-03 1.24357436e+02] [ 9.88168090e-01 1.53239528e-01 -6.43989016e-03 9.90814628e+01] [ 6.52704529e-03 -6.56809520e-05 9.99978696e-01 4.94056041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:99.11, Z:0.49 [[ 1.53961212e-01 -9.88076302e-01 -1.08042425e-03 1.24359558e+02] [ 9.88054631e-01 1.53964991e-01 -6.54427798e-03 9.91086664e+01] [ 6.63259349e-03 -5.99532166e-05 9.99978002e-01 4.93966763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:99.14, Z:0.49 [[ 1.54021301e-01 -9.88066947e-01 -1.07138365e-03 1.24362663e+02] [ 9.88045558e-01 1.54025017e-01 -6.50147032e-03 9.91352853e+01] [ 6.58890781e-03 -5.72109323e-05 9.99978291e-01 4.94069287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.37, Y:99.16, Z:0.49 [[ 1.53739157e-01 -9.88110956e-01 -1.00467314e-03 1.24365657e+02] [ 9.88092084e-01 1.53742431e-01 -6.10721647e-03 9.91632983e+01] [ 6.18906840e-03 -5.37912589e-05 9.99980846e-01 4.94158852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.37, Y:99.19, Z:0.49 [[ 1.53255909e-01 -9.88186010e-01 -1.01784010e-03 1.24370331e+02] [ 9.88166573e-01 1.53259279e-01 -6.19818415e-03 9.91897290e+01] [ 6.28095230e-03 -5.58872130e-05 9.99980273e-01 4.94244686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49185806399998 meters Centerline goodness [0,1] 0.9999784152474692 Centerline is valid? [True, True] Translation: X:124.37, Y:99.22, Z:0.50 [[ 1.51381218e-01 -9.88475066e-01 -8.78457577e-04 1.24374143e+02] [ 9.88460545e-01 1.51383756e-01 -5.35811706e-03 9.92170851e+01] [ 5.42934932e-03 -5.72023680e-05 9.99985259e-01 4.95317545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:99.24, Z:0.50 [[ 1.49802056e-01 -9.88715723e-01 -7.49992918e-04 1.24379840e+02] [ 9.88705109e-01 1.49803923e-01 -4.58179296e-03 9.92436492e+01] [ 4.64244263e-03 -5.51598231e-05 9.99989222e-01 4.95307799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:99.27, Z:0.50 [[ 1.49508770e-01 -9.88760116e-01 -7.48646036e-04 1.24384034e+02] [ 9.88749501e-01 1.49510634e-01 -4.58201308e-03 9.92700715e+01] [ 4.64244233e-03 -5.51722542e-05 9.99989222e-01 4.95398735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.39, Y:99.30, Z:0.50 [[ 1.47824907e-01 -9.89013220e-01 -8.04645748e-04 1.24387673e+02] [ 9.89000914e-01 1.47827082e-01 -4.93420345e-03 9.92974732e+01] [ 4.99894088e-03 -6.63972149e-05 9.99987503e-01 4.95279519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.39, Y:99.32, Z:0.49 [[ 1.44036501e-01 -9.89571900e-01 -9.70430930e-04 1.24392858e+02] [ 9.89553944e-01 1.44039734e-01 -5.96205285e-03 9.93246749e+01] [ 6.03966058e-03 -1.01540522e-04 9.99981756e-01 4.94184640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.40, Y:99.35, Z:0.49 [[ 1.42277737e-01 -9.89826208e-01 -1.05977819e-03 1.24397855e+02] [ 9.89804726e-01 1.42281632e-01 -6.52235302e-03 9.93519376e+01] [ 6.60678293e-03 -1.20987839e-04 9.99978168e-01 4.93622170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.40, Y:99.38, Z:0.49 [[ 1.40601023e-01 -9.90065698e-01 -1.12501722e-03 1.24402623e+02] [ 9.90041420e-01 1.40605456e-01 -6.93485636e-03 9.93780254e+01] [ 7.02414697e-03 -1.38765743e-04 9.99975321e-01 4.93508591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:99.41, Z:0.49 [[ 1.39074549e-01 -9.90281304e-01 -1.09959949e-03 1.24407292e+02] [ 9.90258046e-01 1.39078820e-01 -6.78848254e-03 9.94059935e+01] [ 6.87543834e-03 -1.44782100e-04 9.99976353e-01 4.94037269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:99.43, Z:0.49 [[ 1.36945229e-01 -9.90578087e-01 -1.02880380e-03 1.24410534e+02] [ 9.90557670e-01 1.36949014e-01 -6.36159546e-03 9.94344558e+01] [ 6.44255072e-03 -1.47899343e-04 9.99979236e-01 4.94958230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.761858064 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:124.41, Y:99.46, Z:0.49 [[ 1.35936610e-01 -9.90716861e-01 -1.15732439e-03 1.24412694e+02] [ 9.90690939e-01 1.35941428e-01 -7.16884032e-03 9.94631349e+01] [ 7.25961931e-03 -1.72042937e-04 9.99973634e-01 4.94605075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.791858064 meters Centerline goodness [0,1] 0.9999355420910145 Centerline is valid? [True, True] Translation: X:124.42, Y:99.49, Z:0.49 [[ 1.35203690e-01 -9.90817033e-01 -1.25259892e-03 1.24415751e+02] [ 9.90786559e-01 1.35209358e-01 -7.77334506e-03 9.94897848e+01] [ 7.87132578e-03 -1.90073237e-04 9.99969003e-01 4.93715609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:99.52, Z:0.49 [[ 1.34705645e-01 -9.90884504e-01 -1.51297440e-03 1.24415716e+02] [ 9.90839873e-01 1.34713942e-01 -9.40739047e-03 9.95185108e+01] [ 9.52545618e-03 -2.31886760e-04 9.99954605e-01 4.92398607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:99.55, Z:0.49 [[ 1.34483924e-01 -9.90914549e-01 -1.55912369e-03 1.24417820e+02] [ 9.90866984e-01 1.34492750e-01 -9.71182040e-03 9.95463234e+01] [ 9.83327497e-03 -2.38800473e-04 9.99951624e-01 4.92725233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:99.57, Z:0.49 [[ 1.34087583e-01 -9.90968314e-01 -1.52377376e-03 1.24421012e+02] [ 9.90922716e-01 1.34096035e-01 -9.50914140e-03 9.95734403e+01] [ 9.62758984e-03 -2.34884247e-04 9.99953626e-01 4.92790149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:99.60, Z:0.49 [[ 1.33533867e-01 -9.91043215e-01 -1.43262764e-03 1.24421398e+02] [ 9.91002769e-01 1.33541364e-01 -8.95628732e-03 9.96019804e+01] [ 9.06738283e-03 -2.23770272e-04 9.99958865e-01 4.93501022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:99.63, Z:0.49 [[ 1.33516974e-01 -9.91045438e-01 -1.46908905e-03 1.24424162e+02] [ 9.91002779e-01 1.33524861e-01 -9.19797169e-03 9.96289901e+01] [ 9.31176779e-03 -2.27785985e-04 9.99956619e-01 4.93386287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:99.66, Z:0.49 [[ 1.33168684e-01 -9.91092282e-01 -1.47998569e-03 1.24426010e+02] [ 9.91048852e-01 1.33176707e-01 -9.28099043e-03 9.96574304e+01] [ 9.39541760e-03 -2.30800846e-04 9.99955835e-01 4.93156298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:99.69, Z:0.49 [[ 1.33833167e-01 -9.91002852e-01 -1.42518149e-03 1.24425377e+02] [ 9.90962432e-01 1.33840584e-01 -8.95300756e-03 9.96858793e+01] [ 9.06320314e-03 -2.14091960e-04 9.99958905e-01 4.93613686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:99.71, Z:0.49 [[ 1.34268434e-01 -9.90944017e-01 -1.39411981e-03 1.24428848e+02] [ 9.90905199e-01 1.34275517e-01 -8.77339359e-03 9.97132216e+01] [ 8.88113805e-03 -2.03450750e-04 9.99960541e-01 4.93923876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:99.74, Z:0.49 [[ 1.34950652e-01 -9.90851443e-01 -1.31904457e-03 1.24430924e+02] [ 9.90816569e-01 1.34956971e-01 -8.31523555e-03 9.97413243e+01] [ 8.41717740e-03 -1.84784758e-04 9.99964558e-01 4.94275452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:99.77, Z:0.50 [[ 1.36312387e-01 -9.90665224e-01 -1.16100184e-03 1.24430714e+02] [ 9.90638110e-01 1.36317248e-01 -7.33098296e-03 9.97697202e+01] [ 7.42081445e-03 -1.50828886e-04 9.99972454e-01 4.95208495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:99.80, Z:0.50 [[ 1.37013100e-01 -9.90568588e-01 -1.13312393e-03 1.24431513e+02] [ 9.90542666e-01 1.37017713e-01 -7.16744290e-03 9.97977150e+01] [ 7.25510184e-03 -1.40374033e-04 9.99973672e-01 4.95534937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:99.83, Z:0.50 [[ 1.37708082e-01 -9.90472137e-01 -1.19595398e-03 1.24433482e+02] [ 9.90443151e-01 1.37713203e-01 -7.57874896e-03 9.98260383e+01] [ 7.67123833e-03 -1.40869445e-04 9.99970566e-01 4.95119073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:99.85, Z:0.49 [[ 1.38211879e-01 -9.90401940e-01 -1.21435956e-03 1.24436154e+02] [ 9.90371945e-01 1.38217146e-01 -7.70922923e-03 9.98541353e+01] [ 7.80308089e-03 -1.37160577e-04 9.99969546e-01 4.94739297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:99.88, Z:0.49 [[ 1.38939094e-01 -9.90300255e-01 -1.15468711e-03 1.24439508e+02] [ 9.90273035e-01 1.38943837e-01 -7.34339395e-03 9.98805599e+01] [ 7.43260156e-03 -1.23171014e-04 9.99972370e-01 4.94668718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:99.91, Z:0.50 [[ 1.41162040e-01 -9.89985780e-01 -1.19725310e-03 1.24440037e+02] [ 9.89956401e-01 1.41167076e-01 -7.62770183e-03 9.99090986e+01] [ 7.72032907e-03 -1.08486414e-04 9.99970192e-01 4.95280062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:99.94, Z:0.50 [[ 1.41973987e-01 -9.89869738e-01 -1.13558978e-03 1.24442238e+02] [ 9.89843214e-01 1.41978496e-01 -7.24701813e-03 9.99367860e+01] [ 7.33483327e-03 -9.51677836e-05 9.99973095e-01 4.95160352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:99.97, Z:0.50 [[ 1.43155417e-01 -9.89699583e-01 -1.12324954e-03 1.24444456e+02] [ 9.89673537e-01 1.43159799e-01 -7.18072188e-03 9.99652152e+01] [ 7.26756163e-03 -8.36911070e-05 9.99973587e-01 4.95225037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:99.99, Z:0.49 [[ 1.45589000e-01 -9.89344540e-01 -1.10686533e-03 1.24444193e+02] [ 9.89319141e-01 1.45593194e-01 -7.08941724e-03 9.99917640e+01] [ 7.17502829e-03 -6.29018920e-05 9.99974257e-01 4.94802593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:100.02, Z:0.49 [[ 1.46399719e-01 -9.89224866e-01 -1.13476807e-03 1.24446308e+02] [ 9.89198058e-01 1.46404106e-01 -7.28282054e-03 1.00018556e+02] [ 7.37048188e-03 -5.63074891e-05 9.99972836e-01 4.94519725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:100.05, Z:0.49 [[ 1.48377212e-01 -9.88930235e-01 -1.09225445e-03 1.24447807e+02] [ 9.88905301e-01 1.48381227e-01 -7.02263217e-03 1.00046642e+02] [ 7.10696334e-03 -3.81376314e-05 9.99974744e-01 4.94202597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:100.07, Z:0.49 [[ 1.49216189e-01 -9.88804012e-01 -1.07470382e-03 1.24450955e+02] [ 9.88779777e-01 1.49220056e-01 -6.92291259e-03 1.00072316e+02] [ 7.00577111e-03 -2.96347700e-05 9.99975459e-01 4.94333269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:100.10, Z:0.49 [[ 1.49933900e-01 -9.88695332e-01 -1.16874412e-03 1.24453562e+02] [ 9.88666551e-01 1.49938454e-01 -7.54389370e-03 1.00100152e+02] [ 7.63385218e-03 -2.44128081e-05 9.99970861e-01 4.94705837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:100.13, Z:0.49 [[ 1.50429299e-01 -9.88620007e-01 -1.22752838e-03 1.24456634e+02] [ 9.88588133e-01 1.50434306e-01 -7.93863363e-03 1.00126737e+02] [ 8.03295442e-03 -1.93168967e-05 9.99967735e-01 4.93725524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:100.16, Z:0.49 [[ 1.52395594e-01 -9.88318814e-01 -1.22665312e-03 1.24458173e+02] [ 9.88286857e-01 1.52400531e-01 -7.94779588e-03 1.00155318e+02] [ 8.04189879e-03 -1.07608477e-06 9.99967663e-01 4.94603504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:100.18, Z:0.49 [[ 1.53106219e-01 -9.88209089e-01 -1.13258836e-03 1.24461418e+02] [ 9.88181746e-01 1.53110408e-01 -7.35117835e-03 1.00183461e+02] [ 7.43791233e-03 6.30797950e-06 9.99972338e-01 4.94834619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:100.21, Z:0.50 [[ 1.54044711e-01 -9.88063342e-01 -1.02885867e-03 1.24464739e+02] [ 9.88040698e-01 1.54048147e-01 -6.68943899e-03 1.00211429e+02] [ 6.76808322e-03 1.39184610e-05 9.99977096e-01 4.95332753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:100.24, Z:0.50 [[ 1.55096836e-01 -9.87898723e-01 -1.04119544e-03 1.24468253e+02] [ 9.87875444e-01 1.55100329e-01 -6.78195151e-03 1.00239192e+02] [ 6.86137099e-03 2.32878171e-05 9.99976460e-01 4.95277856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:100.27, Z:0.50 [[ 1.57834798e-01 -9.87465076e-01 -9.48368896e-04 1.24470718e+02] [ 9.87445687e-01 1.57837642e-01 -6.18821207e-03 1.00266463e+02] [ 6.26033162e-03 4.02524238e-05 9.99980403e-01 4.95105023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:100.29, Z:0.49 [[ 1.59321381e-01 -9.87226229e-01 -1.03453992e-03 1.24473966e+02] [ 9.87203062e-01 1.59324730e-01 -6.76349792e-03 1.00294283e+02] [ 6.84193034e-03 5.62688480e-05 9.99976592e-01 4.94954067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:100.32, Z:0.49 [[ 1.61502615e-01 -9.86871812e-01 -9.65945298e-04 1.24477000e+02] [ 9.86851537e-01 1.61505489e-01 -6.32614155e-03 1.00320896e+02] [ 6.39909624e-03 6.84437999e-05 9.99979523e-01 4.94806275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:100.35, Z:0.49 [[ 1.62023374e-01 -9.86786498e-01 -9.13060786e-04 1.24481276e+02] [ 9.86768314e-01 1.62025932e-01 -5.99094387e-03 1.00347836e+02] [ 6.05972205e-03 6.96934886e-05 9.99981637e-01 4.94984829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.49, Y:100.37, Z:0.49 [[ 1.62071677e-01 -9.86778573e-01 -9.04924899e-04 1.24485498e+02] [ 9.86760640e-01 1.62074187e-01 -5.94955970e-03 1.00374058e+02] [ 6.01756300e-03 7.13108443e-05 9.99981892e-01 4.94897079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.49, Y:100.40, Z:0.50 [[ 1.61863198e-01 -9.86812851e-01 -8.38092722e-04 1.24494354e+02] [ 9.86797410e-01 1.61865354e-01 -5.52078572e-03 1.00401017e+02] [ 5.58364048e-03 6.65843064e-05 9.99984409e-01 4.95113014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.50, Y:100.43, Z:0.49 [[ 1.60893998e-01 -9.86971324e-01 -8.53269672e-04 1.24499703e+02] [ 9.86955257e-01 1.60896248e-01 -5.63188350e-03 1.00427214e+02] [ 5.69579540e-03 6.39972617e-05 9.99983777e-01 4.94994665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:100.45, Z:0.49 [[ 1.59735105e-01 -9.87159503e-01 -9.01090306e-04 1.24508041e+02] [ 9.87141516e-01 1.59737634e-01 -5.95953208e-03 1.00453944e+02] [ 6.02694676e-03 6.24428314e-05 9.99981836e-01 4.94896229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:100.48, Z:0.50 [[ 1.58991159e-01 -9.87279660e-01 -8.27412074e-04 1.24513987e+02] [ 9.87264441e-01 1.58993303e-01 -5.48201724e-03 1.00481146e+02] [ 5.54383709e-03 5.47177553e-05 9.99984631e-01 4.95066649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.52, Y:100.51, Z:0.49 [[ 1.56978106e-01 -9.87601724e-01 -8.41600012e-04 1.24520737e+02] [ 9.87585923e-01 1.56980355e-01 -5.58680280e-03 1.00507117e+02] [ 5.64965075e-03 4.58533980e-05 9.99984040e-01 4.94189246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.53, Y:100.53, Z:0.49 [[ 1.55825296e-01 -9.87784246e-01 -8.71643105e-04 1.24528114e+02] [ 9.87767233e-01 1.55827728e-01 -5.79770631e-03 1.00534016e+02] [ 5.86270912e-03 4.24488058e-05 9.99982813e-01 4.94525116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.54, Y:100.56, Z:0.50 [[ 1.53499464e-01 -9.88148367e-01 -8.48295349e-04 1.24537372e+02] [ 9.88132197e-01 1.53501805e-01 -5.65314647e-03 1.00561423e+02] [ 5.71636232e-03 2.95270051e-05 9.99983661e-01 4.95021298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.54, Y:100.59, Z:0.49 [[ 1.51221961e-01 -9.88499552e-01 -7.44712039e-04 1.24544807e+02] [ 9.88487048e-01 1.51223793e-01 -4.97190130e-03 1.00587319e+02] [ 5.02734039e-03 1.57224580e-05 9.99987363e-01 4.94802152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.55, Y:100.61, Z:0.49 [[ 1.48748966e-01 -9.88874744e-01 -6.97665950e-04 1.24552591e+02] [ 9.88863731e-01 1.48750602e-01 -4.66690225e-03 1.00613700e+02] [ 4.71876000e-03 4.30032797e-06 9.99988867e-01 4.94417260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.56, Y:100.64, Z:0.49 [[ 1.47375835e-01 -9.89080312e-01 -7.06974895e-04 1.24559518e+02] [ 9.89068960e-01 1.47377530e-01 -4.73871115e-03 1.00641531e+02] [ 4.79115812e-03 -8.75413052e-07 9.99988522e-01 4.94393315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.57, Y:100.67, Z:0.49 [[ 1.45478411e-01 -9.89361154e-01 -7.33502236e-04 1.24566363e+02] [ 9.89348890e-01 1.45480260e-01 -4.92614808e-03 1.00668567e+02] [ 4.98044965e-03 -9.04142664e-06 9.99987597e-01 4.94368542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.57, Y:100.70, Z:0.49 [[ 1.45205005e-01 -9.89401319e-01 -7.32140652e-04 1.24570343e+02] [ 9.89389055e-01 1.45206851e-01 -4.92635050e-03 1.00695847e+02] [ 4.98044952e-03 -9.04119856e-06 9.99987597e-01 4.94462314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.58, Y:100.72, Z:0.49 [[ 1.43583833e-01 -9.89637895e-01 -7.20773612e-04 1.24577442e+02] [ 9.89625966e-01 1.43585641e-01 -4.85916535e-03 1.00721981e+02] [ 4.91230691e-03 -1.55986979e-05 9.99987934e-01 4.94625292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.58, Y:100.75, Z:0.49 [[ 1.42198576e-01 -9.89837924e-01 -6.70747232e-04 1.24584095e+02] [ 9.89827556e-01 1.42200157e-01 -4.53043343e-03 1.00749728e+02] [ 4.57977518e-03 -1.97029095e-05 9.99989513e-01 4.94972881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.59, Y:100.78, Z:0.50 [[ 1.41362373e-01 -9.89957736e-01 -5.99985719e-04 1.24590599e+02] [ 9.89949413e-01 1.41363645e-01 -4.05962297e-03 1.00777546e+02] [ 4.10367133e-03 -2.00775745e-05 9.99991580e-01 4.95869067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.60, Y:100.80, Z:0.50 [[ 1.41578694e-01 -9.89926782e-01 -6.63578605e-04 1.24597363e+02] [ 9.89916556e-01 1.41580247e-01 -4.49957732e-03 1.00804183e+02] [ 4.54820171e-03 -1.98431693e-05 9.99989657e-01 4.95842230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.261858064 meters Centerline goodness [0,1] 0.9999783933278596 Centerline is valid? [True, True] Translation: X:124.60, Y:100.83, Z:0.49 [[ 1.42055635e-01 -9.89858328e-01 -8.28845076e-04 1.24601976e+02] [ 9.89842298e-01 1.42058052e-01 -5.63338422e-03 1.00831433e+02] [ 5.69399640e-03 -2.01719421e-05 9.99983789e-01 4.94862700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.61, Y:100.86, Z:0.49 [[ 1.42114942e-01 -9.89849735e-01 -9.19162827e-04 1.24606891e+02] [ 9.89829937e-01 1.42117913e-01 -6.26054901e-03 1.00858467e+02] [ 6.32763228e-03 -2.00973214e-05 9.99979980e-01 4.93659481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.61, Y:100.89, Z:0.49 [[ 1.41956462e-01 -9.89872440e-01 -9.57054994e-04 1.24612898e+02] [ 9.89850887e-01 1.41959687e-01 -6.53212123e-03 1.00885898e+02] [ 6.60183001e-03 -2.00649140e-05 9.99978207e-01 4.93670776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.62, Y:100.91, Z:0.49 [[ 1.41628763e-01 -9.89919421e-01 -9.12827700e-04 1.24620970e+02] [ 9.89899750e-01 1.41631703e-01 -6.24071360e-03 1.00912536e+02] [ 6.30708893e-03 -1.97433678e-05 9.99980110e-01 4.93832536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.63, Y:100.94, Z:0.49 [[ 1.41331653e-01 -9.89961898e-01 -8.96816156e-04 1.24627025e+02] [ 9.89942848e-01 1.41334497e-01 -6.14141084e-03 1.00939649e+02] [ 6.20651379e-03 -1.98209940e-05 9.99980739e-01 4.94215556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.63, Y:100.97, Z:0.49 [[ 1.40510788e-01 -9.90078715e-01 -9.25721633e-04 1.24634323e+02] [ 9.90058339e-01 1.40513835e-01 -6.35198459e-03 1.00966890e+02] [ 6.41904143e-03 -2.39960642e-05 9.99979397e-01 4.94596942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.64, Y:100.99, Z:0.49 [[ 1.40121641e-01 -9.90133934e-01 -8.48067167e-04 1.24639013e+02] [ 9.90116770e-01 1.40124205e-01 -5.83002432e-03 1.00994226e+02] [ 5.89133966e-03 -2.27729501e-05 9.99982646e-01 4.94857363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.64, Y:101.02, Z:0.49 [[ 1.39844599e-01 -9.90173102e-01 -8.46435862e-04 1.24642908e+02] [ 9.90155937e-01 1.39847158e-01 -5.83026126e-03 1.01021528e+02] [ 5.89133952e-03 -2.27729496e-05 9.99982646e-01 4.94951136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501858064 meters Centerline goodness [0,1] 0.9999783385681793 Centerline is valid? [True, True] Translation: X:124.65, Y:101.05, Z:0.50 [[ 1.39445645e-01 -9.90229362e-01 -8.49818449e-04 1.24647681e+02] [ 9.90211993e-01 1.39448232e-01 -5.86516556e-03 1.01049464e+02] [ 5.92636483e-03 -2.36286281e-05 9.99982439e-01 4.95138918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.65, Y:101.08, Z:0.50 [[ 1.39494755e-01 -9.90222538e-01 -7.34388202e-04 1.24654105e+02] [ 9.90209518e-01 1.39496687e-01 -5.07784896e-03 1.01075470e+02] [ 5.13064520e-03 -1.88648895e-05 9.99986838e-01 4.96038571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561858064 meters Centerline goodness [0,1] 0.9999782622872422 Centerline is valid? [True, True] Translation: X:124.66, Y:101.10, Z:0.50 [[ 1.39703891e-01 -9.90193077e-01 -7.02802303e-04 1.24659591e+02] [ 9.90181105e-01 1.39705658e-01 -4.86918051e-03 1.01103140e+02] [ 4.91961429e-03 -1.56580950e-05 9.99987899e-01 4.96930008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.67, Y:101.13, Z:0.50 [[ 1.40351877e-01 -9.90101439e-01 -7.00386174e-04 1.24665875e+02] [ 9.90089501e-01 1.40353624e-01 -4.86220355e-03 1.01131092e+02] [ 4.91237647e-03 -1.10256025e-05 9.99987934e-01 4.98016895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621858064 meters Centerline goodness [0,1] 0.9998690299484851 Centerline is valid? [True, True] Translation: X:124.67, Y:101.16, Z:0.50 [[ 1.40903335e-01 -9.90023146e-01 -6.48272229e-04 1.24670534e+02] [ 9.90012880e-01 1.40904826e-01 -4.50851060e-03 1.01157820e+02] [ 4.55487453e-03 -6.53367845e-06 9.99989626e-01 4.97863788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.67, Y:101.19, Z:0.50 [[ 1.41012218e-01 -9.90007611e-01 -6.96289885e-04 1.24674984e+02] [ 9.89995728e-01 1.41013937e-01 -4.85056362e-03 1.01185399e+02] [ 4.90028148e-03 -5.33527387e-06 9.99987994e-01 4.97754539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681858064 meters Centerline goodness [0,1] 0.999934496386384 Centerline is valid? [True, True] Translation: X:124.68, Y:101.21, Z:0.50 [[ 1.41336460e-01 -9.89961343e-01 -7.38315768e-04 1.24679687e+02] [ 9.89947925e-01 1.41338389e-01 -5.15423567e-03 1.01213534e+02] [ 5.20684642e-03 -2.41273660e-06 9.99986444e-01 4.97276395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71185806399998 meters Centerline goodness [0,1] 0.9997810906065979 Centerline is valid? [True, True] Translation: X:124.69, Y:101.24, Z:0.50 [[ 1.41844459e-01 -9.89888557e-01 -8.91019154e-04 1.24686236e+02] [ 9.89868924e-01 1.41847258e-01 -6.23450849e-03 1.01240670e+02] [ 6.29785724e-03 2.33831583e-06 9.99980168e-01 4.96379083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74185806399998 meters Centerline goodness [0,1] 0.9999781430319986 Centerline is valid? [True, True] Translation: X:124.69, Y:101.27, Z:0.50 [[ 1.41782546e-01 -9.89897420e-01 -8.99246982e-04 1.24692027e+02] [ 9.89877337e-01 1.41785397e-01 -6.30539604e-03 1.01267559e+02] [ 6.36919536e-03 3.85089486e-06 9.99979716e-01 4.96603221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:101.30, Z:0.50 [[ 1.41231441e-01 -9.89976216e-01 -8.78109651e-04 1.24697977e+02] [ 9.89956989e-01 1.41234170e-01 -6.17000311e-03 1.01295061e+02] [ 6.23217542e-03 2.10764103e-06 9.99980580e-01 4.97124841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.801858064 meters Centerline goodness [0,1] 0.9995407225964482 Centerline is valid? [True, True] Translation: X:124.70, Y:101.32, Z:0.50 [[ 1.40052701e-01 -9.90143676e-01 -8.61034734e-04 1.24704709e+02] [ 9.90125116e-01 1.40055347e-01 -6.06253976e-03 1.01321649e+02] [ 6.12337792e-03 -3.45705149e-06 9.99981252e-01 4.97382650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.831858064 meters Centerline goodness [0,1] 0.9996720881427072 Centerline is valid? [True, True] Translation: X:124.71, Y:101.35, Z:0.50 [[ 1.39031694e-01 -9.90287568e-01 -8.48771124e-04 1.24709616e+02] [ 9.90269461e-01 1.39034284e-01 -5.98852522e-03 1.01348899e+02] [ 6.04837036e-03 -7.91731909e-06 9.99981708e-01 4.97023558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.861858064 meters Centerline goodness [0,1] 0.9997382256058986 Centerline is valid? [True, True] Translation: X:124.72, Y:101.38, Z:0.50 [[ 1.38439016e-01 -9.90370583e-01 -8.64221482e-04 1.24715332e+02] [ 9.90351737e-01 1.38441713e-01 -6.10977855e-03 1.01376832e+02] [ 6.17058925e-03 -1.00515174e-05 9.99980962e-01 4.97004268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.891858064 meters Centerline goodness [0,1] 0.999649430324277 Centerline is valid? [True, True] Translation: X:124.72, Y:101.40, Z:0.50 [[ 1.36669257e-01 -9.90616285e-01 -9.43763083e-04 1.24724048e+02] [ 9.90593718e-01 1.36672513e-01 -6.68653885e-03 1.01403467e+02] [ 6.75278075e-03 -2.10414876e-05 9.99977199e-01 4.97916634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921858064 meters Centerline goodness [0,1] 0.9996918200228934 Centerline is valid? [True, True] Translation: X:124.73, Y:101.43, Z:0.50 [[ 1.35896888e-01 -9.90722458e-01 -1.02342999e-03 1.24730200e+02] [ 9.90695805e-01 1.35900739e-01 -7.26713406e-03 1.01429789e+02] [ 7.33879781e-03 -2.63268936e-05 9.99973070e-01 4.98424981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.951858064 meters Centerline goodness [0,1] 0.999735274652548 Centerline is valid? [True, True] Translation: X:124.74, Y:101.46, Z:0.50 [[ 1.35039637e-01 -9.90839584e-01 -1.10196797e-03 1.24735787e+02] [ 9.90808554e-01 1.35044130e-01 -7.84176897e-03 1.01457757e+02] [ 7.91874941e-03 -3.28896553e-05 9.99968646e-01 4.98821558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981858064 meters Centerline goodness [0,1] 0.9997575169738119 Centerline is valid? [True, True] Translation: X:124.74, Y:101.48, Z:0.50 [[ 1.33717375e-01 -9.91018833e-01 -1.15591117e-03 1.24742142e+02] [ 9.90984548e-01 1.33722365e-01 -8.24352615e-03 1.01484207e+02] [ 8.32406084e-03 -4.31874250e-05 9.99965353e-01 4.98458582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.011858064 meters Centerline goodness [0,1] 0.9995820869259194 Centerline is valid? [True, True] Translation: X:124.75, Y:101.51, Z:0.50 [[ 1.32628859e-01 -9.91165137e-01 -1.12133264e-03 1.24746718e+02] [ 9.91132743e-01 1.32633590e-01 -8.01350171e-03 1.01512216e+02] [ 8.09142989e-03 -4.85679141e-05 9.99967263e-01 4.98328611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041858064 meters Centerline goodness [0,1] 0.9998674589675054 Centerline is valid? [True, True] Translation: X:124.75, Y:101.54, Z:0.50 [[ 1.31828694e-01 -9.91271859e-01 -1.13875173e-03 1.24751542e+02] [ 9.91238313e-01 1.31833602e-01 -8.15525581e-03 1.01538496e+02] [ 8.23420133e-03 -5.36776175e-05 9.99966097e-01 4.98196169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071858064 meters Centerline goodness [0,1] 0.9994922625223515 Centerline is valid? [True, True] Translation: X:124.76, Y:101.57, Z:0.50 [[ 1.30252703e-01 -9.91480138e-01 -1.16998297e-03 1.24758510e+02] [ 9.91444585e-01 1.30257941e-01 -8.39661573e-03 1.01565403e+02] [ 8.47747730e-03 -6.62913882e-05 9.99964063e-01 4.98261951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101858064 meters Centerline goodness [0,1] 0.9996225493461223 Centerline is valid? [True, True] Translation: X:124.76, Y:101.59, Z:0.50 [[ 1.29495249e-01 -9.91579219e-01 -1.27795416e-03 1.24764122e+02] [ 9.91536627e-01 1.29501532e-01 -9.19078440e-03 1.01592977e+02] [ 9.27888784e-03 -7.69754424e-05 9.99956947e-01 4.98333126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131858064 meters Centerline goodness [0,1] 0.9996893514101227 Centerline is valid? [True, True] Translation: X:124.77, Y:101.62, Z:0.50 [[ 1.28927412e-01 -9.91653154e-01 -1.32065495e-03 1.24769470e+02] [ 9.91607485e-01 1.28934149e-01 -9.51742261e-03 1.01620733e+02] [ 9.60825967e-03 -8.25146701e-05 9.99953836e-01 4.98664443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161858064 meters Centerline goodness [0,1] 0.9999554595461327 Centerline is valid? [True, True] Translation: X:124.77, Y:101.65, Z:0.50 [[ 1.28491575e-01 -9.91709651e-01 -1.37215163e-03 1.24774355e+02] [ 9.91660151e-01 1.28498872e-01 -9.90886798e-03 1.01648653e+02] [ 1.00030399e-02 -8.75020347e-05 9.99949965e-01 4.98293616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191858064 meters Centerline goodness [0,1] 0.99975671252267 Centerline is valid? [True, True] Translation: X:124.78, Y:101.68, Z:0.50 [[ 1.28867430e-01 -9.91660796e-01 -1.43231843e-03 1.24778832e+02] [ 9.91606625e-01 1.28875362e-01 -1.03654091e-02 1.01675307e+02] [ 1.04635604e-02 -8.45328165e-05 9.99945252e-01 4.97677720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221858064 meters Centerline goodness [0,1] 0.9996440568619163 Centerline is valid? [True, True] Translation: X:124.78, Y:101.70, Z:0.50 [[ 1.29112350e-01 -9.91628882e-01 -1.47045785e-03 1.24782539e+02] [ 9.91571549e-01 1.29120698e-01 -1.06634612e-02 1.01703038e+02] [ 1.07640627e-02 -8.12796262e-05 9.99942062e-01 4.97306692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251858064 meters Centerline goodness [0,1] 0.999623176840892 Centerline is valid? [True, True] Translation: X:124.79, Y:101.73, Z:0.50 [[ 1.29096474e-01 -9.91630933e-01 -1.48070712e-03 1.24786615e+02] [ 9.91572554e-01 1.29104941e-01 -1.07602712e-02 1.01729939e+02] [ 1.08613843e-02 -7.91154790e-05 9.99941010e-01 4.96377193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281858064 meters Centerline goodness [0,1] 0.9997332918453982 Centerline is valid? [True, True] Translation: X:124.79, Y:101.76, Z:0.50 [[ 1.28837237e-01 -9.91664612e-01 -1.50458571e-03 1.24791131e+02] [ 9.91604090e-01 1.28845997e-01 -1.09561861e-02 1.01757654e+02] [ 1.10587219e-02 -8.03885980e-05 9.99938847e-01 4.96636226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311858064 meters Centerline goodness [0,1] 0.9998220363490757 Centerline is valid? [True, True] Translation: X:124.80, Y:101.79, Z:0.50 [[ 1.28512509e-01 -9.91706847e-01 -1.43689565e-03 1.24795077e+02] [ 9.91651423e-01 1.28520518e-01 -1.04848289e-02 1.01785612e+02] [ 1.05825472e-02 -7.74679420e-05 9.99944000e-01 4.98073989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341858064 meters Centerline goodness [0,1] 0.9997559297965342 Centerline is valid? [True, True] Translation: X:124.80, Y:101.81, Z:0.50 [[ 1.28576207e-01 -9.91698578e-01 -1.44557249e-03 1.24801550e+02] [ 9.91642286e-01 1.28584311e-01 -1.05665553e-02 1.01811796e+02] [ 1.06647158e-02 -7.48832085e-05 9.99943128e-01 4.97992855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371858064 meters Centerline goodness [0,1] 0.9999333792276431 Centerline is valid? [True, True] Translation: X:124.81, Y:101.84, Z:0.50 [[ 1.28961264e-01 -9.91648531e-01 -1.47784118e-03 1.24805264e+02] [ 9.91589447e-01 1.28969713e-01 -1.08250745e-02 1.01837434e+02] [ 1.09252660e-02 -6.93964155e-05 9.99940315e-01 4.97919791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401858064 meters Centerline goodness [0,1] 0.999733012948872 Centerline is valid? [True, True] Translation: X:124.81, Y:101.87, Z:0.50 [[ 1.29610584e-01 -9.91563730e-01 -1.57008879e-03 1.24807901e+02] [ 9.91496737e-01 1.29620078e-01 -1.15263101e-02 1.01865649e+02] [ 1.16325860e-02 -6.28061379e-05 9.99932337e-01 4.98415167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431858064 meters Centerline goodness [0,1] 0.9998452491488703 Centerline is valid? [True, True] Translation: X:124.81, Y:101.89, Z:0.50 [[ 1.30973452e-01 -9.91384615e-01 -1.58109327e-03 1.24810338e+02] [ 9.91316367e-01 1.30982987e-01 -1.16326447e-02 1.01893068e+02] [ 1.17395213e-02 -4.37960104e-05 9.99931088e-01 4.97676693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46185806399998 meters Centerline goodness [0,1] 0.9999116080701832 Centerline is valid? [True, True] Translation: X:124.81, Y:101.92, Z:0.50 [[ 1.31398549e-01 -9.91328377e-01 -1.57164700e-03 1.24813732e+02] [ 9.91260650e-01 1.31407943e-01 -1.15877434e-02 1.01920609e+02] [ 1.16937857e-02 -3.52991613e-05 9.99931625e-01 4.98387480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49185806399998 meters Centerline goodness [0,1] 0.9994253889674681 Centerline is valid? [True, True] Translation: X:124.82, Y:101.95, Z:0.50 [[ 1.32194299e-01 -9.91222545e-01 -1.59195951e-03 1.24816762e+02] [ 9.91152757e-01 1.32203882e-01 -1.17620189e-02 1.01948296e+02] [ 1.18692415e-02 -2.30032137e-05 9.99929558e-01 4.98805680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52185806399999 meters Centerline goodness [0,1] 0.999556462343653 Centerline is valid? [True, True] Translation: X:124.82, Y:101.98, Z:0.50 [[ 1.31950153e-01 -9.91255050e-01 -1.60714706e-03 1.24820193e+02] [ 9.91183631e-01 1.31959939e-01 -1.18989071e-02 1.01976437e+02] [ 1.20069308e-02 -2.29152377e-05 9.99927914e-01 4.99084706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.551858064 meters Centerline goodness [0,1] 0.9995798783858485 Centerline is valid? [True, True] Translation: X:124.82, Y:102.00, Z:0.50 [[ 1.31726398e-01 -9.91284831e-01 -1.59368543e-03 1.24823947e+02] [ 9.91214313e-01 1.31736036e-01 -1.18237776e-02 1.02004544e+02] [ 1.19306771e-02 -2.21801807e-05 9.99928827e-01 4.99529990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.581858064 meters Centerline goodness [0,1] 0.9997790738776953 Centerline is valid? [True, True] Translation: X:124.83, Y:102.03, Z:0.50 [[ 1.30894560e-01 -9.91394956e-01 -1.62964510e-03 1.24827403e+02] [ 9.91320915e-01 1.30904701e-01 -1.21161831e-02 1.02032065e+02] [ 1.22252510e-02 -2.95588131e-05 9.99925268e-01 5.00299190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.611858064 meters Centerline goodness [0,1] 0.9998239126606797 Centerline is valid? [True, True] Translation: X:124.83, Y:102.06, Z:0.50 [[ 1.30084128e-01 -9.91501681e-01 -1.59260145e-03 1.24830918e+02] [ 9.91430667e-01 1.30093872e-01 -1.18666442e-02 1.02058878e+02] [ 1.19729854e-02 -3.52918491e-05 9.99928321e-01 4.99680046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.641858064 meters Centerline goodness [0,1] 0.9995800640954802 Centerline is valid? [True, True] Translation: X:124.83, Y:102.09, Z:0.50 [[ 1.29362428e-01 -9.91596050e-01 -1.62369555e-03 1.24833851e+02] [ 9.91521922e-01 1.29372611e-01 -1.21245530e-02 1.02086866e+02] [ 1.22327206e-02 -4.14681153e-05 9.99925177e-01 4.99959571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.671858064 meters Centerline goodness [0,1] 0.9993808597205024 Centerline is valid? [True, True] Translation: X:124.84, Y:102.11, Z:0.50 [[ 1.27436198e-01 -9.91845315e-01 -1.69926959e-03 1.24837903e+02] [ 9.91763866e-01 1.27447510e-01 -1.27108570e-02 1.02113261e+02] [ 1.28237716e-02 -6.54508811e-05 9.99917770e-01 4.99250016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701858064 meters Centerline goodness [0,1] 0.9995146166574738 Centerline is valid? [True, True] Translation: X:124.84, Y:102.14, Z:0.50 [[ 1.26173709e-01 -9.92006558e-01 -1.78446678e-03 1.24842136e+02] [ 9.91916392e-01 1.26186300e-01 -1.33749625e-02 1.02140770e+02] [ 1.34932258e-02 -8.24732196e-05 9.99908959e-01 4.99853176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.731858064 meters Centerline goodness [0,1] 0.9998013113451222 Centerline is valid? [True, True] Translation: X:124.85, Y:102.17, Z:0.50 [[ 1.24785063e-01 -9.92182062e-01 -1.85555884e-03 1.24846520e+02] [ 9.92084150e-01 1.24798817e-01 -1.39389693e-02 1.02167681e+02] [ 1.40615668e-02 -1.01495355e-04 9.99901126e-01 4.99776265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761858064 meters Centerline goodness [0,1] 0.9997133596454479 Centerline is valid? [True, True] Translation: X:124.85, Y:102.20, Z:0.50 [[ 1.23632622e-01 -9.92326239e-01 -1.90018152e-03 1.24850800e+02] [ 9.92223131e-01 1.23647169e-01 -1.43050984e-02 1.02195782e+02] [ 1.44302765e-02 -1.16827234e-04 9.99895871e-01 5.00078973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.791858064 meters Centerline goodness [0,1] 0.9998898435778806 Centerline is valid? [True, True] Translation: X:124.86, Y:102.22, Z:0.50 [[ 1.22155889e-01 -9.92508868e-01 -2.02130427e-03 1.24856028e+02] [ 9.92391760e-01 1.22172527e-01 -1.52469397e-02 1.02222883e+02] [ 1.53796707e-02 -1.43422233e-04 9.99881716e-01 5.00205333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:102.25, Z:0.50 [[ 1.21481122e-01 -9.92591539e-01 -2.09130330e-03 1.24859735e+02] [ 9.92465674e-01 1.21499022e-01 -1.58073884e-02 1.02250327e+02] [ 1.59443713e-02 -1.55247460e-04 9.99872868e-01 5.00468965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:102.28, Z:0.50 [[ 1.20727947e-01 -9.92683192e-01 -2.20087350e-03 1.24863013e+02] [ 9.92543211e-01 1.20747884e-01 -1.66710369e-02 1.02278227e+02] [ 1.68148090e-02 -1.71801990e-04 9.99858606e-01 5.01010278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:102.30, Z:0.50 [[ 1.20433319e-01 -9.92718978e-01 -2.20142313e-03 1.24865302e+02] [ 9.92578467e-01 1.20453313e-01 -1.67028800e-02 1.02304731e+02] [ 1.68464347e-02 -1.73501909e-04 9.99858074e-01 5.00679527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:102.33, Z:0.50 [[ 1.20538889e-01 -9.92705943e-01 -2.29918669e-03 1.24867668e+02] [ 9.92552045e-01 1.20560687e-01 -1.74802623e-02 1.02332883e+02] [ 1.76299518e-02 -1.75011048e-04 9.99844565e-01 5.00954714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941858064 meters Centerline goodness [0,1] 0.9999559519876665 Centerline is valid? [True, True] Translation: X:124.87, Y:102.36, Z:0.50 [[ 1.20660274e-01 -9.92691198e-01 -2.29867588e-03 1.24869505e+02] [ 9.92536699e-01 1.20682051e-01 -1.75140757e-02 1.02361147e+02] [ 1.76634777e-02 -1.68266991e-04 9.99843974e-01 5.00935588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:102.39, Z:0.50 [[ 1.20404635e-01 -9.92722339e-01 -2.25436925e-03 1.24872532e+02] [ 9.92573100e-01 1.20425624e-01 -1.72136362e-02 1.02388633e+02] [ 1.73598450e-02 -1.65024695e-04 9.99849293e-01 5.01473665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:102.42, Z:0.50 [[ 1.19651903e-01 -9.92813506e-01 -2.18273620e-03 1.24875914e+02] [ 9.92673005e-01 1.19671693e-01 -1.67030469e-02 1.02416130e+02] [ 1.68442223e-02 -1.68191952e-04 9.99858112e-01 5.02592736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:102.44, Z:0.50 [[ 1.18267903e-01 -9.92979594e-01 -2.05665751e-03 1.24880580e+02] [ 9.92854312e-01 1.18285652e-01 -1.57740022e-02 1.02443307e+02] [ 1.59065354e-02 -1.76403124e-04 9.99873468e-01 5.02816788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:102.47, Z:0.51 [[ 1.16576926e-01 -9.93179937e-01 -1.85313128e-03 1.24884372e+02] [ 9.93077806e-01 1.16591515e-01 -1.42439178e-02 1.02470980e+02] [ 1.43628328e-02 -1.79791389e-04 9.99896833e-01 5.05438115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091858064 meters Centerline goodness [0,1] 0.9999561682263473 Centerline is valid? [True, True] Translation: X:124.89, Y:102.50, Z:0.51 [[ 1.16058833e-01 -9.93240777e-01 -1.76242844e-03 1.24887016e+02] [ 9.93148005e-01 1.16072083e-01 -1.35761690e-02 1.02498762e+02] [ 1.36889734e-02 -1.74717957e-04 9.99906286e-01 5.06139316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:102.53, Z:0.51 [[ 1.15553218e-01 -9.93299955e-01 -1.62862380e-03 1.24888823e+02] [ 9.93220398e-01 1.15564577e-01 -1.25725881e-02 1.02526963e+02] [ 1.26765624e-02 -1.64779370e-04 9.99919636e-01 5.06511707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:102.55, Z:0.51 [[ 1.16555232e-01 -9.93183230e-01 -1.39600807e-03 1.24889990e+02] [ 9.93124519e-01 1.16563522e-01 -1.07997721e-02 1.02553811e+02] [ 1.08888761e-02 -1.27639906e-04 9.99940706e-01 5.07578509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181858064 meters Centerline goodness [0,1] 0.9999782120835784 Centerline is valid? [True, True] Translation: X:124.89, Y:102.58, Z:0.51 [[ 1.17393848e-01 -9.93084580e-01 -1.30432438e-03 1.24891811e+02] [ 9.93033097e-01 1.17401044e-01 -1.01125190e-02 1.02580951e+02] [ 1.01957157e-02 -1.08089767e-04 9.99948017e-01 5.07958510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:102.61, Z:0.51 [[ 1.18453519e-01 -9.92958763e-01 -1.28797006e-03 1.24892547e+02] [ 9.92908334e-01 1.18460484e-01 -1.00077150e-02 1.02609173e+02] [ 1.00898219e-02 -9.33871544e-05 9.99949092e-01 5.08518303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24185806399998 meters Centerline goodness [0,1] 0.9999564507348938 Centerline is valid? [True, True] Translation: X:124.89, Y:102.64, Z:0.51 [[ 1.21819378e-01 -9.92551445e-01 -1.29151142e-03 1.24890410e+02] [ 9.92500489e-01 1.21826211e-01 -1.00575390e-02 1.02637314e+02] [ 1.01399648e-02 -5.66225737e-05 9.99948588e-01 5.07726238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27185806399999 meters Centerline goodness [0,1] 0.9999345934985938 Centerline is valid? [True, True] Translation: X:124.89, Y:102.66, Z:0.51 [[ 1.23821082e-01 -9.92303623e-01 -1.36385754e-03 1.24891188e+02] [ 9.92246514e-01 1.23828588e-01 -1.06459950e-02 1.02664523e+02] [ 1.07329439e-02 -3.50842712e-05 9.99942400e-01 5.07013288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:102.69, Z:0.51 [[ 1.25713841e-01 -9.92065618e-01 -1.35637819e-03 1.24891850e+02] [ 9.92008862e-01 1.25721158e-01 -1.06116691e-02 1.02692302e+02] [ 1.06979975e-02 -1.15054921e-05 9.99942775e-01 5.07152884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.331858064 meters Centerline goodness [0,1] 0.99991305103904 Centerline is valid? [True, True] Translation: X:124.89, Y:102.72, Z:0.51 [[ 1.27340878e-01 -9.91858153e-01 -1.30613430e-03 1.24892902e+02] [ 9.91805280e-01 1.27347576e-01 -1.02411381e-02 1.02720602e+02] [ 1.03240894e-02 8.68462286e-06 9.99946705e-01 5.07342802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.361858064 meters Centerline goodness [0,1] 0.99991305103904 Centerline is valid? [True, True] Translation: X:124.90, Y:102.75, Z:0.51 [[ 1.27063129e-01 -9.91893776e-01 -1.30326666e-03 1.24896318e+02] [ 9.91840902e-01 1.27069812e-01 -1.02415033e-02 1.02747974e+02] [ 1.03240893e-02 8.68428092e-06 9.99946705e-01 5.07436575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:102.77, Z:0.51 [[ 1.29685817e-01 -9.91554390e-01 -1.21640246e-03 1.24894775e+02] [ 9.91508160e-01 1.29691517e-01 -9.57488269e-03 1.02774942e+02] [ 9.65177405e-03 3.56535195e-05 9.99953420e-01 5.07695491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:102.80, Z:0.51 [[ 1.30659308e-01 -9.91426592e-01 -1.20709046e-03 1.24896596e+02] [ 9.91380881e-01 1.30664876e-01 -9.52044808e-03 1.02802838e+02] [ 9.59654973e-03 4.72487547e-05 9.99953951e-01 5.08846139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.451858064 meters Centerline goodness [0,1] 0.999934620581441 Centerline is valid? [True, True] Translation: X:124.90, Y:102.83, Z:0.51 [[ 1.32357517e-01 -9.91201291e-01 -1.21984156e-03 1.24896461e+02] [ 9.91154385e-01 1.32363121e-01 -9.64308751e-03 1.02831026e+02] [ 9.71970282e-03 6.72838039e-05 9.99952760e-01 5.08670815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.481858064 meters Centerline goodness [0,1] 0.9999126103294591 Centerline is valid? [True, True] Translation: X:124.90, Y:102.86, Z:0.51 [[ 1.32404332e-01 -9.91195013e-01 -1.24042285e-03 1.24898676e+02] [ 9.91146288e-01 1.32410123e-01 -9.82825857e-03 1.02858916e+02] [ 9.90596543e-03 7.18635085e-05 9.99950932e-01 5.08119097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.511858064 meters Centerline goodness [0,1] 0.9998034247772147 Centerline is valid? [True, True] Translation: X:124.90, Y:102.89, Z:0.51 [[ 1.31751164e-01 -9.91281943e-01 -1.31957862e-03 1.24901644e+02] [ 9.91226549e-01 1.31757752e-01 -1.04797104e-02 1.02886473e+02] [ 1.05622124e-02 7.27126789e-05 9.99944216e-01 5.07809969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.541858064 meters Centerline goodness [0,1] 0.9999123595013255 Centerline is valid? [True, True] Translation: X:124.91, Y:102.91, Z:0.51 [[ 1.28767875e-01 -9.91674008e-01 -1.22325072e-03 1.24905761e+02] [ 9.91626251e-01 1.28773679e-01 -9.73236618e-03 1.02913464e+02] [ 9.80885707e-03 4.02085899e-05 9.99951891e-01 5.07767760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571858064 meters Centerline goodness [0,1] 0.9999342782658225 Centerline is valid? [True, True] Translation: X:124.91, Y:102.94, Z:0.51 [[ 1.26557288e-01 -9.91958611e-01 -1.16929165e-03 1.24910190e+02] [ 9.91914811e-01 1.26562688e-01 -9.32169923e-03 1.02941063e+02] [ 9.39472852e-03 1.98912664e-05 9.99955868e-01 5.07672884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601858064 meters Centerline goodness [0,1] 0.9998472249503481 Centerline is valid? [True, True] Translation: X:124.91, Y:102.97, Z:0.51 [[ 1.24140584e-01 -9.92263967e-01 -1.15581568e-03 1.24914969e+02] [ 9.92220990e-01 1.24145964e-01 -9.23505476e-03 1.02968531e+02] [ 9.30710192e-03 -3.79488551e-07 9.99956688e-01 5.07993155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631858064 meters Centerline goodness [0,1] 0.9999781138517432 Centerline is valid? [True, True] Translation: X:124.92, Y:103.00, Z:0.51 [[ 1.21688838e-01 -9.92567604e-01 -1.17369251e-03 1.24920120e+02] [ 9.92523098e-01 1.21694496e-01 -9.39940119e-03 1.02996042e+02] [ 9.47237304e-03 -2.11147119e-05 9.99955136e-01 5.07715340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.93, Y:103.02, Z:0.51 [[ 1.17850920e-01 -9.93030549e-01 -1.22014874e-03 1.24926252e+02] [ 9.92982279e-01 1.17857222e-01 -9.79122110e-03 1.03022029e+02] [ 9.86678500e-03 -5.76816650e-05 9.99951320e-01 5.07560090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.93, Y:103.05, Z:0.51 [[ 1.16410103e-01 -9.93200480e-01 -1.22280084e-03 1.24929587e+02] [ 9.93151800e-01 1.16416505e-01 -9.83361190e-03 1.03049964e+02] [ 9.90910225e-03 -6.96950779e-05 9.99950901e-01 5.07743867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721858064 meters Centerline goodness [0,1] 0.9999561384271239 Centerline is valid? [True, True] Translation: X:124.93, Y:103.08, Z:0.51 [[ 1.15160232e-01 -9.93346111e-01 -1.27452809e-03 1.24932157e+02] [ 9.93292977e-01 1.15167255e-01 -1.02745300e-02 1.03077101e+02] [ 1.03529483e-02 -8.27625494e-05 9.99946403e-01 5.05706253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.94, Y:103.11, Z:0.51 [[ 1.14603377e-01 -9.93410484e-01 -1.29489932e-03 1.24935282e+02] [ 9.93355383e-01 1.14610659e-01 -1.04632497e-02 1.03105089e+02] [ 1.05427112e-02 -8.71714594e-05 9.99944420e-01 5.05284412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.94, Y:103.13, Z:0.51 [[ 1.13901345e-01 -9.93491136e-01 -1.35866386e-03 1.24938470e+02] [ 9.93430194e-01 1.13909407e-01 -1.10044151e-02 1.03133250e+02] [ 1.10875535e-02 -9.63200151e-05 9.99938527e-01 5.05320277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811858064 meters Centerline goodness [0,1] 0.9999340876634076 Centerline is valid? [True, True] Translation: X:124.94, Y:103.16, Z:0.50 [[ 1.13083868e-01 -9.93584460e-01 -1.40013360e-03 1.24942757e+02] [ 9.93519428e-01 1.13092486e-01 -1.13681953e-02 1.03160353e+02] [ 1.14536068e-02 -1.05500440e-04 9.99934400e-01 5.04838492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:103.19, Z:0.51 [[ 1.10960654e-01 -9.93823746e-01 -1.44743273e-03 1.24947641e+02] [ 9.93753941e-01 1.10970017e-01 -1.17796830e-02 1.03188234e+02] [ 1.18675503e-02 -1.31310651e-04 9.99929570e-01 5.05369503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871858064 meters Centerline goodness [0,1] 0.9999560487858478 Centerline is valid? [True, True] Translation: X:124.95, Y:103.22, Z:0.51 [[ 1.09733126e-01 -9.93960098e-01 -1.40176015e-03 1.24951790e+02] [ 9.93894338e-01 1.09741991e-01 -1.14341535e-02 1.03216121e+02] [ 1.15189243e-02 -1.38496072e-04 9.99933645e-01 5.05382609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.96, Y:103.24, Z:0.51 [[ 1.08436086e-01 -9.94102476e-01 -1.37172842e-03 1.24955536e+02] [ 9.94039222e-01 1.08444662e-01 -1.12151510e-02 1.03244110e+02] [ 1.12977661e-02 -1.47424765e-04 9.99936167e-01 5.05305106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.96, Y:103.27, Z:0.51 [[ 1.07300288e-01 -9.94225749e-01 -1.34452814e-03 1.24958814e+02] [ 9.94164706e-01 1.07308601e-01 -1.10182385e-02 1.03271781e+02] [ 1.10988958e-02 -1.54422256e-04 9.99938393e-01 5.05572631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96185806399998 meters Centerline goodness [0,1] 0.9999121767004786 Centerline is valid? [True, True] Translation: X:124.96, Y:103.30, Z:0.51 [[ 1.05061363e-01 -9.94464953e-01 -1.25211635e-03 1.24963200e+02] [ 9.94411833e-01 1.05068695e-01 -1.02798540e-02 1.03298367e+02] [ 1.03545128e-02 -1.65103845e-04 9.99946377e-01 5.05002504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:103.33, Z:0.51 [[ 1.04525611e-01 -9.94521569e-01 -1.11623697e-03 1.24966347e+02] [ 9.94479185e-01 1.04531463e-01 -9.18282432e-03 1.03325802e+02] [ 9.24919874e-03 -1.50234115e-04 9.99957214e-01 5.06674148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:103.35, Z:0.51 [[ 1.03544854e-01 -9.94624226e-01 -1.05478840e-03 1.24970624e+02] [ 9.94586206e-01 1.03550120e-01 -8.69779684e-03 1.03352207e+02] [ 8.76026291e-03 -1.48465894e-04 9.99961617e-01 5.07036199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:103.38, Z:0.51 [[ 1.02528885e-01 -9.94729425e-01 -1.09501682e-03 1.24974033e+02] [ 9.94688257e-01 1.02534605e-01 -9.05133915e-03 1.03380483e+02] [ 9.11591051e-03 -1.61176663e-04 9.99958436e-01 5.07647156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.081858064 meters Centerline goodness [0,1] 0.9999340166278098 Centerline is valid? [True, True] Translation: X:124.98, Y:103.41, Z:0.51 [[ 1.02403602e-01 -9.94742350e-01 -1.07694303e-03 1.24976994e+02] [ 9.94702345e-01 1.02409144e-01 -8.92255622e-03 1.03407934e+02] [ 8.98593336e-03 -1.57535862e-04 9.99959613e-01 5.07342920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.111858064 meters Centerline goodness [0,1] 0.9999340644849337 Centerline is valid? [True, True] Translation: X:124.98, Y:103.44, Z:0.51 [[ 1.02312366e-01 -9.94751698e-01 -1.11312850e-03 1.24979746e+02] [ 9.94708758e-01 1.02318293e-01 -9.24407516e-03 1.03436012e+02] [ 9.30945287e-03 -1.61455473e-04 9.99956653e-01 5.06622268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.141858064 meters Centerline goodness [0,1] 0.9999781090606598 Centerline is valid? [True, True] Translation: X:124.98, Y:103.46, Z:0.51 [[ 1.04712229e-01 -9.94502088e-01 -9.72899277e-04 1.24980334e+02] [ 9.94469132e-01 1.04716680e-01 -8.09705451e-03 1.03463418e+02] [ 8.15441640e-03 -1.19657677e-04 9.99966745e-01 5.07204026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:103.49, Z:0.51 [[ 1.05471238e-01 -9.94421878e-01 -9.73106062e-04 1.24982560e+02] [ 9.94388754e-01 1.05475668e-01 -8.11726895e-03 1.03491098e+02] [ 8.17462884e-03 -1.11507317e-04 9.99966581e-01 5.07228245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:103.52, Z:0.51 [[ 1.07537766e-01 -9.94200598e-01 -8.94916651e-04 1.24983190e+02] [ 9.94172452e-01 1.07541456e-01 -7.48134267e-03 1.03519374e+02] [ 7.53419599e-03 -8.51746041e-05 9.99971614e-01 5.07226691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:103.55, Z:0.51 [[ 1.08713907e-01 -9.94072620e-01 -9.55335863e-04 1.24985085e+02] [ 9.94040390e-01 1.08718075e-01 -8.00525393e-03 1.03547068e+02] [ 8.06166603e-03 -7.93600049e-05 9.99967501e-01 5.07370348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:103.57, Z:0.51 [[ 1.09353335e-01 -9.94002566e-01 -8.63740240e-04 1.24986715e+02] [ 9.93976099e-01 1.09356726e-01 -7.25408553e-03 1.03574683e+02] [ 7.30503544e-03 -6.52787105e-05 9.99973316e-01 5.07149943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:103.60, Z:0.51 [[ 1.09979749e-01 -9.93933446e-01 -8.72131879e-04 1.24989082e+02] [ 9.93906328e-01 1.09983191e-01 -7.34225619e-03 1.03602620e+02] [ 7.39363384e-03 -5.93179016e-05 9.99972665e-01 5.06910795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321858064 meters Centerline goodness [0,1] 0.9998908034680819 Centerline is valid? [True, True] Translation: X:124.99, Y:103.63, Z:0.51 [[ 1.11282623e-01 -9.93788357e-01 -9.38072712e-04 1.24991167e+02] [ 9.93756845e-01 1.11286565e-01 -7.91414509e-03 1.03630106e+02] [ 7.96938013e-03 -5.15093554e-05 9.99968243e-01 5.06397592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:103.66, Z:0.51 [[ 1.11433632e-01 -9.93771395e-01 -9.80133630e-04 1.24994177e+02] [ 9.93736844e-01 1.11437931e-01 -8.28694471e-03 1.03658443e+02] [ 8.34455267e-03 -5.05505547e-05 9.99965182e-01 5.06548644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381858064 meters Centerline goodness [0,1] 0.9998906578026592 Centerline is valid? [True, True] Translation: X:125.00, Y:103.69, Z:0.51 [[ 1.11508108e-01 -9.93762993e-01 -1.02707895e-03 1.24997105e+02] [ 9.93724866e-01 1.11512827e-01 -8.70516694e-03 1.03685878e+02] [ 8.76540523e-03 -4.99371956e-05 9.99961582e-01 5.06516832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411858064 meters Centerline goodness [0,1] 0.9999563918627216 Centerline is valid? [True, True] Translation: X:125.00, Y:103.71, Z:0.51 [[ 1.11443261e-01 -9.93770207e-01 -1.08395003e-03 1.24998694e+02] [ 9.93727532e-01 1.11448520e-01 -9.20975703e-03 1.03713688e+02] [ 9.27318677e-03 -5.07856312e-05 9.99957002e-01 5.05525641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.00, Y:103.74, Z:0.51 [[ 1.10889621e-01 -9.93832111e-01 -1.10788786e-03 1.25001239e+02] [ 9.93787314e-01 1.10895142e-01 -9.43624288e-03 1.03741475e+02] [ 9.50090056e-03 -5.46235062e-05 9.99954864e-01 5.05671140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471858064 meters Centerline goodness [0,1] 0.999847388157321 Centerline is valid? [True, True] Translation: X:125.00, Y:103.77, Z:0.51 [[ 1.10769594e-01 -9.93845461e-01 -1.13860316e-03 1.25004648e+02] [ 9.93797952e-01 1.10775432e-01 -9.71769527e-03 1.03768430e+02] [ 9.78401659e-03 -5.51163245e-05 9.99952134e-01 5.05191474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:103.80, Z:0.51 [[ 1.09767766e-01 -9.93956580e-01 -1.16418755e-03 1.25008359e+02] [ 9.93906696e-01 1.09773920e-01 -9.95817774e-03 1.03796445e+02] [ 1.00257937e-02 -6.40068876e-05 9.99949738e-01 5.05233447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:103.82, Z:0.51 [[ 1.07866802e-01 -9.94164631e-01 -1.19939174e-03 1.25013484e+02] [ 9.94111438e-01 1.07873438e-01 -1.02844794e-02 1.03824147e+02] [ 1.03538482e-02 -8.29751363e-05 9.99946394e-01 5.05142144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:103.85, Z:0.51 [[ 1.06331705e-01 -9.94330050e-01 -1.14943303e-03 1.25017563e+02] [ 9.94280959e-01 1.06337877e-01 -9.88076634e-03 1.03851445e+02] [ 9.94697115e-03 -9.22206442e-05 9.99950523e-01 5.05470733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:103.88, Z:0.51 [[ 1.04692964e-01 -9.94503939e-01 -1.13948673e-03 1.25021756e+02] [ 9.94455456e-01 1.04699112e-01 -9.82052189e-03 1.03878482e+02] [ 9.88585095e-03 -1.05029253e-04 9.99951128e-01 5.05634011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621858064 meters Centerline goodness [0,1] 0.9998907175485761 Centerline is valid? [True, True] Translation: X:125.03, Y:103.91, Z:0.51 [[ 1.02870304e-01 -9.94694134e-01 -1.13176071e-03 1.25025503e+02] [ 9.94646079e-01 1.02876460e-01 -9.77809558e-03 1.03906213e+02] [ 9.84264585e-03 -1.19825688e-04 9.99951553e-01 5.05703319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.03, Y:103.93, Z:0.51 [[ 1.00598552e-01 -9.94926478e-01 -1.11118571e-03 1.25030486e+02] [ 9.94879960e-01 1.00604595e-01 -9.62190025e-03 1.03933273e+02] [ 9.68487371e-03 -1.37547162e-04 9.99953091e-01 5.06151051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.03, Y:103.96, Z:0.51 [[ 9.93404863e-02 -9.95052848e-01 -1.13879046e-03 1.25034650e+02] [ 9.95003767e-01 9.93468983e-02 -9.88415740e-03 1.03961006e+02] [ 9.94839427e-03 -1.51203795e-04 9.99950502e-01 5.06801906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71185806399998 meters Centerline goodness [0,1] 0.99997806344053 Centerline is valid? [True, True] Translation: X:125.04, Y:103.99, Z:0.51 [[ 9.81673584e-02 -9.95169222e-01 -1.17830764e-03 1.25038400e+02] [ 9.95116422e-01 9.81742893e-02 -1.02525575e-02 1.03989084e+02] [ 1.03187092e-02 -1.66086796e-04 9.99946747e-01 5.07398677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:104.02, Z:0.51 [[ 9.73368060e-02 -9.95250808e-01 -1.17320580e-03 1.25043241e+02] [ 9.95198200e-01 9.73437252e-02 -1.02343196e-02 1.04016208e+02] [ 1.02999190e-02 -1.71396321e-04 9.99946940e-01 5.07566994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:104.04, Z:0.51 [[ 9.70196434e-02 -9.95281823e-01 -1.13173512e-03 1.25046612e+02] [ 9.95232622e-01 9.70261019e-02 -9.89768660e-03 1.04043154e+02] [ 9.96079541e-03 -1.66069682e-04 9.99950376e-01 5.07815817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:104.07, Z:0.51 [[ 9.70415908e-02 -9.95279777e-01 -1.04649109e-03 1.25049172e+02] [ 9.95237504e-01 9.70471155e-02 -9.17432438e-03 1.04070642e+02] [ 9.23257846e-03 -1.51216146e-04 9.99957367e-01 5.08478322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.831858064 meters Centerline goodness [0,1] 0.999847174919221 Centerline is valid? [True, True] Translation: X:125.05, Y:104.10, Z:0.51 [[ 9.78858501e-02 -9.95197125e-01 -1.02116617e-03 1.25052440e+02] [ 9.95156706e-01 9.78910790e-02 -8.97038463e-03 1.04097271e+02] [ 9.02726405e-03 -1.38146637e-04 9.99959244e-01 5.08556603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:104.13, Z:0.51 [[ 1.00133122e-01 -9.94973502e-01 -1.04287894e-03 1.25054243e+02] [ 9.94931151e-01 1.00138483e-01 -9.18092086e-03 1.04125388e+02] [ 9.23920529e-03 -1.18278474e-04 9.99957311e-01 5.08363400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.891858064 meters Centerline goodness [0,1] 0.9999781444650858 Centerline is valid? [True, True] Translation: X:125.06, Y:104.15, Z:0.51 [[ 1.01483603e-01 -9.94836629e-01 -1.07724469e-03 1.25057289e+02] [ 9.94791206e-01 1.01489265e-01 -9.50711242e-03 1.04152742e+02] [ 9.56735244e-03 -1.06817522e-04 9.99954226e-01 5.07914462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.06, Y:104.18, Z:0.51 [[ 1.02733028e-01 -9.94708417e-01 -1.04360985e-03 1.25059613e+02] [ 9.94665573e-01 1.02738290e-01 -9.23262267e-03 1.04181144e+02] [ 9.29098618e-03 -8.95475026e-05 9.99956834e-01 5.08057231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.951858064 meters Centerline goodness [0,1] 0.9999125262421273 Centerline is valid? [True, True] Translation: X:125.06, Y:104.21, Z:0.51 [[ 1.06035333e-01 -9.94361765e-01 -1.09008041e-03 1.25060683e+02] [ 9.94314770e-01 1.06040920e-01 -9.66749498e-03 1.04209122e+02] [ 9.72858050e-03 -5.87870025e-05 9.99952675e-01 5.07666270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981858064 meters Centerline goodness [0,1] 0.999934484942456 Centerline is valid? [True, True] Translation: X:125.06, Y:104.24, Z:0.51 [[ 1.07583647e-01 -9.94195365e-01 -1.15515817e-03 1.25062174e+02] [ 9.94142319e-01 1.07589839e-01 -1.02701647e-02 1.04237196e+02] [ 1.03348334e-02 -4.34898511e-05 9.99946593e-01 5.06813422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.011858064 meters Centerline goodness [0,1] 0.9999125377181091 Centerline is valid? [True, True] Translation: X:125.06, Y:104.27, Z:0.51 [[ 1.09149797e-01 -9.94024567e-01 -1.21697696e-03 1.25063571e+02] [ 9.93965382e-01 1.09156579e-01 -1.08471692e-02 1.04265659e+02] [ 1.09151937e-02 -2.56666439e-05 9.99940427e-01 5.06367863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041858064 meters Centerline goodness [0,1] 0.999890631493755 Centerline is valid? [True, True] Translation: X:125.07, Y:104.29, Z:0.51 [[ 1.11099941e-01 -9.93808475e-01 -1.23195561e-03 1.25065539e+02] [ 9.93747501e-01 1.11106771e-01 -1.10086141e-02 1.04293949e+02] [ 1.10773326e-02 -1.19643337e-06 9.99938644e-01 5.06431622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:104.32, Z:0.51 [[ 1.14430099e-01 -9.93430639e-01 -1.14839931e-03 1.25067395e+02] [ 9.93377371e-01 1.14435855e-01 -1.02875799e-02 1.04322437e+02] [ 1.03514152e-02 3.64149009e-05 9.99946422e-01 5.07489486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:104.35, Z:0.51 [[ 1.15764518e-01 -9.93276101e-01 -1.07898850e-03 1.25070149e+02] [ 9.93228833e-01 1.15769535e-01 -9.69022362e-03 1.04350342e+02] [ 9.74998153e-03 5.01015723e-05 9.99952467e-01 5.08478824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131858064 meters Centerline goodness [0,1] 0.9998468137254902 Centerline is valid? [True, True] Translation: X:125.07, Y:104.38, Z:0.51 [[ 1.16909247e-01 -9.93142108e-01 -9.90105889e-04 1.25072303e+02] [ 9.93102094e-01 1.16913425e-01 -8.91521899e-03 1.04377528e+02] [ 8.96983606e-03 5.89953097e-05 9.99959768e-01 5.08671195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:104.41, Z:0.51 [[ 1.18916490e-01 -9.92903769e-01 -9.86517728e-04 1.25074666e+02] [ 9.92863842e-01 1.18920556e-01 -8.90462714e-03 1.04405250e+02] [ 8.95875509e-03 7.94292250e-05 9.99959866e-01 5.08863538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191858064 meters Centerline goodness [0,1] 0.9999345464065977 Centerline is valid? [True, True] Translation: X:125.08, Y:104.43, Z:0.51 [[ 1.19601663e-01 -9.92821455e-01 -1.00084083e-03 1.25077515e+02] [ 9.92780157e-01 1.19605817e-01 -9.05589368e-03 1.04432882e+02] [ 9.11059192e-03 8.94850275e-05 9.99958494e-01 5.08614869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221858064 meters Centerline goodness [0,1] 0.9999345521183298 Centerline is valid? [True, True] Translation: X:125.08, Y:104.46, Z:0.51 [[ 1.20372312e-01 -9.92728292e-01 -1.02167072e-03 1.25081546e+02] [ 9.92685031e-01 1.20376605e-01 -9.26829053e-03 1.04461041e+02] [ 9.32387949e-03 1.01448334e-04 9.99956527e-01 5.08451529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251858064 meters Centerline goodness [0,1] 0.9999781754692274 Centerline is valid? [True, True] Translation: X:125.08, Y:104.49, Z:0.51 [[ 1.20361277e-01 -9.92729623e-01 -1.02865006e-03 1.25084292e+02] [ 9.92685532e-01 1.20365627e-01 -9.35680416e-03 1.04487711e+02] [ 9.41259078e-03 1.05070870e-04 9.99955695e-01 5.07847646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:104.52, Z:0.51 [[ 1.20395836e-01 -9.92725462e-01 -9.99657610e-04 1.25088530e+02] [ 9.92683604e-01 1.20399940e-01 -9.11685322e-03 1.04515397e+02] [ 9.17089105e-03 1.05287447e-04 9.99957941e-01 5.08368320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:104.54, Z:0.51 [[ 1.20118311e-01 -9.92759083e-01 -9.97110757e-04 1.25091458e+02] [ 9.92717224e-01 1.20122404e-01 -9.11713199e-03 1.04542824e+02] [ 9.17089094e-03 1.05285477e-04 9.99957941e-01 5.08462101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:104.57, Z:0.51 [[ 1.19663476e-01 -9.92813971e-01 -1.03562684e-03 1.25096544e+02] [ 9.92768579e-01 1.19667909e-01 -9.49420609e-03 1.04570139e+02] [ 9.54991174e-03 1.07971914e-04 9.99954393e-01 5.08695780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371858064 meters Centerline goodness [0,1] 0.9999341599912214 Centerline is valid? [True, True] Translation: X:125.10, Y:104.60, Z:0.51 [[ 1.19540758e-01 -9.92828724e-01 -1.06411357e-03 1.25101057e+02] [ 9.92780549e-01 1.19545440e-01 -9.78104252e-03 1.04598201e+02] [ 9.83810989e-03 1.12801978e-04 9.99951598e-01 5.08661009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.11, Y:104.63, Z:0.51 [[ 1.19300062e-01 -9.92857603e-01 -1.12944458e-03 1.25105269e+02] [ 9.92803043e-01 1.19305348e-01 -1.04092331e-02 1.04626090e+02] [ 1.04696350e-02 1.20506147e-04 9.99945185e-01 5.08297463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431858064 meters Centerline goodness [0,1] 0.9999780884350761 Centerline is valid? [True, True] Translation: X:125.11, Y:104.65, Z:0.51 [[ 1.19358435e-01 -9.92850497e-01 -1.20590104e-03 1.25110370e+02] [ 9.92787955e-01 1.19364452e-01 -1.11446998e-02 1.04652520e+02] [ 1.12089625e-02 1.33009899e-04 9.99937169e-01 5.07705308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46185806399998 meters Centerline goodness [0,1] 0.99991175627082 Centerline is valid? [True, True] Translation: X:125.11, Y:104.68, Z:0.51 [[ 1.19249989e-01 -9.92863576e-01 -1.16573883e-03 1.25114000e+02] [ 9.92804825e-01 1.19255615e-01 -1.08017808e-02 1.04680244e+02] [ 1.08637156e-02 1.30761114e-04 9.99940980e-01 5.07336620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:104.71, Z:0.51 [[ 1.19249288e-01 -9.92863644e-01 -1.17965128e-03 1.25117750e+02] [ 9.92803167e-01 1.19255045e-01 -1.09592810e-02 1.04708187e+02] [ 1.10217511e-02 1.35724936e-04 9.99939249e-01 5.07312388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:104.73, Z:0.51 [[ 1.19111515e-01 -9.92880234e-01 -1.13457984e-03 1.25121350e+02] [ 9.92823992e-01 1.19116845e-01 -1.05687568e-02 1.04734584e+02] [ 1.06286573e-02 1.32422557e-04 9.99943505e-01 5.06910689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.13, Y:104.76, Z:0.51 [[ 1.17881304e-01 -9.93026999e-01 -1.17393219e-03 1.25127963e+02] [ 9.92966474e-01 1.17887081e-01 -1.09643663e-02 1.04762331e+02] [ 1.10263032e-02 1.26818491e-04 9.99939200e-01 5.06621085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.581858064 meters Centerline goodness [0,1] 0.9999779497695751 Centerline is valid? [True, True] Translation: X:125.13, Y:104.79, Z:0.51 [[ 1.16667886e-01 -9.93170272e-01 -1.18958820e-03 1.25134183e+02] [ 9.93107813e-01 1.16673891e-01 -1.11388943e-02 1.04790419e+02] [ 1.12016125e-02 1.18161915e-04 9.99937253e-01 5.07141412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:104.82, Z:0.51 [[ 1.13745742e-01 -9.93509206e-01 -1.16814719e-03 1.25141826e+02] [ 9.93448674e-01 1.13751707e-01 -1.09672411e-02 1.04816993e+02] [ 1.10289337e-02 8.69826913e-05 9.99939176e-01 5.07492149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.641858064 meters Centerline goodness [0,1] 0.999977922995408 Centerline is valid? [True, True] Translation: X:125.15, Y:104.84, Z:0.51 [[ 1.12097719e-01 -9.93696532e-01 -1.14147111e-03 1.25146667e+02] [ 9.93638491e-01 1.12103509e-01 -1.07402339e-02 1.04843573e+02] [ 1.08004961e-02 6.97461014e-05 9.99941671e-01 5.07088528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.671858064 meters Centerline goodness [0,1] 0.9999335430419565 Centerline is valid? [True, True] Translation: X:125.15, Y:104.87, Z:0.51 [[ 1.10543050e-01 -9.93870697e-01 -1.12794281e-03 1.25152992e+02] [ 9.93813758e-01 1.10548791e-01 -1.06386140e-02 1.04871357e+02] [ 1.06980994e-02 5.50597560e-05 9.99942772e-01 5.07793901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.16, Y:104.90, Z:0.51 [[ 1.08645500e-01 -9.94079905e-01 -1.13959226e-03 1.25158946e+02] [ 9.94021486e-01 1.08651470e-01 -1.07770057e-02 1.04899345e+02] [ 1.08370232e-02 3.80939867e-05 9.99941277e-01 5.08063173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.17, Y:104.93, Z:0.51 [[ 1.04989684e-01 -9.94472623e-01 -1.16956313e-03 1.25167461e+02] [ 9.94410786e-01 1.04996198e-01 -1.10899635e-02 1.04926650e+02] [ 1.11514648e-02 1.30557942e-06 9.99937820e-01 5.07772114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.761858064 meters Centerline goodness [0,1] 0.99997770047275 Centerline is valid? [True, True] Translation: X:125.17, Y:104.95, Z:0.51 [[ 1.03156914e-01 -9.94664393e-01 -1.18176852e-03 1.25172975e+02] [ 9.94600921e-01 1.03163681e-01 -1.12366634e-02 1.04953502e+02] [ 1.12986246e-02 -1.62485421e-05 9.99936168e-01 5.07451869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.791858064 meters Centerline goodness [0,1] 0.9998881556872833 Centerline is valid? [True, True] Translation: X:125.18, Y:104.98, Z:0.51 [[ 1.00979463e-01 -9.94887908e-01 -1.09457193e-03 1.25179398e+02] [ 9.94833184e-01 1.00985389e-01 -1.04349178e-02 1.04981503e+02] [ 1.04921093e-02 -3.52040801e-05 9.99944956e-01 5.09165289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.18, Y:105.01, Z:0.51 [[ 1.01064410e-01 -9.94879377e-01 -1.00556991e-03 1.25182015e+02] [ 9.94832952e-01 1.01069409e-01 -9.61100674e-03 1.05009610e+02] [ 9.66342475e-03 -2.90433553e-05 9.99953308e-01 5.10350655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851858064 meters Centerline goodness [0,1] 0.999955203153698 Centerline is valid? [True, True] Translation: X:125.19, Y:105.04, Z:0.51 [[ 1.00343610e-01 -9.94952380e-01 -9.60174151e-04 1.25185687e+02] [ 9.94909819e-01 1.00348199e-01 -9.20274376e-03 1.05036933e+02] [ 9.25264355e-03 -3.18501587e-05 9.99957193e-01 5.11023641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881858064 meters Centerline goodness [0,1] 0.999955301269444 Centerline is valid? [True, True] Translation: X:125.19, Y:105.06, Z:0.51 [[ 9.95440273e-02 -9.95032729e-01 -9.25064351e-04 1.25189716e+02] [ 9.94992997e-01 9.95483193e-02 -8.89199261e-03 1.05063988e+02] [ 8.93991227e-03 -3.52877967e-05 9.99960038e-01 5.11629516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.19, Y:105.09, Z:0.51 [[ 9.69325550e-02 -9.95290602e-01 -8.35239317e-04 1.25193642e+02] [ 9.95258038e-01 9.69361401e-02 -8.05122230e-03 1.05091463e+02] [ 8.09427077e-03 -5.08530947e-05 9.99967240e-01 5.12444187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941858064 meters Centerline goodness [0,1] 0.9999776201239845 Centerline is valid? [True, True] Translation: X:125.20, Y:105.12, Z:0.51 [[ 9.48916989e-02 -9.95487284e-01 -7.95280703e-04 1.25196982e+02] [ 9.95457598e-01 9.48950111e-02 -7.68810278e-03 1.05118642e+02] [ 7.72887673e-03 -6.21310851e-05 9.99970130e-01 5.12551789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.20, Y:105.15, Z:0.51 [[ 9.31942973e-02 -9.95647670e-01 -7.34479872e-04 1.25200929e+02] [ 9.95622212e-01 9.31971670e-02 -7.12038741e-03 1.05145343e+02] [ 7.15784858e-03 -6.76849731e-05 9.99974380e-01 5.12412944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.20, Y:105.17, Z:0.51 [[ 9.14813789e-02 -9.95806534e-01 -7.09522527e-04 1.25204719e+02] [ 9.95782660e-01 9.14840991e-02 -6.89594807e-03 1.05170998e+02] [ 6.93194018e-03 -7.56793907e-05 9.99975971e-01 5.12457030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:105.20, Z:0.51 [[ 8.84109109e-02 -9.96083829e-01 -7.18815076e-04 1.25209520e+02] [ 9.96059214e-01 8.84137799e-02 -7.00332493e-03 1.05199046e+02] [ 7.03945187e-03 -9.68120429e-05 9.99975218e-01 5.13072584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:105.23, Z:0.51 [[ 8.68571530e-02 -9.96220505e-01 -7.34771476e-04 1.25213210e+02] [ 9.96194656e-01 8.68601930e-02 -7.17737929e-03 1.05226735e+02] [ 7.21407481e-03 -1.08568686e-04 9.99973972e-01 5.13158919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:105.25, Z:0.51 [[ 8.47843704e-02 -9.96398973e-01 -8.35335890e-04 1.25217010e+02] [ 9.96365416e-01 8.47883716e-02 -8.17857913e-03 1.05253054e+02] [ 8.21995461e-03 -1.38884110e-04 9.99966206e-01 5.12752275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121858064 meters Centerline goodness [0,1] 0.999955329223622 Centerline is valid? [True, True] Translation: X:125.22, Y:105.28, Z:0.51 [[ 8.43441568e-02 -9.96436312e-01 -8.59569400e-04 1.25219437e+02] [ 9.96400606e-01 8.43484123e-02 -8.43670025e-03 1.05280255e+02] [ 8.47913780e-03 -1.44889102e-04 9.99964041e-01 5.12508423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151858064 meters Centerline goodness [0,1] 0.9999776710952328 Centerline is valid? [True, True] Translation: X:125.22, Y:105.31, Z:0.51 [[ 8.42984003e-02 -9.96440140e-01 -9.09909130e-04 1.25219837e+02] [ 9.96399889e-01 8.43031747e-02 -8.95743155e-03 1.05307581e+02] [ 9.00225257e-03 -1.51536207e-04 9.99959467e-01 5.12968021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:105.33, Z:0.51 [[ 8.46450799e-02 -9.96410714e-01 -9.48369574e-04 1.25222708e+02] [ 9.96366714e-01 8.46502557e-02 -9.36507592e-03 1.05333357e+02] [ 9.41174171e-03 -1.52216277e-04 9.99955697e-01 5.12635495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:105.36, Z:0.51 [[ 8.53551740e-02 -9.96350084e-01 -1.00194170e-03 1.25224078e+02] [ 9.96300675e-01 8.53609205e-02 -9.92362267e-03 1.05360244e+02] [ 9.97292895e-03 -1.51202651e-04 9.99950258e-01 5.12256279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24185806399998 meters Centerline goodness [0,1] 0.9999776905229342 Centerline is valid? [True, True] Translation: X:125.22, Y:105.39, Z:0.51 [[ 8.66696520e-02 -9.96236537e-01 -1.06465926e-03 1.25223456e+02] [ 9.96180382e-01 8.66760717e-02 -1.05784815e-02 1.05385568e+02] [ 1.06309503e-02 -1.43759358e-04 9.99943480e-01 5.11866286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:105.41, Z:0.51 [[ 8.68545074e-02 -9.96220437e-01 -1.06534293e-03 1.25221949e+02] [ 9.96163880e-01 8.68609293e-02 -1.06161440e-02 1.05413493e+02] [ 1.06685563e-02 -1.39196190e-04 9.99943080e-01 5.13101523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.301858064 meters Centerline goodness [0,1] 0.9999554277818635 Centerline is valid? [True, True] Translation: X:125.22, Y:105.44, Z:0.51 [[ 8.67693210e-02 -9.96227903e-01 -1.02511695e-03 1.25223173e+02] [ 9.96175250e-01 8.67752753e-02 -1.02431926e-02 1.05441601e+02] [ 1.02935090e-02 -1.32401274e-04 9.99947012e-01 5.13460402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.331858064 meters Centerline goodness [0,1] 0.999955564442667 Centerline is valid? [True, True] Translation: X:125.22, Y:105.47, Z:0.51 [[ 8.64389904e-02 -9.96256726e-01 -9.14580793e-04 1.25224406e+02] [ 9.96214586e-01 8.64437468e-02 -9.16396756e-03 1.05468782e+02] [ 9.20872411e-03 -1.18994622e-04 9.99957592e-01 5.14552701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.361858064 meters Centerline goodness [0,1] 0.9998672742556298 Centerline is valid? [True, True] Translation: X:125.23, Y:105.50, Z:0.52 [[ 8.59100971e-02 -9.96302509e-01 -8.75464393e-04 1.25226448e+02] [ 9.96263682e-01 8.59144787e-02 -8.79645637e-03 1.05497004e+02] [ 8.83914662e-03 -1.16488959e-04 9.99960927e-01 5.15671015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.23, Y:105.53, Z:0.52 [[ 8.53010763e-02 -9.96354892e-01 -8.09268943e-04 1.25227900e+02] [ 9.96321539e-01 8.53048431e-02 -8.15322025e-03 1.05525405e+02] [ 8.19253544e-03 -1.10813616e-04 9.99966434e-01 5.16624989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.23, Y:105.55, Z:0.52 [[ 8.47275270e-02 -9.96403895e-01 -7.24125752e-04 1.25227856e+02] [ 9.96377049e-01 8.47305602e-02 -7.31489398e-03 1.05554086e+02] [ 7.34994444e-03 -1.01729403e-04 9.99972984e-01 5.17983835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.451858064 meters Centerline goodness [0,1] 0.9999558917583751 Centerline is valid? [True, True] Translation: X:125.23, Y:105.58, Z:0.52 [[ 8.46485182e-02 -9.96410614e-01 -7.19425505e-04 1.25228558e+02] [ 9.96383963e-01 8.46515164e-02 -7.28825123e-03 1.05582465e+02] [ 7.32299134e-03 -9.98843693e-05 9.99973182e-01 5.18373689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.23, Y:105.61, Z:0.52 [[ 8.45878126e-02 -9.96415734e-01 -7.65897706e-04 1.25230275e+02] [ 9.96385342e-01 8.45912150e-02 -7.78308452e-03 1.05609552e+02] [ 7.81997609e-03 -1.04775153e-04 9.99969418e-01 5.17809064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.511858064 meters Centerline goodness [0,1] 0.9999779171451285 Centerline is valid? [True, True] Translation: X:125.23, Y:105.64, Z:0.52 [[ 8.48307953e-02 -9.96394995e-01 -8.65845653e-04 1.25230708e+02] [ 9.96355905e-01 8.48351374e-02 -8.82662812e-03 1.05637902e+02] [ 8.86826222e-03 -1.13920546e-04 9.99960670e-01 5.17332363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.23, Y:105.66, Z:0.52 [[ 8.51768572e-02 -9.96365395e-01 -9.50141607e-04 1.25232494e+02] [ 9.96318021e-01 8.51820733e-02 -9.71671486e-03 1.05664606e+02] [ 9.76233347e-03 -1.19003972e-04 9.99952340e-01 5.16683712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.23, Y:105.69, Z:0.52 [[ 8.60494563e-02 -9.96290376e-01 -9.88805860e-04 1.25231958e+02] [ 9.96238756e-01 8.60550641e-02 -1.01423464e-02 1.05692755e+02] [ 1.01898138e-02 -1.12343327e-04 9.99948076e-01 5.16008916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601858064 meters Centerline goodness [0,1] 0.9999337836048205 Centerline is valid? [True, True] Translation: X:125.23, Y:105.72, Z:0.52 [[ 8.59582931e-02 -9.96298224e-01 -1.01048682e-03 1.25233464e+02] [ 9.96244003e-01 8.59641578e-02 -1.03947473e-02 1.05720642e+02] [ 1.04431339e-02 -1.13176696e-04 9.99945463e-01 5.15457358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.23, Y:105.75, Z:0.52 [[ 8.61289534e-02 -9.96283538e-01 -9.56783941e-04 1.25233946e+02] [ 9.96234660e-01 8.61342058e-02 -9.86914469e-03 1.05749307e+02] [ 9.91487821e-03 -1.03162221e-04 9.99950841e-01 5.16816272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:105.78, Z:0.52 [[ 8.66307650e-02 -9.96240037e-01 -9.48082689e-04 1.25235294e+02] [ 9.96191771e-01 8.66359008e-02 -9.80697976e-03 1.05777519e+02] [ 9.85224388e-03 -9.48860145e-05 9.99951461e-01 5.16955526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:105.81, Z:0.52 [[ 8.75238558e-02 -9.96161917e-01 -1.00493605e-03 1.25235319e+02] [ 9.96107350e-01 8.75295802e-02 -1.04269183e-02 1.05805177e+02] [ 1.04748605e-02 -8.84200971e-05 9.99945133e-01 5.16775670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:105.83, Z:0.52 [[ 8.78773164e-02 -9.96130793e-01 -1.00986377e-03 1.25236890e+02] [ 9.96075363e-01 8.78830801e-02 -1.05088520e-02 1.05833379e+02] [ 1.05569410e-02 -8.24107145e-05 9.99944271e-01 5.16822055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:105.86, Z:0.52 [[ 8.81097717e-02 -9.96110255e-01 -1.01364040e-03 1.25238281e+02] [ 9.96054085e-01 8.81155679e-02 -1.05785416e-02 1.05861796e+02] [ 1.06267113e-02 -7.75677767e-05 9.99943532e-01 5.17005357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:105.89, Z:0.52 [[ 8.92951871e-02 -9.96004732e-01 -9.71110603e-04 1.25237219e+02] [ 9.95952875e-01 8.93004476e-02 -1.01637445e-02 1.05889778e+02] [ 1.02098583e-02 -5.96069275e-05 9.99947876e-01 5.17111351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:105.92, Z:0.52 [[ 8.98921418e-02 -9.95951037e-01 -9.66515767e-04 1.25237337e+02] [ 9.95899359e-01 8.98973234e-02 -1.01458454e-02 1.05918171e+02] [ 1.01916524e-02 -5.05206601e-05 9.99948062e-01 5.17718975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:105.95, Z:0.52 [[ 9.04514681e-02 -9.95900403e-01 -9.58445824e-04 1.25237864e+02] [ 9.95849262e-01 9.04565364e-02 -1.00926528e-02 1.05945365e+02] [ 1.01379747e-02 -4.15723047e-05 9.99948609e-01 5.17698350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871858064 meters Centerline goodness [0,1] 0.9999783207232207 Centerline is valid? [True, True] Translation: X:125.24, Y:105.97, Z:0.52 [[ 9.13951026e-02 -9.95814225e-01 -9.82004223e-04 1.25236958e+02] [ 9.95760190e-01 9.14003733e-02 -1.03738132e-02 1.05972904e+02] [ 1.04201463e-02 -2.97249924e-05 9.99945708e-01 5.17571628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:106.00, Z:0.52 [[ 9.13585679e-02 -9.95817615e-01 -9.43119917e-04 1.25238381e+02] [ 9.95767475e-01 9.13634321e-02 -9.99296954e-03 1.06001376e+02] [ 1.00373418e-02 -2.61847512e-05 9.99949624e-01 5.18304125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:106.03, Z:0.52 [[ 9.10402839e-02 -9.95846806e-01 -8.97616285e-04 1.25240127e+02] [ 9.95801121e-01 9.10447053e-02 -9.53886729e-03 1.06029176e+02] [ 9.58097374e-03 -2.54261156e-05 9.99954101e-01 5.19361875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:106.06, Z:0.52 [[ 9.10075860e-02 -9.95849859e-01 -8.23648198e-04 1.25241698e+02] [ 9.95811169e-01 9.10113105e-02 -8.77824615e-03 1.06057481e+02] [ 8.81677649e-03 -2.13110837e-05 9.99961131e-01 5.20119985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:106.09, Z:0.52 [[ 9.11831142e-02 -9.95833821e-01 -8.00275093e-04 1.25241276e+02] [ 9.95797076e-01 9.11866244e-02 -8.55465072e-03 1.06085883e+02] [ 8.59198490e-03 -1.68719043e-05 9.99963088e-01 5.20858581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02185806399999 meters Centerline goodness [0,1] 0.9998479021358886 Centerline is valid? [True, True] Translation: X:125.24, Y:106.11, Z:0.52 [[ 9.12761391e-02 -9.95825245e-01 -8.64721792e-04 1.25242095e+02] [ 9.95782119e-01 9.12802338e-02 -9.26771274e-03 1.06112661e+02] [ 9.30795431e-03 -1.51534615e-05 9.99956680e-01 5.20238509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.051858064 meters Centerline goodness [0,1] 0.9999783437283437 Centerline is valid? [True, True] Translation: X:125.24, Y:106.14, Z:0.52 [[ 9.13109279e-02 -9.95822023e-01 -9.01360029e-04 1.25242754e+02] [ 9.95774907e-01 9.13153757e-02 -9.68690889e-03 1.06140861e+02] [ 9.72874524e-03 -1.30310598e-05 9.99952675e-01 5.20043430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:106.17, Z:0.52 [[ 9.16133546e-02 -9.95794219e-01 -9.31481996e-04 1.25243413e+02] [ 9.95743592e-01 9.16180896e-02 -1.00411388e-02 1.06168856e+02] [ 1.00842485e-02 -7.61482140e-06 9.99949153e-01 5.20003245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:106.20, Z:0.52 [[ 9.25287732e-02 -9.95709556e-01 -9.51711776e-04 1.25242528e+02] [ 9.95656374e-01 9.25336674e-02 -1.02909986e-02 1.06197290e+02] [ 1.03349111e-02 4.63558192e-06 9.99946593e-01 5.20703984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:106.22, Z:0.52 [[ 9.31439346e-02 -9.95652174e-01 -9.77690703e-04 1.25243112e+02] [ 9.95595681e-01 9.31490645e-02 -1.06062442e-02 1.06224333e+02] [ 1.06512011e-02 1.45226768e-05 9.99943274e-01 5.20350117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:106.25, Z:0.52 [[ 9.28698895e-02 -9.95677776e-01 -9.74690679e-04 1.25245562e+02] [ 9.95621281e-01 9.28750030e-02 -1.06065202e-02 1.06251801e+02] [ 1.06512008e-02 1.46035758e-05 9.99943274e-01 5.20443863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201858064 meters Centerline goodness [0,1] 0.9999782783413341 Centerline is valid? [True, True] Translation: X:125.25, Y:106.28, Z:0.52 [[ 9.33565638e-02 -9.95632222e-01 -1.01490003e-03 1.25246213e+02] [ 9.95570592e-01 9.33620773e-02 -1.10778218e-02 1.06279784e+02] [ 1.11241895e-02 2.37827499e-05 9.99938124e-01 5.20431186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.231858064 meters Centerline goodness [0,1] 0.9999782849449523 Centerline is valid? [True, True] Translation: X:125.25, Y:106.31, Z:0.52 [[ 9.34812927e-02 -9.95620565e-01 -9.68432731e-04 1.25246866e+02] [ 9.95564114e-01 9.34863050e-02 -1.06021997e-02 1.06307656e+02] [ 1.06463032e-02 2.69704568e-05 9.99943326e-01 5.20651846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:106.34, Z:0.52 [[ 9.31527319e-02 -9.95651476e-01 -8.40284178e-04 1.25246457e+02] [ 9.95608725e-01 9.31565189e-02 -9.22652475e-03 1.06335890e+02] [ 9.26468094e-03 2.28817273e-05 9.99957082e-01 5.22317466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:106.36, Z:0.52 [[ 9.25836947e-02 -9.95704586e-01 -7.98404265e-04 1.25247488e+02] [ 9.95665744e-01 9.25871351e-02 -8.79478489e-03 1.06363112e+02] [ 8.83092961e-03 1.93099018e-05 9.99961006e-01 5.22006596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:106.39, Z:0.52 [[ 9.15715142e-02 -9.95798203e-01 -7.72953878e-04 1.25249624e+02] [ 9.95761567e-01 9.15747755e-02 -8.54174206e-03 1.06390745e+02] [ 8.57663447e-03 1.25024898e-05 9.99963220e-01 5.22865268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:106.42, Z:0.52 [[ 8.90323813e-02 -9.96028454e-01 -7.43631202e-04 1.25251369e+02] [ 9.95994333e-01 8.90354866e-02 -8.24439434e-03 1.06417913e+02] [ 8.27786092e-03 -6.63440290e-06 9.99965738e-01 5.23072591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:106.45, Z:0.52 [[ 8.76998957e-02 -9.96146699e-01 -6.94544538e-04 1.25253684e+02] [ 9.96116752e-01 8.77026448e-02 -7.72420797e-03 1.06446377e+02] [ 7.75535766e-03 -1.44352154e-05 9.99969927e-01 5.23504171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.47, Z:0.52 [[ 8.63644223e-02 -9.96263402e-01 -6.48255069e-04 1.25255277e+02] [ 9.96237156e-01 8.63668526e-02 -7.23162343e-03 1.06474290e+02] [ 7.26058951e-03 -2.12608069e-05 9.99973641e-01 5.24476917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.50, Z:0.53 [[ 8.52266599e-02 -9.96361400e-01 -6.14184290e-04 1.25256517e+02] [ 9.96337693e-01 8.52288690e-02 -6.87329856e-03 1.06502761e+02] [ 6.90063561e-03 -2.61466789e-05 9.99976190e-01 5.25103754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.53, Z:0.53 [[ 8.47362629e-02 -9.96403241e-01 -5.89499024e-04 1.25255851e+02] [ 9.96381258e-01 8.47383092e-02 -6.61874129e-03 1.06530170e+02] [ 6.64488843e-03 -2.65183772e-05 9.99977922e-01 5.25685886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.56, Z:0.53 [[ 8.46535630e-02 -9.96410253e-01 -6.17605508e-04 1.25256467e+02] [ 9.96385959e-01 8.46558118e-02 -6.95809071e-03 1.06557899e+02] [ 6.98539683e-03 -2.63462858e-05 9.99975601e-01 5.25598309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.58, Z:0.53 [[ 8.47943141e-02 -9.96398256e-01 -6.62875588e-04 1.25257205e+02] [ 9.96370075e-01 8.47969014e-02 -7.49394507e-03 1.06584616e+02] [ 7.52316360e-03 -2.50254674e-05 9.99971700e-01 5.25545014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.61, Z:0.53 [[ 8.48878664e-02 -9.96390289e-01 -6.65616501e-04 1.25257995e+02] [ 9.96361684e-01 8.48904730e-02 -7.55000182e-03 1.06613135e+02] [ 7.57925299e-03 -2.22912323e-05 9.99971277e-01 5.25636478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.64, Z:0.53 [[ 8.51359627e-02 -9.96369116e-01 -6.72180920e-04 1.25258902e+02] [ 9.96339748e-01 8.51386142e-02 -7.65001760e-03 1.06640123e+02] [ 7.67946983e-03 -1.84289560e-05 9.99970512e-01 5.25381488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.67, Z:0.53 [[ 8.48797492e-02 -9.96390966e-01 -6.86223045e-04 1.25258269e+02] [ 9.96360150e-01 8.48825210e-02 -7.83645519e-03 1.06668282e+02] [ 7.86642150e-03 -1.85689446e-05 9.99969059e-01 5.25691234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.70, Z:0.53 [[ 8.45809683e-02 -9.96416355e-01 -7.12043516e-04 1.25259606e+02] [ 9.96382943e-01 8.45839632e-02 -8.15990200e-03 1.06695804e+02] [ 8.19088727e-03 -1.92956015e-05 9.99966454e-01 5.25798353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.72, Z:0.53 [[ 8.37313079e-02 -9.96488137e-01 -6.79007355e-04 1.25260272e+02] [ 9.96457554e-01 8.37340578e-02 -7.80703327e-03 1.06724399e+02] [ 7.83647208e-03 -2.29089020e-05 9.99969294e-01 5.26557370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.75, Z:0.53 [[ 8.28011559e-02 -9.96565880e-01 -6.44751174e-04 1.25262302e+02] [ 9.96538132e-01 8.28036618e-02 -7.43672460e-03 1.06752541e+02] [ 7.46457375e-03 -2.67497379e-05 9.99972139e-01 5.26947892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:106.78, Z:0.53 [[ 8.17217476e-02 -9.96655009e-01 -5.91649738e-04 1.25264434e+02] [ 9.96631499e-01 8.17238837e-02 -6.84558104e-03 1.06780068e+02] [ 6.87103455e-03 -3.02239197e-05 9.99976394e-01 5.27250019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:106.81, Z:0.53 [[ 8.08290925e-02 -9.96727827e-01 -5.44246396e-04 1.25266695e+02] [ 9.96707811e-01 8.08309185e-02 -6.31684002e-03 1.06807930e+02] [ 6.34016216e-03 -3.18701881e-05 9.99979900e-01 5.27706468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:106.83, Z:0.53 [[ 8.00304587e-02 -9.96792293e-01 -5.00957166e-04 1.25268845e+02] [ 9.96775241e-01 8.00320199e-02 -5.83048775e-03 1.06834659e+02] [ 5.85187787e-03 -3.27250908e-05 9.99982877e-01 5.28012349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:106.86, Z:0.53 [[ 7.95092893e-02 -9.96834034e-01 -4.26170616e-04 1.25269531e+02] [ 9.96821633e-01 7.95104259e-02 -4.97226502e-03 1.06862639e+02] [ 4.99040801e-03 -2.94748318e-05 9.99987547e-01 5.28376548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:106.89, Z:0.53 [[ 7.92461000e-02 -9.96854995e-01 -4.18514076e-04 1.25271216e+02] [ 9.96842956e-01 7.92471998e-02 -4.89923528e-03 1.06890337e+02] [ 4.91699322e-03 -2.89475202e-05 9.99987911e-01 5.28169134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:106.92, Z:0.53 [[ 7.93695913e-02 -9.96845177e-01 -4.01019364e-04 1.25273130e+02] [ 9.96834050e-01 7.93706001e-02 -4.70999701e-03 1.06918403e+02] [ 4.72696695e-03 -2.59192199e-05 9.99988827e-01 5.28310338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:106.95, Z:0.53 [[ 7.92094198e-02 -9.96857921e-01 -3.91782383e-04 1.25275301e+02] [ 9.96847230e-01 7.92103848e-02 -4.61692087e-03 1.06946593e+02] [ 4.63344737e-03 -2.48435598e-05 9.99989265e-01 5.28473134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:106.97, Z:0.53 [[ 7.94183831e-02 -9.96841290e-01 -4.03116683e-04 1.25277552e+02] [ 9.96829891e-01 7.94194028e-02 -4.76724192e-03 1.06974017e+02] [ 4.78419887e-03 -2.32321134e-05 9.99988555e-01 5.28394191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:107.00, Z:0.53 [[ 7.90553824e-02 -9.96870145e-01 -4.00379278e-04 1.25279451e+02] [ 9.96858820e-01 7.90563927e-02 -4.75178058e-03 1.07000661e+02] [ 4.76856074e-03 -2.34677847e-05 9.99988630e-01 5.27831260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:107.03, Z:0.53 [[ 7.90853755e-02 -9.96867747e-01 -4.44685364e-04 1.25281708e+02] [ 9.96853672e-01 7.90866219e-02 -5.29735803e-03 1.07028251e+02] [ 5.31593403e-03 -2.43426889e-05 9.99985870e-01 5.27213217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:107.06, Z:0.53 [[ 7.90934335e-02 -9.96867052e-01 -5.56420732e-04 1.25284645e+02] [ 9.96844847e-01 7.90953856e-02 -6.65367425e-03 1.07055802e+02] [ 6.67683894e-03 -2.84031978e-05 9.99977709e-01 5.26686791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:107.08, Z:0.53 [[ 7.86291860e-02 -9.96903777e-01 -5.58124407e-04 1.25287402e+02] [ 9.96881281e-01 7.86311612e-02 -6.69718090e-03 1.07083447e+02] [ 6.72033090e-03 -2.97898913e-05 9.99977418e-01 5.26610888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:107.11, Z:0.53 [[ 7.85213863e-02 -9.96912270e-01 -5.63316857e-04 1.25290586e+02] [ 9.96889215e-01 7.85234015e-02 -6.78006444e-03 1.07110447e+02] [ 6.80336299e-03 -2.91844393e-05 9.99976856e-01 5.26601677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:107.14, Z:0.53 [[ 7.78653255e-02 -9.96963724e-01 -5.69903909e-04 1.25293662e+02] [ 9.96939984e-01 7.78674043e-02 -6.88016383e-03 1.07138130e+02] [ 6.90365069e-03 -3.24337972e-05 9.99976169e-01 5.26461582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.30, Y:107.17, Z:0.53 [[ 7.71113643e-02 -9.97022318e-01 -5.78762324e-04 1.25297209e+02] [ 9.96997687e-01 7.71135276e-02 -7.00823546e-03 1.07165225e+02] [ 7.03199757e-03 -3.66101013e-05 9.99975275e-01 5.26132433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.30, Y:107.19, Z:0.52 [[ 7.44893727e-02 -9.97221559e-01 -7.03860280e-04 1.25303285e+02] [ 9.97184902e-01 7.44926697e-02 -8.55064085e-03 1.07193536e+02] [ 8.57931583e-03 -6.49469713e-05 9.99963195e-01 5.24743256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:107.22, Z:0.52 [[ 7.29665749e-02 -9.97334117e-01 -7.33050581e-04 1.25308379e+02] [ 9.97294074e-01 7.29702144e-02 -8.93741298e-03 1.07220180e+02] [ 8.96707774e-03 -7.89345870e-05 9.99959792e-01 5.24769840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:107.25, Z:0.53 [[ 7.12517606e-02 -9.97458099e-01 -7.26501872e-04 1.25313546e+02] [ 9.97418541e-01 7.12554053e-02 -8.88380220e-03 1.07246935e+02] [ 8.91298764e-03 -9.16398895e-05 9.99960274e-01 5.25063796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:107.27, Z:0.53 [[ 6.95130819e-02 -9.97580788e-01 -7.09336631e-04 1.25318616e+02] [ 9.97542853e-01 6.95166250e-02 -8.70026302e-03 1.07274684e+02] [ 8.72852592e-03 -1.02811591e-04 9.99961900e-01 5.25259681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:107.30, Z:0.53 [[ 6.68473175e-02 -9.97762976e-01 -6.93066382e-04 1.25325315e+02] [ 9.97726528e-01 6.68508001e-02 -8.52907961e-03 1.07302328e+02] [ 8.55633190e-03 -1.21344622e-04 9.99963387e-01 5.26152141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341858064 meters Centerline goodness [0,1] 0.9999783811829817 Centerline is valid? [True, True] Translation: X:125.33, Y:107.33, Z:0.53 [[ 6.58744044e-02 -9.97827695e-01 -6.74223452e-04 1.25330435e+02] [ 9.97793017e-01 6.58777367e-02 -8.31974895e-03 1.07328547e+02] [ 8.34609223e-03 -1.24676946e-04 9.99965163e-01 5.26252457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:107.36, Z:0.53 [[ 6.54367642e-02 -9.97856518e-01 -6.32319825e-04 1.25334907e+02] [ 9.97825839e-01 6.54397112e-02 -7.82557787e-03 1.07356094e+02] [ 7.85018271e-03 -1.18864566e-04 9.99969180e-01 5.27130302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401858064 meters Centerline goodness [0,1] 0.999913511643495 Centerline is valid? [True, True] Translation: X:125.34, Y:107.38, Z:0.53 [[ 6.58171331e-02 -9.97831525e-01 -5.94011480e-04 1.25341460e+02] [ 9.97804265e-01 6.58197263e-02 -7.37647258e-03 1.07383305e+02] [ 7.39957456e-03 -1.07208911e-04 9.99972617e-01 5.28237408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:107.41, Z:0.53 [[ 6.64905410e-02 -9.97786892e-01 -5.71377076e-04 1.25345044e+02] [ 9.97761495e-01 6.64929257e-02 -7.11970650e-03 1.07411217e+02] [ 7.14194235e-03 -9.67049084e-05 9.99974491e-01 5.28275345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46185806399998 meters Centerline goodness [0,1] 0.9998482319016543 Centerline is valid? [True, True] Translation: X:125.35, Y:107.44, Z:0.53 [[ 6.74663716e-02 -9.97721373e-01 -5.92230151e-04 1.25348350e+02] [ 9.97693892e-01 6.74689092e-02 -7.40570049e-03 1.07438731e+02] [ 7.42878278e-03 -9.12286627e-05 9.99972402e-01 5.28528500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:107.47, Z:0.53 [[ 6.96893237e-02 -9.97568577e-01 -5.77288893e-04 1.25352346e+02] [ 9.97542278e-01 6.96916785e-02 -7.24383372e-03 1.07466292e+02] [ 7.26645313e-03 -7.10522040e-05 9.99973596e-01 5.29007685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52185806399999 meters Centerline goodness [0,1] 0.9998697351280937 Centerline is valid? [True, True] Translation: X:125.36, Y:107.49, Z:0.53 [[ 7.05699980e-02 -9.97506660e-01 -5.81395053e-04 1.25355829e+02] [ 9.97479795e-01 7.05723646e-02 -7.32119366e-03 1.07494352e+02] [ 7.34396986e-03 -6.32731959e-05 9.99973031e-01 5.29276318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.551858064 meters Centerline goodness [0,1] 0.9998911765986158 Centerline is valid? [True, True] Translation: X:125.36, Y:107.52, Z:0.53 [[ 7.14946109e-02 -9.97440800e-01 -6.09239895e-04 1.25359559e+02] [ 9.97411083e-01 7.14971838e-02 -7.69960248e-03 1.07522273e+02] [ 7.72345660e-03 -5.71825393e-05 9.99970172e-01 5.29237864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.581858064 meters Centerline goodness [0,1] 0.9999566733822924 Centerline is valid? [True, True] Translation: X:125.37, Y:107.55, Z:0.53 [[ 7.26453038e-02 -9.97357617e-01 -6.66806080e-04 1.25365263e+02] [ 9.97321752e-01 7.26483464e-02 -8.45813040e-03 1.07550364e+02] [ 8.48422314e-03 -5.05767557e-05 9.99964007e-01 5.28978791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.611858064 meters Centerline goodness [0,1] 0.9998476306567119 Centerline is valid? [True, True] Translation: X:125.37, Y:107.58, Z:0.53 [[ 7.23197375e-02 -9.97381244e-01 -7.13317673e-04 1.25369493e+02] [ 9.97339904e-01 7.23232346e-02 -9.08102103e-03 1.07577848e+02] [ 9.10882949e-03 -5.46831227e-05 9.99958512e-01 5.28826821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.641858064 meters Centerline goodness [0,1] 0.9999127608994351 Centerline is valid? [True, True] Translation: X:125.37, Y:107.61, Z:0.53 [[ 7.21575280e-02 -9.97392978e-01 -7.34177737e-04 1.25374059e+02] [ 9.97348871e-01 7.21612417e-02 -9.38001575e-03 1.07605748e+02] [ 9.40854101e-03 -5.53925878e-05 9.99955737e-01 5.29175209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.671858064 meters Centerline goodness [0,1] 0.9998029470365424 Centerline is valid? [True, True] Translation: X:125.38, Y:107.63, Z:0.53 [[ 7.15096190e-02 -9.97439628e-01 -7.50405355e-04 1.25381261e+02] [ 9.97393215e-01 7.15135307e-02 -9.62234874e-03 1.07633142e+02] [ 9.65137609e-03 -6.03587174e-05 9.99953423e-01 5.30550170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.701858064 meters Centerline goodness [0,1] 0.9998687549216905 Centerline is valid? [True, True] Translation: X:125.39, Y:107.66, Z:0.53 [[ 7.12500565e-02 -9.97458185e-01 -7.74181528e-04 1.25385868e+02] [ 9.97408419e-01 7.12542352e-02 -9.96394271e-03 1.07660912e+02] [ 9.99377992e-03 -6.22436929e-05 9.99950059e-01 5.30961681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.731858064 meters Centerline goodness [0,1] 0.9998470647353127 Centerline is valid? [True, True] Translation: X:125.39, Y:107.69, Z:0.53 [[ 7.09844753e-02 -9.97477122e-01 -7.71733331e-04 1.25390161e+02] [ 9.97427310e-01 7.09886430e-02 -9.96861972e-03 1.07689051e+02] [ 9.99825441e-03 -6.21306603e-05 9.99950014e-01 5.31466651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.761858064 meters Centerline goodness [0,1] 0.999956330924256 Centerline is valid? [True, True] Translation: X:125.40, Y:107.72, Z:0.53 [[ 7.13666099e-02 -9.97449855e-01 -7.70649377e-04 1.25395890e+02] [ 9.97399819e-01 7.13707490e-02 -9.99087500e-03 1.07716814e+02] [ 1.00203986e-02 -5.56306711e-05 9.99949793e-01 5.31073728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:107.75, Z:0.53 [[ 7.18739669e-02 -9.97413407e-01 -7.93235578e-04 1.25400009e+02] [ 9.97360001e-01 7.18783272e-02 -1.03215878e-02 1.07745009e+02] [ 1.03519065e-02 -4.92879769e-05 9.99946416e-01 5.31116853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821858064 meters Centerline goodness [0,1] 0.9999339599797478 Centerline is valid? [True, True] Translation: X:125.40, Y:107.77, Z:0.53 [[ 7.20681506e-02 -9.97399353e-01 -8.43845579e-04 1.25404383e+02] [ 9.97338457e-01 7.20730752e-02 -1.10214874e-02 1.07772713e+02] [ 1.10536429e-02 -4.73014350e-05 9.99938906e-01 5.30574074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:107.80, Z:0.53 [[ 7.31775845e-02 -9.97318555e-01 -8.60586001e-04 1.25408009e+02] [ 9.97254828e-01 7.31826372e-02 -1.12742907e-02 1.07799265e+02] [ 1.13070392e-02 -3.31981864e-05 9.99936073e-01 5.30770934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881858064 meters Centerline goodness [0,1] 0.9999117465360515 Centerline is valid? [True, True] Translation: X:125.41, Y:107.83, Z:0.53 [[ 7.39317237e-02 -9.97262899e-01 -8.99838307e-04 1.25414073e+02] [ 9.97192749e-01 7.39371960e-02 -1.18284598e-02 1.07827127e+02] [ 1.18626156e-02 -2.28138141e-05 9.99929636e-01 5.30777761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.42, Y:107.85, Z:0.53 [[ 7.39713885e-02 -9.97259941e-01 -9.18979620e-04 1.25418252e+02] [ 9.97186232e-01 7.39770941e-02 -1.21247371e-02 1.07854571e+02] [ 1.21594981e-02 -1.95101850e-05 9.99926070e-01 5.31218382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941858064 meters Centerline goodness [0,1] 0.9999779234827914 Centerline is valid? [True, True] Translation: X:125.42, Y:107.88, Z:0.53 [[ 7.36660161e-02 -9.97282529e-01 -9.36050168e-04 1.25422577e+02] [ 9.97205486e-01 7.36719601e-02 -1.23959760e-02 1.07882821e+02] [ 1.24312510e-02 -2.02721953e-05 9.99922729e-01 5.31128320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:107.91, Z:0.53 [[ 7.31309138e-02 -9.97321920e-01 -9.25926736e-04 1.25427151e+02] [ 9.97245956e-01 7.31367716e-02 -1.23092106e-02 1.07909695e+02] [ 1.23439649e-02 -2.31928693e-05 9.99923810e-01 5.31288036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001858064 meters Centerline goodness [0,1] 0.9999553880127591 Centerline is valid? [True, True] Translation: X:125.43, Y:107.94, Z:0.53 [[ 7.30450880e-02 -9.97328235e-01 -8.97913737e-04 1.25434646e+02] [ 9.97256253e-01 7.30506038e-02 -1.19823231e-02 1.07937724e+02] [ 1.20159023e-02 -2.02002468e-05 9.99927806e-01 5.32911599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:107.97, Z:0.53 [[ 7.28028141e-02 -9.97345964e-01 -8.82568731e-04 1.25439153e+02] [ 9.97275893e-01 7.28081609e-02 -1.18222452e-02 1.07965104e+02] [ 1.18551268e-02 -1.94717974e-05 9.99929725e-01 5.33773357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:107.99, Z:0.53 [[ 7.31023490e-02 -9.97324081e-01 -8.50762700e-04 1.25443190e+02] [ 9.97258570e-01 7.31072983e-02 -1.14309484e-02 1.07992089e+02] [ 1.14625571e-02 -1.28012170e-05 9.99934303e-01 5.34492853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:108.02, Z:0.54 [[ 7.45279626e-02 -9.97218574e-01 -8.35302540e-04 1.25447957e+02] [ 9.97154958e-01 7.45326432e-02 -1.12638352e-02 1.08019194e+02] [ 1.12947630e-02 6.54461966e-06 9.99936212e-01 5.35588576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:108.05, Z:0.54 [[ 7.42515394e-02 -9.97239197e-01 -8.32120592e-04 1.25449920e+02] [ 9.97175580e-01 7.42562016e-02 -1.12640706e-02 1.08046718e+02] [ 1.12947628e-02 6.60424581e-06 9.99936212e-01 5.35682327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151858064 meters Centerline goodness [0,1] 0.9999551287804003 Centerline is valid? [True, True] Translation: X:125.45, Y:108.07, Z:0.54 [[ 7.54523583e-02 -9.97149076e-01 -8.13386640e-04 1.25452415e+02] [ 9.97087810e-01 7.54567389e-02 -1.10535103e-02 1.08074116e+02] [ 1.10833731e-02 2.29955151e-05 9.99938577e-01 5.35627506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:108.10, Z:0.54 [[ 7.67790626e-02 -9.97047794e-01 -8.19403801e-04 1.25454904e+02] [ 9.96985127e-01 7.67834238e-02 -1.11786846e-02 1.08102073e+02] [ 1.12085994e-02 4.13555209e-05 9.99937181e-01 5.35965374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:108.13, Z:0.54 [[ 7.81923951e-02 -9.96937952e-01 -8.17541966e-04 1.25456586e+02] [ 9.96875062e-01 7.81966454e-02 -1.11980374e-02 1.08129628e+02] [ 1.12276775e-02 6.06141643e-05 9.99936966e-01 5.35969299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:108.16, Z:0.54 [[ 8.15131503e-02 -9.96671951e-01 -7.92821311e-04 1.25456889e+02] [ 9.96612428e-01 8.15169471e-02 -1.08929416e-02 1.08156240e+02] [ 1.09213177e-02 9.77824112e-05 9.99940356e-01 5.36301040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27185806399999 meters Centerline goodness [0,1] 0.9999551870938831 Centerline is valid? [True, True] Translation: X:125.46, Y:108.18, Z:0.54 [[ 8.22509911e-02 -9.96611293e-01 -8.40249920e-04 1.25459273e+02] [ 9.96543954e-01 8.22552017e-02 -1.15857391e-02 1.08184500e+02] [ 1.16155933e-02 1.15592546e-04 9.99932530e-01 5.36925038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.301858064 meters Centerline goodness [0,1] 0.9998431688847067 Centerline is valid? [True, True] Translation: X:125.46, Y:108.21, Z:0.54 [[ 8.26150305e-02 -9.96581148e-01 -8.78466770e-04 1.25461314e+02] [ 9.96506964e-01 8.26195998e-02 -1.21602825e-02 1.08212355e+02] [ 1.21912869e-02 1.29223857e-04 9.99925675e-01 5.36983755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:108.24, Z:0.54 [[ 8.23334986e-02 -9.96604443e-01 -8.83108166e-04 1.25463523e+02] [ 9.96528887e-01 8.23381314e-02 -1.22723108e-02 1.08240507e+02] [ 1.23033529e-02 1.30379483e-04 9.99924302e-01 5.37010774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.361858064 meters Centerline goodness [0,1] 0.9998874710237886 Centerline is valid? [True, True] Translation: X:125.47, Y:108.27, Z:0.54 [[ 8.12799918e-02 -9.96690857e-01 -9.47993985e-04 1.25465680e+02] [ 9.96603073e-01 8.12854153e-02 -1.32286496e-02 1.08267522e+02] [ 1.32619322e-02 1.30450815e-04 9.99912048e-01 5.35755963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.391858064 meters Centerline goodness [0,1] 0.9998201641002585 Centerline is valid? [True, True] Translation: X:125.47, Y:108.30, Z:0.54 [[ 8.03201635e-02 -9.96768662e-01 -9.52071792e-04 1.25468586e+02] [ 9.96679410e-01 8.03257126e-02 -1.33391724e-02 1.08295859e+02] [ 1.33725449e-02 1.22494157e-04 9.99910576e-01 5.36403602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.47, Y:108.32, Z:0.54 [[ 7.78838274e-02 -9.96962037e-01 -8.98174659e-04 1.25470817e+02] [ 9.96881980e-01 7.78889557e-02 -1.26344370e-02 1.08323006e+02] [ 1.26660120e-02 8.86441813e-05 9.99919779e-01 5.36161927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.47, Y:108.35, Z:0.54 [[ 7.61430763e-02 -9.97096508e-01 -8.85934317e-04 1.25474216e+02] [ 9.97018003e-01 7.61481985e-02 -1.25121436e-02 1.08350804e+02] [ 1.25432770e-02 6.94206430e-05 9.99921328e-01 5.37398444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:108.38, Z:0.54 [[ 7.39245221e-02 -9.97263426e-01 -9.07570556e-04 1.25477598e+02] [ 9.97180386e-01 7.39300785e-02 -1.28693566e-02 1.08379182e+02] [ 1.29012354e-02 4.63494787e-05 9.99916775e-01 5.37834051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:108.41, Z:0.54 [[ 7.20201704e-02 -9.97402737e-01 -9.35294750e-04 1.25480512e+02] [ 9.97313848e-01 7.20262385e-02 -1.33157860e-02 1.08407335e+02] [ 1.33485672e-02 2.62227720e-05 9.99910904e-01 5.38505018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:108.44, Z:0.54 [[ 6.68710167e-02 -9.97761186e-01 -9.39359453e-04 1.25484262e+02] [ 9.97670839e-01 6.68776026e-02 -1.34269785e-02 1.08435708e+02] [ 1.34597401e-02 -3.92958268e-05 9.99909413e-01 5.39090852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571858064 meters Centerline goodness [0,1] 0.9999774693583273 Centerline is valid? [True, True] Translation: X:125.49, Y:108.46, Z:0.54 [[ 6.39732205e-02 -9.97951179e-01 -9.33028605e-04 1.25487501e+02] [ 9.97861350e-01 6.39799808e-02 -1.33898912e-02 1.08464098e+02] [ 1.34221529e-02 -7.44387195e-05 9.99909916e-01 5.39555904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.49, Y:108.49, Z:0.54 [[ 6.07406131e-02 -9.98153165e-01 -9.14599299e-04 1.25490735e+02] [ 9.98066318e-01 6.07473934e-02 -1.31673853e-02 1.08490611e+02] [ 1.31986269e-02 -1.13035695e-04 9.99912888e-01 5.39766822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631858064 meters Centerline goodness [0,1] 0.9999774693583273 Centerline is valid? [True, True] Translation: X:125.49, Y:108.52, Z:0.54 [[ 5.80402471e-02 -9.98313835e-01 -9.03847222e-04 1.25493264e+02] [ 9.98228416e-01 5.80471052e-02 -1.30599503e-02 1.08518799e+02] [ 1.30903948e-02 -1.44243236e-04 9.99914307e-01 5.40359434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.55, Z:0.54 [[ 5.27555545e-02 -9.98607063e-01 -8.86263010e-04 1.25496730e+02] [ 9.98524323e-01 5.27625934e-02 -1.28563218e-02 1.08546118e+02] [ 1.28851753e-02 -2.06712788e-04 9.99916961e-01 5.40846284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.57, Z:0.54 [[ 5.00697285e-02 -9.98745335e-01 -8.81921902e-04 1.25500331e+02] [ 9.98662734e-01 5.00769318e-02 -1.28469939e-02 1.08573222e+02] [ 1.28750392e-02 -2.37497039e-04 9.99917085e-01 5.40362948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.60, Z:0.54 [[ 4.62342473e-02 -9.98930204e-01 -9.17550052e-04 1.25501707e+02] [ 9.98840056e-01 4.62424046e-02 -1.34232110e-02 1.08600958e+02] [ 1.34512807e-02 -2.95873686e-04 9.99909484e-01 5.40399193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.63, Z:0.54 [[ 4.46995882e-02 -9.98999998e-01 -9.75163850e-04 1.25502107e+02] [ 9.98897369e-01 4.47089776e-02 -1.43232101e-02 1.08629737e+02] [ 1.43524855e-02 -3.33847008e-04 9.99896942e-01 5.40654344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.66, Z:0.54 [[ 4.40702374e-02 -9.99027920e-01 -1.01489954e-03 1.25503807e+02] [ 9.98916042e-01 4.40804946e-02 -1.49549401e-02 1.08656543e+02] [ 1.49851400e-02 -3.54731668e-04 9.99887654e-01 5.40339312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.68, Z:0.54 [[ 4.31692303e-02 -9.99067212e-01 -1.06039951e-03 1.25504092e+02] [ 9.98944141e-01 4.31805611e-02 -1.56857365e-02 1.08684762e+02] [ 1.57168936e-02 -3.82138713e-04 9.99876409e-01 5.40645323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.71, Z:0.54 [[ 4.34695746e-02 -9.99054183e-01 -1.06594839e-03 1.25503516e+02] [ 9.98928784e-01 4.34810116e-02 -1.58330415e-02 1.08713168e+02] [ 1.58644149e-02 -3.76550952e-04 9.99874081e-01 5.40845462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.74, Z:0.54 [[ 4.39094074e-02 -9.99034957e-01 -1.05779717e-03 1.25503336e+02] [ 9.98910439e-01 4.39206395e-02 -1.57769239e-02 1.08741719e+02] [ 1.58081577e-02 -3.63889251e-04 9.99874977e-01 5.40543978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.77, Z:0.54 [[ 4.59973713e-02 -9.98940970e-01 -1.08639395e-03 1.25499527e+02] [ 9.98808524e-01 4.60089668e-02 -1.62698419e-02 1.08770274e+02] [ 1.63025955e-02 -3.36729578e-04 9.99867047e-01 5.40148351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.80, Z:0.54 [[ 4.70771946e-02 -9.98890688e-01 -1.06344672e-03 1.25499002e+02] [ 9.98762698e-01 4.70881890e-02 -1.59929738e-02 1.08798185e+02] [ 1.60253084e-02 -3.09226578e-04 9.99871539e-01 5.40004154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96185806399998 meters Centerline goodness [0,1] 0.9998666370304512 Centerline is valid? [True, True] Translation: X:125.50, Y:108.83, Z:0.54 [[ 4.83261031e-02 -9.98831055e-01 -1.05460999e-03 1.25499035e+02] [ 9.98704099e-01 4.83367774e-02 -1.59273009e-02 1.08826773e+02] [ 1.59596592e-02 -2.83538935e-04 9.99872596e-01 5.39709228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:108.86, Z:0.54 [[ 4.94488590e-02 -9.98776095e-01 -1.05935028e-03 1.25498649e+02] [ 9.98647211e-01 4.94594982e-02 -1.60469933e-02 1.08855414e+02] [ 1.60797482e-02 -2.64411698e-04 9.99870678e-01 5.40075746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02185806399999 meters Centerline goodness [0,1] 0.9999557522123894 Centerline is valid? [True, True] Translation: X:125.50, Y:108.88, Z:0.54 [[ 5.21496120e-02 -9.98638740e-01 -1.04194993e-03 1.25497299e+02] [ 9.98513332e-01 5.21595769e-02 -1.58273445e-02 1.08883078e+02] [ 1.58601470e-02 -2.15011022e-04 9.99874197e-01 5.40018310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.051858064 meters Centerline goodness [0,1] 0.99993352095198 Centerline is valid? [True, True] Translation: X:125.50, Y:108.91, Z:0.54 [[ 5.35510450e-02 -9.98564530e-01 -1.07902820e-03 1.25496904e+02] [ 9.98429016e-01 5.35615550e-02 -1.64517458e-02 1.08911738e+02] [ 1.64859242e-02 -1.96324887e-04 9.99864079e-01 5.39777547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.081858064 meters Centerline goodness [0,1] 0.9999779307909604 Centerline is valid? [True, True] Translation: X:125.50, Y:108.94, Z:0.54 [[ 5.47718054e-02 -9.98498296e-01 -1.09685931e-03 1.25495995e+02] [ 9.98357036e-01 5.47825073e-02 -1.67959952e-02 1.08939326e+02] [ 1.68308613e-02 -1.75110234e-04 9.99858336e-01 5.39228241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.111858064 meters Centerline goodness [0,1] 0.9999778628826954 Centerline is valid? [True, True] Translation: X:125.49, Y:108.97, Z:0.54 [[ 5.63380554e-02 -9.98411125e-01 -1.11804474e-03 1.25494729e+02] [ 9.98263054e-01 5.63489555e-02 -1.71950610e-02 1.08967911e+02] [ 1.72307408e-02 -1.47366460e-04 9.99851529e-01 5.39213676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.141858064 meters Centerline goodness [0,1] 0.9998896831700644 Centerline is valid? [True, True] Translation: X:125.49, Y:109.00, Z:0.54 [[ 5.90930959e-02 -9.98251813e-01 -1.15025183e-03 1.25492258e+02] [ 9.98093640e-01 5.91042085e-02 -1.77701297e-02 1.08995497e+02] [ 1.78070490e-02 -9.79670537e-05 9.99841437e-01 5.38448909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.171858064 meters Centerline goodness [0,1] 0.9999337952950523 Centerline is valid? [True, True] Translation: X:125.49, Y:109.02, Z:0.54 [[ 6.02654133e-02 -9.98181689e-01 -1.18161076e-03 1.25491908e+02] [ 9.98013293e-01 6.02769501e-02 -1.83345788e-02 1.09023296e+02] [ 1.83724648e-02 -7.43222758e-05 9.99831209e-01 5.38866528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.201858064 meters Centerline goodness [0,1] 0.999802683504341 Centerline is valid? [True, True] Translation: X:125.49, Y:109.05, Z:0.54 [[ 6.13623863e-02 -9.98114842e-01 -1.19184858e-03 1.25491443e+02] [ 9.97942005e-01 6.13739398e-02 -1.85740403e-02 1.09051002e+02] [ 1.86121737e-02 -4.96483203e-05 9.99826777e-01 5.38901693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.231858064 meters Centerline goodness [0,1] 0.9999120337790288 Centerline is valid? [True, True] Translation: X:125.49, Y:109.08, Z:0.54 [[ 6.31638312e-02 -9.98002471e-01 -1.18243632e-03 1.25489014e+02] [ 9.97830848e-01 6.31748970e-02 -1.85076173e-02 1.09079432e+02] [ 1.85453481e-02 -1.08594190e-05 9.99828020e-01 5.38318125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.49, Y:109.11, Z:0.54 [[ 6.33737401e-02 -9.97989180e-01 -1.16876922e-03 1.25489127e+02] [ 9.97820036e-01 6.33845167e-02 -1.83733034e-02 1.09107693e+02] [ 1.84104398e-02 -1.83639735e-06 9.99830513e-01 5.38459217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.291858064 meters Centerline goodness [0,1] 0.9999780576644578 Centerline is valid? [True, True] Translation: X:125.49, Y:109.14, Z:0.54 [[ 6.36140200e-02 -9.97973912e-01 -1.15221007e-03 1.25489479e+02] [ 9.97808095e-01 6.36244534e-02 -1.81916166e-02 1.09136035e+02] [ 1.82280675e-02 7.55732289e-06 9.99833855e-01 5.38176764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321858064 meters Centerline goodness [0,1] 0.9996053929628411 Centerline is valid? [True, True] Translation: X:125.49, Y:109.16, Z:0.54 [[ 6.31774704e-02 -9.98001630e-01 -1.16317846e-03 1.25489882e+02] [ 9.97831131e-01 6.31881771e-02 -1.84468939e-02 1.09164640e+02] [ 1.84835293e-02 4.77241798e-06 9.99829165e-01 5.38091389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351858064 meters Centerline goodness [0,1] 0.9998249223092748 Centerline is valid? [True, True] Translation: X:125.49, Y:109.19, Z:0.54 [[ 6.20155681e-02 -9.98074511e-01 -1.15729390e-03 1.25492021e+02] [ 9.97904154e-01 6.20263644e-02 -1.84398941e-02 1.09191973e+02] [ 1.84761710e-02 -1.13078875e-05 9.99829301e-01 5.37433228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381858064 meters Centerline goodness [0,1] 0.9998244382022472 Centerline is valid? [True, True] Translation: X:125.49, Y:109.22, Z:0.54 [[ 6.05565776e-02 -9.98164111e-01 -1.14351247e-03 1.25494078e+02] [ 9.97996268e-01 6.05673645e-02 -1.83041872e-02 1.09220219e+02] [ 1.83398423e-02 -3.27822450e-05 9.99831810e-01 5.39010057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411858064 meters Centerline goodness [0,1] 0.9995638235229974 Centerline is valid? [True, True] Translation: X:125.50, Y:109.25, Z:0.54 [[ 5.83894762e-02 -9.98293263e-01 -1.10889246e-03 1.25496202e+02] [ 9.98134326e-01 5.83999668e-02 -1.78132240e-02 1.09247392e+02] [ 1.78475808e-02 -6.67188127e-05 9.99840717e-01 5.38829346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441858064 meters Centerline goodness [0,1] 0.9998468103731262 Centerline is valid? [True, True] Translation: X:125.50, Y:109.28, Z:0.54 [[ 5.70975557e-02 -9.98368007e-01 -1.09150985e-03 1.25497899e+02] [ 9.98212697e-01 5.71079258e-02 -1.76095721e-02 1.09275393e+02] [ 1.76431672e-02 -8.40954690e-05 9.99844344e-01 5.39020340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471858064 meters Centerline goodness [0,1] 0.9996943298181262 Centerline is valid? [True, True] Translation: X:125.50, Y:109.30, Z:0.54 [[ 5.60216980e-02 -9.98428934e-01 -1.11064116e-03 1.25499982e+02] [ 9.98266643e-01 5.60326166e-02 -1.80015281e-02 1.09303629e+02] [ 1.80354787e-02 -1.00239850e-04 9.99837343e-01 5.39128251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501858064 meters Centerline goodness [0,1] 0.999780999518199 Centerline is valid? [True, True] Translation: X:125.50, Y:109.33, Z:0.54 [[ 5.44000065e-02 -9.98518569e-01 -1.14319722e-03 1.25502879e+02] [ 9.98345383e-01 5.44118627e-02 -1.85969076e-02 1.09330155e+02] [ 1.86315611e-02 -1.29633771e-04 9.99826409e-01 5.38037930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531858064 meters Centerline goodness [0,1] 0.9995386845920654 Centerline is valid? [True, True] Translation: X:125.51, Y:109.36, Z:0.54 [[ 5.20073010e-02 -9.98646000e-01 -1.18614798e-03 1.25506682e+02] [ 9.98458004e-01 5.20205260e-02 -1.93772875e-02 1.09358785e+02] [ 1.94127547e-02 -1.76558518e-04 9.99811539e-01 5.38798017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561858064 meters Centerline goodness [0,1] 0.999537963961189 Centerline is valid? [True, True] Translation: X:125.51, Y:109.39, Z:0.54 [[ 5.03011942e-02 -9.98733385e-01 -1.18981500e-03 1.25509901e+02] [ 9.98542417e-01 5.03148438e-02 -1.95309349e-02 1.09385628e+02] [ 1.95660620e-02 -2.05651402e-04 9.99808545e-01 5.38259239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591858064 meters Centerline goodness [0,1] 0.9996716862195762 Centerline is valid? [True, True] Translation: X:125.51, Y:109.41, Z:0.54 [[ 4.89758553e-02 -9.98799283e-01 -1.16573245e-03 1.25512400e+02] [ 9.98614276e-01 4.89892212e-02 -1.92245597e-02 1.09414009e+02] [ 1.92585848e-02 -2.22577813e-04 9.99814511e-01 5.38982830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621858064 meters Centerline goodness [0,1] 0.9995609413417632 Centerline is valid? [True, True] Translation: X:125.52, Y:109.44, Z:0.54 [[ 4.67689291e-02 -9.98905093e-01 -1.13216372e-03 1.25515324e+02] [ 9.98728983e-01 4.67819441e-02 -1.87581332e-02 1.09442058e+02] [ 1.87905596e-02 -2.53426917e-04 9.99823410e-01 5.39490885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651858064 meters Centerline goodness [0,1] 0.9996926319487135 Centerline is valid? [True, True] Translation: X:125.52, Y:109.47, Z:0.54 [[ 4.60054311e-02 -9.98940562e-01 -1.11978718e-03 1.25518299e+02] [ 9.98766587e-01 4.60183189e-02 -1.86445479e-02 1.09469042e+02] [ 1.86763258e-02 -2.60655563e-04 9.99825548e-01 5.38912551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681858064 meters Centerline goodness [0,1] 0.9998908963952169 Centerline is valid? [True, True] Translation: X:125.52, Y:109.50, Z:0.54 [[ 4.54530266e-02 -9.98965869e-01 -1.10212087e-03 1.25521705e+02] [ 9.98795683e-01 4.54656281e-02 -1.84407138e-02 1.09495779e+02] [ 1.84717523e-02 -2.62607314e-04 9.99829348e-01 5.37747132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71185806399998 meters Centerline goodness [0,1] 0.9996063336540985 Centerline is valid? [True, True] Translation: X:125.52, Y:109.52, Z:0.54 [[ 4.51671456e-02 -9.98978792e-01 -1.14089702e-03 1.25524601e+02] [ 9.98794556e-01 4.51807283e-02 -1.91868850e-02 1.09523328e+02] [ 1.92188378e-02 -2.72904903e-04 9.99815264e-01 5.37546623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74185806399998 meters Centerline goodness [0,1] 0.9996498062991092 Centerline is valid? [True, True] Translation: X:125.53, Y:109.55, Z:0.54 [[ 4.50373389e-02 -9.98984654e-01 -1.13966215e-03 1.25525835e+02] [ 9.98799053e-01 4.50509412e-02 -1.92578194e-02 1.09550961e+02] [ 1.92896089e-02 -2.70972532e-04 9.99813901e-01 5.38587806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77185806399999 meters Centerline goodness [0,1] 0.9998899260302924 Centerline is valid? [True, True] Translation: X:125.53, Y:109.58, Z:0.54 [[ 4.51773353e-02 -9.98978329e-01 -1.14329828e-03 1.25527923e+02] [ 9.98789752e-01 4.51910229e-02 -1.94114043e-02 1.09578664e+02] [ 1.94432390e-02 -2.64959084e-04 9.99810927e-01 5.39536868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.801858064 meters Centerline goodness [0,1] 0.9998031453006408 Centerline is valid? [True, True] Translation: X:125.53, Y:109.61, Z:0.54 [[ 4.51391265e-02 -9.98980107e-01 -1.09789098e-03 1.25530474e+02] [ 9.98804563e-01 4.51517776e-02 -1.87286464e-02 1.09607038e+02] [ 1.87591169e-02 -2.51183777e-04 9.99824001e-01 5.39967272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.831858064 meters Centerline goodness [0,1] 0.9994721214120752 Centerline is valid? [True, True] Translation: X:125.53, Y:109.63, Z:0.54 [[ 4.51132561e-02 -9.98981320e-01 -1.05683240e-03 1.25533004e+02] [ 9.98817059e-01 4.51250041e-02 -1.81167506e-02 1.09633659e+02] [ 1.81459850e-02 -2.38276615e-04 9.99835320e-01 5.40063963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.861858064 meters Centerline goodness [0,1] 0.9994720052799472 Centerline is valid? [True, True] Translation: X:125.54, Y:109.66, Z:0.54 [[ 4.61481110e-02 -9.98934083e-01 -1.02488352e-03 1.25536112e+02] [ 9.98778130e-01 4.61590170e-02 -1.76519888e-02 1.09661401e+02] [ 1.76804809e-02 -2.09025306e-04 9.99843666e-01 5.41389487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.891858064 meters Centerline goodness [0,1] 0.9994949384044446 Centerline is valid? [True, True] Translation: X:125.54, Y:109.69, Z:0.54 [[ 4.67383978e-02 -9.98906662e-01 -1.00129376e-03 1.25538273e+02] [ 9.98756398e-01 4.67487350e-02 -1.73266688e-02 1.09689445e+02] [ 1.73545342e-02 -1.90227812e-04 9.99849381e-01 5.42193552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.921858064 meters Centerline goodness [0,1] 0.9994493513358736 Centerline is valid? [True, True] Translation: X:125.54, Y:109.72, Z:0.54 [[ 4.73577580e-02 -9.98877495e-01 -9.96888132e-04 1.25540139e+02] [ 9.98726992e-01 4.73679280e-02 -1.73399824e-02 1.09716679e+02] [ 1.73677387e-02 -1.74436394e-04 9.99849154e-01 5.42362337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.951858064 meters Centerline goodness [0,1] 0.9995819122015623 Centerline is valid? [True, True] Translation: X:125.54, Y:109.74, Z:0.54 [[ 4.86580319e-02 -9.98815006e-01 -9.89425081e-04 1.25541367e+02] [ 9.98665158e-01 4.86678707e-02 -1.73014430e-02 1.09743776e+02] [ 1.73290941e-02 -1.46250192e-04 9.99849829e-01 5.42190260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.981858064 meters Centerline goodness [0,1] 0.9995819122015623 Centerline is valid? [True, True] Translation: X:125.54, Y:109.77, Z:0.54 [[ 4.83566329e-02 -9.98829649e-01 -9.84202399e-04 1.25542777e+02] [ 9.98679798e-01 4.83664265e-02 -1.73017407e-02 1.09770506e+02] [ 1.73290939e-02 -1.46249130e-04 9.99849829e-01 5.42281195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.011858064 meters Centerline goodness [0,1] 0.9994934367016122 Centerline is valid? [True, True] Translation: X:125.54, Y:109.80, Z:0.54 [[ 4.86531883e-02 -9.98815248e-01 -9.83647294e-04 1.25544016e+02] [ 9.98664066e-01 4.86629384e-02 -1.73781721e-02 1.09798126e+02] [ 1.74054504e-02 -1.36829727e-04 9.99848504e-01 5.42861896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.041858064 meters Centerline goodness [0,1] 0.9995588105532516 Centerline is valid? [True, True] Translation: X:125.55, Y:109.83, Z:0.54 [[ 4.90131524e-02 -9.98797666e-01 -9.65832432e-04 1.25546081e+02] [ 9.98650482e-01 4.90225105e-02 -1.71466682e-02 1.09825815e+02] [ 1.71733997e-02 -1.24116763e-04 9.99852519e-01 5.42946217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071858064 meters Centerline goodness [0,1] 0.9997128150749994 Centerline is valid? [True, True] Translation: X:125.55, Y:109.85, Z:0.54 [[ 4.92891300e-02 -9.98784110e-01 -9.39751481e-04 1.25547936e+02] [ 9.98643348e-01 4.92979607e-02 -1.67682806e-02 1.09852386e+02] [ 1.67942201e-02 -1.11982600e-04 9.99858961e-01 5.43311325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101858064 meters Centerline goodness [0,1] 0.9994251348722031 Centerline is valid? [True, True] Translation: X:125.55, Y:109.88, Z:0.54 [[ 5.08358425e-02 -9.98706617e-01 -9.00266242e-04 1.25549507e+02] [ 9.98576033e-01 5.08437536e-02 -1.61499031e-02 1.09879132e+02] [ 1.61747880e-02 -7.79903637e-05 9.99869177e-01 5.44031708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131858064 meters Centerline goodness [0,1] 0.9995141128141702 Centerline is valid? [True, True] Translation: X:125.55, Y:109.91, Z:0.54 [[ 5.13310952e-02 -9.98681271e-01 -9.15054182e-04 1.25551455e+02] [ 9.98544871e-01 5.13392076e-02 -1.65053721e-02 1.09906104e+02] [ 1.65305841e-02 -6.64838332e-05 9.99863358e-01 5.44550921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161858064 meters Centerline goodness [0,1] 0.9998021804114647 Centerline is valid? [True, True] Translation: X:125.55, Y:109.93, Z:0.55 [[ 5.16769180e-02 -9.98663467e-01 -8.80601941e-04 1.25552897e+02] [ 9.98535839e-01 5.16843920e-02 -1.59656436e-02 1.09934366e+02] [ 1.59898184e-02 -5.42573413e-05 9.99872153e-01 5.46429538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191858064 meters Centerline goodness [0,1] 0.9998240172463099 Centerline is valid? [True, True] Translation: X:125.55, Y:109.96, Z:0.55 [[ 5.24514895e-02 -9.98623094e-01 -8.70521977e-04 1.25554747e+02] [ 9.98497029e-01 5.24586999e-02 -1.58671939e-02 1.09961488e+02] [ 1.58910127e-02 -3.69556552e-05 9.99873729e-01 5.45501326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221858064 meters Centerline goodness [0,1] 0.9997128975265017 Centerline is valid? [True, True] Translation: X:125.56, Y:109.99, Z:0.55 [[ 5.29185804e-02 -9.98598447e-01 -8.75299836e-04 1.25555550e+02] [ 9.98469676e-01 5.29258127e-02 -1.60363520e-02 1.09989537e+02] [ 1.60602022e-02 -2.53393600e-05 9.99871026e-01 5.46690099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251858064 meters Centerline goodness [0,1] 0.9995383397819205 Centerline is valid? [True, True] Translation: X:125.56, Y:110.02, Z:0.55 [[ 5.35789786e-02 -9.98563236e-01 -8.69684846e-04 1.25556871e+02] [ 9.98434816e-01 5.35860355e-02 -1.60141899e-02 1.10017173e+02] [ 1.60377842e-02 -1.02996942e-05 9.99871386e-01 5.46119814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281858064 meters Centerline goodness [0,1] 0.9995813963735707 Centerline is valid? [True, True] Translation: X:125.56, Y:110.04, Z:0.55 [[ 5.35627017e-02 -9.98564098e-01 -8.82751066e-04 1.25559101e+02] [ 9.98430429e-01 5.35699750e-02 -1.63382128e-02 1.10044831e+02] [ 1.63620417e-02 -6.24670840e-06 9.99866133e-01 5.46453642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311858064 meters Centerline goodness [0,1] 0.9994949605849673 Centerline is valid? [True, True] Translation: X:125.56, Y:110.07, Z:0.55 [[ 5.32540736e-02 -9.98580565e-01 -9.27219123e-04 1.25562097e+02] [ 9.98431486e-01 5.32621445e-02 -1.72543467e-02 1.10071613e+02] [ 1.72792409e-02 -6.90052012e-06 9.99850703e-01 5.47059133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341858064 meters Centerline goodness [0,1] 0.9997584912288405 Centerline is valid? [True, True] Translation: X:125.56, Y:110.10, Z:0.55 [[ 5.28882801e-02 -9.98600004e-01 -9.28893393e-04 1.25563641e+02] [ 9.98448996e-01 5.28964360e-02 -1.73657479e-02 1.10097898e+02] [ 1.73905710e-02 -9.00813859e-06 9.99848773e-01 5.47176498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371858064 meters Centerline goodness [0,1] 0.9995826835643217 Centerline is valid? [True, True] Translation: X:125.57, Y:110.13, Z:0.55 [[ 5.22869429e-02 -9.98631663e-01 -9.36777502e-04 1.25565294e+02] [ 9.98476530e-01 5.22953318e-02 -1.76016196e-02 1.10125694e+02] [ 1.76265238e-02 -1.50154687e-05 9.99844641e-01 5.48321385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401858064 meters Centerline goodness [0,1] 0.9996917928848186 Centerline is valid? [True, True] Translation: X:125.57, Y:110.15, Z:0.55 [[ 5.14658257e-02 -9.98674353e-01 -8.98002749e-04 1.25566698e+02] [ 9.98530303e-01 5.14736541e-02 -1.69616570e-02 1.10154125e+02] [ 1.69853954e-02 -2.37372704e-05 9.99855737e-01 5.49347233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431858064 meters Centerline goodness [0,1] 0.9996694797611441 Centerline is valid? [True, True] Translation: X:125.57, Y:110.18, Z:0.55 [[ 5.06172028e-02 -9.98717758e-01 -8.59345719e-04 1.25569219e+02] [ 9.98584454e-01 5.06244868e-02 -1.63171495e-02 1.10181704e+02] [ 1.63397309e-02 -3.22008071e-05 9.99866497e-01 5.50395076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46185806399998 meters Centerline goodness [0,1] 0.9998024105907923 Centerline is valid? [True, True] Translation: X:125.57, Y:110.21, Z:0.55 [[ 5.00692827e-02 -9.98745369e-01 -8.68734984e-04 1.25571133e+02] [ 9.98607990e-01 5.00768042e-02 -1.65649229e-02 1.10208343e+02] [ 1.65876435e-02 -3.81318860e-05 9.99862415e-01 5.50433436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49185806399998 meters Centerline goodness [0,1] 0.9999120550535365 Centerline is valid? [True, True] Translation: X:125.57, Y:110.24, Z:0.55 [[ 4.95571859e-02 -9.98770904e-01 -8.75999038e-04 1.25573146e+02] [ 9.98629818e-01 4.95649091e-02 -1.67871091e-02 1.10235982e+02] [ 1.68098949e-02 -4.28768726e-05 9.99858703e-01 5.50986597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52185806399999 meters Centerline goodness [0,1] 0.9998243688254665 Centerline is valid? [True, True] Translation: X:125.58, Y:110.26, Z:0.55 [[ 4.87178961e-02 -9.98812151e-01 -9.23764836e-04 1.25575341e+02] [ 9.98653544e-01 4.87266218e-02 -1.77993282e-02 1.10264082e+02] [ 1.78231972e-02 -5.53752049e-05 9.99841153e-01 5.51818338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.551858064 meters Centerline goodness [0,1] 0.999912132328713 Centerline is valid? [True, True] Translation: X:125.58, Y:110.29, Z:0.55 [[ 4.79501680e-02 -9.98849296e-01 -9.29823677e-04 1.25576720e+02] [ 9.98686838e-01 4.79591386e-02 -1.80144376e-02 1.10291763e+02] [ 1.80383019e-02 -6.48073582e-05 9.99837294e-01 5.51619195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:110.32, Z:0.55 [[ 4.73006332e-02 -9.98880236e-01 -9.61557455e-04 1.25578303e+02] [ 9.98704575e-01 4.73103475e-02 -1.87323897e-02 1.10320241e+02] [ 1.87569054e-02 -7.42579371e-05 9.99824071e-01 5.51238936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:110.35, Z:0.55 [[ 4.58478798e-02 -9.98947988e-01 -9.42505254e-04 1.25580870e+02] [ 9.98777377e-01 4.58574682e-02 -1.84619308e-02 1.10348515e+02] [ 1.84857295e-02 -9.49125423e-05 9.99829120e-01 5.51350763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:110.38, Z:0.55 [[ 4.48936601e-02 -9.98991343e-01 -9.25033673e-04 1.25582793e+02] [ 9.98825104e-01 4.49030646e-02 -1.82243139e-02 1.10375886e+02] [ 1.82474687e-02 -1.05790702e-04 9.99833495e-01 5.51772846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.671858064 meters Centerline goodness [0,1] 0.9999559325768426 Centerline is valid? [True, True] Translation: X:125.59, Y:110.40, Z:0.55 [[ 4.27822568e-02 -9.99084017e-01 -8.97069134e-04 1.25585908e+02] [ 9.98925879e-01 4.27914459e-02 -1.77758508e-02 1.10403249e+02] [ 1.77979553e-02 -1.35614558e-04 9.99841595e-01 5.52400915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.59, Y:110.43, Z:0.55 [[ 4.13686709e-02 -9.99143548e-01 -8.96103732e-04 1.25588368e+02] [ 9.98984000e-01 4.13780791e-02 -1.78556202e-02 1.10431067e+02] [ 1.78774067e-02 -1.56530017e-04 9.99840174e-01 5.52588999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.59, Y:110.46, Z:0.55 [[ 4.00963824e-02 -9.99195417e-01 -8.94087049e-04 1.25590623e+02] [ 9.99034831e-01 4.01059680e-02 -1.79141789e-02 1.10458763e+02] [ 1.79356236e-02 -1.74930338e-04 9.99839128e-01 5.52798545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.59, Y:110.49, Z:0.55 [[ 3.88595377e-02 -9.99244285e-01 -8.91966514e-04 1.25592535e+02] [ 9.99082649e-01 3.88692955e-02 -1.79732690e-02 1.10486559e+02] [ 1.79943564e-02 -1.92715343e-04 9.99838070e-01 5.53695076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.51, Z:0.55 [[ 3.69643741e-02 -9.99316176e-01 -9.03107393e-04 1.25595757e+02] [ 9.99148759e-01 3.69747131e-02 -1.82928167e-02 1.10513859e+02] [ 1.83136997e-02 -2.26156112e-04 9.99832265e-01 5.52827051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.54, Z:0.55 [[ 3.60193440e-02 -9.99350690e-01 -8.97653489e-04 1.25597066e+02] [ 9.99183478e-01 3.60297389e-02 -1.82821092e-02 1.10542108e+02] [ 1.83025807e-02 -2.38410952e-04 9.99832465e-01 5.53142255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.57, Z:0.55 [[ 3.53239407e-02 -9.99375521e-01 -8.86971692e-04 1.25598186e+02] [ 9.99210257e-01 3.53342307e-02 -1.81756838e-02 1.10569333e+02] [ 1.81956739e-02 -2.44234434e-04 9.99834415e-01 5.52816890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.60, Z:0.55 [[ 3.45903001e-02 -9.99401195e-01 -8.73156886e-04 1.25598566e+02] [ 9.99239198e-01 3.46004155e-02 -1.79954531e-02 1.10596969e+02] [ 1.80148889e-02 -2.50024464e-04 9.99837687e-01 5.52210118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.62, Z:0.55 [[ 3.43767819e-02 -9.99408574e-01 -8.60194117e-04 1.25599503e+02] [ 9.99249398e-01 3.43866600e-02 -1.78381154e-02 1.10624239e+02] [ 1.78571446e-02 -2.46331452e-04 9.99840518e-01 5.51724129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.65, Z:0.55 [[ 3.40299097e-02 -9.99420445e-01 -8.60178469e-04 1.25599972e+02] [ 9.99259242e-01 3.40398712e-02 -1.79514421e-02 1.10651156e+02] [ 1.79703186e-02 -2.48655331e-04 9.99838490e-01 5.51331599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.68, Z:0.55 [[ 3.38348152e-02 -9.99427075e-01 -8.52233070e-04 1.25600388e+02] [ 9.99266724e-01 3.38446538e-02 -1.79039941e-02 1.10677220e+02] [ 1.79225800e-02 -2.45829815e-04 9.99839347e-01 5.50512552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.70, Z:0.55 [[ 3.34486106e-02 -9.99440089e-01 -8.36243239e-04 1.25600806e+02] [ 9.99284071e-01 3.34581659e-02 -1.76605933e-02 1.10703717e+02] [ 1.76786841e-02 -2.44922240e-04 9.99843690e-01 5.49302414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.73, Z:0.55 [[ 3.32702332e-02 -9.99446070e-01 -8.02668597e-04 1.25601866e+02] [ 9.99300519e-01 3.32790875e-02 -1.70580069e-02 1.10730096e+02] [ 1.70752701e-02 -2.34583277e-04 9.99854179e-01 5.48948680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061858064 meters Centerline goodness [0,1] 0.999933893038937 Centerline is valid? [True, True] Translation: X:125.60, Y:110.76, Z:0.55 [[ 3.28819827e-02 -9.99458956e-01 -7.54794337e-04 1.25602940e+02] [ 9.99328554e-01 3.28898861e-02 -1.61461204e-02 1.10756803e+02] [ 1.61622098e-02 -2.23371080e-04 9.99869358e-01 5.49246413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:110.78, Z:0.55 [[ 3.25036314e-02 -9.99471362e-01 -7.15148257e-04 1.25602421e+02] [ 9.99352875e-01 3.25107907e-02 -1.53908924e-02 1.10784665e+02] [ 1.54060062e-02 -2.14425574e-04 9.99881297e-01 5.51079224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:110.81, Z:0.55 [[ 3.19993426e-02 -9.99487689e-01 -6.34302201e-04 1.25605491e+02] [ 9.99393355e-01 3.20050379e-02 -1.37331701e-02 1.10811347e+02] [ 1.37464353e-02 -1.94464991e-04 9.99905494e-01 5.50081218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151858064 meters Centerline goodness [0,1] 0.9999778682719547 Centerline is valid? [True, True] Translation: X:125.60, Y:110.84, Z:0.55 [[ 3.14631137e-02 -9.99504730e-01 -6.05907137e-04 1.25604450e+02] [ 9.99417598e-01 3.14683721e-02 -1.31987461e-02 1.10839573e+02] [ 1.32112761e-02 -1.90280606e-04 9.99912709e-01 5.51853521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:110.87, Z:0.55 [[ 3.07844777e-02 -9.99525892e-01 -5.53988779e-04 1.25605656e+02] [ 9.99452173e-01 3.07889362e-02 -1.21406166e-02 1.10867890e+02] [ 1.21519173e-02 -1.79942750e-04 9.99926147e-01 5.51951992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:110.89, Z:0.55 [[ 3.02385488e-02 -9.99542606e-01 -4.57668682e-04 1.25606939e+02] [ 9.99491687e-01 3.02416284e-02 -1.00901438e-02 1.10894736e+02] [ 1.00993693e-02 -1.52324737e-04 9.99948988e-01 5.52356629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:110.92, Z:0.55 [[ 2.97432273e-02 -9.99557483e-01 -4.23277662e-04 1.25608389e+02] [ 9.99513396e-01 2.97458913e-02 -9.38896524e-03 1.10922489e+02] [ 9.39740123e-03 -1.43813566e-04 9.99955833e-01 5.52409637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:110.95, Z:0.55 [[ 2.97583556e-02 -9.99557045e-01 -3.91484417e-04 1.25610809e+02] [ 9.99518955e-01 2.97606397e-02 -8.72708737e-03 1.10949292e+02] [ 8.73487249e-03 -1.31592326e-04 9.99961842e-01 5.52049652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:110.98, Z:0.55 [[ 2.94616507e-02 -9.99565856e-01 -3.33627393e-04 1.25610910e+02] [ 9.99537907e-01 2.94633221e-02 -7.47566090e-03 1.10977155e+02] [ 7.48224515e-03 -1.13227916e-04 9.99972001e-01 5.52331667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.331858064 meters Centerline goodness [0,1] 0.9999778422813587 Centerline is valid? [True, True] Translation: X:125.61, Y:111.01, Z:0.55 [[ 2.93565799e-02 -9.99568953e-01 -3.15910881e-04 1.25611023e+02] [ 9.99543580e-01 2.93580859e-02 -7.12276674e-03 1.11005691e+02] [ 7.12897103e-03 -1.06666622e-04 9.99974583e-01 5.52355745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:111.03, Z:0.55 [[ 2.95815179e-02 -9.99562324e-01 -3.05681318e-04 1.25612165e+02] [ 9.99538262e-01 2.95829271e-02 -6.93635214e-03 1.11033823e+02] [ 6.94235922e-03 -1.00352348e-04 9.99975897e-01 5.52210290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.391858064 meters Centerline goodness [0,1] 0.9999558040350915 Centerline is valid? [True, True] Translation: X:125.61, Y:111.06, Z:0.55 [[ 2.99348065e-02 -9.99551809e-01 -2.96134363e-04 1.25613469e+02] [ 9.99528927e-01 2.99361252e-02 -6.76411801e-03 1.11060818e+02] [ 6.76995151e-03 -9.35122981e-05 9.99977079e-01 5.51718380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:111.09, Z:0.55 [[ 3.00177685e-02 -9.99549329e-01 -2.68300286e-04 1.25615123e+02] [ 9.99530300e-01 3.00188528e-02 -6.16836170e-03 1.11087473e+02] [ 6.17363587e-03 -8.30138118e-05 9.99980939e-01 5.51470022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:111.12, Z:0.55 [[ 3.01091278e-02 -9.99546587e-01 -2.44954719e-04 1.25615272e+02] [ 9.99530521e-01 3.01100328e-02 -5.66778064e-03 1.11115684e+02] [ 5.67258639e-03 -7.41877866e-05 9.99983908e-01 5.51933695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:111.14, Z:0.55 [[ 3.01392850e-02 -9.99545683e-01 -2.28078801e-04 1.25616257e+02] [ 9.99531576e-01 3.01400714e-02 -5.31075016e-03 1.11143706e+02] [ 5.31521170e-03 -6.79097515e-05 9.99985872e-01 5.51741351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:111.17, Z:0.55 [[ 2.99423119e-02 -9.99551613e-01 -1.74693687e-04 1.25619080e+02] [ 9.99543248e-01 2.99427761e-02 -4.08972036e-03 1.11171113e+02] [ 4.09311739e-03 -5.21582125e-05 9.99991622e-01 5.51239072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.541858064 meters Centerline goodness [0,1] 0.9999338274219164 Centerline is valid? [True, True] Translation: X:125.62, Y:111.20, Z:0.55 [[ 2.98151479e-02 -9.99555418e-01 -1.53751555e-04 1.25620079e+02] [ 9.99548857e-01 2.98155093e-02 -3.62195538e-03 1.11198854e+02] [ 3.62492930e-03 -4.56930554e-05 9.99993429e-01 5.51004256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:111.23, Z:0.55 [[ 2.95045770e-02 -9.99564635e-01 -1.42734811e-04 1.25619744e+02] [ 9.99558907e-01 2.95048911e-02 -3.38411348e-03 1.11226581e+02] [ 3.38685153e-03 -4.28250155e-05 9.99994264e-01 5.51038197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601858064 meters Centerline goodness [0,1] 0.9999778805105178 Centerline is valid? [True, True] Translation: X:125.62, Y:111.25, Z:0.55 [[ 2.91080061e-02 -9.99576267e-01 -1.01491354e-04 1.25622590e+02] [ 9.99573349e-01 2.91081663e-02 -2.41547970e-03 1.11253859e+02] [ 2.41741040e-03 -3.11382554e-05 9.99997078e-01 5.51823728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631858064 meters Centerline goodness [0,1] 0.9999116080701832 Centerline is valid? [True, True] Translation: X:125.62, Y:111.28, Z:0.55 [[ 2.88346139e-02 -9.99584193e-01 -7.87692159e-05 1.25623684e+02] [ 9.99582419e-01 2.88347112e-02 -1.88335446e-03 1.11281705e+02] [ 1.88484263e-03 -2.44305248e-05 9.99998223e-01 5.52295972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:111.31, Z:0.55 [[ 2.93399118e-02 -9.99569492e-01 -1.67021397e-05 1.25622982e+02] [ 9.99569418e-01 2.93399161e-02 -3.83717812e-04 1.11310038e+02] [ 3.84042658e-04 -5.43670126e-06 9.99999926e-01 5.52015619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:111.34, Z:0.55 [[ 2.99093850e-02 -9.99552614e-01 -9.19558599e-06 1.25623513e+02] [ 9.99552594e-01 2.99093863e-02 -2.01189811e-04 1.11337016e+02] [ 2.01374835e-04 -3.17400831e-06 9.99999980e-01 5.51966087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:111.37, Z:0.55 [[ 3.02453156e-02 -9.99542506e-01 -1.92736469e-06 1.25624172e+02] [ 9.99542506e-01 3.02453156e-02 -2.45274724e-05 1.11365505e+02] [ 2.45745448e-05 -1.18464178e-06 1.00000000e+00 5.52164007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751858064 meters Centerline goodness [0,1] 0.9999779264066397 Centerline is valid? [True, True] Translation: X:125.62, Y:111.39, Z:0.55 [[ 3.10135010e-02 -9.99518966e-01 -7.10811203e-06 1.25624691e+02] [ 9.99518954e-01 3.10135018e-02 -1.53499025e-04 1.11393888e+02] [ 1.53645634e-04 -2.34415054e-06 9.99999988e-01 5.51908926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781858064 meters Centerline goodness [0,1] 0.9999336826049473 Centerline is valid? [True, True] Translation: X:125.63, Y:111.42, Z:0.55 [[ 3.13986540e-02 -9.99506941e-01 3.90552208e-06 1.25625452e+02] [ 9.99506933e-01 3.13986542e-02 1.21438901e-04 1.11421716e+02] [-1.21501653e-04 9.05783748e-08 9.99999993e-01 5.51631001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811858064 meters Centerline goodness [0,1] 0.999955956837701 Centerline is valid? [True, True] Translation: X:125.63, Y:111.45, Z:0.55 [[ 3.13776591e-02 -9.99507600e-01 -2.01508886e-05 1.25626762e+02] [ 9.99507483e-01 3.13776652e-02 -4.83246946e-04 1.11448287e+02] [ 4.83641282e-04 -4.97780600e-06 9.99999883e-01 5.51660795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:111.47, Z:0.55 [[ 3.13518603e-02 -9.99508410e-01 -1.34494224e-05 1.25627821e+02] [ 9.99508360e-01 3.13518630e-02 -3.14162404e-04 1.11474647e+02] [ 3.14429630e-04 -3.59323427e-06 9.99999951e-01 5.51743029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871858064 meters Centerline goodness [0,1] 0.9999558030584283 Centerline is valid? [True, True] Translation: X:125.63, Y:111.50, Z:0.55 [[ 3.12733860e-02 -9.99510868e-01 -1.00801373e-06 1.25627701e+02] [ 9.99510868e-01 3.12733860e-02 -1.28272715e-06 1.11502864e+02] [ 1.31362356e-06 -9.67405453e-07 1.00000000e+00 5.51204343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901858064 meters Centerline goodness [0,1] 0.9999779662884213 Centerline is valid? [True, True] Translation: X:125.63, Y:111.53, Z:0.55 [[ 3.15655138e-02 -9.99501685e-01 -1.45976056e-05 1.25628596e+02] [ 9.99501623e-01 3.15655169e-02 -3.50776377e-04 1.11529702e+02] [ 3.51062360e-04 -3.51789399e-06 9.99999938e-01 5.51580399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931858064 meters Centerline goodness [0,1] 0.9999779662884213 Centerline is valid? [True, True] Translation: X:125.63, Y:111.56, Z:0.55 [[ 3.12886732e-02 -9.99510390e-01 -1.44376553e-05 1.25629590e+02] [ 9.99510328e-01 3.12886764e-02 -3.50782691e-04 1.11557275e+02] [ 3.51062679e-04 -3.45506065e-06 9.99999938e-01 5.51674149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96185806399998 meters Centerline goodness [0,1] 0.9999339875896669 Centerline is valid? [True, True] Translation: X:125.63, Y:111.59, Z:0.55 [[ 3.10675966e-02 -9.99517286e-01 3.16576737e-06 1.25631141e+02] [ 9.99517280e-01 3.10675968e-02 1.07626366e-04 1.11585679e+02] [-1.07672766e-04 -1.79453315e-07 9.99999994e-01 5.51915273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99185806399998 meters Centerline goodness [0,1] 0.999889993839655 Centerline is valid? [True, True] Translation: X:125.63, Y:111.61, Z:0.55 [[ 3.08667997e-02 -9.99523507e-01 -4.98112322e-06 1.25633122e+02] [ 9.99523500e-01 3.08668001e-02 -1.12990067e-04 1.11612207e+02] [ 1.13089979e-04 -1.49110794e-06 9.99999994e-01 5.52300148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02185806399999 meters Centerline goodness [0,1] 0.9999117329037668 Centerline is valid? [True, True] Translation: X:125.63, Y:111.64, Z:0.55 [[ 2.98758616e-02 -9.99553617e-01 2.05338666e-05 1.25634728e+02] [ 9.99553454e-01 2.98758684e-02 5.69384436e-04 1.11640050e+02] [-5.69743739e-04 3.51384675e-06 9.99999838e-01 5.52243096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.051858064 meters Centerline goodness [0,1] 0.999977970656915 Centerline is valid? [True, True] Translation: X:125.64, Y:111.67, Z:0.55 [[ 2.93574456e-02 -9.99568977e-01 6.69911428e-06 1.25635953e+02] [ 9.99568956e-01 2.93574464e-02 2.04123748e-04 1.11668112e+02] [-2.04232435e-04 7.03674865e-07 9.99999979e-01 5.51849759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.081858064 meters Centerline goodness [0,1] 0.9999558430662575 Centerline is valid? [True, True] Translation: X:125.64, Y:111.70, Z:0.55 [[ 2.91507221e-02 -9.99575026e-01 -4.84688274e-05 1.25638274e+02] [ 9.99574208e-01 2.91507603e-02 -1.27895444e-03 1.11695838e+02] [ 1.27982382e-03 -1.11657442e-05 9.99999181e-01 5.50916284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.111858064 meters Centerline goodness [0,1] 0.9999114848417792 Centerline is valid? [True, True] Translation: X:125.64, Y:111.72, Z:0.55 [[ 2.87607715e-02 -9.99586320e-01 -8.59197039e-05 1.25640332e+02] [ 9.99583664e-01 2.87608932e-02 -2.30429537e-03 1.11723741e+02] [ 2.30581325e-03 -1.96106198e-05 9.99997341e-01 5.50238651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.141858064 meters Centerline goodness [0,1] 0.9999557228248838 Centerline is valid? [True, True] Translation: X:125.64, Y:111.75, Z:0.55 [[ 2.88329284e-02 -9.99584240e-01 -9.82278253e-05 1.25641694e+02] [ 9.99580706e-01 2.88330877e-02 -2.65810043e-03 1.11752026e+02] [ 2.65982751e-03 -2.15458196e-05 9.99996462e-01 5.49556523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.171858064 meters Centerline goodness [0,1] 0.9999779268938725 Centerline is valid? [True, True] Translation: X:125.64, Y:111.78, Z:0.55 [[ 2.93489828e-02 -9.99569217e-01 -1.36646517e-04 1.25643681e+02] [ 9.99562232e-01 2.93492885e-02 -3.73668475e-03 1.11779255e+02] [ 3.73908553e-03 -2.69188016e-05 9.99993009e-01 5.48765558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:111.81, Z:0.55 [[ 2.93105435e-02 -9.99570343e-01 -1.45288879e-04 1.25645263e+02] [ 9.99562312e-01 2.93108904e-02 -4.00700679e-03 1.11807021e+02] [ 4.00954370e-03 -2.77777408e-05 9.99991961e-01 5.48676042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:111.84, Z:0.55 [[ 2.95053310e-02 -9.99564612e-01 -1.50254997e-04 1.25647034e+02] [ 9.99555886e-01 2.95057013e-02 -4.17669293e-03 1.11835446e+02] [ 4.17930782e-03 -2.69535597e-05 9.99991266e-01 5.48681361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.261858064 meters Centerline goodness [0,1] 0.9999778990872323 Centerline is valid? [True, True] Translation: X:125.65, Y:111.86, Z:0.55 [[ 2.95121798e-02 -9.99564407e-01 -1.66390314e-04 1.25649021e+02] [ 9.99553523e-01 2.95126350e-02 -4.66460087e-03 1.11862676e+02] [ 4.66747962e-03 -2.86534843e-05 9.99989107e-01 5.48312936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.291858064 meters Centerline goodness [0,1] 0.9999778280342335 Centerline is valid? [True, True] Translation: X:125.65, Y:111.89, Z:0.55 [[ 2.97177138e-02 -9.99558313e-01 -1.90829864e-04 1.25651975e+02] [ 9.99543742e-01 2.97183110e-02 -5.39718661e-03 1.11890462e+02] [ 5.40047389e-03 -3.03507494e-05 9.99985417e-01 5.48340034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321858064 meters Centerline goodness [0,1] 0.9999778231171826 Centerline is valid? [True, True] Translation: X:125.65, Y:111.92, Z:0.55 [[ 2.94905112e-02 -9.99565043e-01 -1.84925810e-04 1.25654645e+02] [ 9.99551135e-01 2.94910764e-02 -5.27302132e-03 1.11916432e+02] [ 5.27618144e-03 -2.93387087e-05 9.99986080e-01 5.48340301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351858064 meters Centerline goodness [0,1] 0.999977778271594 Centerline is valid? [True, True] Translation: X:125.66, Y:111.94, Z:0.55 [[ 2.91808746e-02 -9.99574127e-01 -2.03509228e-04 1.25656754e+02] [ 9.99556965e-01 2.91815662e-02 -5.85742728e-03 1.11944007e+02] [ 5.86087147e-03 -3.24942159e-05 9.99982824e-01 5.49243706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381858064 meters Centerline goodness [0,1] 0.9999333214793741 Centerline is valid? [True, True] Translation: X:125.66, Y:111.97, Z:0.55 [[ 2.91890742e-02 -9.99573882e-01 -2.27074984e-04 1.25659723e+02] [ 9.99552134e-01 2.91899371e-02 -6.59382736e-03 1.11970744e+02] [ 6.59764592e-03 -3.45055682e-05 9.99978235e-01 5.49167491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411858064 meters Centerline goodness [0,1] 0.9999776999754699 Centerline is valid? [True, True] Translation: X:125.66, Y:112.00, Z:0.55 [[ 2.90065457e-02 -9.99579189e-01 -2.54292403e-04 1.25661305e+02] [ 9.99551426e-01 2.90076354e-02 -7.45012879e-03 1.11998441e+02] [ 7.45437012e-03 -3.80758326e-05 9.99972215e-01 5.48442739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441858064 meters Centerline goodness [0,1] 0.9999553182457943 Centerline is valid? [True, True] Translation: X:125.66, Y:112.03, Z:0.55 [[ 2.87951742e-02 -9.99585293e-01 -2.84062577e-04 1.25663646e+02] [ 9.99550024e-01 2.87965444e-02 -8.39695306e-03 1.12025578e+02] [ 8.40165081e-03 -4.21430293e-05 9.99964705e-01 5.47782114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:112.05, Z:0.55 [[ 2.83782879e-02 -9.99597205e-01 -3.18204840e-04 1.25666926e+02] [ 9.99552080e-01 2.83800304e-02 -9.49804367e-03 1.12051544e+02] [ 9.50324856e-03 -4.85240914e-05 9.99954842e-01 5.47872556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:112.08, Z:0.55 [[ 2.80938989e-02 -9.99605241e-01 -3.09604478e-04 1.25668600e+02] [ 9.99561774e-01 2.80955645e-02 -9.32194037e-03 1.12079751e+02] [ 9.32695896e-03 -4.75791511e-05 9.99956502e-01 5.48228183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:112.11, Z:0.55 [[ 2.62551769e-02 -9.99655221e-01 -3.24471265e-04 1.25671526e+02] [ 9.99606660e-01 2.62570997e-02 -9.85340525e-03 1.12107747e+02] [ 9.85852767e-03 -6.56407402e-05 9.99951401e-01 5.48465923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561858064 meters Centerline goodness [0,1] 0.99993281075028 Centerline is valid? [True, True] Translation: X:125.67, Y:112.14, Z:0.55 [[ 2.51464965e-02 -9.99683721e-01 -3.34353659e-04 1.25673657e+02] [ 9.99631261e-01 2.51486023e-02 -1.02415481e-02 1.12136002e+02] [ 1.02467175e-02 -7.66913162e-05 9.99947498e-01 5.48772877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591858064 meters Centerline goodness [0,1] 0.9998882281933206 Centerline is valid? [True, True] Translation: X:125.67, Y:112.16, Z:0.55 [[ 2.50278906e-02 -9.99686698e-01 -3.33231749e-04 1.25674764e+02] [ 9.99633687e-01 2.50299952e-02 -1.02952487e-02 1.12164573e+02] [ 1.03003639e-02 -7.54413237e-05 9.99946947e-01 5.49602372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621858064 meters Centerline goodness [0,1] 0.9996416814099837 Centerline is valid? [True, True] Translation: X:125.68, Y:112.19, Z:0.55 [[ 2.57052377e-02 -9.99669506e-01 -3.45448468e-04 1.25675250e+02] [ 9.99611530e-01 2.57074673e-02 -1.07663933e-02 1.12192201e+02] [ 1.07717156e-02 -6.85615744e-05 9.99941981e-01 5.50375486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651858064 meters Centerline goodness [0,1] 0.9999552822806037 Centerline is valid? [True, True] Translation: X:125.68, Y:112.22, Z:0.55 [[ 2.57494866e-02 -9.99668357e-01 -3.74818683e-04 1.25676386e+02] [ 9.99599106e-01 2.57521146e-02 -1.17667598e-02 1.12219203e+02] [ 1.17725098e-02 -7.16803966e-05 9.99930699e-01 5.49960348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681858064 meters Centerline goodness [0,1] 0.999932836322117 Centerline is valid? [True, True] Translation: X:125.68, Y:112.25, Z:0.55 [[ 2.59178435e-02 -9.99663989e-01 -4.17728141e-04 1.25676849e+02] [ 9.99576522e-01 2.59211017e-02 -1.32239264e-02 1.12247433e+02] [ 1.32303110e-02 -7.48155871e-05 9.99912473e-01 5.50261267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71185806399998 meters Centerline goodness [0,1] 0.9999103480736042 Centerline is valid? [True, True] Translation: X:125.68, Y:112.28, Z:0.55 [[ 2.60476476e-02 -9.99660604e-01 -4.42910666e-04 1.25677294e+02] [ 9.99560492e-01 2.60513072e-02 -1.41474971e-02 1.12275833e+02] [ 1.41542339e-02 -7.42069850e-05 9.99899821e-01 5.49799992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74185806399998 meters Centerline goodness [0,1] 0.9999329968285166 Centerline is valid? [True, True] Translation: X:125.68, Y:112.30, Z:0.55 [[ 2.65846996e-02 -9.99646457e-01 -4.63631530e-04 1.25676224e+02] [ 9.99534476e-01 2.65886611e-02 -1.49624510e-02 1.12302197e+02] [ 1.49694885e-02 -6.56434335e-05 9.99887949e-01 5.49151703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77185806399999 meters Centerline goodness [0,1] 0.9994863663770964 Centerline is valid? [True, True] Translation: X:125.68, Y:112.33, Z:0.55 [[ 2.63774680e-02 -9.99651944e-01 -4.68108201e-04 1.25676569e+02] [ 9.99535617e-01 2.63815396e-02 -1.52500522e-02 1.12330362e+02] [ 1.52570938e-02 -6.56330559e-05 9.99883602e-01 5.49328624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.801858064 meters Centerline goodness [0,1] 0.9997322384862549 Centerline is valid? [True, True] Translation: X:125.68, Y:112.36, Z:0.55 [[ 2.56998474e-02 -9.99669593e-01 -4.71158759e-04 1.25677197e+02] [ 9.99549275e-01 2.57040642e-02 -1.55095934e-02 1.12356157e+02] [ 1.55165796e-02 -7.23522111e-05 9.99879608e-01 5.49336201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.831858064 meters Centerline goodness [0,1] 0.9998660325540893 Centerline is valid? [True, True] Translation: X:125.68, Y:112.38, Z:0.55 [[ 2.36531027e-02 -9.99720108e-01 -4.87161018e-04 1.25677892e+02] [ 9.99588976e-01 2.36578905e-02 -1.61920494e-02 1.12383862e+02] [ 1.61990425e-02 -1.03968577e-04 9.99868782e-01 5.49658270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.861858064 meters Centerline goodness [0,1] 0.9999331565695951 Centerline is valid? [True, True] Translation: X:125.68, Y:112.41, Z:0.55 [[ 2.21326371e-02 -9.99754931e-01 -4.73376336e-04 1.25679494e+02] [ 9.99628709e-01 2.21373649e-02 -1.58864887e-02 1.12411276e+02] [ 1.58930747e-02 -1.21590687e-04 9.99873690e-01 5.49362685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.891858064 meters Centerline goodness [0,1] 0.999843603378167 Centerline is valid? [True, True] Translation: X:125.68, Y:112.44, Z:0.55 [[ 2.03260943e-02 -9.99793291e-01 -4.75451197e-04 1.25680650e+02] [ 9.99663338e-01 2.03311182e-02 -1.61200403e-02 1.12438387e+02] [ 1.61263746e-02 -1.47633671e-04 9.99869951e-01 5.49943270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921858064 meters Centerline goodness [0,1] 0.9999777128975462 Centerline is valid? [True, True] Translation: X:125.68, Y:112.47, Z:0.55 [[ 1.88181782e-02 -9.99822815e-01 -4.63536955e-04 1.25681263e+02] [ 9.99697159e-01 1.88231624e-02 -1.58517975e-02 1.12465121e+02] [ 1.58577140e-02 -1.65094628e-04 9.99874245e-01 5.50984629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.951858064 meters Centerline goodness [0,1] 0.9999777188565317 Centerline is valid? [True, True] Translation: X:125.68, Y:112.49, Z:0.55 [[ 1.53374906e-02 -9.99882289e-01 -4.12970188e-04 1.25682711e+02] [ 9.99780695e-01 1.53418196e-02 -1.42544739e-02 1.12492176e+02] [ 1.42591317e-02 -1.94251761e-04 9.99898315e-01 5.51534593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981858064 meters Centerline goodness [0,1] 0.9999109627156372 Centerline is valid? [True, True] Translation: X:125.68, Y:112.52, Z:0.55 [[ 1.35823410e-02 -9.99907676e-01 -3.98920969e-04 1.25683220e+02] [ 9.99811039e-01 1.35865750e-02 -1.39029261e-02 1.12520368e+02] [ 1.39070625e-02 -2.10011306e-04 9.99903270e-01 5.52977268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.011858064 meters Centerline goodness [0,1] 0.9998218381845311 Centerline is valid? [True, True] Translation: X:125.68, Y:112.55, Z:0.55 [[ 1.14634161e-02 -9.99934224e-01 -3.70454133e-04 1.25684266e+02] [ 9.99849326e-01 1.14672708e-02 -1.30317603e-02 1.12548597e+02] [ 1.30351512e-02 -2.21009825e-04 9.99915014e-01 5.53721178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041858064 meters Centerline goodness [0,1] 0.9998213687618622 Centerline is valid? [True, True] Translation: X:125.69, Y:112.58, Z:0.55 [[ 9.38735295e-03 -9.99955877e-01 -3.50014509e-04 1.25687578e+02] [ 9.99878729e-01 9.39097721e-03 -1.24232270e-02 1.12576208e+02] [ 1.24259658e-02 -2.33350846e-04 9.99922767e-01 5.53039768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071858064 meters Centerline goodness [0,1] 0.9999330058061635 Centerline is valid? [True, True] Translation: X:125.69, Y:112.60, Z:0.55 [[ 6.02371519e-03 -9.99981799e-01 -3.42092793e-04 1.25689277e+02] [ 9.99906712e-01 6.02745603e-03 -1.22571186e-02 1.12603992e+02] [ 1.22589574e-02 -2.68227489e-04 9.99924820e-01 5.54210874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:112.63, Z:0.55 [[ 4.00247141e-03 -9.99991932e-01 -3.41684590e-04 1.25693262e+02] [ 9.99915494e-01 4.00639127e-03 -1.23674646e-02 1.12630653e+02] [ 1.23687337e-02 -2.92155292e-04 9.99923462e-01 5.53491709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:112.66, Z:0.55 [[ 1.97230424e-03 -9.99997999e-01 -3.33441663e-04 1.25690741e+02] [ 9.99923736e-01 1.97622271e-03 -1.21908481e-02 1.12659110e+02] [ 1.21914827e-02 -3.09372172e-04 9.99925633e-01 5.54495985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:112.69, Z:0.55 [[ 1.35967479e-03 -9.99999018e-01 -3.38611159e-04 1.25690320e+02] [ 9.99920859e-01 1.36380340e-03 -1.25065982e-02 1.12687062e+02] [ 1.25070477e-02 -3.21579455e-04 9.99921732e-01 5.54883250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191858064 meters Centerline goodness [0,1] 0.9999776705966417 Centerline is valid? [True, True] Translation: X:125.69, Y:112.71, Z:0.55 [[ 1.41554823e-03 -9.99998941e-01 -3.39291486e-04 1.25691702e+02] [ 9.99918774e-01 1.41973225e-03 -1.26660829e-02 1.12714261e+02] [ 1.26665512e-02 -3.21334475e-04 9.99919724e-01 5.54574447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:112.74, Z:0.56 [[ 2.36627021e-03 -9.99997144e-01 -3.36533044e-04 1.25690120e+02] [ 9.99916467e-01 2.37035527e-03 -1.27059059e-02 1.12742010e+02] [ 1.27066673e-02 -3.06439326e-04 9.99919220e-01 5.55668156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:112.77, Z:0.56 [[ 3.13296159e-03 -9.99995035e-01 -3.37412087e-04 1.25688699e+02] [ 9.99912164e-01 3.13704692e-03 -1.28772534e-02 1.12769753e+02] [ 1.28782480e-02 -2.97038510e-04 9.99917028e-01 5.55859038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:112.80, Z:0.56 [[ 4.16167283e-03 -9.99991281e-01 -3.44099763e-04 1.25688695e+02] [ 9.99903604e-01 4.16586557e-03 -1.32449663e-02 1.12796433e+02] [ 1.32462843e-02 -2.88945377e-04 9.99912222e-01 5.55568222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:112.82, Z:0.56 [[ 6.66592617e-03 -9.99977724e-01 -3.42011250e-04 1.25687019e+02] [ 9.99889395e-01 6.66988391e-03 -1.32932633e-02 1.12824055e+02] [ 1.32952483e-02 -2.53361510e-04 9.99911582e-01 5.55314329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341858064 meters Centerline goodness [0,1] 0.9999778491527301 Centerline is valid? [True, True] Translation: X:125.69, Y:112.85, Z:0.56 [[ 7.97610490e-03 -9.99968136e-01 -3.30753537e-04 1.25685448e+02] [ 9.99883742e-01 7.97972947e-03 -1.29933356e-02 1.12852501e+02] [ 1.29955609e-02 -2.27078876e-04 9.99915528e-01 5.56262728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:112.88, Z:0.56 [[ 8.68339403e-03 -9.99962248e-01 -3.18263719e-04 1.25685224e+02] [ 9.99882403e-01 8.68672308e-03 -1.26381062e-02 1.12880870e+02] [ 1.26403938e-02 -2.08484636e-04 9.99920085e-01 5.56407486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:112.91, Z:0.56 [[ 1.03876487e-02 -9.99946005e-01 -2.90213327e-04 1.25683081e+02] [ 9.99878231e-01 1.03903239e-02 -1.16431940e-02 1.12909565e+02] [ 1.16455808e-02 -1.69232579e-04 9.99932174e-01 5.56989808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:112.94, Z:0.56 [[ 1.09651066e-02 -9.99939844e-01 -2.75421492e-04 1.25682895e+02] [ 9.99877476e-01 1.09674991e-02 -1.11689817e-02 1.12938078e+02] [ 1.11713305e-02 -1.52918671e-04 9.99937587e-01 5.57295999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:112.97, Z:0.56 [[ 1.14901174e-02 -9.99933954e-01 -2.55696492e-04 1.25682607e+02] [ 9.99878911e-01 1.14921680e-02 -1.04925508e-02 1.12965310e+02] [ 1.04947964e-02 -1.35104889e-04 9.99944919e-01 5.57791329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:112.99, Z:0.56 [[ 1.21815661e-02 -9.99925774e-01 -2.38617276e-04 1.25684542e+02] [ 9.99876819e-01 1.21833310e-02 -9.89510546e-03 1.12991206e+02] [ 9.89727813e-03 -1.18050002e-04 9.99951014e-01 5.56571245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52185806399999 meters Centerline goodness [0,1] 0.9999778481713666 Centerline is valid? [True, True] Translation: X:125.68, Y:113.02, Z:0.56 [[ 1.42511613e-02 -9.99898423e-01 -2.20005625e-04 1.25680439e+02] [ 9.99855851e-01 1.42525848e-02 -9.22714995e-03 1.13018855e+02] [ 9.22934833e-03 -8.84763090e-05 9.99957405e-01 5.57876978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.551858064 meters Centerline goodness [0,1] 0.9999778658226167 Centerline is valid? [True, True] Translation: X:125.68, Y:113.05, Z:0.56 [[ 1.51657902e-02 -9.99884972e-01 -2.05540231e-04 1.25679846e+02] [ 9.99846878e-01 1.51670067e-02 -8.72823395e-03 1.13046509e+02] [ 8.73034738e-03 -7.31381930e-05 9.99961887e-01 5.57881737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:113.07, Z:0.56 [[ 1.57215904e-02 -9.99876390e-01 -1.89080489e-04 1.25679584e+02] [ 9.99843341e-01 1.57226081e-02 -8.12971937e-03 1.13074057e+02] [ 8.13168730e-03 -6.12387495e-05 9.99966935e-01 5.58174857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.611858064 meters Centerline goodness [0,1] 0.9999556590178472 Centerline is valid? [True, True] Translation: X:125.68, Y:113.10, Z:0.56 [[ 1.60299664e-02 -9.99871495e-01 -1.81576267e-04 1.25680044e+02] [ 9.99840206e-01 1.60309013e-02 -7.91027971e-03 1.13099837e+02] [ 7.91217404e-03 -5.47457337e-05 9.99968697e-01 5.57716891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:113.13, Z:0.56 [[ 1.67453196e-02 -9.99859772e-01 -1.77457311e-04 1.25677843e+02] [ 9.99829085e-01 1.67461960e-02 -7.83357310e-03 1.13127122e+02] [ 7.83544634e-03 -4.62512956e-05 9.99969301e-01 5.58034562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:113.15, Z:0.56 [[ 1.64827176e-02 -9.99864135e-01 -1.76587692e-04 1.25677761e+02] [ 9.99832946e-01 1.64835983e-02 -7.89753559e-03 1.13154735e+02] [ 7.89937339e-03 -4.63853434e-05 9.99968798e-01 5.57485095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:113.18, Z:0.56 [[ 1.62732540e-02 -9.99867566e-01 -1.77640552e-04 1.25677262e+02] [ 9.99835177e-01 1.62741567e-02 -8.04807672e-03 1.13182858e+02] [ 8.04990183e-03 -4.66428762e-05 9.99967598e-01 5.57852490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:113.21, Z:0.56 [[ 1.45398402e-02 -9.99894276e-01 -1.75751502e-04 1.25678349e+02] [ 9.99861751e-01 1.45407849e-02 -8.06502751e-03 1.13210580e+02] [ 8.06673040e-03 -5.84629929e-05 9.99967462e-01 5.57308542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761858064 meters Centerline goodness [0,1] 0.9999778329491045 Centerline is valid? [True, True] Translation: X:125.68, Y:113.24, Z:0.56 [[ 1.31546338e-02 -9.99913458e-01 -1.78756101e-04 1.25680070e+02] [ 9.99879065e-01 1.31556640e-02 -8.29364501e-03 1.13237497e+02] [ 8.29527892e-03 -6.96346194e-05 9.99965591e-01 5.56884248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.791858064 meters Centerline goodness [0,1] 0.9999778329491045 Centerline is valid? [True, True] Translation: X:125.68, Y:113.27, Z:0.56 [[ 1.28814992e-02 -9.99917014e-01 -1.76728139e-04 1.25680583e+02] [ 9.99882621e-01 1.28825220e-02 -8.29368837e-03 1.13265084e+02] [ 8.29527682e-03 -6.98722548e-05 9.99965591e-01 5.56978116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:113.29, Z:0.56 [[ 1.10863830e-02 -9.99938528e-01 -1.78455082e-04 1.25682458e+02] [ 9.99902435e-01 1.10874991e-02 -8.49639799e-03 1.13291313e+02] [ 8.49785432e-03 -8.42433494e-05 9.99963889e-01 5.56288247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.32, Z:0.56 [[ 7.94114034e-03 -9.99968453e-01 -1.75971296e-04 1.25685394e+02] [ 9.99932360e-01 7.94234894e-03 -8.49668167e-03 1.13319494e+02] [ 8.49781125e-03 -1.08486051e-04 9.99963887e-01 5.56039176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881858064 meters Centerline goodness [0,1] 0.9999107879652965 Centerline is valid? [True, True] Translation: X:125.69, Y:113.35, Z:0.56 [[ 6.27160817e-03 -9.99980320e-01 -1.63187401e-04 1.25686939e+02] [ 9.99948463e-01 6.27271108e-03 -7.98275509e-03 1.13347840e+02] [ 7.98362162e-03 -1.13114279e-04 9.99968124e-01 5.56315823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.37, Z:0.56 [[ 3.84736907e-03 -9.99992588e-01 -1.46480466e-04 1.25689030e+02] [ 9.99966353e-01 3.84832932e-03 -7.24457978e-03 1.13374402e+02] [ 7.24508979e-03 -1.18602965e-04 9.99973747e-01 5.56488481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941858064 meters Centerline goodness [0,1] 0.999933190807055 Centerline is valid? [True, True] Translation: X:125.69, Y:113.40, Z:0.56 [[ 2.66474668e-03 -9.99996439e-01 -1.46854002e-04 1.25689064e+02] [ 9.99969426e-01 2.66575427e-03 -7.35128022e-03 1.13402832e+02] [ 7.35164551e-03 -1.27260212e-04 9.99972968e-01 5.56770926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.43, Z:0.56 [[ 1.83048668e-03 -9.99998313e-01 -1.52134034e-04 1.25690760e+02] [ 9.99968570e-01 1.83160577e-03 -7.71384868e-03 1.13429387e+02] [ 7.71411432e-03 -1.38009155e-04 9.99970236e-01 5.56189793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.46, Z:0.56 [[ 1.22887549e-03 -9.99999232e-01 -1.59425350e-04 1.25691569e+02] [ 9.99965637e-01 1.23014122e-03 -8.19824681e-03 1.13456244e+02] [ 8.19843663e-03 -1.49345247e-04 9.99966381e-01 5.56009547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.48, Z:0.56 [[ 5.16328329e-04 -9.99999856e-01 -1.46045456e-04 1.25691995e+02] [ 9.99970771e-01 5.17427382e-04 -7.62824457e-03 1.13482184e+02] [ 7.62831904e-03 -1.42102508e-04 9.99970894e-01 5.56062734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.51, Z:0.56 [[ 3.05019118e-04 -9.99999944e-01 -1.34541633e-04 1.25690535e+02] [ 9.99974510e-01 3.05971105e-04 -7.13344405e-03 1.13509858e+02] [ 7.13348482e-03 -1.32362367e-04 9.99974548e-01 5.56372528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.54, Z:0.56 [[ 2.30756208e-04 -9.99999965e-01 -1.26834031e-04 1.25689855e+02] [ 9.99976706e-01 2.31616048e-04 -6.82157449e-03 1.13537660e+02] [ 6.82160363e-03 -1.25256956e-04 9.99976725e-01 5.56471863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.56, Z:0.56 [[-2.90295219e-04 -9.99999951e-01 -1.18182109e-04 1.25689499e+02] [ 9.99979132e-01 -2.89526449e-04 -6.45383526e-03 1.13564741e+02] [ 6.45380073e-03 -1.20053160e-04 9.99979167e-01 5.56535201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:113.59, Z:0.56 [[-5.25931783e-04 -9.99999855e-01 -1.15456128e-04 1.25690208e+02] [ 9.99979341e-01 -5.25181346e-04 -6.40631796e-03 1.13592749e+02] [ 6.40625640e-03 -1.18823029e-04 9.99979473e-01 5.56661742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18185806399998 meters Centerline goodness [0,1] 0.9999777456325804 Centerline is valid? [True, True] Translation: X:125.69, Y:113.62, Z:0.56 [[-7.72401106e-04 -9.99999695e-01 -1.19443638e-04 1.25691663e+02] [ 9.99976979e-01 -7.71578341e-04 -6.74142379e-03 1.13618987e+02] [ 6.74132957e-03 -1.24647971e-04 9.99977269e-01 5.56646240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21185806399998 meters Centerline goodness [0,1] 0.9998441708777632 Centerline is valid? [True, True] Translation: X:125.69, Y:113.65, Z:0.56 [[-5.76724815e-05 -9.99999992e-01 -1.16882807e-04 1.25690568e+02] [ 9.99977453e-01 -5.68863246e-05 -6.71491235e-03 1.13646209e+02] [ 6.71490564e-03 -1.17267437e-04 9.99977448e-01 5.56693208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24185806399998 meters Centerline goodness [0,1] 0.9999330760479176 Centerline is valid? [True, True] Translation: X:125.69, Y:113.67, Z:0.56 [[ 2.37972402e-04 -9.99999965e-01 -1.15975383e-04 1.25690080e+02] [ 9.99976961e-01 2.38753685e-04 -6.78384039e-03 1.13672410e+02] [ 6.78386784e-03 -1.14358344e-04 9.99976983e-01 5.56576463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27185806399999 meters Centerline goodness [0,1] 0.9997775206905758 Centerline is valid? [True, True] Translation: X:125.69, Y:113.70, Z:0.56 [[ 1.19462107e-03 -9.99999281e-01 -1.04266400e-04 1.25686829e+02] [ 9.99980050e-01 1.19524481e-03 -6.20251277e-03 1.13700219e+02] [ 6.20263294e-03 -9.68546677e-05 9.99980759e-01 5.56733443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.301858064 meters Centerline goodness [0,1] 0.9997556858564322 Centerline is valid? [True, True] Translation: X:125.69, Y:113.73, Z:0.56 [[ 2.21994782e-03 -9.99997530e-01 -1.07677589e-04 1.25687331e+02] [ 9.99976287e-01 2.22060259e-03 -6.51883270e-03 1.13726937e+02] [ 6.51905571e-03 -9.32035671e-05 9.99978746e-01 5.56007345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.331858064 meters Centerline goodness [0,1] 0.999754945642488 Centerline is valid? [True, True] Translation: X:125.68, Y:113.75, Z:0.56 [[ 4.56858418e-03 -9.99989558e-01 -1.06612467e-04 1.25683676e+02] [ 9.99968004e-01 4.56918575e-03 -6.56614135e-03 1.13754961e+02] [ 6.56655992e-03 -7.66110868e-05 9.99978437e-01 5.56104794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.361858064 meters Centerline goodness [0,1] 0.9997110982710342 Centerline is valid? [True, True] Translation: X:125.68, Y:113.78, Z:0.56 [[ 5.70140554e-03 -9.99983741e-01 -1.04744140e-04 1.25683171e+02] [ 9.99962209e-01 5.70197018e-03 -6.56267451e-03 1.13783023e+02] [ 6.56316506e-03 -6.73237133e-05 9.99978460e-01 5.56480888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.391858064 meters Centerline goodness [0,1] 0.9995786205367043 Centerline is valid? [True, True] Translation: X:125.68, Y:113.81, Z:0.56 [[ 6.77955892e-03 -9.99977014e-01 -9.77774248e-05 1.25683277e+02] [ 9.99957672e-01 6.78003596e-03 -6.21978808e-03 1.13810186e+02] [ 6.22030804e-03 -5.56058663e-05 9.99980652e-01 5.56583363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421858064 meters Centerline goodness [0,1] 0.9996451462662733 Centerline is valid? [True, True] Translation: X:125.68, Y:113.84, Z:0.56 [[ 7.46416069e-03 -9.99972138e-01 -9.56413749e-05 1.25682665e+02] [ 9.99953061e-01 7.46460908e-03 -6.17706171e-03 1.13838365e+02] [ 6.17760353e-03 -4.95303044e-05 9.99980917e-01 5.57062895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.451858064 meters Centerline goodness [0,1] 0.9996034718244702 Centerline is valid? [True, True] Translation: X:125.68, Y:113.87, Z:0.56 [[ 8.61803402e-03 -9.99962861e-01 -7.94136948e-05 1.25681014e+02] [ 9.99949276e-01 8.61833089e-03 -5.21237472e-03 1.13866058e+02] [ 5.21286555e-03 -3.44892440e-05 9.99986412e-01 5.57422347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481858064 meters Centerline goodness [0,1] 0.9997348710810632 Centerline is valid? [True, True] Translation: X:125.68, Y:113.89, Z:0.56 [[ 8.38314458e-03 -9.99964858e-01 -7.37036688e-05 1.25680446e+02] [ 9.99952739e-01 8.38340585e-03 -4.92322795e-03 1.13894251e+02] [ 4.92367283e-03 -3.24280538e-05 9.99987878e-01 5.57715386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.511858064 meters Centerline goodness [0,1] 0.9998233644653464 Centerline is valid? [True, True] Translation: X:125.68, Y:113.92, Z:0.56 [[ 8.11207783e-03 -9.99967094e-01 -6.94471963e-05 1.25680592e+02] [ 9.99955936e-01 8.11231539e-03 -4.72403148e-03 1.13922051e+02] [ 4.72443941e-03 -3.11224251e-05 9.99988839e-01 5.58060498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541858064 meters Centerline goodness [0,1] 0.9997132015531239 Centerline is valid? [True, True] Translation: X:125.68, Y:113.95, Z:0.56 [[ 6.17560108e-03 -9.99980929e-01 -6.34810889e-05 1.25681359e+02] [ 9.99971255e-01 6.17582058e-03 -4.39858704e-03 1.13949640e+02] [ 4.39889520e-03 -3.63153453e-05 9.99990324e-01 5.57827754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571858064 meters Centerline goodness [0,1] 0.9997580237136761 Centerline is valid? [True, True] Translation: X:125.68, Y:113.98, Z:0.56 [[ 4.66128562e-03 -9.99989134e-01 -6.53692548e-05 1.25682574e+02] [ 9.99978430e-01 4.66153820e-03 -4.62714816e-03 1.13977302e+02] [ 4.62740260e-03 -4.37993856e-05 9.99989293e-01 5.57831902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601858064 meters Centerline goodness [0,1] 0.99993380844163 Centerline is valid? [True, True] Translation: X:125.68, Y:114.00, Z:0.56 [[ 3.27675881e-03 -9.99994629e-01 -6.63045501e-05 1.25684147e+02] [ 9.99983194e-01 3.27703845e-03 -4.78261294e-03 1.14004350e+02] [ 4.78280454e-03 -5.06319667e-05 9.99988561e-01 5.57029928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631858064 meters Centerline goodness [0,1] 0.9999115161704198 Centerline is valid? [True, True] Translation: X:125.69, Y:114.03, Z:0.56 [[ 6.93410646e-04 -9.99999756e-01 -8.18014011e-05 1.25685029e+02] [ 9.99981667e-01 6.93890160e-04 -6.01526911e-03 1.14032390e+02] [ 6.01532440e-03 -7.76288498e-05 9.99981905e-01 5.56191084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:114.06, Z:0.56 [[-7.80337730e-04 -9.99999691e-01 -9.25513032e-05 1.25685742e+02] [ 9.99975490e-01 -7.79674884e-04 -6.95788328e-03 1.14060168e+02] [ 6.95780898e-03 -9.79785336e-05 9.99975789e-01 5.55811945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691858064 meters Centerline goodness [0,1] 0.9999559955995599 Centerline is valid? [True, True] Translation: X:125.69, Y:114.09, Z:0.56 [[-2.06614483e-03 -9.99997861e-01 -9.15506892e-05 1.25686393e+02] [ 9.99973165e-01 -2.06545032e-03 -7.02872712e-03 1.14088167e+02] [ 7.02852299e-03 -1.06070601e-04 9.99975294e-01 5.55494228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721858064 meters Centerline goodness [0,1] 0.9999779546306299 Centerline is valid? [True, True] Translation: X:125.69, Y:114.12, Z:0.56 [[-4.61224184e-03 -9.99989359e-01 -9.65018671e-05 1.25688678e+02] [ 9.99960645e-01 -4.61137799e-03 -7.57918250e-03 1.14115106e+02] [ 7.57865685e-03 -1.31455092e-04 9.99971273e-01 5.55019860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:114.14, Z:0.55 [[-6.06605213e-03 -9.99981597e-01 -9.54258176e-05 1.25690617e+02] [ 9.99952205e-01 -6.06514207e-03 -7.66824056e-03 1.14142409e+02] [ 7.66752067e-03 -1.41937204e-04 9.99970594e-01 5.54973079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:114.17, Z:0.56 [[-7.68237949e-03 -9.99970486e-01 -8.96832631e-05 1.25690289e+02] [ 9.99943346e-01 -7.68151010e-03 -7.36885888e-03 1.14170189e+02] [ 7.36795249e-03 -1.46288552e-04 9.99972846e-01 5.55740097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811858064 meters Centerline goodness [0,1] 0.9998893364614226 Centerline is valid? [True, True] Translation: X:125.69, Y:114.20, Z:0.56 [[-1.02434180e-02 -9.99947531e-01 -8.35147294e-05 1.25691519e+02] [ 9.99922956e-01 -1.02425806e-02 -7.01217993e-03 1.14198230e+02] [ 7.01095661e-03 -1.55336985e-04 9.99975411e-01 5.56220552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841858064 meters Centerline goodness [0,1] 0.9999555624680605 Centerline is valid? [True, True] Translation: X:125.69, Y:114.23, Z:0.56 [[-1.18042459e-02 -9.99930325e-01 -7.69671942e-05 1.25691829e+02] [ 9.99908524e-01 -1.18034802e-02 -6.60472767e-03 1.14226455e+02] [ 6.60335900e-03 -1.54923983e-04 9.99978186e-01 5.56627123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871858064 meters Centerline goodness [0,1] 0.999955665898209 Centerline is valid? [True, True] Translation: X:125.69, Y:114.25, Z:0.56 [[-1.28310617e-02 -9.99917676e-01 -7.60791298e-05 1.25693340e+02] [ 9.99895385e-01 -1.28302675e-02 -6.67864672e-03 1.14253526e+02] [ 6.67712079e-03 -1.61765299e-04 9.99977695e-01 5.56382841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:114.28, Z:0.56 [[-1.36952007e-02 -9.99906214e-01 -6.68615282e-05 1.25695214e+02] [ 9.99888197e-01 -1.36945524e-02 -6.00432246e-03 1.14280379e+02] [ 6.00284370e-03 -1.49084454e-04 9.99981972e-01 5.56820222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93185806399998 meters Centerline goodness [0,1] 0.9999333540676234 Centerline is valid? [True, True] Translation: X:125.69, Y:114.31, Z:0.56 [[-1.34893785e-02 -9.99909012e-01 -5.95872290e-05 1.25693954e+02] [ 9.99893974e-01 -1.34888487e-02 -5.48552174e-03 1.14308926e+02] [ 5.48421886e-03 -1.33577190e-04 9.99984953e-01 5.57338810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:114.34, Z:0.56 [[-1.27616986e-02 -9.99918564e-01 -6.19590949e-05 1.25694279e+02] [ 9.99901403e-01 -1.27611164e-02 -5.85995688e-03 1.14336498e+02] [ 5.85868901e-03 -1.36735989e-04 9.99982828e-01 5.57752476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99185806399998 meters Centerline goodness [0,1] 0.9997556098644745 Centerline is valid? [True, True] Translation: X:125.69, Y:114.36, Z:0.56 [[-1.17082174e-02 -9.99931454e-01 -6.35833086e-05 1.25691841e+02] [ 9.99912358e-01 -1.17076008e-02 -6.18134773e-03 1.14364357e+02] [ 6.18017962e-03 -1.35950299e-04 9.99980893e-01 5.57821927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02185806399999 meters Centerline goodness [0,1] 0.9997580875722988 Centerline is valid? [True, True] Translation: X:125.69, Y:114.39, Z:0.56 [[-7.78046169e-03 -9.99969730e-01 -6.60816524e-05 1.25689924e+02] [ 9.99948124e-01 -7.77985913e-03 -6.57443536e-03 1.14391375e+02] [ 6.57372224e-03 -1.17230367e-04 9.99978386e-01 5.57596546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.051858064 meters Centerline goodness [0,1] 0.9996261271167803 Centerline is valid? [True, True] Translation: X:125.69, Y:114.42, Z:0.56 [[-5.77553010e-03 -9.99983319e-01 -6.40654588e-05 1.25688104e+02] [ 9.99962099e-01 -5.77499013e-03 -6.51530593e-03 1.14419689e+02] [ 6.51482727e-03 -1.01692376e-04 9.99978773e-01 5.57711474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.081858064 meters Centerline goodness [0,1] 0.9997352045544816 Centerline is valid? [True, True] Translation: X:125.69, Y:114.45, Z:0.56 [[-3.60269396e-03 -9.99993508e-01 -6.30292185e-05 1.25686687e+02] [ 9.99971754e-01 -3.60219981e-03 -6.59656372e-03 1.14446765e+02] [ 6.59629385e-03 -8.67928384e-05 9.99978240e-01 5.57751368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.111858064 meters Centerline goodness [0,1] 0.9999558362407808 Centerline is valid? [True, True] Translation: X:125.68, Y:114.48, Z:0.56 [[ 5.10798674e-04 -9.99999867e-01 -6.75989113e-05 1.25682504e+02] [ 9.99973326e-01 5.11277644e-04 -7.28603417e-03 1.14475671e+02] [ 7.28606776e-03 -6.38754116e-05 9.99973454e-01 5.57982198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.141858064 meters Centerline goodness [0,1] 0.9997793809429258 Centerline is valid? [True, True] Translation: X:125.68, Y:114.50, Z:0.56 [[ 2.03818299e-03 -9.99997921e-01 -6.76680226e-05 1.25681347e+02] [ 9.99969687e-01 2.03863394e-03 -7.51460626e-03 1.14503967e+02] [ 7.51472858e-03 -5.23498288e-05 9.99971763e-01 5.57884977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.171858064 meters Centerline goodness [0,1] 0.9998679054202809 Centerline is valid? [True, True] Translation: X:125.68, Y:114.53, Z:0.56 [[ 3.14842431e-03 -9.99995041e-01 -6.90250840e-05 1.25680980e+02] [ 9.99963609e-01 3.14887263e-03 -7.92871099e-03 1.14531069e+02] [ 7.92888902e-03 -4.40596257e-05 9.99968565e-01 5.57640214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201858064 meters Centerline goodness [0,1] 0.9998231966053748 Centerline is valid? [True, True] Translation: X:125.68, Y:114.56, Z:0.56 [[ 4.02728013e-03 -9.99991888e-01 -7.14017685e-05 1.25680533e+02] [ 9.99955844e-01 4.02774120e-03 -8.49044019e-03 1.14559488e+02] [ 8.49065890e-03 -3.72052346e-05 9.99963953e-01 5.57745943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.231858064 meters Centerline goodness [0,1] 0.9996478330728765 Centerline is valid? [True, True] Translation: X:125.68, Y:114.59, Z:0.56 [[ 4.38574826e-03 -9.99990380e-01 -7.08383259e-05 1.25681395e+02] [ 9.99952310e-01 4.38619942e-03 -8.72582417e-03 1.14586885e+02] [ 8.72605094e-03 -3.25656795e-05 9.99961927e-01 5.57550366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261858064 meters Centerline goodness [0,1] 0.9997577519379846 Centerline is valid? [True, True] Translation: X:125.68, Y:114.61, Z:0.56 [[ 3.71280576e-03 -9.99993105e-01 -6.58054194e-05 1.25682095e+02] [ 9.99957874e-01 3.71322734e-03 -8.39414156e-03 1.14614548e+02] [ 8.39432804e-03 -3.46368301e-05 9.99964766e-01 5.58430483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.291858064 meters Centerline goodness [0,1] 0.999867467750486 Centerline is valid? [True, True] Translation: X:125.68, Y:114.64, Z:0.56 [[ 3.35361218e-03 -9.99994375e-01 -5.85761533e-05 1.25683109e+02] [ 9.99964464e-01 3.35396493e-03 -7.73443485e-03 1.14643096e+02] [ 7.73458781e-03 -3.26357768e-05 9.99970087e-01 5.58943365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321858064 meters Centerline goodness [0,1] 0.9997571797532063 Centerline is valid? [True, True] Translation: X:125.68, Y:114.67, Z:0.56 [[ 2.70519661e-03 -9.99996339e-01 -5.74663699e-05 1.25683976e+02] [ 9.99965079e-01 2.70556643e-03 -7.90698055e-03 1.14669121e+02] [ 7.90710708e-03 -3.60744261e-05 9.99968738e-01 5.59070493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351858064 meters Centerline goodness [0,1] 0.9999336385957927 Centerline is valid? [True, True] Translation: X:125.68, Y:114.70, Z:0.56 [[ 1.75765652e-03 -9.99998454e-01 -5.39292384e-05 1.25684506e+02] [ 9.99968408e-01 1.75802176e-03 -7.75192454e-03 1.14696735e+02] [ 7.75200736e-03 -4.03023140e-05 9.99969952e-01 5.58915768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:114.72, Z:0.56 [[ 1.13694410e-03 -9.99999352e-01 -5.22201877e-05 1.25685285e+02] [ 9.99968446e-01 1.13731952e-03 -7.86210454e-03 1.14722685e+02] [ 7.86215884e-03 -4.32797666e-05 9.99969092e-01 5.58988805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:114.75, Z:0.56 [[ 7.88767289e-04 -9.99999687e-01 -5.42659200e-05 1.25687149e+02] [ 9.99962745e-01 7.89204599e-04 -8.59563000e-03 1.14748644e+02] [ 8.59567014e-03 -4.74839466e-05 9.99963055e-01 5.59020307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:114.78, Z:0.56 [[ 2.20055831e-04 -9.99999974e-01 -5.38947900e-05 1.25687781e+02] [ 9.99959685e-01 2.20530757e-04 -8.97661683e-03 1.14775975e+02] [ 8.97662848e-03 -5.19172604e-05 9.99959708e-01 5.59106225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:114.80, Z:0.56 [[-1.96301103e-04 -9.99999979e-01 -5.63726378e-05 1.25688060e+02] [ 9.99951041e-01 -1.95733783e-04 -9.89334314e-03 1.14803271e+02] [ 9.89333190e-03 -5.83119520e-05 9.99951058e-01 5.58822971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501858064 meters Centerline goodness [0,1] 0.9999779205581683 Centerline is valid? [True, True] Translation: X:125.69, Y:114.83, Z:0.56 [[-7.55545741e-04 -9.99999713e-01 -5.31803067e-05 1.25688444e+02] [ 9.99951309e-01 -7.54985921e-04 -9.83916631e-03 1.14830717e+02] [ 9.83912334e-03 -6.06116576e-05 9.99951593e-01 5.58289392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531858064 meters Centerline goodness [0,1] 0.9999779366340129 Centerline is valid? [True, True] Translation: X:125.69, Y:114.86, Z:0.56 [[-2.52397721e-03 -9.99996813e-01 -5.66339364e-05 1.25690090e+02] [ 9.99935474e-01 -2.52319511e-03 -1.10761749e-02 1.14858076e+02] [ 1.10759967e-02 -8.45862952e-05 9.99938656e-01 5.57023235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561858064 meters Centerline goodness [0,1] 0.9999779039706564 Centerline is valid? [True, True] Translation: X:125.69, Y:114.89, Z:0.56 [[-3.95017618e-03 -9.99992197e-01 -5.47708132e-05 1.25691648e+02] [ 9.99927815e-01 -3.94930034e-03 -1.13475940e-02 1.14885295e+02] [ 1.13472891e-02 -9.95918552e-05 9.99935612e-01 5.56835433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:114.91, Z:0.56 [[-6.93669461e-03 -9.99975939e-01 -5.54063654e-05 1.25696048e+02] [ 9.99902767e-01 -6.93551672e-03 -1.20977651e-02 1.14911660e+02] [ 1.20970898e-02 -1.39319480e-04 9.99926818e-01 5.56647450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:114.94, Z:0.56 [[-8.73478653e-03 -9.99961850e-01 -5.35173017e-05 1.25698474e+02] [ 9.99884423e-01 -8.73344417e-03 -1.24445901e-02 1.14938175e+02] [ 1.24436480e-02 -1.62211955e-04 9.99922562e-01 5.56581868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:114.97, Z:0.56 [[-1.03117136e-02 -9.99946832e-01 -4.98278721e-05 1.25700956e+02] [ 9.99869827e-01 -1.03103011e-02 -1.24107751e-02 1.14965062e+02] [ 1.24096015e-02 -1.77797745e-04 9.99922982e-01 5.56505623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:114.99, Z:0.56 [[-1.17479434e-02 -9.99930990e-01 -4.57339452e-05 1.25702935e+02] [ 9.99855144e-01 -1.17464889e-02 -1.23171187e-02 1.14991240e+02] [ 1.23157315e-02 -1.90428133e-04 9.99924140e-01 5.57010592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:115.02, Z:0.56 [[-1.20585425e-02 -9.99927292e-01 -4.19076942e-05 1.25702847e+02] [ 9.99851446e-01 -1.20571117e-02 -1.23171322e-02 1.15017182e+02] [ 1.23157313e-02 -1.90428131e-04 9.99924140e-01 5.57098679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.04, Z:0.56 [[-1.38058986e-02 -9.99904693e-01 -3.60972622e-05 1.25705273e+02] [ 9.99837322e-01 -1.38045493e-02 -1.16088224e-02 1.15043213e+02] [ 1.16072177e-02 -1.96361615e-04 9.99932615e-01 5.58262453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.07, Z:0.56 [[-1.45771981e-02 -9.99893747e-01 -3.06465018e-05 1.25706383e+02] [ 9.99834429e-01 -1.45759994e-02 -1.08928558e-02 1.15069360e+02] [ 1.08912517e-02 -1.89428744e-04 9.99940671e-01 5.58450551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:115.10, Z:0.56 [[-1.47019994e-02 -9.99891919e-01 -2.82018605e-05 1.25703155e+02] [ 9.99829488e-01 -1.47007662e-02 -1.11750480e-02 1.15097191e+02] [ 1.11734256e-02 -1.92492601e-04 9.99937557e-01 5.60792823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.13, Z:0.56 [[-1.50790418e-02 -9.99886305e-01 -2.46255342e-05 1.25705915e+02] [ 9.99826246e-01 -1.50778661e-02 -1.09606660e-02 1.15125264e+02] [ 1.09590486e-02 -1.89897597e-04 9.99939930e-01 5.61609396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.15, Z:0.56 [[-1.52193381e-02 -9.99884179e-01 -2.06930347e-05 1.25705768e+02] [ 9.99828849e-01 -1.52182782e-02 -1.05202904e-02 1.15153116e+02] [ 1.05187570e-02 -1.80801349e-04 9.99944660e-01 5.61942281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.18, Z:0.56 [[-1.53535746e-02 -9.99882127e-01 -1.61362107e-05 1.25708818e+02] [ 9.99836066e-01 -1.53527124e-02 -9.59875963e-03 1.15180381e+02] [ 9.59738046e-03 -1.63508838e-04 9.99953931e-01 5.61164640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.21, Z:0.56 [[-1.44938212e-02 -9.99894959e-01 -1.24422639e-05 1.25713571e+02] [ 9.99854406e-01 -1.44931213e-02 -9.00640728e-03 1.15206422e+02] [ 9.00528091e-03 -1.42977709e-04 9.99959441e-01 5.60705904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.23, Z:0.56 [[-1.41023308e-02 -9.99900557e-01 -9.84254559e-06 1.25708846e+02] [ 9.99859752e-01 -1.41016664e-02 -9.03434350e-03 1.15234184e+02] [ 9.03330630e-03 -1.37246466e-04 9.99959189e-01 5.62717879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.26, Z:0.56 [[-1.32617423e-02 -9.99912059e-01 -7.31233971e-06 1.25709176e+02] [ 9.99871198e-01 -1.32611342e-02 -9.04044547e-03 1.15262046e+02] [ 9.03955347e-03 -1.27203456e-04 9.99959134e-01 5.62783301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.29, Z:0.56 [[-1.25163329e-02 -9.99921668e-01 -4.74118734e-06 1.25709848e+02] [ 9.99880069e-01 -1.25157689e-02 -9.12160248e-03 1.15289612e+02] [ 9.12082862e-03 -1.18909632e-04 9.99958397e-01 5.62681434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.32, Z:0.56 [[-1.02563088e-02 -9.99947403e-01 -2.07994927e-06 1.25709732e+02] [ 9.99912929e-01 -1.02559379e-02 -8.30362248e-03 1.15318225e+02] [ 8.30316440e-03 -8.72442842e-05 9.99965524e-01 5.63127027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.35, Z:0.56 [[-9.02558796e-03 -9.99959269e-01 1.64977772e-07 1.25709469e+02] [ 9.99928080e-01 -9.02530775e-03 -7.89803098e-03 1.15346338e+02] [ 7.89771077e-03 -7.11194074e-05 9.99968810e-01 5.63275394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101858064 meters Centerline goodness [0,1] 0.9999325600215808 Centerline is valid? [True, True] Translation: X:125.71, Y:115.37, Z:0.56 [[-8.35273285e-03 -9.99965115e-01 2.48852705e-06 1.25709191e+02] [ 9.99933290e-01 -8.35248686e-03 -7.97820661e-03 1.15373226e+02] [ 7.97794908e-03 -6.41514674e-05 9.99968174e-01 5.62716052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.40, Z:0.56 [[-7.20078055e-03 -9.99974074e-01 4.25415741e-06 1.25708751e+02] [ 9.99947748e-01 -7.20062185e-03 -7.25622736e-03 1.15401329e+02] [ 7.25606986e-03 -4.79965657e-05 9.99973673e-01 5.63441595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.43, Z:0.56 [[-5.75524879e-03 -9.99983438e-01 5.83342431e-06 1.25708470e+02] [ 9.99960327e-01 -5.75515544e-03 -6.79868762e-03 1.15429649e+02] [ 6.79860859e-03 -3.32949458e-05 9.99976889e-01 5.64242843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.46, Z:0.56 [[-5.56534218e-03 -9.99984513e-01 6.98771767e-06 1.25708646e+02] [ 9.99965253e-01 -5.56527836e-03 -6.20653606e-03 1.15458116e+02] [ 6.20647883e-03 -2.75540221e-05 9.99980739e-01 5.64424447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.49, Z:0.56 [[-5.23365914e-03 -9.99986304e-01 8.07206162e-06 1.25708831e+02] [ 9.99969696e-01 -5.23361874e-03 -5.76339271e-03 1.15485590e+02] [ 5.76335602e-03 -2.20918159e-05 9.99983391e-01 5.64409076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.51, Z:0.56 [[-5.62257374e-03 -9.99984193e-01 9.24137986e-06 1.25709187e+02] [ 9.99968841e-01 -5.62253863e-03 -5.54118612e-03 1.15511657e+02] [ 5.54115049e-03 -2.19146357e-05 9.99984647e-01 5.64503371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.54, Z:0.56 [[-6.10423371e-03 -9.99981369e-01 9.99254390e-06 1.25709772e+02] [ 9.99967843e-01 -6.10420312e-03 -5.20116009e-03 1.15539013e+02] [ 5.20112419e-03 -2.17568742e-05 9.99986474e-01 5.64759242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.57, Z:0.57 [[-6.85567244e-03 -9.99976500e-01 1.09171141e-05 1.25710209e+02] [ 9.99964381e-01 -6.85564310e-03 -4.92315889e-03 1.15566625e+02] [ 4.92311804e-03 -2.28348395e-05 9.99987881e-01 5.65052596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341858064 meters Centerline goodness [0,1] 0.9999322432017346 Centerline is valid? [True, True] Translation: X:125.71, Y:115.59, Z:0.56 [[-7.80593375e-03 -9.99969533e-01 1.21207489e-05 1.25710942e+02] [ 9.99957964e-01 -7.80590175e-03 -4.81012613e-03 1.15593527e+02] [ 4.81007419e-03 -2.54272864e-05 9.99988431e-01 5.64846351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.62, Z:0.56 [[-8.16651876e-03 -9.99966653e-01 1.38415849e-05 1.25710278e+02] [ 9.99954698e-01 -8.16648881e-03 -4.88981042e-03 1.15620625e+02] [ 4.88976040e-03 -2.60917707e-05 9.99988045e-01 5.64608667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.65, Z:0.56 [[-8.20645845e-03 -9.99966326e-01 1.61312870e-05 1.25708726e+02] [ 9.99953132e-01 -8.20643303e-03 -5.13704869e-03 1.15648914e+02] [ 5.13700808e-03 -2.60264456e-05 9.99986805e-01 5.63544939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.68, Z:0.56 [[-8.62429784e-03 -9.99962810e-01 1.85563801e-05 1.25708283e+02] [ 9.99947925e-01 -8.62427071e-03 -5.45619165e-03 1.15675846e+02] [ 5.45614877e-03 -2.85004081e-05 9.99985115e-01 5.63238835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.70, Z:0.56 [[-9.37406365e-03 -9.99956062e-01 2.17742485e-05 1.25707841e+02] [ 9.99938249e-01 -9.37402663e-03 -5.96878892e-03 1.15704166e+02] [ 5.96873078e-03 -3.41789034e-05 9.99982186e-01 5.63022056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49185806399998 meters Centerline goodness [0,1] 0.9999775351574786 Centerline is valid? [True, True] Translation: X:125.71, Y:115.73, Z:0.56 [[-1.16824344e-02 -9.99931758e-01 2.28566937e-05 1.25708871e+02] [ 9.99914844e-01 -1.16823698e-02 -5.81608183e-03 1.15731061e+02] [ 5.81595195e-03 -4.50912474e-05 9.99983086e-01 5.62905356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.76, Z:0.56 [[-1.29251739e-02 -9.99916466e-01 2.24932849e-05 1.25708852e+02] [ 9.99902150e-01 -1.29251092e-02 -5.35093405e-03 1.15759477e+02] [ 5.35077780e-03 -4.66706689e-05 9.99985683e-01 5.63620570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.79, Z:0.56 [[-1.44412167e-02 -9.99895720e-01 2.28405992e-05 1.25709319e+02] [ 9.99882684e-01 -1.44411450e-02 -5.10611365e-03 1.15787223e+02] [ 5.10591103e-03 -5.09005739e-05 9.99986963e-01 5.64276609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.82, Z:0.56 [[-1.57962073e-02 -9.99875232e-01 2.08476356e-05 1.25709020e+02] [ 9.99865489e-01 -1.57961455e-02 -4.41430932e-03 1.15815221e+02] [ 4.41408786e-03 -4.88845139e-05 9.99990257e-01 5.64551685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.84, Z:0.56 [[-1.88412318e-02 -9.99822488e-01 1.83884473e-05 1.25709552e+02] [ 9.99815618e-01 -1.88411705e-02 -3.70678148e-03 1.15842611e+02] [ 3.70646994e-03 -5.14552723e-05 9.99993130e-01 5.64250325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.641858064 meters Centerline goodness [0,1] 0.9999777089231181 Centerline is valid? [True, True] Translation: X:125.71, Y:115.87, Z:0.56 [[-2.07178109e-02 -9.99785363e-01 1.90248600e-05 1.25710040e+02] [ 9.99778703e-01 -2.07177423e-02 -3.64957891e-03 1.15870934e+02] [ 3.64918972e-03 -5.65906357e-05 9.99993340e-01 5.64356274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.90, Z:0.56 [[-2.27392139e-02 -9.99741431e-01 1.84314795e-05 1.25710395e+02] [ 9.99735747e-01 -2.27391468e-02 -3.37146229e-03 1.15898541e+02] [ 3.37100964e-03 -5.82377932e-05 9.99994316e-01 5.64277102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701858064 meters Centerline goodness [0,1] 0.9999776641129302 Centerline is valid? [True, True] Translation: X:125.71, Y:115.93, Z:0.56 [[-2.53268155e-02 -9.99679225e-01 1.82767987e-05 1.25711077e+02] [ 9.99674169e-01 -2.53267455e-02 -3.17995035e-03 1.15925145e+02] [ 3.17939319e-03 -6.22671721e-05 9.99994944e-01 5.63998396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.95, Z:0.56 [[-2.64610786e-02 -9.99649844e-01 1.99534264e-05 1.25711078e+02] [ 9.99644249e-01 -2.64609973e-02 -3.34545999e-03 1.15952160e+02] [ 3.34481655e-03 -6.85781519e-05 9.99994404e-01 5.63983975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:115.98, Z:0.56 [[-2.71055716e-02 -9.99632576e-01 2.19463146e-05 1.25709186e+02] [ 9.99626441e-01 -2.71054822e-02 -3.50297447e-03 1.15980344e+02] [ 3.50228226e-03 -7.30120091e-05 9.99993864e-01 5.63749428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:116.01, Z:0.56 [[-2.79064219e-02 -9.99610540e-01 2.36070627e-05 1.25710871e+02] [ 9.99604049e-01 -2.79063258e-02 -3.60309895e-03 1.16007706e+02] [ 3.60235447e-03 -7.69518839e-05 9.99993509e-01 5.63440509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:116.04, Z:0.56 [[-2.89073344e-02 -9.99582095e-01 3.37274022e-05 1.25706150e+02] [ 9.99570193e-01 -2.89071548e-02 -4.87900760e-03 1.16036185e+02] [ 4.87794360e-03 -1.07326198e-04 9.99988097e-01 5.62743585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:116.06, Z:0.56 [[-2.91072439e-02 -9.99576294e-01 3.43718862e-05 1.25704978e+02] [ 9.99564862e-01 -2.91070755e-02 -4.78182421e-03 1.16064278e+02] [ 4.78079859e-03 -1.04828794e-04 9.99988566e-01 5.62422127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:116.09, Z:0.56 [[-2.91314292e-02 -9.99575589e-01 3.65204163e-05 1.25703689e+02] [ 9.99563637e-01 -2.91312595e-02 -4.88924744e-03 1.16092320e+02] [ 4.88823627e-03 -1.05926285e-04 9.99988047e-01 5.62522238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911858064 meters Centerline goodness [0,1] 0.9998663220746814 Centerline is valid? [True, True] Translation: X:125.70, Y:116.12, Z:0.56 [[-2.87805664e-02 -9.99585753e-01 4.09676823e-05 1.25703151e+02] [ 9.99571830e-01 -2.87803818e-02 -5.27694463e-03 1.16119624e+02] [ 5.27593773e-03 -1.10923314e-04 9.99986076e-01 5.62338532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941858064 meters Centerline goodness [0,1] 0.9997335524124609 Centerline is valid? [True, True] Translation: X:125.70, Y:116.15, Z:0.56 [[-2.71442670e-02 -9.99631525e-01 5.11825879e-05 1.25699092e+02] [ 9.99611435e-01 -2.71440461e-02 -6.33869297e-03 1.16147384e+02] [ 6.33774662e-03 -1.20896474e-04 9.99979909e-01 5.62122178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971858064 meters Centerline goodness [0,1] 0.9996892824644339 Centerline is valid? [True, True] Translation: X:125.70, Y:116.18, Z:0.56 [[-2.66494311e-02 -9.99644839e-01 5.38659285e-05 1.25696487e+02] [ 9.99624041e-01 -2.66492241e-02 -6.44950247e-03 1.16175116e+02] [ 6.44864734e-03 -1.18029894e-04 9.99979200e-01 5.62320601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001858064 meters Centerline goodness [0,1] 0.9998005893691977 Centerline is valid? [True, True] Translation: X:125.70, Y:116.20, Z:0.56 [[-2.57918589e-02 -9.99667333e-01 5.56498086e-05 1.25695291e+02] [ 9.99646372e-01 -2.57916785e-02 -6.47462643e-03 1.16202206e+02] [ 6.47390783e-03 -1.11362522e-04 9.99979038e-01 5.62383391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031858064 meters Centerline goodness [0,1] 0.9997574635092825 Centerline is valid? [True, True] Translation: X:125.69, Y:116.23, Z:0.56 [[-2.44287561e-02 -9.99701572e-01 5.44336264e-05 1.25690971e+02] [ 9.99682550e-01 -2.44286271e-02 -6.16784535e-03 1.16230593e+02] [ 6.16733443e-03 -9.62564434e-05 9.99980977e-01 5.63344691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061858064 meters Centerline goodness [0,1] 0.999867978084362 Centerline is valid? [True, True] Translation: X:125.69, Y:116.26, Z:0.56 [[-2.41602913e-02 -9.99708096e-01 5.59407531e-05 1.25688935e+02] [ 9.99689207e-01 -2.41601787e-02 -6.14608324e-03 1.16258550e+02] [ 6.14564071e-03 -9.25677940e-05 9.99981111e-01 5.63772794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091858064 meters Centerline goodness [0,1] 0.9998680419626559 Centerline is valid? [True, True] Translation: X:125.69, Y:116.29, Z:0.56 [[-2.33291895e-02 -9.99727836e-01 6.13747312e-05 1.25686563e+02] [ 9.99706492e-01 -2.33290925e-02 -6.53318106e-03 1.16285496e+02] [ 6.53283478e-03 -9.10571017e-05 9.99978657e-01 5.63838309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121858064 meters Centerline goodness [0,1] 0.9999121767004786 Centerline is valid? [True, True] Translation: X:125.69, Y:116.31, Z:0.56 [[-2.30438132e-02 -9.99734454e-01 6.50936011e-05 1.25685376e+02] [ 9.99711953e-01 -2.30437313e-02 -6.70801905e-03 1.16311674e+02] [ 6.70773776e-03 -8.95034867e-05 9.99977499e-01 5.63441837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151858064 meters Centerline goodness [0,1] 0.9999779900515032 Centerline is valid? [True, True] Translation: X:125.68, Y:116.34, Z:0.56 [[-2.27477842e-02 -9.99741233e-01 7.81248522e-05 1.25683812e+02] [ 9.99710959e-01 -2.27477034e-02 -7.78075099e-03 1.16338674e+02] [ 7.78051475e-03 -9.88925739e-05 9.99969726e-01 5.63130103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:116.37, Z:0.56 [[-2.14423510e-02 -9.99770082e-01 9.81109742e-05 1.25680604e+02] [ 9.99725157e-01 -2.14423176e-02 -9.47827508e-03 1.16366369e+02] [ 9.47819957e-03 -1.05152492e-04 9.99955075e-01 5.62166251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:116.39, Z:0.56 [[-2.07920891e-02 -9.99783816e-01 1.06125920e-04 1.25678363e+02] [ 9.99733995e-01 -2.07921126e-02 -9.98130003e-03 1.16394023e+02] [ 9.98134881e-03 -1.01434390e-04 9.99950180e-01 5.62355096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:116.42, Z:0.56 [[-2.00828642e-02 -9.99798313e-01 1.09475028e-04 1.25676377e+02] [ 9.99747949e-01 -2.00829514e-02 -1.00356300e-02 1.16422485e+02] [ 1.00358045e-02 -9.20967590e-05 9.99949636e-01 5.62245935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:116.45, Z:0.56 [[-1.86637836e-02 -9.99825810e-01 1.12152114e-04 1.25673921e+02] [ 9.99775807e-01 -1.86639719e-02 -9.99963648e-03 1.16448867e+02] [ 9.99998785e-03 -7.45040808e-05 9.99949996e-01 5.62259951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:116.48, Z:0.56 [[-1.85824935e-02 -9.99827324e-01 1.11536676e-04 1.25673315e+02] [ 9.99780472e-01 -1.85827025e-02 -9.67940856e-03 1.16476388e+02] [ 9.67980981e-03 -6.83553562e-05 9.99953147e-01 5.63104065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:116.50, Z:0.56 [[-1.83605492e-02 -9.99831425e-01 1.11447111e-04 1.25672520e+02] [ 9.99786998e-01 -1.83607840e-02 -9.42548046e-03 1.16503413e+02] [ 9.42593781e-03 -6.16336251e-05 9.99955573e-01 5.63639644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.361858064 meters Centerline goodness [0,1] 0.9999781267771993 Centerline is valid? [True, True] Translation: X:125.67, Y:116.53, Z:0.56 [[-1.84775392e-02 -9.99829269e-01 1.17018150e-04 1.25671512e+02] [ 9.99782389e-01 -1.84778060e-02 -9.68222804e-03 1.16529764e+02] [ 9.68273722e-03 -6.19110632e-05 9.99953119e-01 5.63724869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.391858064 meters Centerline goodness [0,1] 0.9999565330783274 Centerline is valid? [True, True] Translation: X:125.67, Y:116.56, Z:0.56 [[-1.95441930e-02 -9.99808987e-01 1.21880901e-04 1.25670361e+02] [ 9.99760472e-01 -1.95444453e-02 -9.84955492e-03 1.16555960e+02] [ 9.85005562e-03 -7.06498948e-05 9.99951485e-01 5.62393848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421858064 meters Centerline goodness [0,1] 0.9999781978328646 Centerline is valid? [True, True] Translation: X:125.67, Y:116.58, Z:0.56 [[-2.06384821e-02 -9.99786995e-01 1.33281556e-04 1.25670348e+02] [ 9.99731764e-01 -2.06387429e-02 -1.05091825e-02 1.16583444e+02] [ 1.05096948e-02 -8.36477699e-05 9.99944768e-01 5.62199606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.451858064 meters Centerline goodness [0,1] 0.99997814876322 Centerline is valid? [True, True] Translation: X:125.67, Y:116.61, Z:0.56 [[-2.20585926e-02 -9.99756670e-01 1.40256107e-04 1.25670400e+02] [ 9.99698266e-01 -2.20588200e-02 -1.08067253e-02 1.16610590e+02] [ 1.08071896e-02 -9.81673639e-05 9.99941596e-01 5.61755576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481858064 meters Centerline goodness [0,1] 0.999934496386384 Centerline is valid? [True, True] Translation: X:125.67, Y:116.64, Z:0.56 [[-2.35299371e-02 -9.99723122e-01 1.49111076e-04 1.25670617e+02] [ 9.99660028e-01 -2.35301274e-02 -1.12321811e-02 1.16637529e+02] [ 1.12325797e-02 -1.15232132e-04 9.99936906e-01 5.61348962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:116.66, Z:0.56 [[-2.67133674e-02 -9.99643122e-01 1.58500718e-04 1.25671202e+02] [ 9.99574787e-01 -2.67133947e-02 -1.16892948e-02 1.16664823e+02] [ 1.16893572e-02 -1.53827104e-04 9.99931665e-01 5.60419958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541858064 meters Centerline goodness [0,1] 0.9999781339514137 Centerline is valid? [True, True] Translation: X:125.67, Y:116.69, Z:0.56 [[-2.82623568e-02 -9.99600526e-01 1.65340607e-04 1.25671273e+02] [ 9.99529206e-01 -2.82623156e-02 -1.19418137e-02 1.16691679e+02] [ 1.19417161e-02 -1.72241033e-04 9.99928680e-01 5.59622516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571858064 meters Centerline goodness [0,1] 0.9999781473306965 Centerline is valid? [True, True] Translation: X:125.67, Y:116.72, Z:0.56 [[-2.96767493e-02 -9.99559533e-01 1.72139752e-04 1.25668816e+02] [ 9.99485184e-01 -2.96766417e-02 -1.21928146e-02 1.16720292e+02] [ 1.21925526e-02 -1.89791972e-04 9.99925650e-01 5.60914675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601858064 meters Centerline goodness [0,1] 0.9999781473306965 Centerline is valid? [True, True] Translation: X:125.67, Y:116.75, Z:0.56 [[-2.99536812e-02 -9.99551272e-01 1.75474363e-04 1.25668352e+02] [ 9.99476923e-01 -2.99535936e-02 -1.21927670e-02 1.16747881e+02] [ 1.21925518e-02 -1.89835679e-04 9.99925650e-01 5.61008476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:116.77, Z:0.56 [[-3.23563706e-02 -9.99476381e-01 1.70663614e-04 1.25668408e+02] [ 9.99408748e-01 -3.23561668e-02 -1.16289920e-02 1.16774592e+02] [ 1.16284248e-02 -2.05709266e-04 9.99932366e-01 5.60582682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661858064 meters Centerline goodness [0,1] 0.9999562860639972 Centerline is valid? [True, True] Translation: X:125.67, Y:116.80, Z:0.56 [[-3.33851779e-02 -9.99442544e-01 1.79260550e-04 1.25667613e+02] [ 9.99370913e-01 -3.33849317e-02 -1.19676638e-02 1.16802293e+02] [ 1.19669770e-02 -2.20394806e-04 9.99928369e-01 5.60322342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691858064 meters Centerline goodness [0,1] 0.9999781611705613 Centerline is valid? [True, True] Translation: X:125.67, Y:116.83, Z:0.56 [[-3.45469460e-02 -9.99403059e-01 1.84630794e-04 1.25665856e+02] [ 9.99329874e-01 -3.45466510e-02 -1.20967424e-02 1.16830346e+02] [ 1.20958998e-02 -2.33398440e-04 9.99926815e-01 5.60187499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:116.86, Z:0.56 [[-3.51624011e-02 -9.99381595e-01 1.80154121e-04 1.25663903e+02] [ 9.99314346e-01 -3.51621253e-02 -1.15958281e-02 1.16858182e+02] [ 1.15949918e-02 -2.27706561e-04 9.99932750e-01 5.59631300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:116.89, Z:0.56 [[-3.55356288e-02 -9.99368394e-01 1.77006882e-04 1.25663246e+02] [ 9.99305794e-01 -3.55353845e-02 -1.11877518e-02 1.16885654e+02] [ 1.11869755e-02 -2.20679792e-04 9.99937399e-01 5.59422354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:116.91, Z:0.56 [[-3.56697959e-02 -9.99363615e-01 1.75705603e-04 1.25662044e+02] [ 9.99304283e-01 -3.56695932e-02 -1.08917367e-02 1.16911597e+02] [ 1.08910727e-02 -2.12922662e-04 9.99940668e-01 5.59394790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:116.94, Z:0.56 [[-3.54909588e-02 -9.99369983e-01 1.71161261e-04 1.25659325e+02] [ 9.99315764e-01 -3.54908165e-02 -1.04118421e-02 1.16939033e+02] [ 1.04113572e-02 -1.98482114e-04 9.99945781e-01 5.59740088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:116.97, Z:0.56 [[-3.59575443e-02 -9.99353305e-01 1.62380207e-04 1.25658619e+02] [ 9.99306288e-01 -3.59574279e-02 -9.69567871e-03 1.16965774e+02] [ 9.69524734e-03 -1.86365235e-04 9.99952983e-01 5.59848309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:116.99, Z:0.56 [[-3.60879758e-02 -9.99348604e-01 1.62023898e-04 1.25657837e+02] [ 9.99303464e-01 -3.60878859e-02 -9.50009561e-03 1.16993508e+02] [ 9.49975438e-03 -1.80928178e-04 9.99954860e-01 5.60242768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:117.02, Z:0.56 [[-3.61601169e-02 -9.99345996e-01 1.61179897e-04 1.25656668e+02] [ 9.99302905e-01 -3.61600548e-02 -9.28197022e-03 1.17019994e+02] [ 9.28172805e-03 -1.74569590e-04 9.99956909e-01 5.59836920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93185806399998 meters Centerline goodness [0,1] 0.9999781945050152 Centerline is valid? [True, True] Translation: X:125.66, Y:117.05, Z:0.56 [[-3.60509124e-02 -9.99349942e-01 1.60936715e-04 1.25655661e+02] [ 9.99308440e-01 -3.60508822e-02 -9.10906969e-03 1.17047141e+02] [ 9.10895017e-03 -1.67564856e-04 9.99958499e-01 5.59565756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.07, Z:0.56 [[-3.57934234e-02 -9.99359198e-01 1.57549420e-04 1.25654660e+02] [ 9.99320669e-01 -3.57934271e-02 -8.77675793e-03 1.17074877e+02] [ 8.77677300e-03 -1.56707821e-04 9.99961471e-01 5.59380852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.10, Z:0.56 [[-3.55926631e-02 -9.99366369e-01 1.52285554e-04 1.25653681e+02] [ 9.99331484e-01 -3.55926933e-02 -8.35135279e-03 1.17102001e+02] [ 8.35148136e-03 -1.45063138e-04 9.99965115e-01 5.59393879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.13, Z:0.56 [[-3.45698212e-02 -9.99402274e-01 1.48758606e-04 1.25650333e+02] [ 9.99369985e-01 -3.45699002e-02 -8.03459282e-03 1.17129672e+02] [ 8.03493291e-03 -1.29089551e-04 9.99967711e-01 5.59810349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.051858064 meters Centerline goodness [0,1] 0.9999561970257781 Centerline is valid? [True, True] Translation: X:125.65, Y:117.16, Z:0.56 [[-3.45564614e-02 -9.99402736e-01 1.51021716e-04 1.25649608e+02] [ 9.99370459e-01 -3.45565593e-02 -8.03309771e-03 1.17156793e+02] [ 8.03351862e-03 -1.26668790e-04 9.99967723e-01 5.59532665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.081858064 meters Centerline goodness [0,1] 0.9999561864703821 Centerline is valid? [True, True] Translation: X:125.65, Y:117.18, Z:0.56 [[-3.43084798e-02 -9.99411279e-01 1.51697411e-04 1.25649172e+02] [ 9.99379723e-01 -3.43086022e-02 -7.94284627e-03 1.17184069e+02] [ 7.94337467e-03 -1.20903664e-04 9.99968444e-01 5.59145151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.21, Z:0.56 [[-3.44919515e-02 -9.99404963e-01 1.57465753e-04 1.25648972e+02] [ 9.99372034e-01 -3.44920934e-02 -8.11379158e-03 1.17211159e+02] [ 8.11439490e-03 -1.22493636e-04 9.99967070e-01 5.58854694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.24, Z:0.56 [[-3.50259207e-02 -9.99386391e-01 1.63472389e-04 1.25648758e+02] [ 9.99352003e-01 -3.50260717e-02 -8.29151573e-03 1.17238316e+02] [ 8.29215377e-03 -1.27051513e-04 9.99965611e-01 5.58563200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.171858064 meters Centerline goodness [0,1] 0.9999343271819794 Centerline is valid? [True, True] Translation: X:125.65, Y:117.27, Z:0.56 [[-3.55340562e-02 -9.99368451e-01 1.71112928e-04 1.25647418e+02] [ 9.99331884e-01 -3.55342200e-02 -8.55010832e-03 1.17266476e+02] [ 8.55078888e-03 -1.32821425e-04 9.99963433e-01 5.58684346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201858064 meters Centerline goodness [0,1] 0.9999780258416102 Centerline is valid? [True, True] Translation: X:125.65, Y:117.29, Z:0.56 [[-3.72712688e-02 -9.99305171e-01 1.67223657e-04 1.25648279e+02] [ 9.99271179e-01 -3.72713805e-02 -8.24345767e-03 1.17294785e+02] [ 8.24396253e-03 -1.40142345e-04 9.99966008e-01 5.58355689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.32, Z:0.56 [[-3.86822586e-02 -9.99251548e-01 1.60869547e-04 1.25651393e+02] [ 9.99220865e-01 -3.86823317e-02 -7.83195152e-03 1.17322645e+02] [ 7.83231249e-03 -1.42213366e-04 9.99969317e-01 5.57747134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.35, Z:0.56 [[-3.98561874e-02 -9.99205414e-01 1.60735633e-04 1.25652291e+02] [ 9.99175557e-01 -3.98562392e-02 -7.72576015e-03 1.17349837e+02] [ 7.72602768e-03 -1.47316228e-04 9.99970143e-01 5.57666599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.38, Z:0.56 [[-4.21342505e-02 -9.99111947e-01 1.47628225e-04 1.25651875e+02] [ 9.99087376e-01 -4.21342499e-02 -7.00864326e-03 1.17377954e+02] [ 7.00863942e-03 -1.47810435e-04 9.99975428e-01 5.58743240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.41, Z:0.56 [[-4.31301484e-02 -9.99069453e-01 1.34017831e-04 1.25653049e+02] [ 9.99049702e-01 -4.31301386e-02 -6.28358440e-03 1.17405508e+02] [ 6.28351744e-03 -1.37121453e-04 9.99980249e-01 5.58755187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.43, Z:0.56 [[-4.36081368e-02 -9.99048706e-01 1.16411957e-04 1.25653998e+02] [ 9.99034164e-01 -4.36081303e-02 -5.39158364e-03 1.17434110e+02] [ 5.39153117e-03 -1.18817395e-04 9.99985459e-01 5.58931507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.46, Z:0.56 [[-4.36952761e-02 -9.99044899e-01 1.16398687e-04 1.25654212e+02] [ 9.99030732e-01 -4.36952765e-02 -5.32167534e-03 1.17460747e+02] [ 5.32167868e-03 -1.16246208e-04 9.99985833e-01 5.58984354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411858064 meters Centerline goodness [0,1] 0.9999118107458607 Centerline is valid? [True, True] Translation: X:125.65, Y:117.49, Z:0.56 [[-4.35004099e-02 -9.99053402e-01 1.18071530e-04 1.25653245e+02] [ 9.99039202e-01 -4.35004213e-02 -5.32788921e-03 1.17489139e+02] [ 5.32798201e-03 -1.13807277e-04 9.99985800e-01 5.59131457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.52, Z:0.56 [[-4.21887151e-02 -9.99109652e-01 1.22653678e-04 1.25653417e+02] [ 9.99094714e-01 -4.21887552e-02 -5.46447097e-03 1.17516540e+02] [ 5.46478030e-03 -1.07996367e-04 9.99985062e-01 5.59157069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471858064 meters Centerline goodness [0,1] 0.9999337675240093 Centerline is valid? [True, True] Translation: X:125.65, Y:117.54, Z:0.56 [[-4.11741751e-02 -9.99151977e-01 1.21349906e-04 1.25650446e+02] [ 9.99137711e-01 -4.11742358e-02 -5.34003783e-03 1.17544488e+02] [ 5.34050584e-03 -9.86263853e-05 9.99985735e-01 5.59144237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501858064 meters Centerline goodness [0,1] 0.9999779025058558 Centerline is valid? [True, True] Translation: X:125.65, Y:117.57, Z:0.56 [[-3.99611544e-02 -9.99201225e-01 1.31912000e-04 1.25651249e+02] [ 9.99184759e-01 -3.99612532e-02 -5.73716144e-03 1.17571345e+02] [ 5.73785011e-03 -9.74591336e-05 9.99983534e-01 5.59137569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.60, Z:0.56 [[-3.85573012e-02 -9.99256382e-01 1.34601326e-04 1.25649639e+02] [ 9.99239578e-01 -3.85574335e-02 -5.79567581e-03 1.17599917e+02] [ 5.79655593e-03 -8.89666454e-05 9.99983196e-01 5.59186028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.63, Z:0.56 [[-3.56775061e-02 -9.99363345e-01 1.39123953e-04 1.25648326e+02] [ 9.99345800e-01 -3.56777042e-02 -5.92220946e-03 1.17628521e+02] [ 5.92340269e-03 -7.22567260e-05 9.99982454e-01 5.59436995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.66, Z:0.56 [[-3.45762544e-02 -9.99402053e-01 1.36981883e-04 1.25647115e+02] [ 9.99385427e-01 -3.45764693e-02 -5.76512113e-03 1.17656640e+02] [ 5.76641024e-03 -6.24385969e-05 9.99983372e-01 5.59469766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.68, Z:0.56 [[-3.38777286e-02 -9.99425976e-01 1.35618983e-04 1.25646003e+02] [ 9.99410056e-01 -3.38779544e-02 -5.64126127e-03 1.17683599e+02] [ 5.64261754e-03 -5.55741425e-05 9.99984079e-01 5.59623201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.71, Z:0.56 [[-3.27064909e-02 -9.99464992e-01 1.27296848e-04 1.25645631e+02] [ 9.99451278e-01 -3.27067090e-02 -5.23583003e-03 1.17711885e+02] [ 5.23719227e-03 -4.40186296e-05 9.99986285e-01 5.59703765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68185806399998 meters Centerline goodness [0,1] 0.9999557659132127 Centerline is valid? [True, True] Translation: X:125.65, Y:117.74, Z:0.56 [[-3.26716294e-02 -9.99466133e-01 1.18759223e-04 1.25645485e+02] [ 9.99454451e-01 -3.26718218e-02 -4.83243506e-03 1.17739870e+02] [ 4.83373526e-03 -3.91890941e-05 9.99988317e-01 5.59986649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71185806399998 meters Centerline goodness [0,1] 0.9999558430662575 Centerline is valid? [True, True] Translation: X:125.65, Y:117.77, Z:0.56 [[-3.30955031e-02 -9.99452187e-01 1.16169160e-04 1.25646054e+02] [ 9.99441239e-01 -3.30956843e-02 -4.67811534e-03 1.17766780e+02] [ 4.67939730e-03 -3.87203315e-05 9.99989051e-01 5.60517967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74185806399998 meters Centerline goodness [0,1] 0.9999556737588653 Centerline is valid? [True, True] Translation: X:125.65, Y:117.79, Z:0.56 [[-3.50360936e-02 -9.99386042e-01 1.03720935e-04 1.25647584e+02] [ 9.99377454e-01 -3.50362226e-02 -4.14327645e-03 1.17794757e+02] [ 4.14436664e-03 -4.15078581e-05 9.99991411e-01 5.60757101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77185806399999 meters Centerline goodness [0,1] 0.9999338507673311 Centerline is valid? [True, True] Translation: X:125.65, Y:117.82, Z:0.56 [[-3.63765342e-02 -9.99338149e-01 1.06723055e-04 1.25648562e+02] [ 9.99329262e-01 -3.63766609e-02 -4.21471395e-03 1.17822280e+02] [ 4.21580667e-03 -4.66652145e-05 9.99991112e-01 5.60861858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.801858064 meters Centerline goodness [0,1] 0.9999778834457591 Centerline is valid? [True, True] Translation: X:125.65, Y:117.85, Z:0.56 [[-3.77007596e-02 -9.99289067e-01 1.18773771e-04 1.25649585e+02] [ 9.99278327e-01 -3.77009051e-02 -4.63331793e-03 1.17850512e+02] [ 4.63450183e-03 -5.59915505e-05 9.99989259e-01 5.60698419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.88, Z:0.56 [[-3.96610306e-02 -9.99213181e-01 1.47664653e-04 1.25653038e+02] [ 9.99196988e-01 -3.96612286e-02 -5.68909838e-03 1.17877371e+02] [ 5.69047865e-03 -7.80894289e-05 9.99983806e-01 5.60135453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:117.91, Z:0.56 [[-4.04605539e-02 -9.99181124e-01 1.59484578e-04 1.25653941e+02] [ 9.99162659e-01 -4.04607759e-02 -6.07510441e-03 1.17905898e+02] [ 6.07658252e-03 -8.64510546e-05 9.99981534e-01 5.60145518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.891858064 meters Centerline goodness [0,1] 0.9999112786957969 Centerline is valid? [True, True] Translation: X:125.65, Y:117.93, Z:0.56 [[-4.13046083e-02 -9.99146588e-01 1.61019434e-04 1.25654729e+02] [ 9.99128154e-01 -4.13048245e-02 -6.06983731e-03 1.17933707e+02] [ 6.07130812e-03 -8.98332029e-05 9.99981565e-01 5.60153679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:117.96, Z:0.56 [[-4.15954395e-02 -9.99134521e-01 1.67906537e-04 1.25655583e+02] [ 9.99114894e-01 -4.15956750e-02 -6.26330950e-03 1.17962297e+02] [ 6.26487292e-03 -9.27671893e-05 9.99980371e-01 5.59775133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:117.99, Z:0.56 [[-4.16569240e-02 -9.99131957e-01 1.84798196e-04 1.25655473e+02] [ 9.99108684e-01 -4.16572151e-02 -6.82005244e-03 1.17990267e+02] [ 6.82183052e-03 -9.94689234e-05 9.99976726e-01 5.59414576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981858064 meters Centerline goodness [0,1] 0.999955536782197 Centerline is valid? [True, True] Translation: X:125.66, Y:118.02, Z:0.56 [[-4.16337619e-02 -9.99132920e-01 1.93803387e-04 1.25655917e+02] [ 9.99107845e-01 -4.16340902e-02 -7.07925088e-03 1.18017962e+02] [ 7.08118144e-03 -1.01105361e-04 9.99974923e-01 5.58919447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:118.05, Z:0.56 [[-4.17148849e-02 -9.99129532e-01 2.17374385e-04 1.25654985e+02] [ 9.99098648e-01 -4.17153048e-02 -7.85655877e-03 1.18046326e+02] [ 7.85878773e-03 -1.10556991e-04 9.99969113e-01 5.58925580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:118.07, Z:0.56 [[-4.12871005e-02 -9.99147295e-01 2.40571163e-04 1.25657017e+02] [ 9.99110279e-01 -4.12876419e-02 -8.60116888e-03 1.18073557e+02] [ 8.60376724e-03 -1.14760203e-04 9.99962980e-01 5.58085102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071858064 meters Centerline goodness [0,1] 0.9999554793758209 Centerline is valid? [True, True] Translation: X:125.66, Y:118.10, Z:0.56 [[-4.12182756e-02 -9.99150136e-01 2.45681296e-04 1.25656515e+02] [ 9.99112348e-01 -4.12188537e-02 -8.69031163e-03 1.18100495e+02] [ 8.69305274e-03 -1.12736444e-04 9.99962208e-01 5.58235994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:118.13, Z:0.56 [[-4.08123475e-02 -9.99166802e-01 2.33650704e-04 1.25655146e+02] [ 9.99133330e-01 -4.08128929e-02 -8.17908579e-03 1.18127722e+02] [ 8.18180696e-03 -1.00359486e-04 9.99966523e-01 5.58873909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131858064 meters Centerline goodness [0,1] 0.9999776715938017 Centerline is valid? [True, True] Translation: X:125.65, Y:118.16, Z:0.56 [[-3.99548329e-02 -9.99201461e-01 2.29423051e-04 1.25653103e+02] [ 9.99169844e-01 -3.99553939e-02 -7.94916716e-03 1.18155411e+02] [ 7.95198613e-03 -8.83750519e-05 9.99968379e-01 5.59700764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161858064 meters Centerline goodness [0,1] 0.9999107262420212 Centerline is valid? [True, True] Translation: X:125.65, Y:118.18, Z:0.56 [[-3.95468377e-02 -9.99217689e-01 2.40336340e-04 1.25651351e+02] [ 9.99183741e-01 -3.95474753e-02 -8.23709938e-03 1.18181810e+02] [ 8.24016010e-03 -8.56110692e-05 9.99966046e-01 5.59510980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191858064 meters Centerline goodness [0,1] 0.9999555318392032 Centerline is valid? [True, True] Translation: X:125.65, Y:118.21, Z:0.56 [[-3.88777035e-02 -9.99243946e-01 2.44621737e-04 1.25649036e+02] [ 9.99209524e-01 -3.88783948e-02 -8.29438587e-03 1.18208896e+02] [ 8.29762537e-03 -7.80383044e-05 9.99965571e-01 5.59344901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:118.24, Z:0.56 [[-3.84432421e-02 -9.99260754e-01 2.49877243e-04 1.25646559e+02] [ 9.99225541e-01 -3.84439852e-02 -8.38921558e-03 1.18237365e+02] [ 8.39262016e-03 -7.28249218e-05 9.99964779e-01 5.59425787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251858064 meters Centerline goodness [0,1] 0.9999109983757204 Centerline is valid? [True, True] Translation: X:125.64, Y:118.26, Z:0.56 [[-3.80244210e-02 -9.99276777e-01 2.58258472e-04 1.25644961e+02] [ 9.99239890e-01 -3.80252365e-02 -8.58625251e-03 1.18264730e+02] [ 8.58986308e-03 -6.84251137e-05 9.99963104e-01 5.59771078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281858064 meters Centerline goodness [0,1] 0.9996432632494259 Centerline is valid? [True, True] Translation: X:125.64, Y:118.29, Z:0.56 [[-3.82446698e-02 -9.99268371e-01 2.60120852e-04 1.25643633e+02] [ 9.99231645e-01 -3.82454944e-02 -8.56749087e-03 1.18292969e+02] [ 8.57117110e-03 -6.77398722e-05 9.99963265e-01 5.60035136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311858064 meters Centerline goodness [0,1] 0.9997549074218489 Centerline is valid? [True, True] Translation: X:125.64, Y:118.32, Z:0.56 [[-3.95722976e-02 -9.99216673e-01 2.72085487e-04 1.25642398e+02] [ 9.99177268e-01 -3.95731535e-02 -8.87430845e-03 1.18320165e+02] [ 8.87812424e-03 -7.93151412e-05 9.99960586e-01 5.59697559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341858064 meters Centerline goodness [0,1] 0.9997322384862549 Centerline is valid? [True, True] Translation: X:125.64, Y:118.35, Z:0.56 [[-4.09728612e-02 -9.99160221e-01 2.77775971e-04 1.25641760e+02] [ 9.99119985e-01 -4.09737042e-02 -8.96718367e-03 1.18346235e+02] [ 8.97103473e-03 -8.98796478e-05 9.99959755e-01 5.59784958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371858064 meters Centerline goodness [0,1] 0.999733066399733 Centerline is valid? [True, True] Translation: X:125.64, Y:118.37, Z:0.56 [[-4.22883971e-02 -9.99105408e-01 2.75348968e-04 1.25641491e+02] [ 9.99066668e-01 -4.22891823e-02 -8.79872241e-03 1.18372995e+02] [ 8.80249542e-03 -9.69918913e-05 9.99961253e-01 5.59684348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401858064 meters Centerline goodness [0,1] 0.9997996661101837 Centerline is valid? [True, True] Translation: X:125.64, Y:118.40, Z:0.56 [[-4.50682077e-02 -9.98983869e-01 2.93127272e-04 1.25641511e+02] [ 9.98940770e-01 -4.50689865e-02 -9.28028467e-03 1.18401300e+02] [ 9.28406564e-03 -1.25429014e-04 9.99956894e-01 5.59814745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:118.43, Z:0.56 [[-4.65271337e-02 -9.98916982e-01 2.98515740e-04 1.25641325e+02] [ 9.98873083e-01 -4.65278879e-02 -9.36583084e-03 1.18428223e+02] [ 9.36957678e-03 -1.37585926e-04 9.99956095e-01 5.59858268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46185806399998 meters Centerline goodness [0,1] 0.9997773968791043 Centerline is valid? [True, True] Translation: X:125.64, Y:118.46, Z:0.56 [[-4.76837699e-02 -9.98862437e-01 2.99945070e-04 1.25641264e+02] [ 9.98818926e-01 -4.76844927e-02 -9.32428889e-03 1.18455621e+02] [ 9.32798466e-03 -1.45026433e-04 9.99956483e-01 5.59760408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49185806399998 meters Centerline goodness [0,1] 0.9997995858106754 Centerline is valid? [True, True] Translation: X:125.64, Y:118.48, Z:0.56 [[-5.01208104e-02 -9.98743118e-01 2.96330317e-04 1.25642396e+02] [ 9.98701243e-01 -5.01214230e-02 -9.14715302e-03 1.18483023e+02] [ 9.15050863e-03 -1.62517267e-04 9.99958120e-01 5.59909275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52185806399999 meters Centerline goodness [0,1] 0.9997995858106754 Centerline is valid? [True, True] Translation: X:125.64, Y:118.51, Z:0.56 [[-5.04117818e-02 -9.98728473e-01 2.98653014e-04 1.25641398e+02] [ 9.98686598e-01 -5.04124034e-02 -9.14707736e-03 1.18509774e+02] [ 9.15050242e-03 -1.62859705e-04 9.99958120e-01 5.60000349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:118.54, Z:0.56 [[-5.16142046e-02 -9.98667051e-01 3.09796388e-04 1.25640902e+02] [ 9.98622738e-01 -5.16148332e-02 -9.40941136e-03 1.18537748e+02] [ 9.41285918e-03 -1.76289566e-04 9.99955683e-01 5.59943963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.581858064 meters Centerline goodness [0,1] 0.9999777327484468 Centerline is valid? [True, True] Translation: X:125.64, Y:118.56, Z:0.56 [[-5.20890497e-02 -9.98642387e-01 3.38794741e-04 1.25640365e+02] [ 9.98590332e-01 -5.20897943e-02 -1.01981147e-02 1.18564029e+02] [ 1.02019173e-02 -1.92892950e-04 9.99947940e-01 5.59416765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.611858064 meters Centerline goodness [0,1] 0.9999554168524298 Centerline is valid? [True, True] Translation: X:125.64, Y:118.59, Z:0.56 [[-5.23834751e-02 -9.98626983e-01 3.46630714e-04 1.25638933e+02] [ 9.98573479e-01 -5.23842573e-02 -1.03390662e-02 1.18590320e+02] [ 1.03430284e-02 -1.95459977e-04 9.99946490e-01 5.58535008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:118.62, Z:0.56 [[-5.22146795e-02 -9.98635829e-01 3.27773079e-04 1.25634590e+02] [ 9.98588741e-01 -5.22154010e-02 -9.69938035e-03 1.18618753e+02] [ 9.70326355e-03 -1.79139530e-04 9.99952906e-01 5.59995992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:118.65, Z:0.56 [[-5.20402254e-02 -9.98644940e-01 3.15584128e-04 1.25632275e+02] [ 9.98601975e-01 -5.20409143e-02 -9.26497222e-03 1.18647013e+02] [ 9.26884091e-03 -1.67008310e-04 9.99957029e-01 5.60898852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:118.67, Z:0.56 [[-5.18638183e-02 -9.98654118e-01 3.12083768e-04 1.25630901e+02] [ 9.98612786e-01 -5.18645115e-02 -9.08711896e-03 1.18674696e+02] [ 9.09107484e-03 -1.59641845e-04 9.99958663e-01 5.61460109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:118.70, Z:0.56 [[-5.13676577e-02 -9.98679765e-01 3.01858883e-04 1.25631692e+02] [ 9.98641734e-01 -5.13683362e-02 -8.71673172e-03 1.18702169e+02] [ 8.72072957e-03 -1.46309212e-04 9.99961963e-01 5.61086337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.761858064 meters Centerline goodness [0,1] 0.99997771339425 Centerline is valid? [True, True] Translation: X:125.63, Y:118.73, Z:0.56 [[-5.11563367e-02 -9.98690610e-01 3.08939245e-04 1.25629504e+02] [ 9.98651426e-01 -5.11570666e-02 -8.84777333e-03 1.18730438e+02] [ 8.85199257e-03 -1.44097054e-04 9.99960810e-01 5.61816938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.791858064 meters Centerline goodness [0,1] 0.9998889111066676 Centerline is valid? [True, True] Translation: X:125.63, Y:118.76, Z:0.56 [[-5.07407152e-02 -9.98711816e-01 2.97427333e-04 1.25628327e+02] [ 9.98676063e-01 -5.07414158e-02 -8.45160176e-03 1.18758724e+02] [ 8.45580643e-03 -1.31806761e-04 9.99964240e-01 5.62037789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:118.79, Z:0.56 [[-4.99201060e-02 -9.98753180e-01 2.61395829e-04 1.25626598e+02] [ 9.98725972e-01 -4.99206757e-02 -7.37287992e-03 1.18786283e+02] [ 7.37673632e-03 -1.06992143e-04 9.99972786e-01 5.62058942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:118.81, Z:0.56 [[-4.94502716e-02 -9.98776554e-01 2.57103879e-04 1.25625508e+02] [ 9.98750643e-01 -4.94508409e-02 -7.19496998e-03 1.18813145e+02] [ 7.19888132e-03 -9.90105548e-05 9.99974083e-01 5.62205091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:118.84, Z:0.56 [[-4.92933635e-02 -9.98784312e-01 2.50484124e-04 1.25624085e+02] [ 9.98760127e-01 -4.92939132e-02 -6.95111557e-03 1.18839780e+02] [ 6.95501252e-03 -9.24703115e-05 9.99975809e-01 5.62257335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:118.87, Z:0.56 [[-4.86312277e-02 -9.98816776e-01 2.26301922e-04 1.25621977e+02] [ 9.98797359e-01 -4.86316935e-02 -6.22847786e-03 1.18867010e+02] [ 6.23211363e-03 -7.68687627e-05 9.99980577e-01 5.63422110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:118.89, Z:0.56 [[-4.84696121e-02 -9.98824633e-01 2.20581057e-04 1.25620343e+02] [ 9.98806489e-01 -4.84700612e-02 -6.02081660e-03 1.18894366e+02] [ 6.02443151e-03 -7.15088534e-05 9.99981850e-01 5.63742744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971858064 meters Centerline goodness [0,1] 0.9999120124942258 Centerline is valid? [True, True] Translation: X:125.62, Y:118.92, Z:0.56 [[-4.79717737e-02 -9.98848672e-01 1.99837770e-04 1.25617388e+02] [ 9.98834006e-01 -4.79721524e-02 -5.41298493e-03 1.18922050e+02] [ 5.41633945e-03 -6.00657281e-05 9.99985330e-01 5.63513403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001858064 meters Centerline goodness [0,1] 0.9999336268501515 Centerline is valid? [True, True] Translation: X:125.62, Y:118.95, Z:0.56 [[-4.79780050e-02 -9.98848375e-01 1.84642493e-04 1.25615092e+02] [ 9.98836036e-01 -4.79783301e-02 -4.96515990e-03 1.18950080e+02] [ 4.96830073e-03 -5.37908909e-05 9.99987656e-01 5.63524692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:118.98, Z:0.56 [[-4.82820444e-02 -9.98833723e-01 1.97124262e-04 1.25613831e+02] [ 9.98819886e-01 -4.82824132e-02 -5.25775814e-03 1.18976667e+02] [ 5.26114377e-03 -5.69636789e-05 9.99986158e-01 5.63485553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:119.00, Z:0.56 [[-4.85683069e-02 -9.98819839e-01 2.21748900e-04 1.25611741e+02] [ 9.98802633e-01 -4.85687720e-02 -5.86299520e-03 1.19004766e+02] [ 5.86684599e-03 -6.32723654e-05 9.99982788e-01 5.63483978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091858064 meters Centerline goodness [0,1] 0.9999337865277655 Centerline is valid? [True, True] Translation: X:125.61, Y:119.03, Z:0.56 [[-4.96502307e-02 -9.98766637e-01 2.42172737e-04 1.25611019e+02] [ 9.98746395e-01 -4.96507664e-02 -6.35921020e-03 1.19031929e+02] [ 6.36339105e-03 -7.38671054e-05 9.99979751e-01 5.62977577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:119.06, Z:0.56 [[-5.04702242e-02 -9.98725535e-01 2.48032919e-04 1.25610660e+02] [ 9.98704547e-01 -5.04707717e-02 -6.47526606e-03 1.19058214e+02] [ 6.47953198e-03 -7.90965265e-05 9.99979004e-01 5.62869873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151858064 meters Centerline goodness [0,1] 0.9999117095243351 Centerline is valid? [True, True] Translation: X:125.61, Y:119.09, Z:0.56 [[-5.15736633e-02 -9.98669162e-01 2.49986369e-04 1.25609187e+02] [ 9.98648084e-01 -5.15741991e-02 -6.48898753e-03 1.19085765e+02] [ 6.49324458e-03 -8.50124496e-05 9.99978915e-01 5.63166739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18185806399998 meters Centerline goodness [0,1] 0.9999778907804554 Centerline is valid? [True, True] Translation: X:125.61, Y:119.11, Z:0.56 [[-5.34468821e-02 -9.98570666e-01 2.36483880e-04 1.25607562e+02] [ 9.98552019e-01 -5.34473294e-02 -6.10312143e-03 1.19114257e+02] [ 6.10703746e-03 -9.00513559e-05 9.99981348e-01 5.63867383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:119.14, Z:0.56 [[-5.44269336e-02 -9.98517730e-01 2.26519086e-04 1.25607844e+02] [ 9.98500857e-01 -5.44273309e-02 -5.80550197e-03 1.19141071e+02] [ 5.80922548e-03 -8.97961684e-05 9.99983122e-01 5.63838695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:119.17, Z:0.56 [[-5.52616226e-02 -9.98471885e-01 2.17541268e-04 1.25604270e+02] [ 9.98456543e-01 -5.52619796e-02 -5.53577118e-03 1.19169303e+02] [ 5.53933365e-03 -8.87101951e-05 9.99984654e-01 5.64409871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27185806399999 meters Centerline goodness [0,1] 0.9999778707207506 Centerline is valid? [True, True] Translation: X:125.60, Y:119.20, Z:0.56 [[-5.73481857e-02 -9.98354218e-01 2.03496916e-04 1.25604359e+02] [ 9.98340974e-01 -5.73484733e-02 -5.14313926e-03 1.19196305e+02] [ 5.14634501e-03 -9.17903955e-05 9.99986753e-01 5.64615785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:119.22, Z:0.57 [[-5.89014979e-02 -9.98263779e-01 2.03385484e-04 1.25603009e+02] [ 9.98250738e-01 -5.89017682e-02 -5.10343339e-03 1.19224517e+02] [ 5.10655246e-03 -9.75701616e-05 9.99986957e-01 5.65093343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:119.25, Z:0.57 [[-6.05623557e-02 -9.98164394e-01 2.07964215e-04 1.25603479e+02] [ 9.98150953e-01 -6.05626196e-02 -5.18117375e-03 1.19251818e+02] [ 5.18425801e-03 -1.06204408e-04 9.99986556e-01 5.65046967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:119.28, Z:0.57 [[-6.17088246e-02 -9.98094171e-01 2.14719165e-04 1.25603547e+02] [ 9.98080028e-01 -6.17090935e-02 -5.31463038e-03 1.19278692e+02] [ 5.31775173e-03 -1.13652684e-04 9.99985854e-01 5.65113520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:119.31, Z:0.57 [[-6.35128078e-02 -9.97981008e-01 1.75133549e-04 1.25601724e+02] [ 9.97971684e-01 -6.35129716e-02 -4.31521340e-03 1.19306677e+02] [ 4.31762427e-03 -9.92929962e-05 9.99990674e-01 5.65487850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421858064 meters Centerline goodness [0,1] 0.9999777950482958 Centerline is valid? [True, True] Translation: X:125.60, Y:119.33, Z:0.57 [[-6.38199892e-02 -9.97961413e-01 1.64084122e-04 1.25600387e+02] [ 9.97953334e-01 -6.38201329e-02 -4.01669141e-03 1.19333272e+02] [ 4.01897491e-03 -9.25969055e-05 9.99991920e-01 5.65706364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:119.36, Z:0.57 [[-6.37559371e-02 -9.97965508e-01 1.61691084e-04 1.25599185e+02] [ 9.97957782e-01 -6.37560800e-02 -3.92770951e-03 1.19359994e+02] [ 3.93002741e-03 -8.90539248e-05 9.99992273e-01 5.65481750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:119.39, Z:0.56 [[-6.18766743e-02 -9.98083782e-01 2.04178994e-04 1.25595971e+02] [ 9.98071676e-01 -6.18769297e-02 -4.91689504e-03 1.19387425e+02] [ 4.92010717e-03 -1.00455842e-04 9.99987891e-01 5.63931137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.59, Y:119.41, Z:0.56 [[-6.06072765e-02 -9.98161666e-01 2.16763418e-04 1.25593429e+02] [ 9.98148207e-01 -6.06075851e-02 -5.18427325e-03 1.19414960e+02] [ 5.18788033e-03 -9.78426653e-05 9.99986538e-01 5.63545549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.541858064 meters Centerline goodness [0,1] 0.999977799484948 Centerline is valid? [True, True] Translation: X:125.59, Y:119.44, Z:0.56 [[-5.93156064e-02 -9.98239256e-01 2.17494404e-04 1.25590968e+02] [ 9.98225900e-01 -5.93159380e-02 -5.16456670e-03 1.19441457e+02] [ 5.16837411e-03 -8.92308587e-05 9.99986640e-01 5.63553505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:119.47, Z:0.56 [[-5.61143566e-02 -9.98424334e-01 1.69341470e-04 1.25584624e+02] [ 9.98416331e-01 -5.61145849e-02 -3.99787767e-03 1.19469935e+02] [ 4.00108087e-03 -5.52650436e-05 9.99991994e-01 5.64047803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:119.50, Z:0.56 [[-5.49573820e-02 -9.98488690e-01 1.49815805e-04 1.25582437e+02] [ 9.98482496e-01 -5.49575688e-02 -3.51716945e-03 1.19497090e+02] [ 3.52008743e-03 -4.37059661e-05 9.99993804e-01 5.64041005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:119.52, Z:0.56 [[-5.38758986e-02 -9.98547627e-01 1.54442003e-04 1.25580061e+02] [ 9.98541135e-01 -5.38761052e-02 -3.60091766e-03 1.19524641e+02] [ 3.60400852e-03 -3.97859811e-05 9.99993505e-01 5.63981148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:119.55, Z:0.56 [[-5.19386004e-02 -9.98650269e-01 1.45232705e-04 1.25577168e+02] [ 9.98644597e-01 -5.19387949e-02 -3.36597356e-03 1.19552821e+02] [ 3.36897362e-03 -2.97880997e-05 9.99994325e-01 5.63949904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:119.58, Z:0.56 [[-5.16614829e-02 -9.98664644e-01 1.41330043e-04 1.25575597e+02] [ 9.98659339e-01 -5.16616691e-02 -3.25517675e-03 1.19580745e+02] [ 3.25813127e-03 -2.70266900e-05 9.99994692e-01 5.63975324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.57, Y:119.61, Z:0.56 [[-5.18519143e-02 -9.98654777e-01 1.21262554e-04 1.25574487e+02] [ 9.98650912e-01 -5.18520510e-02 -2.77858791e-03 1.19608104e+02] [ 2.78113780e-03 -2.29761419e-05 9.99996132e-01 5.64225799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.57, Y:119.64, Z:0.56 [[-5.22383224e-02 -9.98634643e-01 8.91979637e-05 1.25573383e+02] [ 9.98632568e-01 -5.22383957e-02 -2.03587915e-03 1.19636315e+02] [ 2.03775900e-03 -1.72749199e-05 9.99997924e-01 5.64971246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781858064 meters Centerline goodness [0,1] 0.9999779039706564 Centerline is valid? [True, True] Translation: X:125.57, Y:119.66, Z:0.56 [[-5.23668736e-02 -9.98627909e-01 9.57819882e-05 1.25571839e+02] [ 9.98625550e-01 -5.23669581e-02 -2.17095642e-03 1.19664604e+02] [ 2.17299348e-03 -1.80358596e-05 9.99997639e-01 5.64842329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811858064 meters Centerline goodness [0,1] 0.9998675408967481 Centerline is valid? [True, True] Translation: X:125.57, Y:119.69, Z:0.56 [[-5.23194224e-02 -9.98630397e-01 8.86741511e-05 1.25570441e+02] [ 9.98628396e-01 -5.23194951e-02 -1.99920195e-03 1.19691732e+02] [ 2.00110322e-03 -1.60445660e-05 9.99997998e-01 5.64531881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841858064 meters Centerline goodness [0,1] 0.9999558528132795 Centerline is valid? [True, True] Translation: X:125.57, Y:119.72, Z:0.56 [[-5.24604475e-02 -9.98622998e-01 9.25147572e-05 1.25568620e+02] [ 9.98620852e-01 -5.24605266e-02 -2.07049606e-03 1.19719942e+02] [ 2.07249835e-03 -1.62319841e-05 9.99997852e-01 5.64238610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.57, Y:119.75, Z:0.56 [[-5.17684324e-02 -9.98659112e-01 8.31320276e-05 1.25566475e+02] [ 9.98657396e-01 -5.17684975e-02 -1.85125536e-03 1.19747487e+02] [ 1.85307666e-03 -1.28161738e-05 9.99998283e-01 5.63693566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901858064 meters Centerline goodness [0,1] 0.9998680332556196 Centerline is valid? [True, True] Translation: X:125.57, Y:119.77, Z:0.56 [[-5.17299583e-02 -9.98661106e-01 8.61201282e-05 1.25565453e+02] [ 9.98659293e-01 -5.17300285e-02 -1.90274653e-03 1.19774505e+02] [ 1.90465395e-03 -1.24243324e-05 9.99998186e-01 5.63170182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:119.80, Z:0.56 [[-5.33674245e-02 -9.98574935e-01 1.33250245e-04 1.25564896e+02] [ 9.98570656e-01 -5.33675859e-02 -2.92328900e-03 1.19802164e+02] [ 2.92623436e-03 -2.29486202e-05 9.99995718e-01 5.61929697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:119.83, Z:0.56 [[-5.43937215e-02 -9.98519555e-01 1.49289884e-04 1.25564548e+02] [ 9.98514256e-01 -5.43939192e-02 -3.25291220e-03 1.19830025e+02] [ 3.25621690e-03 -2.78699227e-05 9.99994698e-01 5.61500568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99185806399998 meters Centerline goodness [0,1] 0.9999338682655851 Centerline is valid? [True, True] Translation: X:125.56, Y:119.86, Z:0.56 [[-5.57254787e-02 -9.98446114e-01 1.67952603e-04 1.25564386e+02] [ 9.98439497e-01 -5.57257209e-02 -3.63516021e-03 1.19858371e+02] [ 3.63887086e-03 -3.48805306e-05 9.99993379e-01 5.61272798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02185806399999 meters Centerline goodness [0,1] 0.9999120531199156 Centerline is valid? [True, True] Translation: X:125.57, Y:119.89, Z:0.56 [[-5.84067466e-02 -9.98292857e-01 1.54346467e-04 1.25565518e+02] [ 9.98287329e-01 -5.84069369e-02 -3.32244411e-03 1.19886658e+02] [ 3.32578713e-03 -3.99710298e-05 9.99994469e-01 5.61515391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:119.92, Z:0.56 [[-5.99895608e-02 -9.98198992e-01 1.58149988e-04 1.25564635e+02] [ 9.98193258e-01 -5.99897523e-02 -3.38378031e-03 1.19915022e+02] [ 3.38717347e-03 -4.51272429e-05 9.99994262e-01 5.62153593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:119.94, Z:0.56 [[-6.14642548e-02 -9.98109275e-01 1.46428181e-04 1.25564551e+02] [ 9.98104412e-01 -6.14644125e-02 -3.11583837e-03 1.19943497e+02] [ 3.11894730e-03 -4.53620705e-05 9.99995135e-01 5.62397234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.111858064 meters Centerline goodness [0,1] 0.9998675905901045 Centerline is valid? [True, True] Translation: X:125.57, Y:119.97, Z:0.56 [[-6.40745761e-02 -9.97945109e-01 9.09784498e-05 1.25565078e+02] [ 9.97943240e-01 -6.40746322e-02 -1.93139827e-03 1.19971470e+02] [ 1.93325887e-03 -3.29621967e-05 9.99998131e-01 5.63404044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:120.00, Z:0.56 [[-6.52668630e-02 -9.97867844e-01 5.62480780e-05 1.25564929e+02] [ 9.97867129e-01 -6.52668836e-02 -1.19431736e-03 1.19998764e+02] [ 1.19544203e-03 -2.18212395e-05 9.99999285e-01 5.64261840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:120.03, Z:0.56 [[-6.61472893e-02 -9.97809869e-01 2.29332676e-05 1.25563829e+02] [ 9.97809746e-01 -6.61472925e-02 -4.96577245e-04 1.20027052e+02] [ 4.97006649e-04 -9.96420074e-06 9.99999876e-01 5.64984495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:120.05, Z:0.56 [[-6.64721369e-02 -9.97788282e-01 -7.44506813e-06 1.25561761e+02] [ 9.97788273e-01 -6.64721373e-02 1.34102366e-04 1.20054695e+02] [-1.34300659e-04 1.48546915e-06 9.99999991e-01 5.64960131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.231858064 meters Centerline goodness [0,1] 0.9999779522003704 Centerline is valid? [True, True] Translation: X:125.56, Y:120.08, Z:0.56 [[-6.71626420e-02 -9.97742039e-01 -5.65539775e-05 1.25559268e+02] [ 9.97741385e-01 -6.71626627e-02 1.14267820e-03 1.20082323e+02] [-1.14389639e-03 2.03190427e-05 9.99999346e-01 5.64563525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261858064 meters Centerline goodness [0,1] 0.9999779288425885 Centerline is valid? [True, True] Translation: X:125.56, Y:120.11, Z:0.57 [[-6.75895221e-02 -9.97713211e-01 -7.64995357e-05 1.25559429e+02] [ 9.97712019e-01 -6.75895596e-02 1.54217612e-03 1.20109746e+02] [-1.54382006e-03 2.79104406e-05 9.99998808e-01 5.65045390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.291858064 meters Centerline goodness [0,1] 0.9998676051987025 Centerline is valid? [True, True] Translation: X:125.56, Y:120.14, Z:0.56 [[-6.76152226e-02 -9.97711469e-01 -8.24898296e-05 1.25555863e+02] [ 9.97710099e-01 -6.76152664e-02 1.65344409e-03 1.20136829e+02] [-1.65523771e-03 2.94970545e-05 9.99998630e-01 5.64474806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321858064 meters Centerline goodness [0,1] 0.9997129038669641 Centerline is valid? [True, True] Translation: X:125.55, Y:120.16, Z:0.56 [[-6.72632063e-02 -9.97735261e-01 -1.03934234e-04 1.25552648e+02] [ 9.97733096e-01 -6.72632769e-02 2.07872875e-03 1.20164711e+02] [-2.08101193e-03 3.61233362e-05 9.99997834e-01 5.63669418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351858064 meters Centerline goodness [0,1] 0.9998895588982396 Centerline is valid? [True, True] Translation: X:125.55, Y:120.19, Z:0.56 [[-6.71101057e-02 -9.97745570e-01 -1.04851556e-04 1.25550543e+02] [ 9.97743388e-01 -6.71101783e-02 2.08699897e-03 1.20193236e+02] [-2.08933059e-03 3.54437750e-05 9.99997817e-01 5.63529299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:120.22, Z:0.56 [[-6.66499607e-02 -9.97776411e-01 -1.24476413e-04 1.25547891e+02] [ 9.97773369e-01 -6.66500649e-02 2.46426007e-03 1.20219780e+02] [-2.46707693e-03 4.00435873e-05 9.99996956e-01 5.63112615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:120.25, Z:0.56 [[-6.69304995e-02 -9.97757632e-01 -1.25117144e-04 1.25546444e+02] [ 9.97754590e-01 -6.69306044e-02 2.46422774e-03 1.20247337e+02] [-2.46707620e-03 4.00957886e-05 9.99996956e-01 5.63206378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:120.28, Z:0.56 [[-6.66535637e-02 -9.97776169e-01 -1.38819668e-04 1.25544101e+02] [ 9.97772459e-01 -6.66536945e-02 2.72107229e-03 1.20275432e+02] [-2.72427393e-03 4.28587240e-05 9.99996288e-01 5.62982492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471858064 meters Centerline goodness [0,1] 0.9997141412142402 Centerline is valid? [True, True] Translation: X:125.54, Y:120.30, Z:0.56 [[-6.51745692e-02 -9.97873863e-01 -1.69596335e-04 1.25540805e+02] [ 9.97868376e-01 -6.51747733e-02 3.30941826e-03 1.20302129e+02] [-3.31343539e-03 4.64550897e-05 9.99994509e-01 5.62825538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501858064 meters Centerline goodness [0,1] 0.999933796756041 Centerline is valid? [True, True] Translation: X:125.54, Y:120.33, Z:0.56 [[-6.44727978e-02 -9.97919443e-01 -2.08446819e-04 1.25537835e+02] [ 9.97911227e-01 -6.44731129e-02 4.04985192e-03 1.20330062e+02] [-4.05486519e-03 5.30938630e-05 9.99991778e-01 5.62652325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531858064 meters Centerline goodness [0,1] 0.9997808747480059 Centerline is valid? [True, True] Translation: X:125.54, Y:120.36, Z:0.56 [[-6.36162648e-02 -9.97974413e-01 -2.06287995e-04 1.25535877e+02] [ 9.97966460e-01 -6.36165815e-02 3.98432307e-03 1.20356712e+02] [-3.98937582e-03 4.75992515e-05 9.99992041e-01 5.62634282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.53, Y:120.38, Z:0.56 [[-6.27042027e-02 -9.98032133e-01 -2.13020393e-04 1.25533503e+02] [ 9.98023736e-01 -6.27045490e-02 4.09406935e-03 1.20384234e+02] [-4.09937011e-03 4.41159459e-05 9.99991597e-01 5.62856690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591858064 meters Centerline goodness [0,1] 0.9997804610318332 Centerline is valid? [True, True] Translation: X:125.53, Y:120.41, Z:0.56 [[-6.21211623e-02 -9.98068590e-01 -2.25715576e-04 1.25531180e+02] [ 9.98059290e-01 -6.21215579e-02 4.30879208e-03 1.20410827e+02] [-4.31449184e-03 4.23896450e-05 9.99990692e-01 5.63121158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621858064 meters Centerline goodness [0,1] 0.9995397462029062 Centerline is valid? [True, True] Translation: X:125.53, Y:120.44, Z:0.56 [[-6.09211691e-02 -9.98142554e-01 -2.32592544e-04 1.25527095e+02] [ 9.98132767e-01 -6.09216018e-02 4.42015339e-03 1.20438411e+02] [-4.42611310e-03 3.71226726e-05 9.99990204e-01 5.61513396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651858064 meters Centerline goodness [0,1] 0.9996271193875984 Centerline is valid? [True, True] Translation: X:125.52, Y:120.47, Z:0.56 [[-6.11949661e-02 -9.98125804e-01 -2.35669206e-04 1.25524938e+02] [ 9.98115860e-01 -6.11954084e-02 4.45545552e-03 1.20466077e+02] [-4.46152699e-03 3.74262768e-05 9.99990047e-01 5.61029219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68185806399998 meters Centerline goodness [0,1] 0.9998246844319776 Centerline is valid? [True, True] Translation: X:125.52, Y:120.49, Z:0.56 [[-6.15692186e-02 -9.98102790e-01 -2.29166664e-04 1.25523239e+02] [ 9.98093490e-01 -6.15696342e-02 4.30885524e-03 1.20494075e+02] [-4.31479014e-03 3.65630949e-05 9.99990691e-01 5.60643557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71185806399998 meters Centerline goodness [0,1] 0.9997589199614272 Centerline is valid? [True, True] Translation: X:125.52, Y:120.52, Z:0.56 [[-6.22384489e-02 -9.98061280e-01 -2.38791826e-04 1.25522497e+02] [ 9.98051294e-01 -6.22388944e-02 4.46472925e-03 1.20520857e+02] [-4.47093553e-03 3.95513320e-05 9.99990005e-01 5.60780900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74185806399998 meters Centerline goodness [0,1] 0.9999342191816866 Centerline is valid? [True, True] Translation: X:125.52, Y:120.55, Z:0.56 [[-6.35536769e-02 -9.97978392e-01 -2.43518930e-04 1.25522385e+02] [ 9.97968106e-01 -6.35541276e-02 4.53116446e-03 1.20548672e+02] [-4.53748085e-03 4.49480362e-05 9.99989705e-01 5.61050605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77185806399999 meters Centerline goodness [0,1] 0.9995386541883609 Centerline is valid? [True, True] Translation: X:125.52, Y:120.58, Z:0.56 [[-6.42735008e-02 -9.97932296e-01 -2.22450887e-04 1.25521222e+02] [ 9.97923807e-01 -6.42738717e-02 4.11635484e-03 1.20576895e+02] [-4.12214122e-03 4.25835006e-05 9.99991503e-01 5.60651674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.801858064 meters Centerline goodness [0,1] 0.9996926117027116 Centerline is valid? [True, True] Translation: X:125.52, Y:120.60, Z:0.56 [[-6.57515948e-02 -9.97836005e-01 -1.85075379e-04 1.25520482e+02] [ 9.97830220e-01 -6.57518438e-02 3.39805883e-03 1.20603466e+02] [-3.40287450e-03 3.87539811e-05 9.99994209e-01 5.59546623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.831858064 meters Centerline goodness [0,1] 0.9997800070397748 Centerline is valid? [True, True] Translation: X:125.52, Y:120.63, Z:0.56 [[-6.68819282e-02 -9.97760885e-01 -1.56783009e-04 1.25519066e+02] [ 9.97756786e-01 -6.68821029e-02 2.86029945e-03 1.20630586e+02] [-2.86438089e-03 3.48710308e-05 9.99995897e-01 5.58909238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.861858064 meters Centerline goodness [0,1] 0.9998027872732054 Centerline is valid? [True, True] Translation: X:125.52, Y:120.66, Z:0.56 [[-6.81510963e-02 -9.97674998e-01 -1.60959850e-04 1.25518366e+02] [ 9.97670729e-01 -6.81512756e-02 2.91878859e-03 1.20656642e+02] [-2.92297202e-03 3.83337112e-05 9.99995727e-01 5.58897736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.891858064 meters Centerline goodness [0,1] 0.99973672085829 Centerline is valid? [True, True] Translation: X:125.52, Y:120.68, Z:0.56 [[-7.06574825e-02 -9.97500621e-01 -1.77653858e-04 1.25519252e+02] [ 9.97495459e-01 -7.06576884e-02 3.20934065e-03 1.20683741e+02] [-3.21387190e-03 4.95550135e-05 9.99994834e-01 5.59424048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.921858064 meters Centerline goodness [0,1] 0.9995811749145818 Centerline is valid? [True, True] Translation: X:125.52, Y:120.71, Z:0.56 [[-7.20451102e-02 -9.97401359e-01 -1.75380077e-04 1.25518677e+02] [ 9.97396374e-01 -7.20453047e-02 3.15395521e-03 1.20711792e+02] [-3.15839453e-03 5.23035981e-05 9.99995011e-01 5.59492148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.951858064 meters Centerline goodness [0,1] 0.9997801279655241 Centerline is valid? [True, True] Translation: X:125.52, Y:120.74, Z:0.56 [[-7.32922467e-02 -9.97310492e-01 -1.69387776e-04 1.25517453e+02] [ 9.97305899e-01 -7.32924233e-02 3.02728234e-03 1.20738642e+02] [-3.03155528e-03 5.29448957e-05 9.99995403e-01 5.59142363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.981858064 meters Centerline goodness [0,1] 0.9997575062827918 Centerline is valid? [True, True] Translation: X:125.52, Y:120.77, Z:0.56 [[-7.43105262e-02 -9.97235143e-01 -1.22228851e-04 1.25515859e+02] [ 9.97232788e-01 -7.43106163e-02 2.16787838e-03 1.20766218e+02] [-2.17096741e-03 3.92055656e-05 9.99997643e-01 5.58366612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.011858064 meters Centerline goodness [0,1] 0.9998675057966214 Centerline is valid? [True, True] Translation: X:125.51, Y:120.79, Z:0.56 [[-7.41869046e-02 -9.97244351e-01 -8.84643071e-05 1.25513609e+02] [ 9.97243136e-01 -7.41869523e-02 1.55685280e-03 1.20793889e+02] [-1.55912556e-03 2.72776673e-05 9.99998784e-01 5.57964945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041858064 meters Centerline goodness [0,1] 0.9996909833351727 Centerline is valid? [True, True] Translation: X:125.51, Y:120.82, Z:0.56 [[-7.42826445e-02 -9.97237227e-01 -3.96434434e-05 1.25512988e+02] [ 9.97236994e-01 -7.42826543e-02 6.82394220e-04 1.20819753e+02] [-6.83453740e-04 1.11561390e-05 9.99999766e-01 5.57815409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071858064 meters Centerline goodness [0,1] 0.9998013069586719 Centerline is valid? [True, True] Translation: X:125.51, Y:120.85, Z:0.56 [[-7.43557021e-02 -9.97231783e-01 -1.63170841e-06 1.25508023e+02] [ 9.97231783e-01 -7.43557021e-02 1.16924476e-05 1.20848057e+02] [-1.17814074e-05 -7.57791328e-07 1.00000000e+00 5.56992026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101858064 meters Centerline goodness [0,1] 0.999735257131511 Centerline is valid? [True, True] Translation: X:125.51, Y:120.88, Z:0.56 [[-7.44869226e-02 -9.97221990e-01 4.48067653e-05 1.25507791e+02] [ 9.97221667e-01 -7.44869346e-02 -8.02467636e-04 1.20875310e+02] [ 8.03575891e-04 -1.50910675e-05 9.99999677e-01 5.56930307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131858064 meters Centerline goodness [0,1] 0.9997800215578874 Centerline is valid? [True, True] Translation: X:125.51, Y:120.90, Z:0.56 [[-7.45504697e-02 -9.97217240e-01 6.20831826e-05 1.25505993e+02] [ 9.97216634e-01 -7.45504929e-02 -1.09933936e-03 1.20902965e+02] [ 1.10090849e-03 -2.00458832e-05 9.99999394e-01 5.57097401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161858064 meters Centerline goodness [0,1] 0.9999118010231082 Centerline is valid? [True, True] Translation: X:125.50, Y:120.93, Z:0.56 [[-7.50811299e-02 -9.97177426e-01 6.96596604e-05 1.25502570e+02] [ 9.97176675e-01 -7.50811589e-02 -1.22438800e-03 1.20930811e+02] [ 1.22616220e-03 -2.24654460e-05 9.99999248e-01 5.57178779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191858064 meters Centerline goodness [0,1] 0.9998237303073703 Centerline is valid? [True, True] Translation: X:125.50, Y:120.96, Z:0.56 [[-7.58725792e-02 -9.97117519e-01 6.53827466e-05 1.25501300e+02] [ 9.97116863e-01 -7.58726043e-02 -1.14473853e-03 1.20958862e+02] [ 1.14639960e-03 -2.16600253e-05 9.99999343e-01 5.57309546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221858064 meters Centerline goodness [0,1] 0.9999120956399438 Centerline is valid? [True, True] Translation: X:125.50, Y:120.99, Z:0.56 [[-7.66389160e-02 -9.97058910e-01 7.49973934e-05 1.25500069e+02] [ 9.97058058e-01 -7.66389486e-02 -1.30420554e-03 1.20986903e+02] [ 1.30611748e-03 -2.51761438e-05 9.99999147e-01 5.57655627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:121.01, Z:0.56 [[-7.73303958e-02 -9.97005519e-01 6.95356604e-05 1.25500665e+02] [ 9.97004794e-01 -7.73304235e-02 -1.20254891e-03 1.21013568e+02] [ 1.20432512e-03 -2.36661965e-05 9.99999275e-01 5.58225497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281858064 meters Centerline goodness [0,1] 0.9999780224610448 Centerline is valid? [True, True] Translation: X:125.50, Y:121.04, Z:0.56 [[-7.75947780e-02 -9.96984979e-01 3.53719263e-05 1.25500254e+02] [ 9.96984787e-01 -7.75947850e-02 -6.19995776e-04 1.21039859e+02] [ 6.20871152e-04 -1.28431622e-05 9.99999807e-01 5.59202531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311858064 meters Centerline goodness [0,1] 0.9999779803584797 Centerline is valid? [True, True] Translation: X:125.50, Y:121.07, Z:0.56 [[-7.72813908e-02 -9.97009321e-01 2.96366281e-05 1.25496419e+02] [ 9.97009186e-01 -7.72813958e-02 -5.17699536e-04 1.21067630e+02] [ 5.18441622e-04 -1.04605497e-05 9.99999866e-01 5.59119715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341858064 meters Centerline goodness [0,1] 0.9999118321283724 Centerline is valid? [True, True] Translation: X:125.49, Y:121.09, Z:0.56 [[-7.64691416e-02 -9.97071948e-01 4.96683519e-06 1.25493833e+02] [ 9.97071944e-01 -7.64691417e-02 -9.61289726e-05 1.21094299e+02] [ 9.62273115e-05 -2.39860799e-06 9.99999995e-01 5.59841407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.49, Y:121.12, Z:0.56 [[-7.58615903e-02 -9.97118358e-01 -1.93776364e-06 1.25490905e+02] [ 9.97118358e-01 -7.58615903e-02 1.48339859e-05 1.21120973e+02] [-1.49382417e-05 -8.06849929e-07 1.00000000e+00 5.60065892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.49, Y:121.15, Z:0.56 [[-7.33845443e-02 -9.97303719e-01 -4.98782305e-06 1.25487108e+02] [ 9.97303717e-01 -7.33845445e-02 6.74291293e-05 1.21148602e+02] [-6.76133507e-05 -2.61185341e-08 9.99999998e-01 5.60286988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:121.18, Z:0.56 [[-7.19506829e-02 -9.97408191e-01 1.85864244e-05 1.25484758e+02] [ 9.97408138e-01 -7.19506851e-02 -3.25180088e-04 1.21175478e+02] [ 3.25674589e-04 -4.85867846e-06 9.99999947e-01 5.60179378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46185806399998 meters Centerline goodness [0,1] 0.9999779127553837 Centerline is valid? [True, True] Translation: X:125.48, Y:121.20, Z:0.56 [[-6.94098137e-02 -9.97588224e-01 1.18313320e-04 1.25480048e+02] [ 9.97586272e-01 -6.94099119e-02 -1.97357918e-03 1.21203259e+02] [ 1.97703147e-03 -1.89580196e-05 9.99998045e-01 5.58752131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49185806399998 meters Centerline goodness [0,1] 0.9999117679497077 Centerline is valid? [True, True] Translation: X:125.48, Y:121.23, Z:0.56 [[-6.83675297e-02 -9.97660186e-01 1.86136325e-04 1.25477094e+02] [ 9.97655425e-01 -6.83677785e-02 -3.08232972e-03 1.21231320e+02] [ 3.08784337e-03 -2.50313539e-05 9.99995232e-01 5.57649109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.47, Y:121.26, Z:0.56 [[-6.70446462e-02 -9.97749940e-01 2.68195307e-04 1.25474535e+02] [ 9.97740178e-01 -6.70451766e-02 -4.41371418e-03 1.21258360e+02] [ 4.42176426e-03 -2.83266718e-05 9.99990224e-01 5.56997503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.551858064 meters Centerline goodness [0,1] 0.9999559820406726 Centerline is valid? [True, True] Translation: X:125.47, Y:121.29, Z:0.56 [[-6.59706118e-02 -9.97821499e-01 3.66273268e-04 1.25472163e+02] [ 9.97803506e-01 -6.59716218e-02 -5.99231870e-03 1.21285688e+02] [ 6.00342807e-03 -2.98481796e-05 9.99981979e-01 5.56133626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.581858064 meters Centerline goodness [0,1] 0.9999779696862884 Centerline is valid? [True, True] Translation: X:125.47, Y:121.31, Z:0.56 [[-6.64476385e-02 -9.97789845e-01 3.70620631e-04 1.25470543e+02] [ 9.97771600e-01 -6.64486648e-02 -6.03400895e-03 1.21314063e+02] [ 6.04530010e-03 -3.11509059e-05 9.99981727e-01 5.56424619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.611858064 meters Centerline goodness [0,1] 0.9999779769639042 Centerline is valid? [True, True] Translation: X:125.47, Y:121.34, Z:0.56 [[-6.74678448e-02 -9.97721375e-01 3.85206322e-04 1.25469503e+02] [ 9.97701850e-01 -6.74689344e-02 -6.24191008e-03 1.21341467e+02] [ 6.25367656e-03 -3.68071608e-05 9.99980445e-01 5.56873182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.47, Y:121.37, Z:0.56 [[-7.08851491e-02 -9.97484424e-01 3.44646807e-04 1.25470524e+02] [ 9.97468929e-01 -7.08859690e-02 -5.56018932e-03 1.21368595e+02] [ 5.57063287e-03 -5.03603673e-05 9.99984483e-01 5.58046627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.47, Y:121.40, Z:0.56 [[-7.30962257e-02 -9.97324831e-01 3.51885799e-04 1.25469919e+02] [ 9.97308823e-01 -7.30970463e-02 -5.65094031e-03 1.21396472e+02] [ 5.66154490e-03 -6.21235960e-05 9.99983971e-01 5.58840843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701858064 meters Centerline goodness [0,1] 0.9998896539548022 Centerline is valid? [True, True] Translation: X:125.47, Y:121.42, Z:0.56 [[-7.50834820e-02 -9.97177189e-01 3.51881596e-04 1.25470173e+02] [ 9.97161306e-01 -7.50842722e-02 -5.62875244e-03 1.21423973e+02] [ 5.63928431e-03 -7.17436206e-05 9.99984097e-01 5.59360959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.731858064 meters Centerline goodness [0,1] 0.9998229736009382 Centerline is valid? [True, True] Translation: X:125.47, Y:121.45, Z:0.56 [[-7.71810292e-02 -9.97017024e-01 3.78105789e-04 1.25468665e+02] [ 9.96998821e-01 -7.71819051e-02 -6.02525869e-03 1.21452790e+02] [ 6.03646841e-03 -8.80646403e-05 9.99981776e-01 5.60193473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761858064 meters Centerline goodness [0,1] 0.9998459744317557 Centerline is valid? [True, True] Translation: X:125.47, Y:121.48, Z:0.56 [[-8.06279639e-02 -9.96744185e-01 4.02314005e-04 1.25470630e+02] [ 9.96723726e-01 -8.06288871e-02 -6.38724479e-03 1.21480807e+02] [ 6.39888723e-03 -1.13994629e-04 9.99979520e-01 5.60071152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.791858064 meters Centerline goodness [0,1] 0.9997351753359963 Centerline is valid? [True, True] Translation: X:125.47, Y:121.51, Z:0.56 [[-8.21790552e-02 -9.96617498e-01 4.06224130e-04 1.25469624e+02] [ 9.96596786e-01 -8.21799667e-02 -6.42642214e-03 1.21508162e+02] [ 6.43806824e-03 -1.23275637e-04 9.99979268e-01 5.60088985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821858064 meters Centerline goodness [0,1] 0.9996913308051857 Centerline is valid? [True, True] Translation: X:125.47, Y:121.54, Z:0.56 [[-8.34167917e-02 -9.96514652e-01 4.32397788e-04 1.25467437e+02] [ 9.96491391e-01 -8.34177995e-02 -6.81014884e-03 1.21535714e+02] [ 6.82248277e-03 -1.37200094e-04 9.99976717e-01 5.60252226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851858064 meters Centerline goodness [0,1] 0.9998900252941824 Centerline is valid? [True, True] Translation: X:125.46, Y:121.56, Z:0.56 [[-8.51924583e-02 -9.96364359e-01 5.55731333e-04 1.25463474e+02] [ 9.96326282e-01 -8.51940621e-02 -8.71269920e-03 1.21563428e+02] [ 8.72836796e-03 -1.88566530e-04 9.99961889e-01 5.60087545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:121.59, Z:0.56 [[-8.60354323e-02 -9.96291898e-01 5.98277973e-04 1.25464070e+02] [ 9.96248123e-01 -8.60372618e-02 -9.34168636e-03 1.21590510e+02] [ 9.35852063e-03 -2.07682717e-04 9.99956187e-01 5.59093550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911858064 meters Centerline goodness [0,1] 0.9999780002199978 Centerline is valid? [True, True] Translation: X:125.46, Y:121.62, Z:0.56 [[-8.68331409e-02 -9.96222650e-01 6.61290349e-04 1.25461009e+02] [ 9.96169654e-01 -8.68353443e-02 -1.02782947e-02 1.21618069e+02] [ 1.02968933e-02 -2.33739232e-04 9.99946958e-01 5.59099006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:121.65, Z:0.56 [[-8.75645525e-02 -9.96158597e-01 7.05606111e-04 1.25456702e+02] [ 9.96098809e-01 -8.75670297e-02 -1.09169094e-02 1.21646412e+02] [ 1.09367610e-02 -2.53080877e-04 9.99940160e-01 5.59671737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971858064 meters Centerline goodness [0,1] 0.9998460895758668 Centerline is valid? [True, True] Translation: X:125.45, Y:121.67, Z:0.56 [[-8.80774258e-02 -9.96113338e-01 7.64438264e-04 1.25454763e+02] [ 9.96043668e-01 -8.80803090e-02 -1.17843014e-02 1.21673006e+02] [ 1.18058318e-02 -2.76517038e-04 9.99930271e-01 5.59430783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001858064 meters Centerline goodness [0,1] 0.9996700323368309 Centerline is valid? [True, True] Translation: X:125.45, Y:121.70, Z:0.56 [[-8.84777996e-02 -9.96077832e-01 7.94859702e-04 1.25451343e+02] [ 9.96003112e-01 -8.84809009e-02 -1.22037196e-02 1.21700801e+02] [ 1.22261845e-02 -2.88075521e-04 9.99925216e-01 5.60215441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031858064 meters Centerline goodness [0,1] 0.9998458387473297 Centerline is valid? [True, True] Translation: X:125.45, Y:121.73, Z:0.56 [[-8.84418579e-02 -9.96081018e-01 8.02471157e-04 1.25449205e+02] [ 9.96005514e-01 -8.84450370e-02 -1.22675346e-02 1.21728474e+02] [ 1.22904330e-02 -2.85697858e-04 9.99924429e-01 5.60507127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061858064 meters Centerline goodness [0,1] 0.9999559675040179 Centerline is valid? [True, True] Translation: X:125.45, Y:121.76, Z:0.56 [[-8.80865839e-02 -9.96112498e-01 8.03515555e-04 1.25445526e+02] [ 9.96037448e-01 -8.80898130e-02 -1.22305410e-02 1.21756521e+02] [ 1.22537762e-02 -2.77014989e-04 9.99924881e-01 5.61776983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:121.78, Z:0.56 [[-8.78520966e-02 -9.96133210e-01 7.98154849e-04 1.25444198e+02] [ 9.96059813e-01 -8.78553147e-02 -1.20951806e-02 1.21783309e+02] [ 1.21185332e-02 -2.67577004e-04 9.99926532e-01 5.61961905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121858064 meters Centerline goodness [0,1] 0.9999779721126947 Centerline is valid? [True, True] Translation: X:125.44, Y:121.81, Z:0.56 [[-8.76606836e-02 -9.96150069e-01 8.02834926e-04 1.25441765e+02] [ 9.96076446e-01 -8.76639677e-02 -1.21137308e-02 1.21811066e+02] [ 1.21374735e-02 -2.62212966e-04 9.99926304e-01 5.62744590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151858064 meters Centerline goodness [0,1] 0.9999124841377499 Centerline is valid? [True, True] Translation: X:125.44, Y:121.84, Z:0.56 [[-8.70949270e-02 -9.96199710e-01 7.82267103e-04 1.25439486e+02] [ 9.96130406e-01 -8.70980971e-02 -1.17530790e-02 1.21837971e+02] [ 1.17765479e-02 -2.44393513e-04 9.99930624e-01 5.63515746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:121.87, Z:0.56 [[-8.69970267e-02 -9.96208241e-01 8.10961305e-04 1.25435822e+02] [ 9.96134400e-01 -8.70004541e-02 -1.21317219e-02 1.21866303e+02] [ 1.21562754e-02 -2.47597283e-04 9.99926079e-01 5.64138689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21185806399998 meters Centerline goodness [0,1] 0.9999780239099859 Centerline is valid? [True, True] Translation: X:125.43, Y:121.89, Z:0.56 [[-8.68054246e-02 -9.96224922e-01 8.50728011e-04 1.25433099e+02] [ 9.96144353e-01 -8.68092258e-02 -1.26722432e-02 1.21894399e+02] [ 1.26982555e-02 -2.52571543e-04 9.99919342e-01 5.64144318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:121.92, Z:0.56 [[-8.54770225e-02 -9.96339719e-01 9.18439200e-04 1.25429349e+02] [ 9.96246633e-01 -8.54815930e-02 -1.36214392e-02 1.21921666e+02] [ 1.36500906e-02 -2.49328104e-04 9.99906802e-01 5.63973922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27185806399999 meters Centerline goodness [0,1] 0.9999344935257768 Centerline is valid? [True, True] Translation: X:125.43, Y:121.95, Z:0.56 [[-8.51577688e-02 -9.96367057e-01 9.17229299e-04 1.25426004e+02] [ 9.96274995e-01 -8.51623708e-02 -1.35464373e-02 1.21949598e+02] [ 1.35753373e-02 -2.39771763e-04 9.99907822e-01 5.64365564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.301858064 meters Centerline goodness [0,1] 0.9999780408001933 Centerline is valid? [True, True] Translation: X:125.42, Y:121.98, Z:0.56 [[-8.50873642e-02 -9.96373000e-01 9.92217840e-04 1.25423810e+02] [ 9.96266215e-01 -8.50927735e-02 -1.45893329e-02 1.21976363e+02] [ 1.46208480e-02 -2.52854772e-04 9.99893078e-01 5.64001704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.331858064 meters Centerline goodness [0,1] 0.9999780408001933 Centerline is valid? [True, True] Translation: X:125.42, Y:122.00, Z:0.56 [[-8.53644024e-02 -9.96349299e-01 9.96339096e-04 1.25421865e+02] [ 9.96242515e-01 -8.53698424e-02 -1.45890519e-02 1.22003886e+02] [ 1.46208490e-02 -2.52790331e-04 9.99893078e-01 5.64095470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.42, Y:122.03, Z:0.56 [[-8.52534436e-02 -9.96358762e-01 1.03308860e-03 1.25418644e+02] [ 9.96244701e-01 -8.52593178e-02 -1.50779161e-02 1.22030745e+02] [ 1.51110943e-02 -2.56235224e-04 9.99885788e-01 5.63125865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.391858064 meters Centerline goodness [0,1] 0.9999780682516011 Centerline is valid? [True, True] Translation: X:125.42, Y:122.06, Z:0.56 [[-8.57762278e-02 -9.96313891e-01 1.03382798e-03 1.25415551e+02] [ 9.96200535e-01 -8.57820655e-02 -1.50310412e-02 1.22058637e+02] [ 1.50643190e-02 -2.59406033e-04 9.99886493e-01 5.63447780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421858064 meters Centerline goodness [0,1] 0.999978224893302 Centerline is valid? [True, True] Translation: X:125.41, Y:122.09, Z:0.56 [[-8.66261311e-02 -9.96240352e-01 1.03699766e-03 1.25414059e+02] [ 9.96127255e-01 -8.66319246e-02 -1.50133833e-02 1.22085343e+02] [ 1.50467754e-02 -2.67569677e-04 9.99886755e-01 5.63357614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:122.11, Z:0.56 [[-8.87399141e-02 -9.96054273e-01 1.05458441e-03 1.25412591e+02] [ 9.95938238e-01 -8.87456762e-02 -1.52062524e-02 1.22113323e+02] [ 1.52398425e-02 -2.99100588e-04 9.99883822e-01 5.63855644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:122.14, Z:0.56 [[-9.00743482e-02 -9.95934455e-01 1.08355242e-03 1.25410763e+02] [ 9.95812924e-01 -9.00802873e-02 -1.55615708e-02 1.22141261e+02] [ 1.55959112e-02 -3.22682839e-04 9.99878324e-01 5.64474423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:122.17, Z:0.56 [[-9.16164932e-02 -9.95793759e-01 1.09923726e-03 1.25409527e+02] [ 9.95669704e-01 -9.16224345e-02 -1.57216217e-02 1.22168176e+02] [ 1.57562076e-02 -3.45882614e-04 9.99875803e-01 5.64377753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:122.20, Z:0.56 [[-9.31879376e-02 -9.95647961e-01 1.07032713e-03 1.25407624e+02] [ 9.95531260e-01 -9.31934066e-02 -1.52479578e-02 1.22195967e+02] [ 1.52813455e-02 -3.55381624e-04 9.99883170e-01 5.64904118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:122.22, Z:0.56 [[-9.58804960e-02 -9.95392282e-01 1.06574588e-03 1.25406472e+02] [ 9.95277325e-01 -9.58856249e-02 -1.51325023e-02 1.22222596e+02] [ 1.51649657e-02 -3.90199117e-04 9.99884929e-01 5.64692619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:122.25, Z:0.56 [[-9.68821140e-02 -9.95295311e-01 1.04902346e-03 1.25403935e+02] [ 9.95184816e-01 -9.68869948e-02 -1.48355241e-02 1.22249755e+02] [ 1.48673643e-02 -3.93324711e-04 9.99889397e-01 5.64739356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:122.28, Z:0.56 [[-9.77522625e-02 -9.95210257e-01 1.01969754e-03 1.25401855e+02] [ 9.95106761e-01 -9.77568077e-02 -1.43576305e-02 1.22276453e+02] [ 1.43885435e-02 -3.88782950e-04 9.99896404e-01 5.64747338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:122.30, Z:0.57 [[-9.81600629e-02 -9.95170150e-01 9.86758839e-04 1.25396655e+02] [ 9.95074006e-01 -9.81643007e-02 -1.38381014e-02 1.22303922e+02] [ 1.38681300e-02 -3.76450835e-04 9.99903762e-01 5.65656655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:122.33, Z:0.56 [[-9.80942981e-02 -9.95176644e-01 9.78239572e-04 1.25397213e+02] [ 9.95082909e-01 -9.80984896e-02 -1.36635061e-02 1.22330705e+02] [ 1.36935660e-02 -3.66882564e-04 9.99906171e-01 5.64759281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.39, Y:122.36, Z:0.56 [[-9.75724504e-02 -9.95227953e-01 9.69253483e-04 1.25393853e+02] [ 9.95136678e-01 -9.75766330e-02 -1.34830202e-02 1.22357505e+02] [ 1.35132551e-02 -3.51031632e-04 9.99908630e-01 5.64523760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.39, Y:122.38, Z:0.57 [[-9.68659219e-02 -9.95296953e-01 9.84194171e-04 1.25386851e+02] [ 9.95203577e-01 -9.68703196e-02 -1.36374748e-02 1.22384916e+02] [ 1.36686764e-02 -3.41533014e-04 9.99906521e-01 5.65189240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.38, Y:122.41, Z:0.56 [[-9.49489589e-02 -9.95481655e-01 9.84362591e-04 1.25380766e+02] [ 9.95388954e-01 -9.49535539e-02 -1.35887404e-02 1.22412597e+02] [ 1.36208105e-02 -3.10413104e-04 9.99907184e-01 5.64280721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.38, Y:122.44, Z:0.56 [[-9.39977579e-02 -9.95571935e-01 9.71998283e-04 1.25377328e+02] [ 9.95482236e-01 -9.40023394e-02 -1.33670134e-02 1.22440321e+02] [ 1.33991935e-02 -2.88862262e-04 9.99910185e-01 5.64269905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.37, Y:122.47, Z:0.56 [[-9.31743143e-02 -9.95649360e-01 9.48434465e-04 1.25373744e+02] [ 9.95564611e-01 -9.31787604e-02 -1.29932192e-02 1.22468653e+02] [ 1.30250643e-02 -2.66406501e-04 9.99915135e-01 5.64499713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.37, Y:122.50, Z:0.56 [[-9.14047681e-02 -9.95813438e-01 8.74894975e-04 1.25369704e+02] [ 9.95741857e-01 -9.14086895e-02 -1.19417725e-02 1.22495821e+02] [ 1.19717505e-02 -2.20365399e-04 9.99928312e-01 5.64309256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.37, Y:122.52, Z:0.56 [[-9.07311782e-02 -9.95875031e-01 8.81051551e-04 1.25366688e+02] [ 9.95802983e-01 -9.07352135e-02 -1.19808016e-02 1.22524071e+02] [ 1.20113236e-02 -2.09678485e-04 9.99927839e-01 5.64154855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:122.55, Z:0.56 [[-9.02697280e-02 -9.95916989e-01 8.53117669e-04 1.25363725e+02] [ 9.95849979e-01 -9.02735520e-02 -1.15544252e-02 1.22550805e+02] [ 1.15842623e-02 -1.93437605e-04 9.99932881e-01 5.63900582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:122.58, Z:0.56 [[-8.87580195e-02 -9.96052872e-01 8.30821309e-04 1.25359675e+02] [ 9.95989813e-01 -8.87617500e-02 -1.12091368e-02 1.22578719e+02] [ 1.12386380e-02 -1.67411221e-04 9.99936831e-01 5.63545069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:122.61, Z:0.56 [[-8.80913956e-02 -9.96112100e-01 7.68123537e-04 1.25356174e+02] [ 9.96058603e-01 -8.80946260e-02 -1.03245049e-02 1.22606323e+02] [ 1.03520318e-02 -1.44403986e-04 9.99946406e-01 5.64038061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:122.63, Z:0.56 [[-8.72344705e-02 -9.96187569e-01 6.88601924e-04 1.25353476e+02] [ 9.96144902e-01 -8.72371079e-02 -9.22072857e-03 1.22633714e+02] [ 9.24564682e-03 -1.18418078e-04 9.99957251e-01 5.63847413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.051858064 meters Centerline goodness [0,1] 0.9999565793187295 Centerline is valid? [True, True] Translation: X:125.35, Y:122.66, Z:0.56 [[-8.49874969e-02 -9.96381818e-01 6.30269236e-04 1.25348837e+02] [ 9.96346339e-01 -8.49897897e-02 -8.40885786e-03 1.22661904e+02] [ 8.43199954e-03 -8.66813359e-05 9.99964446e-01 5.63733333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:122.69, Z:0.56 [[-8.37794446e-02 -9.96484131e-01 6.17606626e-04 1.25345520e+02] [ 9.96450323e-01 -8.37816898e-02 -8.20870615e-03 1.22688902e+02] [ 8.23158954e-03 -7.23065204e-05 9.99966117e-01 5.63147241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.111858064 meters Centerline goodness [0,1] 0.9999782764538483 Centerline is valid? [True, True] Translation: X:125.34, Y:122.72, Z:0.56 [[-8.24843741e-02 -9.96592185e-01 5.87779006e-04 1.25341757e+02] [ 9.96561795e-01 -8.24864491e-02 -7.78292435e-03 1.22716568e+02] [ 7.80488539e-03 -5.62115422e-05 9.99969540e-01 5.62950576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.141858064 meters Centerline goodness [0,1] 0.9999564146708217 Centerline is valid? [True, True] Translation: X:125.34, Y:122.74, Z:0.56 [[-7.99524329e-02 -9.96798514e-01 5.74724987e-04 1.25338090e+02] [ 9.96769685e-01 -7.99544916e-02 -7.58117091e-03 1.22743678e+02] [ 7.60285174e-03 -3.32646143e-05 9.99971097e-01 5.62456403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.34, Y:122.77, Z:0.56 [[-7.89565504e-02 -9.96877902e-01 5.57728825e-04 1.25335435e+02] [ 9.96850957e-01 -7.89585169e-02 -7.32948715e-03 1.22771806e+02] [ 7.35064122e-03 -2.27385079e-05 9.99972983e-01 5.62635809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:122.80, Z:0.56 [[-7.84112487e-02 -9.96920944e-01 5.54933489e-04 1.25332726e+02] [ 9.96894465e-01 -7.84132107e-02 -7.26589507e-03 1.22799262e+02] [ 7.28703708e-03 -1.65177818e-05 9.99973449e-01 5.62777495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:122.83, Z:0.56 [[-7.76247834e-02 -9.96982521e-01 4.94869586e-04 1.25328738e+02] [ 9.96961611e-01 -7.76263604e-02 -6.45710252e-03 1.22827222e+02] [ 6.47603327e-03 -7.86520463e-06 9.99979030e-01 5.62601789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261858064 meters Centerline goodness [0,1] 0.9999130170051755 Centerline is valid? [True, True] Translation: X:125.33, Y:122.85, Z:0.56 [[-7.74278335e-02 -9.96997839e-01 4.89227470e-04 1.25326097e+02] [ 9.96977551e-01 -7.74293789e-02 -6.36036365e-03 1.22854814e+02] [ 6.37914939e-03 -4.72037206e-06 9.99979653e-01 5.62591349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:122.88, Z:0.56 [[-7.79406856e-02 -9.96957894e-01 4.54548139e-04 1.25323856e+02] [ 9.96940505e-01 -7.79420108e-02 -5.88838047e-03 1.22882024e+02] [ 5.90589579e-03 -5.78695980e-06 9.99982560e-01 5.62641328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:122.91, Z:0.56 [[-7.84336648e-02 -9.96919236e-01 4.42979213e-04 1.25321882e+02] [ 9.96902841e-01 -7.84349154e-02 -5.71746201e-03 1.22910286e+02] [ 5.73459290e-03 -6.83426326e-06 9.99983557e-01 5.62816335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:122.94, Z:0.56 [[-8.01163927e-02 -9.96785420e-01 4.36844467e-04 1.25321619e+02] [ 9.96769586e-01 -8.01175824e-02 -5.61826077e-03 1.22938285e+02] [ 5.63519934e-03 -1.46815076e-05 9.99984122e-01 5.62633247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381858064 meters Centerline goodness [0,1] 0.9999782840018241 Centerline is valid? [True, True] Translation: X:125.32, Y:122.97, Z:0.56 [[-8.16194109e-02 -9.96663470e-01 4.46976117e-04 1.25320549e+02] [ 9.96647013e-01 -8.16206318e-02 -5.72753937e-03 1.22966135e+02] [ 5.74491174e-03 -2.20009773e-05 9.99983498e-01 5.62308192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411858064 meters Centerline goodness [0,1] 0.9999566169931238 Centerline is valid? [True, True] Translation: X:125.32, Y:122.99, Z:0.56 [[-8.34871340e-02 -9.96508751e-01 4.56668236e-04 1.25320269e+02] [ 9.96491699e-01 -8.34883770e-02 -5.82963201e-03 1.22993018e+02] [ 5.84740580e-03 -3.16331620e-05 9.99982903e-01 5.61521417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:123.02, Z:0.56 [[-8.57853011e-02 -9.96313547e-01 4.45606254e-04 1.25319186e+02] [ 9.96297430e-01 -8.57864481e-02 -5.66704906e-03 1.23020585e+02] [ 5.68438473e-03 -4.21931438e-05 9.99983843e-01 5.61059510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:123.05, Z:0.56 [[-8.97345439e-02 -9.95965595e-01 4.94246910e-04 1.25321962e+02] [ 9.95945921e-01 -8.97358781e-02 -6.26062235e-03 1.23047840e+02] [ 6.27971615e-03 -6.95508973e-05 9.99980280e-01 5.59967396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501858064 meters Centerline goodness [0,1] 0.9999128919860627 Centerline is valid? [True, True] Translation: X:125.32, Y:123.08, Z:0.56 [[-9.19071219e-02 -9.95767460e-01 4.97142460e-04 1.25321196e+02] [ 9.95747695e-01 -9.19084302e-02 -6.27449162e-03 1.23075931e+02] [ 6.29362616e-03 -8.16420070e-05 9.99980192e-01 5.60433948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531858064 meters Centerline goodness [0,1] 0.9998905548867243 Centerline is valid? [True, True] Translation: X:125.32, Y:123.10, Z:0.56 [[-9.58236863e-02 -9.95398228e-01 4.35261920e-04 1.25323126e+02] [ 9.95383155e-01 -9.58246310e-02 -5.47859436e-03 1.23104195e+02] [ 5.49509193e-03 -9.17267248e-05 9.99984898e-01 5.61810623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:123.13, Z:0.56 [[-9.75158159e-02 -9.95233901e-01 3.84137481e-04 1.25322904e+02] [ 9.95222215e-01 -9.75165327e-02 -4.82377469e-03 1.23132934e+02] [ 4.83824386e-03 -8.80921702e-05 9.99988292e-01 5.62598106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591858064 meters Centerline goodness [0,1] 0.999846170750467 Centerline is valid? [True, True] Translation: X:125.32, Y:123.16, Z:0.56 [[-9.86141884e-02 -9.95125677e-01 3.59159669e-04 1.25322471e+02] [ 9.95115522e-01 -9.86148049e-02 -4.49644645e-03 1.23159548e+02] [ 4.50994778e-03 -8.60080561e-05 9.99989826e-01 5.62815522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621858064 meters Centerline goodness [0,1] 0.999801683486845 Centerline is valid? [True, True] Translation: X:125.32, Y:123.19, Z:0.56 [[-9.93056289e-02 -9.95056923e-01 3.36117705e-04 1.25320136e+02] [ 9.95048078e-01 -9.93061636e-02 -4.19621809e-03 1.23187397e+02] [ 4.20885442e-03 -8.22547995e-05 9.99991139e-01 5.63221090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:123.21, Z:0.56 [[-9.94873585e-02 -9.95038773e-01 3.25710567e-04 1.25318314e+02] [ 9.95030524e-01 -9.94878603e-02 -4.05234877e-03 1.23214453e+02] [ 4.06464839e-03 -7.90655184e-05 9.99991736e-01 5.63063406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:123.24, Z:0.56 [[-9.92511511e-02 -9.95062386e-01 2.39091173e-04 1.25316654e+02] [ 9.95057964e-01 -9.92514230e-02 -2.96714908e-03 1.23241558e+02] [ 2.97622858e-03 -5.65833861e-05 9.99995569e-01 5.63231550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:123.27, Z:0.56 [[-9.95354574e-02 -9.95033992e-01 2.17233402e-04 1.25315153e+02] [ 9.95030366e-01 -9.95356812e-02 -2.68681468e-03 1.23268654e+02] [ 2.69509442e-03 -5.12794972e-05 9.99996367e-01 5.64199790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74185806399998 meters Centerline goodness [0,1] 0.9997808507374373 Centerline is valid? [True, True] Translation: X:125.31, Y:123.30, Z:0.56 [[-1.00015738e-01 -9.94985837e-01 1.88342494e-04 1.25312948e+02] [ 9.94983129e-01 -1.00015906e-01 -2.32200817e-03 1.23296712e+02] [ 2.32920249e-03 -4.48397568e-05 9.99997286e-01 5.64636619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:123.32, Z:0.57 [[-1.00790514e-01 -9.94907659e-01 1.52912608e-04 1.25310515e+02] [ 9.94905881e-01 -1.00790623e-01 -1.88100863e-03 1.23324768e+02] [ 1.88684205e-03 -3.74541735e-05 9.99998219e-01 5.65014522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.801858064 meters Centerline goodness [0,1] 0.9998463766843699 Centerline is valid? [True, True] Translation: X:125.31, Y:123.35, Z:0.57 [[-1.01656448e-01 -9.94819558e-01 1.14765908e-04 1.25309182e+02] [ 9.94818559e-01 -1.01656508e-01 -1.41018453e-03 1.23351957e+02] [ 1.41454585e-03 -2.91830945e-05 9.99998999e-01 5.65521907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.831858064 meters Centerline goodness [0,1] 0.9999121882683526 Centerline is valid? [True, True] Translation: X:125.31, Y:123.38, Z:0.57 [[-1.01995109e-01 -9.94784897e-01 8.52063417e-05 1.25305176e+02] [ 9.94784347e-01 -1.01995143e-01 -1.04579119e-03 1.23380067e+02] [ 1.04902791e-03 -2.19036515e-05 9.99999450e-01 5.65694279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.861858064 meters Centerline goodness [0,1] 0.9998686083433702 Centerline is valid? [True, True] Translation: X:125.30, Y:123.41, Z:0.57 [[-1.02128351e-01 -9.94771228e-01 6.07997944e-05 1.25303122e+02] [ 9.94770947e-01 -1.02128368e-01 -7.47495945e-04 1.23407294e+02] [ 7.49796843e-04 -1.58586590e-05 9.99999719e-01 5.66009070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.30, Y:123.44, Z:0.57 [[-1.02042642e-01 -9.94780024e-01 5.87199875e-05 1.25300082e+02] [ 9.94779764e-01 -1.02042658e-01 -7.19112459e-04 1.23435628e+02] [ 7.21350653e-04 -1.49666798e-05 9.99999740e-01 5.65999768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921858064 meters Centerline goodness [0,1] 0.9999781497181314 Centerline is valid? [True, True] Translation: X:125.30, Y:123.46, Z:0.57 [[-1.02155169e-01 -9.94768475e-01 4.91787109e-05 1.25297021e+02] [ 9.94768293e-01 -1.02155180e-01 -6.02206942e-04 1.23463138e+02] [ 6.04080342e-04 -1.25971298e-05 9.99999817e-01 5.66098015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.951858064 meters Centerline goodness [0,1] 0.9999123441369184 Centerline is valid? [True, True] Translation: X:125.29, Y:123.49, Z:0.57 [[-1.01461750e-01 -9.94839438e-01 7.22812326e-05 1.25293177e+02] [ 9.94839052e-01 -1.01461775e-01 -8.76784893e-04 1.23490773e+02] [ 8.79593973e-04 -1.70519370e-05 9.99999613e-01 5.66089644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981858064 meters Centerline goodness [0,1] 0.9998687721447006 Centerline is valid? [True, True] Translation: X:125.29, Y:123.52, Z:0.57 [[-1.01486776e-01 -9.94836884e-01 9.05417397e-05 1.25290298e+02] [ 9.94836285e-01 -1.01486815e-01 -1.09219511e-03 1.23517482e+02] [ 1.09574477e-03 -2.07691527e-05 9.99999399e-01 5.65847667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:123.55, Z:0.57 [[-1.01466279e-01 -9.94838978e-01 4.66815243e-05 1.25285695e+02] [ 9.94838817e-01 -1.01466289e-01 -5.66494423e-04 1.23545369e+02] [ 5.68307334e-04 -1.10394886e-05 9.99999838e-01 5.66044702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:123.57, Z:0.57 [[-1.01552403e-01 -9.94830191e-01 9.78051628e-06 1.25283542e+02] [ 9.94830183e-01 -1.01552403e-01 -1.27893181e-04 1.23571903e+02] [ 1.28225232e-04 -3.25790698e-06 9.99999992e-01 5.66221145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071858064 meters Centerline goodness [0,1] 0.9998047256395235 Centerline is valid? [True, True] Translation: X:125.28, Y:123.60, Z:0.57 [[-1.01614924e-01 -9.94823807e-01 3.21675298e-06 1.25280510e+02] [ 9.94823806e-01 -1.01614924e-01 -4.93959201e-05 1.23599502e+02] [ 4.94671072e-05 -1.81926023e-06 9.99999999e-01 5.66373896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101858064 meters Centerline goodness [0,1] 0.9999347173260217 Centerline is valid? [True, True] Translation: X:125.28, Y:123.63, Z:0.57 [[-1.01699842e-01 -9.94815129e-01 2.25655350e-05 1.25277453e+02] [ 9.94815091e-01 -1.01699844e-01 -2.76900011e-04 1.23627490e+02] [ 2.77759232e-04 -5.71215261e-06 9.99999961e-01 5.65970037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131858064 meters Centerline goodness [0,1] 0.999891205013273 Centerline is valid? [True, True] Translation: X:125.27, Y:123.66, Z:0.57 [[-1.01598226e-01 -9.94825511e-01 6.32069688e-05 1.25274485e+02] [ 9.94825228e-01 -1.01598245e-01 -7.49382482e-04 1.23655891e+02] [ 7.51926528e-04 -1.32560434e-05 9.99999717e-01 5.65996035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:123.68, Z:0.57 [[-1.01878163e-01 -9.94796880e-01 8.17884087e-05 1.25271626e+02] [ 9.94796409e-01 -1.01878194e-01 -9.68612094e-04 1.23684008e+02] [ 9.71904745e-04 -1.73176053e-05 9.99999528e-01 5.66042329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.191858064 meters Centerline goodness [0,1] 0.999847776448842 Centerline is valid? [True, True] Translation: X:125.27, Y:123.71, Z:0.57 [[-1.01375762e-01 -9.94848203e-01 8.67113827e-05 1.25268382e+02] [ 9.94847677e-01 -1.01375798e-01 -1.02317908e-03 1.23710682e+02] [ 1.02669830e-03 -1.74609412e-05 9.99999473e-01 5.65933552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221858064 meters Centerline goodness [0,1] 0.999847776448842 Centerline is valid? [True, True] Translation: X:125.27, Y:123.74, Z:0.57 [[-1.01681963e-01 -9.94816953e-01 8.69614031e-05 1.25265990e+02] [ 9.94816427e-01 -1.01681998e-01 -1.02315776e-03 1.23737335e+02] [ 1.02669710e-03 -1.75260568e-05 9.99999473e-01 5.66024509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251858064 meters Centerline goodness [0,1] 0.9997829248702976 Centerline is valid? [True, True] Translation: X:125.26, Y:123.76, Z:0.57 [[-1.01362278e-01 -9.94849576e-01 9.63127621e-05 1.25262822e+02] [ 9.94848937e-01 -1.01362322e-01 -1.12777886e-03 1.23764585e+02] [ 1.13173281e-03 -1.84975853e-05 9.99999359e-01 5.66418868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281858064 meters Centerline goodness [0,1] 0.9998480012159903 Centerline is valid? [True, True] Translation: X:125.26, Y:123.79, Z:0.57 [[-1.01049971e-01 -9.94881345e-01 1.13864482e-04 1.25258833e+02] [ 9.94880462e-01 -1.01050033e-01 -1.32568955e-03 1.23792517e+02] [ 1.33040982e-03 -2.06793418e-05 9.99999115e-01 5.66280721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311858064 meters Centerline goodness [0,1] 0.9998480045164372 Centerline is valid? [True, True] Translation: X:125.26, Y:123.82, Z:0.57 [[-1.01077008e-01 -9.94878586e-01 1.96622636e-04 1.25256629e+02] [ 9.94875987e-01 -1.01077193e-01 -2.27394915e-03 1.23819829e+02] [ 2.28217738e-03 -3.42288367e-05 9.99997395e-01 5.65914621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341858064 meters Centerline goodness [0,1] 0.9996959826275787 Centerline is valid? [True, True] Translation: X:125.25, Y:123.85, Z:0.57 [[-1.01829530e-01 -9.94801834e-01 2.41385423e-04 1.25253922e+02] [ 9.94797952e-01 -1.01829807e-01 -2.77949458e-03 1.23847168e+02] [ 2.78962654e-03 -4.29049032e-05 9.99996108e-01 5.65599464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371858064 meters Centerline goodness [0,1] 0.9998478591610519 Centerline is valid? [True, True] Translation: X:125.25, Y:123.87, Z:0.57 [[-1.02127527e-01 -9.94771276e-01 2.76842025e-04 1.25250612e+02] [ 9.94766211e-01 -1.02127891e-01 -3.17480834e-03 1.23874844e+02] [ 3.18648143e-03 -4.88422314e-05 9.99994922e-01 5.65342936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:123.90, Z:0.57 [[-1.02860250e-01 -9.94695774e-01 2.92716910e-04 1.25248299e+02] [ 9.94690150e-01 -1.02860653e-01 -3.34549188e-03 1.23902877e+02] [ 3.35785569e-03 -5.29555033e-05 9.99994361e-01 5.65517196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43185806399998 meters Centerline goodness [0,1] 0.9996096460791117 Centerline is valid? [True, True] Translation: X:125.25, Y:123.93, Z:0.57 [[-1.03731652e-01 -9.94605266e-01 3.30317013e-04 1.25246439e+02] [ 9.94598154e-01 -1.03732160e-01 -3.76179068e-03 1.23929435e+02] [ 3.77576132e-03 -6.16840706e-05 9.99992870e-01 5.65670216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46185806399998 meters Centerline goodness [0,1] 0.9996317476821766 Centerline is valid? [True, True] Translation: X:125.24, Y:123.96, Z:0.57 [[-1.04730564e-01 -9.94500565e-01 3.68691505e-04 1.25244276e+02] [ 9.94491768e-01 -1.04731189e-01 -4.18336214e-03 1.23956685e+02] [ 4.19896951e-03 -7.14652112e-05 9.99991182e-01 5.65631700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49185806399998 meters Centerline goodness [0,1] 0.999761698440208 Centerline is valid? [True, True] Translation: X:125.24, Y:123.98, Z:0.57 [[-1.05789354e-01 -9.94388443e-01 4.86872086e-04 1.25241419e+02] [ 9.94373226e-01 -1.05790429e-01 -5.50208119e-03 1.23984219e+02] [ 5.52271236e-03 -9.79290464e-05 9.99984745e-01 5.65332359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52185806399999 meters Centerline goodness [0,1] 0.9997193497549708 Centerline is valid? [True, True] Translation: X:125.24, Y:124.01, Z:0.56 [[-1.08588388e-01 -9.94086624e-01 5.88010163e-04 1.25239790e+02] [ 9.94064576e-01 -1.08589897e-01 -6.62210889e-03 1.24012144e+02] [ 6.64680184e-03 -1.34564059e-04 9.99977901e-01 5.64560981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.551858064 meters Centerline goodness [0,1] 0.9999130661566548 Centerline is valid? [True, True] Translation: X:125.24, Y:124.04, Z:0.56 [[-1.10328184e-01 -9.93894993e-01 6.60167843e-04 1.25238023e+02] [ 9.93867384e-01 -1.10330041e-01 -7.40976668e-03 1.24039662e+02] [ 7.43736635e-03 -1.61386812e-04 9.99972329e-01 5.64421197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.581858064 meters Centerline goodness [0,1] 0.9998695425291355 Centerline is valid? [True, True] Translation: X:125.24, Y:124.07, Z:0.56 [[-1.12595203e-01 -9.93640710e-01 6.78647862e-04 1.25235499e+02] [ 9.93611717e-01 -1.12597103e-01 -7.59266464e-03 1.24068012e+02] [ 7.62079447e-03 -1.80585147e-04 9.99970945e-01 5.64726611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:124.09, Z:0.57 [[-1.16821744e-01 -9.93152662e-01 6.85849260e-04 1.25235270e+02] [ 9.93123233e-01 -1.16823564e-01 -7.64847565e-03 1.24094967e+02] [ 7.67622731e-03 -2.12375427e-04 9.99970515e-01 5.65515385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.641858064 meters Centerline goodness [0,1] 0.9998478459331391 Centerline is valid? [True, True] Translation: X:125.23, Y:124.12, Z:0.57 [[-1.18586070e-01 -9.92943543e-01 6.81543241e-04 1.25232432e+02] [ 9.92914658e-01 -1.18587821e-01 -7.57701385e-03 1.24123087e+02] [ 7.60436971e-03 -2.21814021e-04 9.99971062e-01 5.65833824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.671858064 meters Centerline goodness [0,1] 0.9999782821153219 Centerline is valid? [True, True] Translation: X:125.23, Y:124.15, Z:0.57 [[-1.20365086e-01 -9.92729433e-01 7.20086396e-04 1.25232064e+02] [ 9.92697341e-01 -1.20366987e-01 -7.98614740e-03 1.24150277e+02] [ 8.01475821e-03 -2.46425466e-04 9.99967851e-01 5.66002846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701858064 meters Centerline goodness [0,1] 0.9997838865836791 Centerline is valid? [True, True] Translation: X:125.23, Y:124.18, Z:0.57 [[-1.22104256e-01 -9.92517031e-01 7.02374740e-04 1.25229060e+02] [ 9.92486647e-01 -1.22106016e-01 -7.77022140e-03 1.24178502e+02] [ 7.79784126e-03 -2.51679550e-04 9.99969565e-01 5.66072009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.731858064 meters Centerline goodness [0,1] 0.9998705585399004 Centerline is valid? [True, True] Translation: X:125.22, Y:124.21, Z:0.57 [[-1.23355542e-01 -9.92362274e-01 7.25732401e-04 1.25223931e+02] [ 9.92330030e-01 -1.23357387e-01 -8.00413365e-03 1.24206388e+02] [ 8.03252473e-03 -2.67188188e-04 9.99967703e-01 5.66563383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761858064 meters Centerline goodness [0,1] 0.9998068835293108 Centerline is valid? [True, True] Translation: X:125.22, Y:124.23, Z:0.57 [[-1.24098661e-01 -9.92269658e-01 6.69378859e-04 1.25221112e+02] [ 9.92242395e-01 -1.24100217e-01 -7.35972668e-03 1.24233660e+02] [ 7.38590354e-03 -2.49146146e-04 9.99972693e-01 5.67323726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.791858064 meters Centerline goodness [0,1] 0.999741913282863 Centerline is valid? [True, True] Translation: X:125.21, Y:124.26, Z:0.57 [[-1.23646186e-01 -9.92326134e-01 6.81165080e-04 1.25214608e+02] [ 9.92298085e-01 -1.23647815e-01 -7.46507810e-03 1.24260826e+02] [ 7.49201667e-03 -2.47109628e-04 9.99971904e-01 5.68707862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821858064 meters Centerline goodness [0,1] 0.9998068710971868 Centerline is valid? [True, True] Translation: X:125.21, Y:124.29, Z:0.57 [[-1.22918116e-01 -9.92416531e-01 7.52460046e-04 1.25212973e+02] [ 9.92382524e-01 -1.22920136e-01 -8.21983621e-03 1.24287461e+02] [ 8.24999383e-03 -2.63638581e-04 9.99965933e-01 5.67960667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851858064 meters Centerline goodness [0,1] 0.9996787802214275 Centerline is valid? [True, True] Translation: X:125.21, Y:124.31, Z:0.57 [[-1.21755757e-01 -9.92559684e-01 8.99607982e-04 1.25209682e+02] [ 9.92511387e-01 -1.21758711e-01 -9.79603402e-03 1.24314815e+02] [ 9.83268354e-03 -2.99852367e-04 9.99951613e-01 5.66786362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881858064 meters Centerline goodness [0,1] 0.9998281380910439 Centerline is valid? [True, True] Translation: X:125.20, Y:124.34, Z:0.57 [[-1.16403405e-01 -9.93201310e-01 1.18533923e-03 1.25196019e+02] [ 9.93117889e-01 -1.16408995e-01 -1.28765151e-02 1.24342254e+02] [ 1.29269558e-02 -3.21688599e-04 9.99916392e-01 5.66935320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911858064 meters Centerline goodness [0,1] 0.9998068213526798 Centerline is valid? [True, True] Translation: X:125.19, Y:124.37, Z:0.57 [[-1.13214681e-01 -9.93569742e-01 1.26633666e-03 1.25192448e+02] [ 9.93474904e-01 -1.13221375e-01 -1.37308453e-02 1.24369644e+02] [ 1.37859288e-02 -2.96459584e-04 9.99904926e-01 5.65862743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941858064 meters Centerline goodness [0,1] 0.9996794597828874 Centerline is valid? [True, True] Translation: X:125.19, Y:124.40, Z:0.57 [[-1.10644454e-01 -9.93859122e-01 1.36027410e-03 1.25186038e+02] [ 9.93750288e-01 -1.10652471e-01 -1.47104025e-02 1.24396897e+02] [ 1.47705854e-02 -2.75851658e-04 9.99890871e-01 5.65981734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971858064 meters Centerline goodness [0,1] 0.999656748117478 Centerline is valid? [True, True] Translation: X:125.18, Y:124.42, Z:0.57 [[-1.07834814e-01 -9.94167804e-01 1.42514774e-03 1.25179705e+02] [ 9.94049053e-01 -1.07843963e-01 -1.53675185e-02 1.24424874e+02] [ 1.54315857e-02 -2.40486740e-04 9.99880897e-01 5.66788452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.17, Y:124.45, Z:0.57 [[-1.03436007e-01 -9.94635004e-01 1.48380275e-03 1.25171082e+02] [ 9.94507078e-01 -1.03446502e-01 -1.59528286e-02 1.24452524e+02] [ 1.60207360e-02 -1.74444561e-04 9.99871645e-01 5.70169022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.17, Y:124.48, Z:0.57 [[-1.01647641e-01 -9.94819383e-01 1.46734884e-03 1.25165930e+02] [ 9.94695130e-01 -1.01658137e-01 -1.57232705e-02 1.24478441e+02] [ 1.57909822e-02 -1.38668609e-04 9.99875305e-01 5.71411258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.16, Y:124.51, Z:0.57 [[-1.00068508e-01 -9.94979504e-01 1.44244703e-03 1.25159844e+02] [ 9.94860235e-01 -1.00078847e-01 -1.54057547e-02 1.24505689e+02] [ 1.54727686e-02 -1.06597697e-04 9.99880284e-01 5.72417752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.15, Y:124.53, Z:0.57 [[-9.69039888e-02 -9.95292718e-01 1.42223673e-03 1.25150897e+02] [ 9.95177496e-01 -9.69144111e-02 -1.51442216e-02 1.24532704e+02] [ 1.52107687e-02 -5.21574924e-05 9.99884308e-01 5.73685774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121858064 meters Centerline goodness [0,1] 0.9999787491765306 Centerline is valid? [True, True] Translation: X:125.15, Y:124.56, Z:0.57 [[-9.61548719e-02 -9.95365303e-01 1.46771030e-03 1.25146388e+02] [ 9.95243431e-01 -9.61660658e-02 -1.55756425e-02 1.24558914e+02] [ 1.56445980e-02 -3.69448754e-05 9.99877615e-01 5.73084800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:124.59, Z:0.57 [[-9.57608826e-02 -9.95403059e-01 1.61348979e-03 1.25140648e+02] [ 9.95256704e-01 -9.57744703e-02 -1.70687917e-02 1.24585879e+02] [ 1.71448586e-02 -2.86860277e-05 9.99853016e-01 5.72894899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:124.61, Z:0.57 [[-9.60476459e-02 -9.95375421e-01 1.61910597e-03 1.25136618e+02] [ 9.95228983e-01 -9.60612876e-02 -1.70734058e-02 1.24613153e+02] [ 1.71499819e-02 -2.84792488e-05 9.99852928e-01 5.73879010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.13, Y:124.64, Z:0.57 [[-9.61856478e-02 -9.95361918e-01 1.72452356e-03 1.25132630e+02] [ 9.95196873e-01 -9.62011023e-02 -1.81254577e-02 1.24640242e+02] [ 1.82072914e-02 -2.71684364e-05 9.99834233e-01 5.73730198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.13, Y:124.67, Z:0.57 [[-9.57994830e-02 -9.95399027e-01 1.79904738e-03 1.25126689e+02] [ 9.95220366e-01 -9.58163726e-02 -1.88585853e-02 1.24665679e+02] [ 1.89441957e-02 -1.61941316e-05 9.99820542e-01 5.71430176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27185806399999 meters Centerline goodness [0,1] 0.9999788998375287 Centerline is valid? [True, True] Translation: X:125.12, Y:124.69, Z:0.57 [[-9.53396702e-02 -9.95443034e-01 1.87466234e-03 1.25121630e+02] [ 9.95250245e-01 -9.53580991e-02 -1.95903923e-02 1.24692159e+02] [ 1.96798838e-02 -1.98339182e-06 9.99806332e-01 5.72726237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:124.72, Z:0.57 [[-9.49486804e-02 -9.95480316e-01 1.92046798e-03 1.25116540e+02] [ 9.95279303e-01 -9.49680997e-02 -2.00042037e-02 1.24718655e+02] [ 2.00961742e-02 1.20292861e-05 9.99798051e-01 5.72795715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.11, Y:124.75, Z:0.57 [[-9.44268439e-02 -9.95529852e-01 1.97111555e-03 1.25110354e+02] [ 9.95319473e-01 -9.44474101e-02 -2.04654238e-02 1.24745236e+02] [ 2.05601071e-02 2.94043106e-05 9.99788618e-01 5.72056391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.11, Y:124.77, Z:0.57 [[-9.50265819e-02 -9.95472726e-01 2.00001648e-03 1.25107190e+02] [ 9.95257508e-01 -9.50476237e-02 -2.06988423e-02 1.24772764e+02] [ 2.07952298e-02 2.35911776e-05 9.99783756e-01 5.71987344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.391858064 meters Centerline goodness [0,1] 0.9999578299281 Centerline is valid? [True, True] Translation: X:125.11, Y:124.80, Z:0.57 [[-9.59305314e-02 -9.95385890e-01 2.06463339e-03 1.25105215e+02] [ 9.95158046e-01 -9.59527458e-02 -2.12963455e-02 1.24799288e+02] [ 2.13961891e-02 1.16667865e-05 9.99771075e-01 5.68819185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:124.83, Z:0.57 [[-9.76551303e-02 -9.95218086e-01 2.10646184e-03 1.25103597e+02] [ 9.94982278e-01 -9.76778443e-02 -2.16634399e-02 1.24827662e+02] [ 2.17656018e-02 -1.96538469e-05 9.99763101e-01 5.73322146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:124.85, Z:0.57 [[-1.02079098e-01 -9.94774153e-01 2.05962135e-03 1.25103281e+02] [ 9.94549619e-01 -1.02099816e-01 -2.11348904e-02 1.24854406e+02] [ 2.12347297e-02 -1.09034918e-04 9.99774512e-01 5.73059461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:124.88, Z:0.57 [[-1.04574738e-01 -9.94514929e-01 2.04448057e-03 1.25101914e+02] [ 9.94294847e-01 -1.04594607e-01 -2.09218755e-02 1.24882774e+02] [ 2.10209591e-02 -1.55083151e-04 9.99779023e-01 5.73783322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:124.91, Z:0.57 [[-1.07238032e-01 -9.94231433e-01 1.96506990e-03 1.25099766e+02] [ 9.94029252e-01 -1.07255854e-01 -2.00506597e-02 1.24911196e+02] [ 2.01457614e-02 -1.96856321e-04 9.99797034e-01 5.74640282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:124.94, Z:0.57 [[-1.11660030e-01 -9.93744769e-01 1.83650559e-03 1.25100087e+02] [ 9.93569043e-01 -1.11674824e-01 -1.86893007e-02 1.24938803e+02] [ 1.87774862e-02 -2.62152767e-04 9.99823653e-01 5.73726098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:124.97, Z:0.57 [[-1.14017379e-01 -9.93477182e-01 1.76790344e-03 1.25097454e+02] [ 9.93315192e-01 -1.14030717e-01 -1.79422955e-02 1.24967007e+02] [ 1.80268564e-02 -2.89648164e-04 9.99837461e-01 5.74603613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:124.99, Z:0.58 [[-1.16387676e-01 -9.93202448e-01 1.67524126e-03 1.25095386e+02] [ 9.93057766e-01 -1.16399320e-01 -1.69549842e-02 1.24994997e+02] [ 1.70347288e-02 -3.09739868e-04 9.99854851e-01 5.75125991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:125.02, Z:0.57 [[-1.20603279e-01 -9.92699513e-01 1.58953683e-03 1.25094686e+02] [ 9.92569943e-01 -1.20613225e-01 -1.60423614e-02 1.25023077e+02] [ 1.61169635e-02 -3.57034902e-04 9.99870050e-01 5.74513395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:125.05, Z:0.57 [[-1.22410427e-01 -9.92478336e-01 1.56222899e-03 1.25094420e+02] [ 9.92353826e-01 -1.22419822e-01 -1.57248882e-02 1.25050807e+02] [ 1.57978587e-02 -3.74606363e-04 9.99875136e-01 5.73329108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:125.08, Z:0.57 [[-1.24207416e-01 -9.92255096e-01 1.53014585e-03 1.25090282e+02] [ 9.92136272e-01 -1.24216230e-01 -1.53605654e-02 1.25078703e+02] [ 1.54316682e-02 -3.89782933e-04 9.99880849e-01 5.73807615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:125.11, Z:0.57 [[-1.26476409e-01 -9.91968689e-01 1.35570373e-03 1.25087965e+02] [ 9.91875887e-01 -1.26483128e-01 -1.35736581e-02 1.25106913e+02] [ 1.36361175e-02 -3.72057693e-04 9.99906955e-01 5.73253777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:125.13, Z:0.57 [[-1.27372879e-01 -9.91854003e-01 1.33654551e-03 1.25087040e+02] [ 9.91764324e-01 -1.27379342e-01 -1.33427825e-02 1.25134001e+02] [ 1.34043405e-02 -3.73970464e-04 9.99910088e-01 5.72861152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.08, Y:125.16, Z:0.57 [[-1.28171336e-01 -9.91751268e-01 1.23723303e-03 1.25084069e+02] [ 9.91674842e-01 -1.28176825e-01 -1.23170254e-02 1.25161987e+02] [ 1.23740101e-02 -3.51756725e-04 9.99923377e-01 5.73152795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.08, Y:125.19, Z:0.57 [[-1.28646844e-01 -9.91689977e-01 9.89717747e-04 1.25080436e+02] [ 9.91641328e-01 -1.28650341e-01 -9.82685140e-03 1.25188772e+02] [ 9.87251756e-03 -2.82748402e-04 9.99951226e-01 5.73466027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.08, Y:125.22, Z:0.57 [[-1.28574227e-01 -9.91699511e-01 8.64958059e-04 1.25075266e+02] [ 9.91662552e-01 -1.28576905e-01 -8.56516323e-03 1.25216343e+02] [ 8.60528182e-03 -2.43512723e-04 9.99962944e-01 5.73923274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:125.24, Z:0.57 [[-1.28086319e-01 -9.91762707e-01 7.91827830e-04 1.25070482e+02] [ 9.91731894e-01 -1.28088584e-01 -7.82075819e-03 1.25244571e+02] [ 7.85776042e-03 -2.16451214e-04 9.99969104e-01 5.73688700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:125.27, Z:0.57 [[-1.27315038e-01 -9.91862040e-01 7.58146970e-04 1.25065461e+02] [ 9.91833943e-01 -1.27317140e-01 -7.46823882e-03 1.25271845e+02] [ 7.50398769e-03 -1.98863211e-04 9.99971825e-01 5.73539771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.06, Y:125.30, Z:0.57 [[-1.25058497e-01 -9.92149171e-01 6.27677941e-04 1.25058242e+02] [ 9.92129992e-01 -1.25059983e-01 -6.17082456e-03 1.25300027e+02] [ 6.20087587e-03 -1.48975934e-04 9.99980763e-01 5.72628556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:125.33, Z:0.57 [[-1.24336411e-01 -9.92239993e-01 5.03775007e-04 1.25052592e+02] [ 9.92227682e-01 -1.24337379e-01 -4.94406502e-03 1.25327511e+02] [ 4.96833710e-03 -1.14867794e-04 9.99987651e-01 5.72784719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:125.36, Z:0.57 [[-1.23064164e-01 -9.92398668e-01 3.09647875e-04 1.25046149e+02] [ 9.92394032e-01 -1.23064535e-01 -3.03402293e-03 1.25355571e+02] [ 3.04906699e-03 -6.60867911e-05 9.99995349e-01 5.72848796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:125.38, Z:0.57 [[-1.23251868e-01 -9.92375410e-01 1.49656605e-04 1.25042216e+02] [ 9.92374325e-01 -1.23251955e-01 -1.46763742e-03 1.25382381e+02] [ 1.47489276e-03 -3.23736814e-05 9.99998912e-01 5.72700849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:125.41, Z:0.57 [[-1.23711085e-01 -9.92318279e-01 3.44775748e-05 1.25035793e+02] [ 9.92318219e-01 -1.23711089e-01 -3.44301825e-04 1.25409697e+02] [ 3.45922252e-04 -8.38122670e-06 9.99999940e-01 5.72193490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.03, Y:125.44, Z:0.57 [[-1.24202789e-01 -9.92256844e-01 -1.50904002e-04 1.25028251e+02] [ 9.92255782e-01 -1.24202877e-01 1.45235784e-03 1.25437212e+02] [-1.45985471e-03 3.06515247e-05 9.99998934e-01 5.71391606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:125.46, Z:0.57 [[-1.23896532e-01 -9.92295124e-01 -1.88996001e-04 1.25023483e+02] [ 9.92293463e-01 -1.23896671e-01 1.81634198e-03 1.25464536e+02] [-1.82576326e-03 3.74989756e-05 9.99998333e-01 5.71356902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:125.49, Z:0.57 [[-1.24177034e-01 -9.92260061e-01 -1.89510295e-04 1.25020582e+02] [ 9.92258399e-01 -1.24177173e-01 1.81628853e-03 1.25491950e+02] [-1.82576342e-03 3.74981401e-05 9.99998333e-01 5.71450693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:125.52, Z:0.57 [[-1.23260353e-01 -9.92374303e-01 -3.58383542e-04 1.25014004e+02] [ 9.92368364e-01 -1.23260855e-01 3.43380955e-03 1.25519658e+02] [-3.45179902e-03 6.76040866e-05 9.99994040e-01 5.71420846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:125.55, Z:0.57 [[-1.23082733e-01 -9.92396328e-01 -4.11845562e-04 1.25008157e+02] [ 9.92388524e-01 -1.23083399e-01 3.93637832e-03 1.25547529e+02] [-3.95713875e-03 7.57893934e-05 9.99992168e-01 5.71072883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.00, Y:125.57, Z:0.57 [[-1.22303028e-01 -9.92492690e-01 -4.78682135e-04 1.25003272e+02] [ 9.92482203e-01 -1.22303937e-01 4.56331690e-03 1.25574305e+02] [-4.58760337e-03 8.30239761e-05 9.99989473e-01 5.70861136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.00, Y:125.60, Z:0.57 [[-1.21401067e-01 -9.92603399e-01 -5.23350074e-04 1.24996180e+02] [ 9.92590925e-01 -1.21402166e-01 4.97689310e-03 1.25601806e+02] [-5.00361684e-03 8.47275985e-05 9.99987478e-01 5.70065640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:125.63, Z:0.57 [[-1.17840756e-01 -9.93032273e-01 -6.79581337e-04 1.24986508e+02] [ 9.93011280e-01 -1.17842684e-01 6.45751133e-03 1.25627859e+02] [-6.49260084e-03 8.61260817e-05 9.99978919e-01 5.69254020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:125.66, Z:0.57 [[-1.15847457e-01 -9.93266757e-01 -7.18893742e-04 1.24980231e+02] [ 9.93243414e-01 -1.15849663e-01 6.80996461e-03 1.25655475e+02] [-6.84739506e-03 7.48806065e-05 9.99976554e-01 5.69354735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:125.68, Z:0.57 [[-1.13871906e-01 -9.93495046e-01 -8.85010920e-04 1.24973730e+02] [ 9.93459852e-01 -1.13875322e-01 8.36264843e-03 1.25682699e+02] [-8.40903069e-03 7.30479026e-05 9.99964641e-01 5.68811002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.96, Y:125.71, Z:0.57 [[-1.09942504e-01 -9.93937399e-01 -1.04544971e-03 1.24964715e+02] [ 9.93888573e-01 -1.09947466e-01 9.85182189e-03 1.25708868e+02] [-9.90703877e-03 4.40734505e-05 9.99950923e-01 5.69560792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.96, Y:125.74, Z:0.57 [[-1.08071009e-01 -9.94142546e-01 -1.12017168e-03 1.24958720e+02] [ 9.94086812e-01 -1.08076811e-01 1.05268240e-02 1.25735590e+02] [-1.05862282e-02 2.40965990e-05 9.99943964e-01 5.69931015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:125.76, Z:0.57 [[-1.06268157e-01 -9.94336793e-01 -1.19212510e-03 1.24952506e+02] [ 9.94274001e-01 -1.06274844e-01 1.11744775e-02 1.25762689e+02] [-1.12378871e-02 2.19213924e-06 9.99936853e-01 5.69581811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471858064 meters Centerline goodness [0,1] 0.9999789633120162 Centerline is valid? [True, True] Translation: X:124.94, Y:125.79, Z:0.57 [[-1.03610510e-01 -9.94617104e-01 -1.29571567e-03 1.24944451e+02] [ 9.94543344e-01 -1.03618607e-01 1.21128413e-02 1.25789673e+02] [-1.21818994e-02 -3.36277322e-05 9.99925797e-01 5.67530156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.94, Y:125.82, Z:0.57 [[-1.02720349e-01 -9.94709522e-01 -1.22337222e-03 1.24939428e+02] [ 9.94644164e-01 -1.02727624e-01 1.14027698e-02 1.25816589e+02] [-1.14681178e-02 -4.55235439e-05 9.99934238e-01 5.67385915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531858064 meters Centerline goodness [0,1] 0.999979040033536 Centerline is valid? [True, True] Translation: X:124.93, Y:125.84, Z:0.57 [[-1.00996238e-01 -9.94886158e-01 -1.13676081e-03 1.24933802e+02] [ 9.94829932e-01 -1.01002616e-01 1.05772004e-02 1.25843609e+02] [-1.06379260e-02 -6.26262337e-05 9.99943414e-01 5.67155996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561858064 meters Centerline goodness [0,1] 0.9999790632916693 Centerline is valid? [True, True] Translation: X:124.93, Y:125.87, Z:0.57 [[-1.00750539e-01 -9.94911114e-01 -1.09700147e-03 1.24929936e+02] [ 9.94859061e-01 -1.00756490e-01 1.01773981e-02 1.25871822e+02] [-1.02361365e-02 -6.59835017e-05 9.99947607e-01 5.66634695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591858064 meters Centerline goodness [0,1] 0.9999163669816844 Centerline is valid? [True, True] Translation: X:124.93, Y:125.90, Z:0.57 [[-1.00727682e-01 -9.94913452e-01 -1.07541474e-03 1.24926102e+02] [ 9.94863714e-01 -1.00733400e-01 9.94852062e-03 1.25898399e+02] [-1.00062472e-02 -6.77996844e-05 9.99949934e-01 5.66558645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621858064 meters Centerline goodness [0,1] 0.9999371675114146 Centerline is valid? [True, True] Translation: X:124.92, Y:125.93, Z:0.57 [[-1.01113456e-01 -9.94874348e-01 -1.04898659e-03 1.24922413e+02] [ 9.94827284e-01 -1.01118877e-01 9.67714708e-03 1.25925237e+02] [-9.73361774e-03 -6.50706909e-05 9.99952625e-01 5.66620474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651858064 meters Centerline goodness [0,1] 0.9999371293249785 Centerline is valid? [True, True] Translation: X:124.92, Y:125.95, Z:0.56 [[-1.02645890e-01 -9.94717564e-01 -8.88144636e-04 1.24920248e+02] [ 9.94683989e-01 -1.02649722e-01 8.17288712e-03 1.25953697e+02] [-8.22088217e-03 -4.45099797e-05 9.99966207e-01 5.64829122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:125.98, Z:0.56 [[-1.04298715e-01 -9.94545607e-01 -9.01983432e-04 1.24918334e+02] [ 9.94511156e-01 -1.04302610e-01 8.27802128e-03 1.25981416e+02] [-8.32694892e-03 -3.36456012e-05 9.99965330e-01 5.64461258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.01, Z:0.56 [[-1.06500796e-01 -9.94312330e-01 -7.55536194e-04 1.24917119e+02] [ 9.94288287e-01 -1.06503475e-01 6.91466874e-03 1.26009020e+02] [-6.95580762e-03 -1.48030605e-05 9.99975808e-01 5.64681496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74185806399998 meters Centerline goodness [0,1] 0.9999790567144173 Centerline is valid? [True, True] Translation: X:124.92, Y:126.04, Z:0.56 [[-1.11684310e-01 -9.93743538e-01 -6.28950607e-04 1.24919671e+02] [ 9.93726960e-01 -1.11686079e-01 5.74010328e-03 1.26037268e+02] [-5.77443557e-03 1.60742967e-05 9.99983328e-01 5.63378217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.06, Z:0.56 [[-1.14590107e-01 -9.93412697e-01 -5.67104026e-04 1.24920192e+02] [ 9.93399294e-01 -1.14591507e-01 5.16043060e-03 1.26064551e+02] [-5.19142258e-03 2.79735554e-05 9.99986524e-01 5.63317139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.09, Z:0.56 [[-1.17290006e-01 -9.93097592e-01 -4.76682254e-04 1.24920253e+02] [ 9.93088172e-01 -1.17290970e-01 4.32569542e-03 1.26092826e+02] [-4.35174823e-03 3.39733339e-05 9.99990531e-01 5.62932257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.12, Z:0.56 [[-1.21511954e-01 -9.92589939e-01 -2.40129160e-04 1.24923548e+02] [ 9.92587571e-01 -1.21512188e-01 2.16854864e-03 1.26120017e+02] [-2.18165818e-03 2.51553620e-05 9.99997620e-01 5.62300444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.15, Z:0.56 [[-1.23032033e-01 -9.92402694e-01 -1.11270470e-04 1.24923712e+02] [ 9.92402193e-01 -1.23032082e-01 9.96796244e-04 1.26147272e+02] [-1.00291312e-03 1.22128097e-05 9.99999497e-01 5.61960077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.17, Z:0.56 [[-1.23964505e-01 -9.92286653e-01 9.44942706e-06 1.24923268e+02] [ 9.92286649e-01 -1.23964506e-01 -9.25433968e-05 1.26173828e+02] [ 9.30009709e-05 -2.09555609e-06 9.99999996e-01 5.61714817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.20, Z:0.56 [[-1.24388325e-01 -9.92233601e-01 1.60417853e-04 1.24923597e+02] [ 9.92232538e-01 -1.24388426e-01 -1.45242515e-03 1.26202267e+02] [ 1.46109916e-03 -2.14929180e-05 9.99998932e-01 5.61573229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.23, Z:0.56 [[-1.24328193e-01 -9.92241136e-01 1.67346030e-04 1.24923734e+02] [ 9.92239985e-01 -1.24328304e-01 -1.51184413e-03 1.26228599e+02] [ 1.52091979e-03 -2.19174272e-05 9.99998843e-01 5.62358377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.26, Z:0.56 [[-1.24108779e-01 -9.92268604e-01 1.70722500e-04 1.24922596e+02] [ 9.92267413e-01 -1.24108895e-01 -1.53743837e-03 1.26255041e+02] [ 1.54674000e-03 -2.14072258e-05 9.99998804e-01 5.63110535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.28, Z:0.56 [[-1.22662178e-01 -9.92448469e-01 1.64707149e-04 1.24920626e+02] [ 9.92447366e-01 -1.22662287e-01 -1.47926691e-03 1.26282080e+02] [ 1.48829954e-03 -1.79869248e-05 9.99998892e-01 5.64751157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.31, Z:0.57 [[-1.21902682e-01 -9.92542049e-01 1.32084662e-04 1.24918826e+02] [ 9.92541342e-01 -1.21902753e-01 -1.18483432e-03 1.26308759e+02] [ 1.19209937e-03 -1.33349941e-05 9.99999289e-01 5.65448254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:126.34, Z:0.57 [[-1.20965999e-01 -9.92656637e-01 1.65398206e-04 1.24915624e+02] [ 9.92655538e-01 -1.20966111e-01 -1.47733957e-03 1.26335712e+02] [ 1.48649850e-03 -1.45244112e-05 9.99998895e-01 5.65871621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.91, Y:126.36, Z:0.57 [[-1.20108792e-01 -9.92760712e-01 2.14288679e-04 1.24913557e+02] [ 9.92758882e-01 -1.20108982e-01 -1.90623884e-03 1.26362358e+02] [ 1.91817702e-03 -1.62190550e-05 9.99998160e-01 5.66317401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.91, Y:126.39, Z:0.57 [[-1.17970465e-01 -9.93017076e-01 2.38104673e-04 1.24911002e+02] [ 9.93014830e-01 -1.17970704e-01 -2.11195332e-03 1.26387925e+02] [ 2.12529509e-03 -1.27066436e-05 9.99997741e-01 5.67242671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.91, Y:126.42, Z:0.57 [[-1.16993035e-01 -9.93132715e-01 2.02298323e-04 1.24907490e+02] [ 9.93131102e-01 -1.16993209e-01 -1.78982544e-03 1.26415648e+02] [ 1.80120173e-03 -8.48835362e-06 9.99998378e-01 5.67780577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:126.44, Z:0.57 [[-1.16171401e-01 -9.93229172e-01 1.33912465e-04 1.24904890e+02] [ 9.93228465e-01 -1.16171478e-01 -1.18488856e-03 1.26443794e+02] [ 1.19242269e-03 -4.64449156e-06 9.99999289e-01 5.68270731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:126.47, Z:0.57 [[-1.14208871e-01 -9.93456737e-01 2.14748103e-04 1.24902752e+02] [ 9.93454939e-01 -1.14209073e-01 -1.89011085e-03 1.26470865e+02] [ 1.90226954e-03 -2.52486432e-06 9.99998191e-01 5.69447306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:126.50, Z:0.57 [[-1.13483987e-01 -9.93539808e-01 1.86353618e-04 1.24899297e+02] [ 9.93538460e-01 -1.13484140e-01 -1.63670875e-03 1.26497697e+02] [ 1.64728348e-03 -5.90747355e-07 9.99998643e-01 5.69507929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:126.53, Z:0.57 [[-1.12585697e-01 -9.93641999e-01 1.98637262e-04 1.24895546e+02] [ 9.93640476e-01 -1.12585873e-01 -1.73924990e-03 1.26525344e+02] [ 1.75055549e-03 1.55936052e-06 9.99998468e-01 5.69859720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:126.55, Z:0.57 [[-1.12014047e-01 -9.93706600e-01 2.15439685e-04 1.24892499e+02] [ 9.93704819e-01 -1.12014254e-01 -1.88112162e-03 1.26553420e+02] [ 1.89341528e-03 3.37140762e-06 9.99998207e-01 5.69806294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:126.58, Z:0.57 [[-1.11452038e-01 -9.93769757e-01 3.36458287e-04 1.24890622e+02] [ 9.93765450e-01 -1.11452545e-01 -2.92573044e-03 1.26580960e+02] [ 2.94500156e-03 8.28200258e-06 9.99995663e-01 5.70380381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:126.61, Z:0.57 [[-1.12190286e-01 -9.93686691e-01 3.16689065e-04 1.24888174e+02] [ 9.93682892e-01 -1.12190733e-01 -2.74751729e-03 1.26609211e+02] [ 2.76570095e-03 6.44375443e-06 9.99996175e-01 5.70436849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:126.64, Z:0.57 [[-1.13191277e-01 -9.93573164e-01 3.18945591e-04 1.24885571e+02] [ 9.93569330e-01 -1.13191726e-01 -2.76022551e-03 1.26636977e+02] [ 2.77858799e-03 4.46110668e-06 9.99996140e-01 5.71176628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:126.66, Z:0.57 [[-1.16164970e-01 -9.93229874e-01 3.41185330e-04 1.24883633e+02] [ 9.93225509e-01 -1.16165471e-01 -2.94487901e-03 1.26664461e+02] [ 2.96457576e-03 -3.21780734e-06 9.99995606e-01 5.71709852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:126.69, Z:0.57 [[-1.18072796e-01 -9.93004879e-01 3.54111814e-04 1.24881224e+02] [ 9.93000201e-01 -1.18073327e-01 -3.04812251e-03 1.26692408e+02] [ 3.06861168e-03 -8.26724453e-06 9.99995292e-01 5.71702640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:126.72, Z:0.57 [[-1.19948443e-01 -9.92780037e-01 4.11992439e-04 1.24879267e+02] [ 9.92773738e-01 -1.19949149e-01 -3.53644640e-03 1.26719047e+02] [ 3.56033153e-03 -1.51759636e-05 9.99993662e-01 5.71632051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:126.75, Z:0.57 [[-1.23349170e-01 -9.92363169e-01 5.68257034e-04 1.24877410e+02] [ 9.92351257e-01 -1.23350473e-01 -4.86242849e-03 1.26747048e+02] [ 4.89538972e-03 -3.58659342e-05 9.99988017e-01 5.71287870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:126.77, Z:0.57 [[-1.24822784e-01 -9.92178853e-01 6.29854739e-04 1.24873833e+02] [ 9.92164290e-01 -1.24824364e-01 -5.37582828e-03 1.26774637e+02] [ 5.41240435e-03 -4.61064695e-05 9.99985352e-01 5.71239220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.581858064 meters Centerline goodness [0,1] 0.9999789867406333 Centerline is valid? [True, True] Translation: X:124.87, Y:126.80, Z:0.57 [[-1.26799895e-01 -9.91928027e-01 7.58528939e-04 1.24869887e+02] [ 9.91907014e-01 -1.26802146e-01 -6.45686832e-03 1.26802824e+02] [ 6.50093175e-03 -6.63400495e-05 9.99978867e-01 5.70521769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:126.83, Z:0.57 [[-1.27835125e-01 -9.91795066e-01 8.53158804e-04 1.24865954e+02] [ 9.91768614e-01 -1.27837947e-01 -7.24406924e-03 1.26830462e+02] [ 7.29369820e-03 -7.99103700e-05 9.99973397e-01 5.70182981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:126.86, Z:0.57 [[-1.29544590e-01 -9.91573146e-01 9.46128479e-04 1.24861880e+02] [ 9.91540774e-01 -1.29548007e-01 -8.01290452e-03 1.26856833e+02] [ 8.06795000e-03 -9.99034685e-05 9.99967449e-01 5.70026461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:126.88, Z:0.57 [[-1.30684292e-01 -9.91423574e-01 9.55054594e-04 1.24856831e+02] [ 9.91390747e-01 -1.30687737e-01 -8.06857335e-03 1.26884050e+02] [ 8.12418776e-03 -1.07603508e-04 9.99966992e-01 5.70137909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.85, Y:126.91, Z:0.57 [[-1.32322705e-01 -9.91206294e-01 8.85859540e-04 1.24852593e+02] [ 9.91178158e-01 -1.32325624e-01 -7.46917919e-03 1.26910967e+02] [ 7.52071934e-03 -1.10297365e-04 9.99971713e-01 5.70508418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.85, Y:126.94, Z:0.57 [[-1.32923172e-01 -9.91125962e-01 8.70427783e-04 1.24848728e+02] [ 9.91098909e-01 -1.32925976e-01 -7.32382203e-03 1.26938275e+02] [ 7.37453262e-03 -1.10825630e-04 9.99972802e-01 5.70877576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.85, Y:126.96, Z:0.57 [[-1.33579478e-01 -9.91037765e-01 8.19251877e-04 1.24845313e+02] [ 9.91013911e-01 -1.33581948e-01 -6.87689857e-03 1.26964852e+02] [ 6.92470345e-03 -1.06722514e-04 9.99976018e-01 5.71233169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.84, Y:126.99, Z:0.57 [[-1.34254287e-01 -9.90946609e-01 7.77353851e-04 1.24841342e+02] [ 9.90925239e-01 -1.34256498e-01 -6.50865470e-03 1.26990463e+02] [ 6.55409412e-03 -1.03515248e-04 9.99978516e-01 5.71063441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.83, Y:127.02, Z:0.57 [[-1.35135096e-01 -9.90826794e-01 8.77471284e-04 1.24834195e+02] [ 9.90799708e-01 -1.35137891e-01 -7.32731470e-03 1.27017565e+02] [ 7.37867935e-03 -1.20779087e-04 9.99972770e-01 5.70837150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.83, Y:127.05, Z:0.57 [[-1.35895709e-01 -9.90722754e-01 8.83814623e-04 1.24829234e+02] [ 9.90695401e-01 -1.35898526e-01 -7.36292005e-03 1.27045672e+02] [ 7.41472153e-03 -1.24998160e-04 9.99972503e-01 5.70833650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881858064 meters Centerline goodness [0,1] 0.9998748644364729 Centerline is valid? [True, True] Translation: X:124.83, Y:127.07, Z:0.57 [[-1.36406088e-01 -9.90652543e-01 9.58748731e-04 1.24826186e+02] [ 9.90620486e-01 -1.36409388e-01 -7.97062413e-03 1.27073029e+02] [ 8.02690138e-03 -1.37485523e-04 9.99967774e-01 5.69458280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.82, Y:127.10, Z:0.57 [[-1.37403814e-01 -9.90514678e-01 9.29863817e-04 1.24820615e+02] [ 9.90484644e-01 -1.37406890e-01 -7.71472145e-03 1.27100671e+02] [ 7.76931453e-03 -1.39016322e-04 9.99969809e-01 5.70501790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.82, Y:127.13, Z:0.57 [[-1.38037314e-01 -9.90426529e-01 9.95728117e-04 1.24816047e+02] [ 9.90392226e-01 -1.38040822e-01 -8.24443656e-03 1.27127665e+02] [ 8.30295981e-03 -1.51878495e-04 9.99965518e-01 5.70029993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:127.15, Z:0.57 [[-1.38268287e-01 -9.90394276e-01 1.02887172e-03 1.24811572e+02] [ 9.90357814e-01 -1.38272026e-01 -8.49983277e-03 1.27154477e+02] [ 8.56044990e-03 -1.56306172e-04 9.99963346e-01 5.69844871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:127.18, Z:0.57 [[-1.38031984e-01 -9.90427217e-01 1.04846899e-03 1.24807277e+02] [ 9.90389553e-01 -1.38035880e-01 -8.63887829e-03 1.27180386e+02] [ 8.70090652e-03 -1.54048773e-04 9.99962135e-01 5.69564607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.80, Y:127.21, Z:0.57 [[-1.36669195e-01 -9.90616218e-01 1.01928521e-03 1.24798770e+02] [ 9.90580801e-01 -1.36672929e-01 -8.37779785e-03 1.27207214e+02] [ 8.43849112e-03 -1.35302532e-04 9.99964386e-01 5.69137451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.80, Y:127.23, Z:0.57 [[-1.36967002e-01 -9.90575084e-01 1.02174729e-03 1.24795423e+02] [ 9.90539667e-01 -1.36970746e-01 -8.37749778e-03 1.27233732e+02] [ 8.43849006e-03 -1.35359536e-04 9.99964386e-01 5.69228399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.79, Y:127.26, Z:0.57 [[-1.35978577e-01 -9.90711179e-01 1.08947214e-03 1.24788318e+02] [ 9.90671112e-01 -1.35982877e-01 -8.91095983e-03 1.27261420e+02] [ 8.97633708e-03 -1.32391061e-04 9.99959703e-01 5.69370676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.78, Y:127.29, Z:0.57 [[-1.33902476e-01 -9.90993889e-01 1.11275861e-03 1.24781464e+02] [ 9.90952262e-01 -1.33907052e-01 -9.08378752e-03 1.27287647e+02] [ 9.15098415e-03 -1.13650983e-04 9.99958122e-01 5.69282311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.78, Y:127.32, Z:0.57 [[-1.33152687e-01 -9.91094948e-01 1.07948274e-03 1.24776513e+02] [ 9.91055935e-01 -1.33157024e-01 -8.79429481e-03 1.27315280e+02] [ 8.85972187e-03 -1.01156210e-04 9.99960747e-01 5.69775101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.77, Y:127.34, Z:0.57 [[-1.32252345e-01 -9.91215471e-01 1.09915062e-03 1.24771368e+02] [ 9.91175211e-01 -1.32256880e-01 -8.93418308e-03 1.27343128e+02] [ 9.00107072e-03 -9.21158175e-05 9.99959485e-01 5.69916488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.76, Y:127.37, Z:0.57 [[-1.30670877e-01 -9.91425225e-01 1.07035567e-03 1.24764642e+02] [ 9.91387209e-01 -1.30675240e-01 -8.68233473e-03 1.27369123e+02] [ 8.74775464e-03 -7.33913739e-05 9.99961735e-01 5.70322666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.76, Y:127.40, Z:0.57 [[-1.29819269e-01 -9.91537096e-01 1.07008997e-03 1.24759945e+02] [ 9.91499275e-01 -1.29823664e-01 -8.66045571e-03 1.27395871e+02] [ 8.72608610e-03 -6.33006041e-05 9.99961925e-01 5.70683542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.76, Y:127.42, Z:0.57 [[-1.28979685e-01 -9.91646692e-01 1.03892373e-03 1.24755473e+02] [ 9.91611219e-01 -1.28983858e-01 -8.38771197e-03 1.27423062e+02] [ 8.45165122e-03 -5.16360212e-05 9.99964283e-01 5.71284410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:127.45, Z:0.57 [[-1.28504780e-01 -9.91708396e-01 9.89518086e-04 1.24751332e+02] [ 9.91676373e-01 -1.28508583e-01 -7.96964985e-03 1.27449636e+02] [ 8.03073023e-03 -4.28563958e-05 9.99967752e-01 5.71903175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:127.48, Z:0.57 [[-1.27526771e-01 -9.91834706e-01 9.15643002e-04 1.24747194e+02] [ 9.91807422e-01 -1.27530054e-01 -7.35681538e-03 1.27475518e+02] [ 7.41351682e-03 -3.00493833e-05 9.99972519e-01 5.72924790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.74, Y:127.50, Z:0.57 [[-1.27210205e-01 -9.91875424e-01 8.40496580e-04 1.24743628e+02] [ 9.91852545e-01 -1.27212980e-01 -6.73704263e-03 1.27502897e+02] [ 6.78922909e-03 -2.33719031e-05 9.99976953e-01 5.73433265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.74, Y:127.53, Z:0.57 [[-1.27339480e-01 -9.91858870e-01 7.98996678e-04 1.24740393e+02] [ 9.91838290e-01 -1.27341985e-01 -6.38950900e-03 1.27529588e+02] [ 6.43923700e-03 -2.11612569e-05 9.99979268e-01 5.74082485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.74, Y:127.56, Z:0.57 [[-1.27138175e-01 -9.91884728e-01 7.55596695e-04 1.24736933e+02] [ 9.91866408e-01 -1.27140419e-01 -6.02856026e-03 1.27557040e+02] [ 6.07570373e-03 -1.70091685e-05 9.99981543e-01 5.74010818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:127.58, Z:0.57 [[-1.25818918e-01 -9.92052945e-01 7.44359454e-04 1.24734208e+02] [ 9.92035253e-01 -1.25821120e-01 -5.92473544e-03 1.27582666e+02] [ 5.97130738e-03 -7.01298244e-06 9.99982172e-01 5.73551873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:127.61, Z:0.57 [[-1.25078353e-01 -9.92146592e-01 7.38671981e-04 1.24730964e+02] [ 9.92129254e-01 -1.25080534e-01 -5.86540970e-03 1.27609570e+02] [ 5.91173973e-03 -7.77703162e-07 9.99982526e-01 5.73059308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:127.64, Z:0.57 [[-1.22252738e-01 -9.92498691e-01 7.84881916e-04 1.24728087e+02] [ 9.92479212e-01 -1.22255256e-01 -6.21820700e-03 1.27635142e+02] [ 6.26751825e-03 1.87861536e-05 9.99980359e-01 5.72678523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541858064 meters Centerline goodness [0,1] 0.999958109919571 Centerline is valid? [True, True] Translation: X:124.73, Y:127.66, Z:0.57 [[-1.21386144e-01 -9.92605034e-01 8.06662761e-04 1.24725056e+02] [ 9.92584555e-01 -1.21388821e-01 -6.37607911e-03 1.27661758e+02] [ 6.42684806e-03 2.67133437e-05 9.99979347e-01 5.72780218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.69, Z:0.57 [[-1.20562809e-01 -9.92705358e-01 8.25901056e-04 1.24722344e+02] [ 9.92684005e-01 -1.20565633e-01 -6.51114676e-03 1.27687041e+02] [ 6.56322556e-03 3.48566254e-05 9.99978461e-01 5.73034032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.71, Z:0.57 [[-1.19954167e-01 -9.92779098e-01 8.13188322e-04 1.24722335e+02] [ 9.92758500e-01 -1.19956916e-01 -6.39517705e-03 1.27714202e+02] [ 6.44654567e-03 4.01714836e-05 9.99979220e-01 5.73425746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.74, Z:0.57 [[-1.20087549e-01 -9.92762907e-01 8.88955047e-04 1.24720144e+02] [ 9.92738414e-01 -1.20090831e-01 -6.97375720e-03 1.27740568e+02] [ 7.03004282e-03 4.50384146e-05 9.99975288e-01 5.73151258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661858064 meters Centerline goodness [0,1] 0.9999790167236713 Centerline is valid? [True, True] Translation: X:124.72, Y:127.77, Z:0.57 [[-1.20135867e-01 -9.92757066e-01 8.83724535e-04 1.24719696e+02] [ 9.92732977e-01 -1.20139108e-01 -6.91594744e-03 1.27767915e+02] [ 6.97202557e-03 4.64491485e-05 9.99975694e-01 5.73816698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.80, Z:0.57 [[-1.19625180e-01 -9.92818652e-01 9.70154595e-04 1.24719566e+02] [ 9.92789762e-01 -1.19629100e-01 -7.57406486e-03 1.27796231e+02] [ 7.63573158e-03 5.71106772e-05 9.99970846e-01 5.73708662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.82, Z:0.57 [[-1.19497086e-01 -9.92834131e-01 9.13249442e-04 1.24717757e+02] [ 9.92808641e-01 -1.19500563e-01 -7.11463397e-03 1.27824782e+02] [ 7.17278526e-03 5.65039075e-05 9.99974274e-01 5.73898173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.85, Z:0.57 [[-1.19707394e-01 -9.92808756e-01 9.56363411e-04 1.24716725e+02] [ 9.92780917e-01 -1.19711199e-01 -7.43506719e-03 1.27851312e+02] [ 7.49608722e-03 5.94268264e-05 9.99971902e-01 5.73761869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.88, Z:0.57 [[-1.20790808e-01 -9.92677553e-01 9.25374513e-04 1.24717974e+02] [ 9.92651582e-01 -1.20794342e-01 -7.18081999e-03 1.27878364e+02] [ 7.24001882e-03 5.11974240e-05 9.99973789e-01 5.73651561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.91, Z:0.57 [[-1.21690216e-01 -9.92567675e-01 9.49887918e-04 1.24716639e+02] [ 9.92540424e-01 -1.21693914e-01 -7.35508051e-03 1.27905962e+02] [ 7.41601074e-03 4.77608223e-05 9.99972500e-01 5.73788107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.93, Z:0.57 [[-1.22814527e-01 -9.92429224e-01 9.09958454e-04 1.24715787e+02] [ 9.92404328e-01 -1.22817891e-01 -7.02958146e-03 1.27933133e+02] [ 7.08812125e-03 3.97119872e-05 9.99974878e-01 5.73891411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.96, Z:0.57 [[-1.24260789e-01 -9.92249198e-01 8.85895653e-04 1.24715289e+02] [ 9.92225694e-01 -1.24263943e-01 -6.82963690e-03 1.27959824e+02] [ 6.88678662e-03 3.03523619e-05 9.99976285e-01 5.74295382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:127.99, Z:0.58 [[-1.27494464e-01 -9.91838996e-01 7.53072274e-04 1.24718919e+02] [ 9.91822066e-01 -1.27496688e-01 -5.79510436e-03 1.27988215e+02] [ 5.84382471e-03 8.06997305e-06 9.99982925e-01 5.75593252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:128.02, Z:0.58 [[-1.29396440e-01 -9.91592639e-01 7.74379370e-04 1.24718954e+02] [ 9.91574814e-01 -1.29398757e-01 -5.94563341e-03 1.28016255e+02] [ 5.99585005e-03 -1.48871647e-06 9.99982025e-01 5.76037210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:128.04, Z:0.58 [[-1.31237212e-01 -9.91350705e-01 7.57130898e-04 1.24718701e+02] [ 9.91333738e-01 -1.31239396e-01 -5.80003175e-03 1.28043423e+02] [ 5.84923097e-03 -1.06105940e-05 9.99982893e-01 5.76254053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:128.07, Z:0.58 [[-1.34006131e-01 -9.90980195e-01 7.81447792e-04 1.24721230e+02] [ 9.90962200e-01 -1.34008407e-01 -5.97199972e-03 1.28071177e+02] [ 6.02285402e-03 -2.58993531e-05 9.99981862e-01 5.76067119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:128.10, Z:0.58 [[-1.34776432e-01 -9.90875688e-01 8.26686261e-04 1.24720105e+02] [ 9.90855642e-01 -1.34778964e-01 -6.30301825e-03 1.28099021e+02] [ 6.35692747e-03 -3.03715681e-05 9.99979794e-01 5.76136806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:128.13, Z:0.58 [[-1.35564781e-01 -9.90768130e-01 8.38631470e-04 1.24718435e+02] [ 9.90747587e-01 -1.35567371e-01 -6.38011697e-03 1.28127389e+02] [ 6.43490762e-03 -3.40470558e-05 9.99979295e-01 5.75948202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:128.15, Z:0.58 [[-1.35749699e-01 -9.90742717e-01 9.42334311e-04 1.24718744e+02] [ 9.90716882e-01 -1.35752964e-01 -7.15482551e-03 1.28154365e+02] [ 7.21651595e-03 -3.76788983e-05 9.99973960e-01 5.75843136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:128.18, Z:0.58 [[-1.35392316e-01 -9.90791591e-01 9.71315892e-04 1.24716442e+02] [ 9.90764249e-01 -1.35395796e-01 -7.36086772e-03 1.28182639e+02] [ 7.42459793e-03 -3.42598670e-05 9.99972437e-01 5.75883517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:128.21, Z:0.58 [[-1.34828588e-01 -9.90868410e-01 1.02295055e-03 1.24713513e+02] [ 9.90838217e-01 -1.34832465e-01 -7.73518823e-03 1.28210975e+02] [ 7.80248061e-03 -2.93460097e-05 9.99969560e-01 5.75642365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:128.24, Z:0.58 [[-1.33474967e-01 -9.91051641e-01 1.03841019e-03 1.24711523e+02] [ 9.91020673e-01 -1.33479006e-01 -7.83457396e-03 1.28237911e+02] [ 7.90307334e-03 -1.66335341e-05 9.99968770e-01 5.75474229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:128.27, Z:0.58 [[-1.32821168e-01 -9.91139450e-01 1.06230993e-03 1.24709202e+02] [ 9.91107186e-01 -1.32825416e-01 -7.99723106e-03 1.28265774e+02] [ 8.06747295e-03 -9.33856477e-06 9.99967457e-01 5.75871681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:128.29, Z:0.58 [[-1.32246545e-01 -9.91216284e-01 1.06259803e-03 1.24708642e+02] [ 9.91184146e-01 -1.32250814e-01 -7.98192001e-03 1.28292704e+02] [ 8.05233855e-03 -2.35101968e-06 9.99967579e-01 5.75932636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:128.32, Z:0.58 [[-1.32158030e-01 -9.91228083e-01 1.06905614e-03 1.24706317e+02] [ 9.91195696e-01 -1.32162354e-01 -8.01272761e-03 1.28320237e+02] [ 8.08372961e-03 6.97546496e-07 9.99967326e-01 5.76862879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:128.35, Z:0.58 [[-1.31968697e-01 -9.91253342e-01 1.03679585e-03 1.24703975e+02] [ 9.91223012e-01 -1.31972770e-01 -7.75425126e-03 1.28348499e+02] [ 7.82325629e-03 4.37747124e-06 9.99969398e-01 5.77066797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:128.38, Z:0.58 [[-1.31527577e-01 -9.91311962e-01 1.04430271e-03 1.24701428e+02] [ 9.91281327e-01 -1.31531723e-01 -7.79338184e-03 1.28376760e+02] [ 7.86303157e-03 1.01531488e-05 9.99969086e-01 5.77550320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351858064 meters Centerline goodness [0,1] 0.9999570003439973 Centerline is valid? [True, True] Translation: X:124.70, Y:128.40, Z:0.58 [[-1.30556581e-01 -9.91440315e-01 1.03947514e-03 1.24700492e+02] [ 9.91410102e-01 -1.30560717e-01 -7.74008321e-03 1.28403860e+02] [ 7.80954516e-03 2.00273615e-05 9.99969505e-01 5.77764841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:128.43, Z:0.58 [[-1.30170435e-01 -9.91491128e-01 1.00069362e-03 1.24698429e+02] [ 9.91463249e-01 -1.30174279e-01 -7.43526334e-03 1.28431717e+02] [ 7.50226220e-03 2.42994849e-05 9.99971857e-01 5.77950871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411858064 meters Centerline goodness [0,1] 0.9998915824623791 Centerline is valid? [True, True] Translation: X:124.70, Y:128.46, Z:0.58 [[-1.29716392e-01 -9.91550566e-01 1.06463162e-03 1.24696126e+02] [ 9.91519150e-01 -1.29720757e-01 -7.89300991e-03 1.28459337e+02] [ 7.96442326e-03 3.17498678e-05 9.99968283e-01 5.77745951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:128.49, Z:0.58 [[-1.28143498e-01 -9.91754892e-01 1.21543612e-03 1.24695498e+02] [ 9.91714146e-01 -1.28149251e-01 -8.99010587e-03 1.28486761e+02] [ 9.07173871e-03 5.33415765e-05 9.99958850e-01 5.77233586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471858064 meters Centerline goodness [0,1] 0.9998915730580735 Centerline is valid? [True, True] Translation: X:124.69, Y:128.51, Z:0.58 [[-1.27525769e-01 -9.91834398e-01 1.30618179e-03 1.24693084e+02] [ 9.91787559e-01 -1.27532441e-01 -9.63921772e-03 1.28513580e+02] [ 9.72708826e-03 6.62061956e-05 9.99952689e-01 5.76907046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.54, Z:0.58 [[-1.27483382e-01 -9.91839851e-01 1.30264888e-03 1.24690214e+02] [ 9.91793486e-01 -1.27490018e-01 -9.59047928e-03 1.28539656e+02] [ 9.67829427e-03 6.93319446e-05 9.99953162e-01 5.76653276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531858064 meters Centerline goodness [0,1] 0.9998911481691122 Centerline is valid? [True, True] Translation: X:124.69, Y:128.57, Z:0.58 [[-1.26966295e-01 -9.91906166e-01 1.31055339e-03 1.24688435e+02] [ 9.91859466e-01 -1.26973035e-01 -9.62535739e-03 1.28565445e+02] [ 9.71385629e-03 7.77888199e-05 9.99952816e-01 5.75490372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561858064 meters Centerline goodness [0,1] 0.9999564023193966 Centerline is valid? [True, True] Translation: X:124.69, Y:128.59, Z:0.58 [[-1.27414240e-01 -9.91848586e-01 1.41242020e-03 1.24687334e+02] [ 9.91794597e-01 -1.27422041e-01 -1.03489805e-02 1.28592440e+02] [ 1.04445951e-02 8.22232489e-05 9.99945450e-01 5.75553388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.62, Z:0.58 [[-1.28205892e-01 -9.91746636e-01 1.36369350e-03 1.24686598e+02] [ 9.91696534e-01 -1.28213123e-01 -9.96894026e-03 1.28619149e+02] [ 1.00615064e-02 7.42932374e-05 9.99949379e-01 5.75509737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621858064 meters Centerline goodness [0,1] 0.9998903893370747 Centerline is valid? [True, True] Translation: X:124.69, Y:128.65, Z:0.58 [[-1.29999385e-01 -9.91512966e-01 1.48244837e-03 1.24689277e+02] [ 9.91454019e-01 -1.30007821e-01 -1.08118283e-02 1.28647338e+02] [ 1.09127978e-02 6.42483651e-05 9.99940452e-01 5.75844349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.68, Z:0.58 [[-1.31527579e-01 -9.91311291e-01 1.55571969e-03 1.24688525e+02] [ 9.91246648e-01 -1.31536769e-01 -1.13207990e-02 1.28675194e+02] [ 1.14270702e-02 5.31046356e-05 9.99934707e-01 5.75353764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68185806399998 meters Centerline goodness [0,1] 0.9999781587856285 Centerline is valid? [True, True] Translation: X:124.69, Y:128.70, Z:0.57 [[-1.35285947e-01 -9.90805184e-01 1.67313204e-03 1.24690849e+02] [ 9.90730723e-01 -1.35296292e-01 -1.21469367e-02 1.28702114e+02] [ 1.22616164e-02 1.43134881e-05 9.99924823e-01 5.73684297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.73, Z:0.57 [[-1.37164189e-01 -9.90546773e-01 1.75362072e-03 1.24690111e+02] [ 9.90465309e-01 -1.37175398e-01 -1.27035813e-02 1.28730070e+02] [ 1.28240451e-02 -5.57593054e-06 9.99917769e-01 5.74667883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74185806399998 meters Centerline goodness [0,1] 0.9999123998072795 Centerline is valid? [True, True] Translation: X:124.69, Y:128.76, Z:0.57 [[-1.39215856e-01 -9.90260472e-01 1.77313155e-03 1.24689402e+02] [ 9.90177509e-01 -1.39227145e-01 -1.28180420e-02 1.28758097e+02] [ 1.29400684e-02 -2.87597131e-05 9.99916273e-01 5.74328775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.79, Z:0.57 [[-1.41887100e-01 -9.89881295e-01 1.75317679e-03 1.24689332e+02] [ 9.89800496e-01 -1.41897919e-01 -1.26474931e-02 1.28786093e+02] [ 1.27682890e-02 -5.92208732e-05 9.99918480e-01 5.74985363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.81, Z:0.58 [[-1.44364355e-01 -9.89523137e-01 1.70105657e-03 1.24689648e+02] [ 9.89447298e-01 -1.44374351e-01 -1.22512151e-02 1.28813435e+02] [ 1.23684497e-02 -8.55329308e-05 9.99923504e-01 5.75594979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.84, Z:0.58 [[-1.48368342e-01 -9.88930951e-01 1.55227570e-03 1.24693095e+02] [ 9.88867949e-01 -1.48376413e-01 -1.11633209e-02 1.28841740e+02] [ 1.12700746e-02 -1.21287731e-04 9.99936483e-01 5.77120147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.87, Z:0.58 [[-1.49742995e-01 -9.88723722e-01 1.56102076e-03 1.24691990e+02] [ 9.88660235e-01 -1.49751071e-01 -1.12052035e-02 1.28869944e+02] [ 1.13126150e-02 -1.34581583e-04 9.99936001e-01 5.77604470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.90, Z:0.58 [[-1.51342638e-01 -9.88480280e-01 1.46370550e-03 1.24692039e+02] [ 9.88424673e-01 -1.51349651e-01 -1.04856314e-02 1.28898383e+02] [ 1.05863712e-02 -1.40160486e-04 9.99943953e-01 5.78923487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.93, Z:0.58 [[-1.51720644e-01 -9.88422462e-01 1.37208747e-03 1.24689465e+02] [ 9.88373793e-01 -1.51726791e-01 -9.80953592e-03 1.28926589e+02] [ 9.90414808e-03 -1.32173809e-04 9.99950944e-01 5.79530194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:128.95, Z:0.58 [[-1.52000037e-01 -9.88379532e-01 1.37486065e-03 1.24685576e+02] [ 9.88330864e-01 -1.52006197e-01 -9.80914750e-03 1.28953905e+02] [ 9.90414795e-03 -1.32173568e-04 9.99950944e-01 5.79623971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981858064 meters Centerline goodness [0,1] 0.9999777758022935 Centerline is valid? [True, True] Translation: X:124.68, Y:128.98, Z:0.58 [[-1.51650903e-01 -9.88433273e-01 1.29199207e-03 1.24683634e+02] [ 9.88390461e-01 -1.51656361e-01 -9.20021550e-03 1.28981462e+02] [ 9.28973793e-03 -1.18228352e-04 9.99956842e-01 5.80190671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.68, Y:129.01, Z:0.58 [[-1.48979386e-01 -9.88839661e-01 1.12585787e-03 1.24679110e+02] [ 9.88807284e-01 -1.48983619e-01 -8.00222594e-03 1.29008741e+02] [ 8.08065276e-03 -7.89102384e-05 9.99967348e-01 5.82220701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.67, Y:129.04, Z:0.58 [[-1.47510207e-01 -9.89059869e-01 1.14690640e-03 1.24674691e+02] [ 9.89026421e-01 -1.47514651e-01 -8.13431597e-03 1.29035252e+02] [ 8.21451098e-03 -6.55739012e-05 9.99966258e-01 5.82804171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071858064 meters Centerline goodness [0,1] 0.9998666518502056 Centerline is valid? [True, True] Translation: X:124.67, Y:129.06, Z:0.58 [[-1.45892063e-01 -9.89299805e-01 1.18383161e-03 1.24669908e+02] [ 9.89264337e-01 -1.45896857e-01 -8.37731873e-03 1.29062186e+02] [ 8.46039709e-03 -5.10619219e-05 9.99964209e-01 5.82623885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.66, Y:129.09, Z:0.58 [[-1.42960912e-01 -9.89727429e-01 1.33925843e-03 1.24663802e+02] [ 9.89682252e-01 -1.42967182e-01 -9.45647193e-03 1.29089677e+02] [ 9.55079966e-03 -2.64655474e-05 9.99954390e-01 5.81957078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131858064 meters Centerline goodness [0,1] 0.9999778858911986 Centerline is valid? [True, True] Translation: X:124.66, Y:129.12, Z:0.58 [[-1.42071871e-01 -9.89855454e-01 1.32794434e-03 1.24659306e+02] [ 9.89811223e-01 -1.42078076e-01 -9.35756635e-03 1.29117464e+02] [ 9.45130987e-03 -1.50327511e-05 9.99955335e-01 5.82242409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161858064 meters Centerline goodness [0,1] 0.9998890663826766 Centerline is valid? [True, True] Translation: X:124.66, Y:129.14, Z:0.58 [[-1.41711693e-01 -9.89907025e-01 1.37076460e-03 1.24655401e+02] [ 9.89860099e-01 -1.41718322e-01 -9.63860238e-03 1.29144542e+02] [ 9.73558266e-03 -9.03748008e-06 9.99952608e-01 5.81923084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191858064 meters Centerline goodness [0,1] 0.9999556038979778 Centerline is valid? [True, True] Translation: X:124.65, Y:129.17, Z:0.58 [[-1.41232530e-01 -9.89975653e-01 1.25663566e-03 1.24651305e+02] [ 9.89936350e-01 -1.41238121e-01 -8.82133569e-03 1.29171276e+02] [ 8.91039242e-03 -1.87023542e-06 9.99960302e-01 5.82300945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.65, Y:129.20, Z:0.58 [[-1.41515485e-01 -9.89935322e-01 1.19372414e-03 1.24647517e+02] [ 9.89899980e-01 -1.41520519e-01 -8.36491742e-03 1.29198791e+02] [ 8.44966368e-03 -2.09783602e-06 9.99964301e-01 5.82985025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251858064 meters Centerline goodness [0,1] 0.999889253123062 Centerline is valid? [True, True] Translation: X:124.64, Y:129.23, Z:0.58 [[-1.42040481e-01 -9.89860230e-01 1.10778122e-03 1.24643965e+02] [ 9.89829913e-01 -1.42044801e-01 -7.74712683e-03 1.29225847e+02] [ 7.82592730e-03 -3.89063709e-06 9.99969377e-01 5.83695475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.64, Y:129.25, Z:0.58 [[-1.42721593e-01 -9.89762337e-01 1.03142890e-03 1.24640097e+02] [ 9.89736156e-01 -1.42725320e-01 -7.19891113e-03 1.29253460e+02] [ 7.27242212e-03 -6.59758481e-06 9.99973556e-01 5.84385522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.64, Y:129.28, Z:0.58 [[-1.43462033e-01 -9.89655386e-01 9.28993908e-04 1.24636153e+02] [ 9.89634227e-01 -1.43465041e-01 -6.47142798e-03 1.29279904e+02] [ 6.53776170e-03 -9.04004715e-06 9.99978629e-01 5.84816033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341858064 meters Centerline goodness [0,1] 0.9998671625929861 Centerline is valid? [True, True] Translation: X:124.63, Y:129.31, Z:0.58 [[-1.44714798e-01 -9.89472889e-01 1.01436711e-03 1.24632554e+02] [ 9.89447766e-01 -1.44718352e-01 -7.05099156e-03 1.29307957e+02] [ 7.12356253e-03 -1.67195528e-05 9.99974627e-01 5.83865972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371858064 meters Centerline goodness [0,1] 0.9998448203241038 Centerline is valid? [True, True] Translation: X:124.63, Y:129.33, Z:0.59 [[-1.44579647e-01 -9.89492756e-01 9.00622783e-04 1.24628195e+02] [ 9.89473029e-01 -1.44582452e-01 -6.24817128e-03 1.29334857e+02] [ 6.31273447e-03 -1.22164457e-05 9.99980074e-01 5.85392565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401858064 meters Centerline goodness [0,1] 0.999955802081722 Centerline is valid? [True, True] Translation: X:124.62, Y:129.36, Z:0.59 [[-1.45735448e-01 -9.89323215e-01 8.68804708e-04 1.24624822e+02] [ 9.89304917e-01 -1.45738037e-01 -6.01711410e-03 1.29361203e+02] [ 6.07948856e-03 -1.73940484e-05 9.99981520e-01 5.85402224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43185806399998 meters Centerline goodness [0,1] 0.99997780687543 Centerline is valid? [True, True] Translation: X:124.62, Y:129.39, Z:0.59 [[-1.46753790e-01 -9.89172619e-01 9.24525643e-04 1.24620707e+02] [ 9.89151964e-01 -1.46756701e-01 -6.39245058e-03 1.29389193e+02] [ 6.45891742e-03 -2.36199974e-05 9.99979141e-01 5.85121085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.62, Y:129.42, Z:0.58 [[-1.48567650e-01 -9.88901768e-01 9.72876980e-04 1.24617237e+02] [ 9.88878982e-01 -1.48570831e-01 -6.71322020e-03 1.29417309e+02] [ 6.78325646e-03 -3.53097490e-05 9.99976993e-01 5.84669383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.61, Y:129.45, Z:0.58 [[-1.49696919e-01 -9.88731422e-01 1.00429809e-03 1.24613671e+02] [ 9.88707232e-01 -1.49700282e-01 -6.91634226e-03 1.29445281e+02] [ 6.98874862e-03 -4.23983408e-05 9.99975578e-01 5.84900064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52185806399999 meters Centerline goodness [0,1] 0.9999555743130678 Centerline is valid? [True, True] Translation: X:124.61, Y:129.47, Z:0.59 [[-1.50834038e-01 -9.88558560e-01 1.03229208e-03 1.24609866e+02] [ 9.88533093e-01 -1.50837562e-01 -7.09609886e-03 1.29471765e+02] [ 7.17061770e-03 -4.98783623e-05 9.99974290e-01 5.85356992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.551858064 meters Centerline goodness [0,1] 0.9998892506700334 Centerline is valid? [True, True] Translation: X:124.61, Y:129.50, Z:0.59 [[-1.51552489e-01 -9.88448659e-01 1.04455296e-03 1.24605665e+02] [ 9.88422681e-01 -1.51556079e-01 -7.16642746e-03 1.29498369e+02] [ 7.24195397e-03 -5.36300838e-05 9.99973775e-01 5.85624747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.60, Y:129.52, Z:0.59 [[-1.53472077e-01 -9.88152427e-01 1.04990974e-03 1.24600828e+02] [ 9.88126292e-01 -1.53475654e-01 -7.18716107e-03 1.29524697e+02] [ 7.26314624e-03 -6.55851171e-05 9.99973621e-01 5.86096028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.60, Y:129.55, Z:0.59 [[-1.54817850e-01 -9.87942435e-01 1.08534901e-03 1.24596406e+02] [ 9.87914619e-01 -1.54821636e-01 -7.41391031e-03 1.29552073e+02] [ 7.49255211e-03 -7.55734987e-05 9.99971928e-01 5.86623444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.641858064 meters Centerline goodness [0,1] 0.9999779029941442 Centerline is valid? [True, True] Translation: X:124.59, Y:129.58, Z:0.59 [[-1.56557822e-01 -9.87668135e-01 1.14179362e-03 1.24593558e+02] [ 9.87637447e-01 -1.56561959e-01 -7.78628473e-03 1.29579323e+02] [ 7.86902677e-03 -9.13256463e-05 9.99969035e-01 5.86333499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.59, Y:129.61, Z:0.59 [[-1.60542458e-01 -9.87028078e-01 1.30087547e-03 1.24589831e+02] [ 9.86988361e-01 -1.60547669e-01 -8.85552236e-03 1.29607606e+02] [ 8.94950174e-03 -1.37738381e-04 9.99959943e-01 5.86851726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.59, Y:129.64, Z:0.59 [[-1.62934564e-01 -9.86635976e-01 1.33386200e-03 1.24587243e+02] [ 9.86594358e-01 -1.62939944e-01 -9.06352745e-03 1.29635316e+02] [ 9.15974164e-03 -1.60781167e-04 9.99958036e-01 5.86197422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.731858064 meters Centerline goodness [0,1] 0.9999336268501515 Centerline is valid? [True, True] Translation: X:124.58, Y:129.66, Z:0.59 [[-1.65185275e-01 -9.86261550e-01 1.40730283e-03 1.24584146e+02] [ 9.86215380e-01 -1.65191162e-01 -9.54487572e-03 1.29663778e+02] [ 9.64621791e-03 -1.88769224e-04 9.99953456e-01 5.86230080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.58, Y:129.69, Z:0.59 [[-1.68581739e-01 -9.85686598e-01 1.45860332e-03 1.24582220e+02] [ 9.85637176e-01 -1.68587897e-01 -9.87306867e-03 1.29690829e+02] [ 9.97765434e-03 -2.26765429e-04 9.99950196e-01 5.86418193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.791858064 meters Centerline goodness [0,1] 0.9999778604321644 Centerline is valid? [True, True] Translation: X:124.58, Y:129.72, Z:0.59 [[-1.69507639e-01 -9.85527760e-01 1.48175776e-03 1.24576944e+02] [ 9.85476953e-01 -1.69513950e-01 -1.00097919e-02 1.29718558e+02] [ 1.01161064e-02 -2.36498062e-04 9.99948803e-01 5.86856907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.57, Y:129.75, Z:0.59 [[-1.69933277e-01 -9.85454394e-01 1.52268824e-03 1.24572283e+02] [ 9.85400957e-01 -1.69939924e-01 -1.02653235e-02 1.29745358e+02] [ 1.03747737e-02 -2.43961611e-04 9.99946151e-01 5.86946728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.57, Y:129.77, Z:0.59 [[-1.69208778e-01 -9.85579013e-01 1.54852936e-03 1.24566144e+02] [ 9.85523969e-01 -1.69215698e-01 -1.04189067e-02 1.29772640e+02] [ 1.05306912e-02 -2.36857661e-04 9.99944523e-01 5.86634730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881858064 meters Centerline goodness [0,1] 0.9999779161697805 Centerline is valid? [True, True] Translation: X:124.56, Y:129.80, Z:0.59 [[-1.68054251e-01 -9.85776453e-01 1.59762470e-03 1.24562500e+02] [ 9.85718057e-01 -1.68061690e-01 -1.07321964e-02 1.29799493e+02] [ 1.08480460e-02 -2.28783722e-04 9.99941132e-01 5.86152049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.55, Y:129.83, Z:0.59 [[-1.65360750e-01 -9.86231785e-01 1.63976695e-03 1.24553382e+02] [ 9.86170503e-01 -1.65368757e-01 -1.09960286e-02 1.29826453e+02] [ 1.11157991e-02 -2.01221733e-04 9.99938197e-01 5.86293828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.55, Y:129.85, Z:0.59 [[-1.64209669e-01 -9.86424109e-01 1.63139833e-03 1.24547780e+02] [ 9.86363716e-01 -1.64217670e-01 -1.09167838e-02 1.29851861e+02] [ 1.10364832e-02 -1.83489338e-04 9.99939079e-01 5.85676535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.54, Y:129.88, Z:0.59 [[-1.63163196e-01 -9.86597616e-01 1.70721359e-03 1.24541844e+02] [ 9.86531774e-01 -1.63172033e-01 -1.13994080e-02 1.29878193e+02] [ 1.15251982e-02 -1.75743388e-04 9.99933567e-01 5.85769195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.54, Y:129.90, Z:0.59 [[-1.62937672e-01 -9.86634908e-01 1.69487109e-03 1.24535943e+02] [ 9.86570287e-01 -1.62946400e-01 -1.12933525e-02 1.29904893e+02] [ 1.14185890e-02 -1.68003101e-04 9.99934792e-01 5.85905247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031858064 meters Centerline goodness [0,1] 0.999911678332487 Centerline is valid? [True, True] Translation: X:124.53, Y:129.93, Z:0.59 [[-1.64219319e-01 -9.86422311e-01 1.74353453e-03 1.24528951e+02] [ 9.86354186e-01 -1.64228471e-01 -1.15943617e-02 1.29932373e+02] [ 1.17232751e-02 -1.84275597e-04 9.99931263e-01 5.85243199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061858064 meters Centerline goodness [0,1] 0.9999560275267683 Centerline is valid? [True, True] Translation: X:124.53, Y:129.96, Z:0.59 [[-1.64665964e-01 -9.86348172e-01 1.55053605e-03 1.24525885e+02] [ 9.86294454e-01 -1.64673180e-01 -1.02952915e-02 1.29959703e+02] [ 1.04100737e-02 -1.65998993e-04 9.99945800e-01 5.85808902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091858064 meters Centerline goodness [0,1] 0.9999120357135003 Centerline is valid? [True, True] Translation: X:124.52, Y:129.99, Z:0.59 [[-1.66277831e-01 -9.86077775e-01 1.51811753e-03 1.24521011e+02] [ 9.86026442e-01 -1.66284668e-01 -1.00630692e-02 1.29988032e+02] [ 1.01754085e-02 -1.76361290e-04 9.99948214e-01 5.86931389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.52, Y:130.02, Z:0.59 [[-1.67946224e-01 -9.85795049e-01 1.47895012e-03 1.24517224e+02] [ 9.85746495e-01 -1.67952633e-01 -9.78571433e-03 1.30016122e+02] [ 9.89510230e-03 -1.85603875e-04 9.99951025e-01 5.87535127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:130.04, Z:0.59 [[-1.70380966e-01 -9.85377287e-01 1.38896780e-03 1.24514954e+02] [ 9.85334565e-01 -1.70386516e-01 -9.17771497e-03 1.30043299e+02] [ 9.28017326e-03 -1.95109967e-04 9.99956919e-01 5.88032016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:130.07, Z:0.59 [[-1.71571557e-01 -9.85170592e-01 1.45129235e-03 1.24509503e+02] [ 9.85124093e-01 -1.71577563e-01 -9.57398265e-03 1.30071397e+02] [ 9.68101536e-03 -2.12920049e-04 9.99953115e-01 5.88463133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.50, Y:130.10, Z:0.59 [[-1.72263536e-01 -9.85049570e-01 1.61844374e-03 1.24504857e+02] [ 9.84991972e-01 -1.72270970e-01 -1.06549592e-02 1.30097834e+02] [ 1.07744739e-02 -2.41306864e-04 9.99941925e-01 5.87081200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24185806399998 meters Centerline goodness [0,1] 0.9999561403508772 Centerline is valid? [True, True] Translation: X:124.50, Y:130.13, Z:0.59 [[-1.72274802e-01 -9.85047459e-01 1.70208326e-03 1.24499748e+02] [ 9.84984002e-01 -1.72283029e-01 -1.11836350e-02 1.30125288e+02] [ 1.13096513e-02 -2.50133722e-04 9.99936013e-01 5.86543275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.49, Y:130.15, Z:0.59 [[-1.72153645e-01 -9.85068545e-01 1.75639262e-03 1.24494870e+02] [ 9.85001230e-01 -1.72162419e-01 -1.15186522e-02 1.30152997e+02] [ 1.16490468e-02 -2.52929070e-04 9.99932116e-01 5.85940671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.301858064 meters Centerline goodness [0,1] 0.999956252597502 Centerline is valid? [True, True] Translation: X:124.49, Y:130.18, Z:0.59 [[-1.71089991e-01 -9.85253859e-01 1.74605633e-03 1.24490033e+02] [ 9.85187592e-01 -1.71098739e-01 -1.14293880e-02 1.30179938e+02] [ 1.15595967e-02 -2.35260862e-04 9.99933158e-01 5.86049606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.331858064 meters Centerline goodness [0,1] 0.9999781353856918 Centerline is valid? [True, True] Translation: X:124.48, Y:130.21, Z:0.59 [[-1.70679856e-01 -9.85325018e-01 1.73057609e-03 1.24484962e+02] [ 9.85260165e-01 -1.70688481e-01 -1.13071027e-02 1.30207429e+02] [ 1.14365605e-02 -2.24826977e-04 9.99934575e-01 5.86574145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:130.24, Z:0.59 [[-1.70243331e-01 -9.85400274e-01 1.87301461e-03 1.24479909e+02] [ 9.85324594e-01 -1.70253473e-01 -1.22147342e-02 1.30235117e+02] [ 1.23552897e-02 -2.33949681e-04 9.99923643e-01 5.86440587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:130.26, Z:0.59 [[-1.70009232e-01 -9.85440629e-01 1.90464458e-03 1.24475138e+02] [ 9.85362662e-01 -1.70019744e-01 -1.23980388e-02 1.30262550e+02] [ 1.25413584e-02 -2.31015416e-04 9.99921327e-01 5.86412507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:130.29, Z:0.59 [[-1.70232014e-01 -9.85402118e-01 1.93080197e-03 1.24470697e+02] [ 9.85322286e-01 -1.70242803e-01 -1.25451437e-02 1.30290051e+02] [ 1.26907163e-02 -2.33122855e-04 9.99919442e-01 5.85856417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:130.32, Z:0.59 [[-1.70330074e-01 -9.85385071e-01 1.98178794e-03 1.24466662e+02] [ 9.85301303e-01 -1.70341439e-01 -1.28505481e-02 1.30316648e+02] [ 1.30003188e-02 -2.36176568e-04 9.99915464e-01 5.85471756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:130.34, Z:0.59 [[-1.71179661e-01 -9.85237754e-01 2.02265849e-03 1.24463340e+02] [ 9.85150858e-01 -1.71191432e-01 -1.30874432e-02 1.30343242e+02] [ 1.32405050e-02 -2.47680358e-04 9.99912310e-01 5.85284540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:130.37, Z:0.59 [[-1.71525428e-01 -9.85177633e-01 2.01454245e-03 1.24459739e+02] [ 9.85091783e-01 -1.71537081e-01 -1.30080693e-02 1.30370337e+02] [ 1.31608276e-02 -2.46705434e-04 9.99913362e-01 5.85153774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:130.40, Z:0.59 [[-1.71411921e-01 -9.85197273e-01 2.07046548e-03 1.24455751e+02] [ 9.85106958e-01 -1.71424246e-01 -1.33420163e-02 1.30396891e+02] [ 1.34994461e-02 -2.47350700e-04 9.99908848e-01 5.85236106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:130.42, Z:0.58 [[-1.69881382e-01 -9.85462316e-01 2.08323259e-03 1.24449941e+02] [ 9.85371243e-01 -1.69894008e-01 -1.33992360e-02 1.30424233e+02] [ 1.35583708e-02 -2.23523232e-04 9.99908056e-01 5.84998212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:130.45, Z:0.58 [[-1.69134020e-01 -9.85590774e-01 2.12361132e-03 1.24445322e+02] [ 9.85496520e-01 -1.69147217e-01 -1.36318882e-02 1.30451025e+02] [ 1.37946662e-02 -2.12804475e-04 9.99904826e-01 5.84846513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:130.48, Z:0.58 [[-1.68312912e-01 -9.85731358e-01 2.11032384e-03 1.24441089e+02] [ 9.85638679e-01 -1.68326028e-01 -1.35182293e-02 1.30477082e+02] [ 1.36805649e-02 -1.95275733e-04 9.99906398e-01 5.84501500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:130.50, Z:0.59 [[-1.66985475e-01 -9.85957223e-01 2.05058082e-03 1.24436559e+02] [ 9.85870088e-01 -1.66997981e-01 -1.31089255e-02 1.30503551e+02] [ 1.32672826e-02 -1.67393862e-04 9.99911972e-01 5.85083744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:130.53, Z:0.58 [[-1.66739365e-01 -9.85998812e-01 2.08026333e-03 1.24432988e+02] [ 9.85909498e-01 -1.66752262e-01 -1.32719348e-02 1.30530771e+02] [ 1.34330006e-02 -1.62002611e-04 9.99909760e-01 5.84863885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:130.56, Z:0.59 [[-1.66577823e-01 -9.86025986e-01 2.14107916e-03 1.24429458e+02] [ 9.85931754e-01 -1.66591505e-01 -1.36325468e-02 1.30558035e+02] [ 1.37987310e-02 -1.59922031e-04 9.99904780e-01 5.85019828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:130.58, Z:0.59 [[-1.66329887e-01 -9.86068078e-01 2.02836816e-03 1.24426722e+02] [ 9.85983852e-01 -1.66342192e-01 -1.28887254e-02 1.30583998e+02] [ 1.30465639e-02 -1.43841992e-04 9.99914880e-01 5.85190116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:130.61, Z:0.59 [[-1.65775622e-01 -9.86161506e-01 1.98158433e-03 1.24422909e+02] [ 9.86081455e-01 -1.65787415e-01 -1.25657041e-02 1.30610023e+02] [ 1.27203354e-02 -1.29083853e-04 9.99919085e-01 5.85811188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:130.64, Z:0.59 [[-1.65571969e-01 -9.86195874e-01 1.90279442e-03 1.24418271e+02] [ 9.86122357e-01 -1.65582860e-01 -1.20421144e-02 1.30637021e+02] [ 1.21909537e-02 -1.17448475e-04 9.99925681e-01 5.86777899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:130.66, Z:0.59 [[-1.64304852e-01 -9.86407664e-01 1.95875037e-03 1.24414456e+02] [ 9.86330084e-01 -1.64316497e-01 -1.23715129e-02 1.30664041e+02] [ 1.25252101e-02 -1.00725180e-04 9.99921551e-01 5.86903336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:130.69, Z:0.59 [[-1.64605447e-01 -9.86357539e-01 1.96252204e-03 1.24410158e+02] [ 9.86279963e-01 -1.64617115e-01 -1.23709150e-02 1.30690455e+02] [ 1.25252100e-02 -1.00723832e-04 9.99921551e-01 5.86994262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:130.72, Z:0.59 [[-1.64181067e-01 -9.86428116e-01 2.03690178e-03 1.24406200e+02] [ 9.86344883e-01 -1.64193674e-01 -1.28144019e-02 1.30717558e+02] [ 1.29749327e-02 -9.47945227e-05 9.99915818e-01 5.86798746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.40, Y:130.74, Z:0.59 [[-1.63841193e-01 -9.86484471e-01 2.11011697e-03 1.24402472e+02] [ 9.86395514e-01 -1.63854756e-01 -1.32479709e-02 1.30743809e+02] [ 1.34146703e-02 -8.91534393e-05 9.99910015e-01 5.86413057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.40, Y:130.77, Z:0.59 [[-1.63484538e-01 -9.86543738e-01 2.06381722e-03 1.24398066e+02] [ 9.86458958e-01 -1.63497546e-01 -1.29335285e-02 1.30771443e+02] [ 1.30969206e-02 -7.85609516e-05 9.99914229e-01 5.87305003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99185806399998 meters Centerline goodness [0,1] 0.9999119524543253 Centerline is valid? [True, True] Translation: X:124.39, Y:130.80, Z:0.59 [[-1.63161124e-01 -9.86597330e-01 2.03870045e-03 1.24394885e+02] [ 9.86514924e-01 -1.63173846e-01 -1.27515043e-02 1.30798144e+02] [ 1.29132627e-02 -6.93413608e-05 9.99916618e-01 5.87656198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02185806399999 meters Centerline goodness [0,1] 0.999911911735559 Centerline is valid? [True, True] Translation: X:124.39, Y:130.83, Z:0.59 [[-1.63230275e-01 -9.86585957e-01 2.00652450e-03 1.24390814e+02] [ 9.86506423e-01 -1.63242594e-01 -1.25272640e-02 1.30825449e+02] [ 1.26867730e-02 -6.53794335e-05 9.99919518e-01 5.88009458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.051858064 meters Centerline goodness [0,1] 0.9999339948515984 Centerline is valid? [True, True] Translation: X:124.39, Y:130.85, Z:0.59 [[-1.63842550e-01 -9.86484586e-01 1.94427341e-03 1.24388199e+02] [ 9.86410115e-01 -1.63854071e-01 -1.21213681e-02 1.30852577e+02] [ 1.22761199e-02 -6.81448926e-05 9.99924643e-01 5.88120199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.081858064 meters Centerline goodness [0,1] 0.9999115102979891 Centerline is valid? [True, True] Translation: X:124.38, Y:130.88, Z:0.59 [[-1.64793489e-01 -9.86326213e-01 1.92532000e-03 1.24384571e+02] [ 9.86253415e-01 -1.64804718e-01 -1.19835767e-02 1.30880609e+02] [ 1.21370176e-02 -7.59619924e-05 9.99926341e-01 5.88426383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:130.91, Z:0.59 [[-1.65444749e-01 -9.86217173e-01 1.92924990e-03 1.24381011e+02] [ 9.86144328e-01 -1.65455977e-01 -1.19868557e-02 1.30908619e+02] [ 1.21408489e-02 -8.06434973e-05 9.99926294e-01 5.88202524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:130.94, Z:0.59 [[-1.66422836e-01 -9.86052513e-01 1.97019187e-03 1.24377804e+02] [ 9.85976801e-01 -1.66434473e-01 -1.22193870e-02 1.30936582e+02] [ 1.23768651e-02 -9.10215555e-05 9.99923400e-01 5.88376958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.171858064 meters Centerline goodness [0,1] 0.9999558235592958 Centerline is valid? [True, True] Translation: X:124.37, Y:130.96, Z:0.59 [[-1.66714184e-01 -9.86003359e-01 1.93810344e-03 1.24374409e+02] [ 9.85930300e-01 -1.66725425e-01 -1.20032201e-02 1.30963294e+02] [ 1.21583465e-02 -9.02721436e-05 9.99926081e-01 5.87795050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.201858064 meters Centerline goodness [0,1] 0.9999778309834175 Centerline is valid? [True, True] Translation: X:124.37, Y:130.99, Z:0.59 [[-1.67242503e-01 -9.85913863e-01 1.94924349e-03 1.24370821e+02] [ 9.85840225e-01 -1.67253836e-01 -1.20500991e-02 1.30989078e+02] [ 1.22063782e-02 -9.36460955e-05 9.99925495e-01 5.87625428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.231858064 meters Centerline goodness [0,1] 0.9999778535677902 Centerline is valid? [True, True] Translation: X:124.37, Y:131.02, Z:0.59 [[-1.67400509e-01 -9.85886893e-01 2.02593139e-03 1.24365559e+02] [ 9.85807642e-01 -1.67412740e-01 -1.25007122e-02 1.31016937e+02] [ 1.26634550e-02 -9.54469372e-05 9.99919811e-01 5.88095242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:131.04, Z:0.59 [[-1.67243097e-01 -9.85913534e-01 2.06160292e-03 1.24361523e+02] [ 9.85831775e-01 -1.67255778e-01 -1.26971216e-02 1.31043655e+02] [ 1.28630791e-02 -9.11122774e-05 9.99917263e-01 5.86997831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:131.07, Z:0.59 [[-1.67473305e-01 -9.85874560e-01 2.01090775e-03 1.24356546e+02] [ 9.85797066e-01 -1.67485354e-01 -1.23612798e-02 1.31070760e+02] [ 1.25234688e-02 -8.78374155e-05 9.99921574e-01 5.86787259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:131.10, Z:0.59 [[-1.68026216e-01 -9.85780577e-01 1.96074773e-03 1.24351936e+02] [ 9.85707176e-01 -1.68037632e-01 -1.20298394e-02 1.31097244e+02] [ 1.21882614e-02 -8.86052709e-05 9.99925716e-01 5.86642785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:131.12, Z:0.59 [[-1.69886859e-01 -9.85461622e-01 1.96124187e-03 1.24348182e+02] [ 9.85388445e-01 -1.69898146e-01 -1.20096914e-02 1.31124253e+02] [ 1.21683013e-02 -1.07703677e-04 9.99925958e-01 5.86461215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:131.15, Z:0.59 [[-1.71033077e-01 -9.85263411e-01 1.92296444e-03 1.24344479e+02] [ 9.85193320e-01 -1.71043847e-01 -1.17526262e-02 1.31151035e+02] [ 1.19083438e-02 -1.15596106e-04 9.99929086e-01 5.87074230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:131.18, Z:0.59 [[-1.72433986e-01 -9.85019268e-01 1.88756769e-03 1.24340943e+02] [ 9.84951978e-01 -1.72444271e-01 -1.15140709e-02 1.31178287e+02] [ 1.16670819e-02 -1.26253613e-04 9.99931929e-01 5.87447802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:131.20, Z:0.59 [[-1.74539317e-01 -9.84648583e-01 1.78755902e-03 1.24338938e+02] [ 9.84588452e-01 -1.74548415e-01 -1.08826292e-02 1.31204512e+02] [ 1.10275810e-02 -1.39436712e-04 9.99939185e-01 5.87855261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:131.23, Z:0.59 [[-1.75180305e-01 -9.84534839e-01 1.73536158e-03 1.24336010e+02] [ 9.84478386e-01 -1.75188845e-01 -1.05439872e-02 1.31230508e+02] [ 1.06849388e-02 -1.38672934e-04 9.99942905e-01 5.87766495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.33, Y:131.26, Z:0.59 [[-1.75617766e-01 -9.84457000e-01 1.67797464e-03 1.24332856e+02] [ 9.84404417e-01 -1.75625730e-01 -1.01758260e-02 1.31257091e+02] [ 1.03123586e-02 -1.35250180e-04 9.99946817e-01 5.87136515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:131.28, Z:0.59 [[-1.75569495e-01 -9.84465817e-01 1.55166609e-03 1.24324027e+02] [ 9.84421020e-01 -1.75576310e-01 -9.39228862e-03 1.31283232e+02] [ 9.51882289e-03 -1.21506658e-04 9.99954688e-01 5.88645874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:131.31, Z:0.59 [[-1.75500072e-01 -9.84478139e-01 1.58719083e-03 1.24320393e+02] [ 9.84431454e-01 -1.75507208e-01 -9.58815403e-03 1.31308826e+02] [ 9.71789146e-03 -1.20241144e-04 9.99952773e-01 5.88266137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:131.34, Z:0.59 [[-1.74837657e-01 -9.84595997e-01 1.58623649e-03 1.24314444e+02] [ 9.84549542e-01 -1.74844817e-01 -9.56501052e-03 1.31336419e+02] [ 9.69501630e-03 -1.10595610e-04 9.99952996e-01 5.88606215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:131.36, Z:0.59 [[-1.74833310e-01 -9.84596746e-01 1.60033456e-03 1.24310223e+02] [ 9.84549609e-01 -1.74840600e-01 -9.63489979e-03 1.31362237e+02] [ 9.76629444e-03 -1.08892659e-04 9.99952303e-01 5.88619253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.30, Y:131.39, Z:0.59 [[-1.74261385e-01 -9.84698127e-01 1.60249033e-03 1.24304747e+02] [ 9.84651021e-01 -1.74268724e-01 -9.63218253e-03 1.31389915e+02] [ 9.76405604e-03 -1.00623723e-04 9.99952325e-01 5.89009404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68185806399998 meters Centerline goodness [0,1] 0.9999557786278108 Centerline is valid? [True, True] Translation: X:124.30, Y:131.42, Z:0.59 [[-1.73904052e-01 -9.84761184e-01 1.67091870e-03 1.24299906e+02] [ 9.84710168e-01 -1.73912051e-01 -1.00241364e-02 1.31416117e+02] [ 1.01619733e-02 -9.78672922e-05 9.99948361e-01 5.88372035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:131.44, Z:0.59 [[-1.72523623e-01 -9.85003994e-01 1.65283547e-03 1.24292747e+02] [ 9.84954277e-01 -1.72531522e-01 -9.89677216e-03 1.31442834e+02] [ 1.00335263e-02 -7.94596242e-05 9.99949660e-01 5.88357356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74185806399998 meters Centerline goodness [0,1] 0.9999336195070142 Centerline is valid? [True, True] Translation: X:124.29, Y:131.47, Z:0.59 [[-1.71556725e-01 -9.85173049e-01 1.53387799e-03 1.24286216e+02] [ 9.85130385e-01 -1.71563571e-01 -9.16868892e-03 1.31470545e+02] [ 9.29590281e-03 -6.18804232e-05 9.99956790e-01 5.88952288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77185806399999 meters Centerline goodness [0,1] 0.999977909339931 Centerline is valid? [True, True] Translation: X:124.28, Y:131.50, Z:0.59 [[-1.70865790e-01 -9.85293080e-01 1.55837260e-03 1.24280903e+02] [ 9.85249204e-01 -1.70872889e-01 -9.29849427e-03 1.31497491e+02] [ 9.42802569e-03 -5.34092120e-05 9.99955554e-01 5.88706445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:131.53, Z:0.59 [[-1.69887425e-01 -9.85462301e-01 1.52187025e-03 1.24274305e+02] [ 9.85420610e-01 -1.69894237e-01 -9.06480016e-03 1.31525185e+02] [ 9.19157581e-03 -4.03132491e-05 9.99957756e-01 5.89541255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:131.55, Z:0.59 [[-1.68022968e-01 -9.85781927e-01 1.50821881e-03 1.24268020e+02] [ 9.85741139e-01 -1.68029735e-01 -8.96740337e-03 1.31551735e+02] [ 9.09332979e-03 -2.00163958e-05 9.99958655e-01 5.89734380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.861858064 meters Centerline goodness [0,1] 0.9999340151765094 Centerline is valid? [True, True] Translation: X:124.26, Y:131.58, Z:0.59 [[-1.67817724e-01 -9.85816954e-01 1.46449960e-03 1.24262544e+02] [ 9.85778632e-01 -1.67824113e-01 -8.69232989e-03 1.31579204e+02] [ 8.81482452e-03 -1.50546056e-05 9.99961149e-01 5.90327927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.26, Y:131.61, Z:0.59 [[-1.67364870e-01 -9.85894077e-01 1.36743632e-03 1.24257182e+02] [ 9.85860780e-01 -1.67370456e-01 -8.10270548e-03 1.31606473e+02] [ 8.21727778e-03 -8.00641121e-06 9.99966238e-01 5.90493780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:131.63, Z:0.59 [[-1.66808657e-01 -9.85988422e-01 1.30515020e-03 1.24251258e+02] [ 9.85958178e-01 -1.66813762e-01 -7.72267923e-03 1.31633401e+02] [ 7.83218932e-03 -1.38623219e-06 9.99969328e-01 5.89698586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:131.66, Z:0.59 [[-1.66651113e-01 -9.86015036e-01 1.32471400e-03 1.24245993e+02] [ 9.85983976e-01 -1.66656378e-01 -7.82634732e-03 1.31660040e+02] [ 7.93766818e-03 1.87728182e-06 9.99968496e-01 5.89898877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981858064 meters Centerline goodness [0,1] 0.9999122903190439 Centerline is valid? [True, True] Translation: X:124.24, Y:131.69, Z:0.59 [[-1.66734109e-01 -9.86001038e-01 1.29990379e-03 1.24240680e+02] [ 9.85971236e-01 -1.66739176e-01 -7.66602650e-03 1.31686783e+02] [ 7.77545497e-03 3.47964919e-06 9.99969771e-01 5.90706930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.011858064 meters Centerline goodness [0,1] 0.9999559228650138 Centerline is valid? [True, True] Translation: X:124.24, Y:131.71, Z:0.59 [[-1.66853465e-01 -9.85980874e-01 1.27994764e-03 1.24235661e+02] [ 9.85952080e-01 -1.66858374e-01 -7.53514547e-03 1.31714005e+02] [ 7.64307929e-03 4.70191104e-06 9.99970791e-01 5.91034953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.23, Y:131.74, Z:0.59 [[-1.67031616e-01 -9.85950841e-01 1.17390850e-03 1.24230307e+02] [ 9.85926699e-01 -1.67035742e-01 -6.89966956e-03 1.31741657e+02] [ 6.99881968e-03 4.92477090e-06 9.99975508e-01 5.91407955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.23, Y:131.77, Z:0.59 [[-1.67236747e-01 -9.85916104e-01 1.14274708e-03 1.24225850e+02] [ 9.85893292e-01 -1.67240651e-01 -6.70684443e-03 1.31768638e+02] [ 6.80349970e-03 4.99583893e-06 9.99976856e-01 5.91372463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.22, Y:131.80, Z:0.59 [[-1.68129907e-01 -9.85764226e-01 1.10728447e-03 1.24221407e+02] [ 9.85742865e-01 -1.68133553e-01 -6.48944423e-03 1.31796654e+02] [ 6.58323364e-03 4.28114100e-07 9.99978330e-01 5.91576196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131858064 meters Centerline goodness [0,1] 0.9999780031235564 Centerline is valid? [True, True] Translation: X:124.22, Y:131.82, Z:0.59 [[-1.68843515e-01 -9.85642283e-01 1.07569595e-03 1.24217394e+02] [ 9.85622188e-01 -1.68846941e-01 -6.29394907e-03 1.31824038e+02] [ 6.38521030e-03 -2.46268696e-06 9.99979614e-01 5.91971933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:131.85, Z:0.59 [[-1.71241919e-01 -9.85228484e-01 1.01940732e-03 1.24214041e+02] [ 9.85210491e-01 -1.71244953e-01 -5.95444646e-03 1.31851076e+02] [ 6.04105861e-03 -1.53200569e-05 9.99981753e-01 5.92188928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191858064 meters Centerline goodness [0,1] 0.9999779881135813 Centerline is valid? [True, True] Translation: X:124.21, Y:131.88, Z:0.59 [[-1.72546434e-01 -9.85000870e-01 1.00661444e-03 1.24210378e+02] [ 9.84983387e-01 -1.72549369e-01 -5.86886187e-03 1.31878084e+02] [ 5.95452474e-03 -2.11526927e-05 9.99982271e-01 5.91988876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:131.90, Z:0.59 [[-1.74470674e-01 -9.84661814e-01 1.04673383e-03 1.24207012e+02] [ 9.84642976e-01 -1.74473811e-01 -6.09096600e-03 1.31903818e+02] [ 6.18016927e-03 -3.20358298e-05 9.99980902e-01 5.91902863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.20, Y:131.93, Z:0.59 [[-1.76836364e-01 -9.84239708e-01 1.04780507e-03 1.24204155e+02] [ 9.84220895e-01 -1.76839463e-01 -6.08564306e-03 1.31931370e+02] [ 6.17502483e-03 -4.48913497e-05 9.99980933e-01 5.92342986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.20, Y:131.96, Z:0.59 [[-1.78194026e-01 -9.83994727e-01 1.12524551e-03 1.24199886e+02] [ 9.83973108e-01 -1.78197570e-01 -6.52297847e-03 1.31957872e+02] [ 6.61909243e-03 -5.51444750e-05 9.99978092e-01 5.92401540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.20, Y:131.99, Z:0.59 [[-1.79323896e-01 -9.83789454e-01 1.11808760e-03 1.24195077e+02] [ 9.83768179e-01 -1.79327371e-01 -6.47025136e-03 1.31985378e+02] [ 6.56586877e-03 -6.03316817e-05 9.99978443e-01 5.92526195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.19, Y:132.01, Z:0.59 [[-1.80976133e-01 -9.83486813e-01 1.15240410e-03 1.24191186e+02] [ 9.83464285e-01 -1.80979788e-01 -6.65704105e-03 1.32011991e+02] [ 6.75567393e-03 -7.14172744e-05 9.99977178e-01 5.92720419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.19, Y:132.04, Z:0.59 [[-1.81844640e-01 -9.83326549e-01 1.19335854e-03 1.24186615e+02] [ 9.83302474e-01 -1.81848539e-01 -6.88131327e-03 1.32040075e+02] [ 6.98358854e-03 -7.78975365e-05 9.99975611e-01 5.93469138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401858064 meters Centerline goodness [0,1] 0.9999120705194434 Centerline is valid? [True, True] Translation: X:124.18, Y:132.07, Z:0.59 [[-1.82609826e-01 -9.83184746e-01 1.18600008e-03 1.24182771e+02] [ 9.83161045e-01 -1.82613660e-01 -6.82720000e-03 1.32067109e+02] [ 6.92897872e-03 -8.06847287e-05 9.99975991e-01 5.93565117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43185806399998 meters Centerline goodness [0,1] 0.999801749014252 Centerline is valid? [True, True] Translation: X:124.18, Y:132.09, Z:0.59 [[-1.83912179e-01 -9.82941922e-01 1.22027405e-03 1.24178928e+02] [ 9.82916906e-01 -1.83916205e-01 -7.01319675e-03 1.32093329e+02] [ 7.11799326e-03 -9.03842959e-05 9.99974663e-01 5.93679088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46185806399998 meters Centerline goodness [0,1] 0.999933817203115 Centerline is valid? [True, True] Translation: X:124.17, Y:132.12, Z:0.59 [[-1.85390388e-01 -9.82664054e-01 1.32708269e-03 1.24174687e+02] [ 9.82634561e-01 -1.85395106e-01 -7.61413329e-03 1.32120642e+02] [ 7.72816972e-03 -1.07549803e-04 9.99970131e-01 5.93920465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.17, Y:132.15, Z:0.59 [[-1.86047686e-01 -9.82539768e-01 1.36485446e-03 1.24168561e+02] [ 9.82508677e-01 -1.86052658e-01 -7.81715249e-03 1.32148163e+02] [ 7.93459799e-03 -1.13381783e-04 9.99968514e-01 5.94164016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52185806399999 meters Centerline goodness [0,1] 0.9998457504241863 Centerline is valid? [True, True] Translation: X:124.16, Y:132.18, Z:0.59 [[-1.86230854e-01 -9.82504972e-01 1.43122646e-03 1.24163643e+02] [ 9.82470898e-01 -1.86236316e-01 -8.18342752e-03 1.32176271e+02] [ 8.30680457e-03 -1.17868350e-04 9.99965491e-01 5.94073787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.551858064 meters Centerline goodness [0,1] 0.9994929117886986 Centerline is valid? [True, True] Translation: X:124.16, Y:132.20, Z:0.59 [[-1.86224139e-01 -9.82506181e-01 1.47458801e-03 1.24160264e+02] [ 9.82470112e-01 -1.86229939e-01 -8.41952269e-03 1.32202740e+02] [ 8.54684552e-03 -1.19179720e-04 9.99963468e-01 5.93929808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.581858064 meters Centerline goodness [0,1] 0.9998011533107973 Centerline is valid? [True, True] Translation: X:124.16, Y:132.23, Z:0.59 [[-1.86700692e-01 -9.82415643e-01 1.53470833e-03 1.24155852e+02] [ 9.82376694e-01 -1.86706957e-01 -8.74885997e-03 1.32230060e+02] [ 8.88155761e-03 -1.25756514e-04 9.99960550e-01 5.94197308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.611858064 meters Centerline goodness [0,1] 0.9997142166237991 Centerline is valid? [True, True] Translation: X:124.15, Y:132.26, Z:0.59 [[-1.87252142e-01 -9.82310664e-01 1.54719007e-03 1.24151464e+02] [ 9.82271218e-01 -1.87258490e-01 -8.80413052e-03 1.32256743e+02] [ 8.93811578e-03 -1.28832029e-04 9.99960046e-01 5.94501659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.641858064 meters Centerline goodness [0,1] 0.9997791763277023 Centerline is valid? [True, True] Translation: X:124.15, Y:132.28, Z:0.59 [[-1.87549281e-01 -9.82253869e-01 1.61341410e-03 1.24146614e+02] [ 9.82211127e-01 -1.87556173e-01 -9.16427826e-03 1.32283881e+02] [ 9.30425355e-03 -1.34040517e-04 9.99956706e-01 5.94622237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.671858064 meters Centerline goodness [0,1] 0.9997795608852835 Centerline is valid? [True, True] Translation: X:124.14, Y:132.31, Z:0.60 [[-1.87486241e-01 -9.82265864e-01 1.63772578e-03 1.24141763e+02] [ 9.82221981e-01 -1.87493347e-01 -9.28573147e-03 1.32311051e+02] [ 9.42811973e-03 -1.32336631e-04 9.99955546e-01 5.95337069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701858064 meters Centerline goodness [0,1] 0.9998898241593583 Centerline is valid? [True, True] Translation: X:124.13, Y:132.34, Z:0.60 [[-1.87170020e-01 -9.82326189e-01 1.62539789e-03 1.24134950e+02] [ 9.82283114e-01 -1.87177035e-01 -9.20011908e-03 1.32338690e+02] [ 9.34175507e-03 -1.25385564e-04 9.99956357e-01 5.96769463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.13, Y:132.37, Z:0.60 [[-1.86548983e-01 -9.82444286e-01 1.64373115e-03 1.24129872e+02] [ 9.82400389e-01 -1.86556187e-01 -9.28783053e-03 1.32365583e+02] [ 9.43142425e-03 -1.17833218e-04 9.99955516e-01 5.97390756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.12, Y:132.39, Z:0.60 [[-1.86827061e-01 -9.82391439e-01 1.64641641e-03 1.24124996e+02] [ 9.82347544e-01 -1.86834278e-01 -9.28735476e-03 1.32392739e+02] [ 9.43142482e-03 -1.17776069e-04 9.99955516e-01 5.97484511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.791858064 meters Centerline goodness [0,1] 0.9996692465436264 Centerline is valid? [True, True] Translation: X:124.12, Y:132.42, Z:0.60 [[-1.84556630e-01 -9.82820503e-01 1.64579815e-03 1.24117662e+02] [ 9.82776802e-01 -1.84563944e-01 -9.26863391e-03 1.32420359e+02] [ 9.41315844e-03 -9.31355912e-05 9.99955691e-01 5.98437026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821858064 meters Centerline goodness [0,1] 0.9998457538231017 Centerline is valid? [True, True] Translation: X:124.11, Y:132.45, Z:0.60 [[-1.83619964e-01 -9.82995796e-01 1.72441164e-03 1.24111193e+02] [ 9.82947988e-01 -1.83628041e-01 -9.69508947e-03 1.32447716e+02] [ 9.84688253e-03 -8.52050271e-05 9.99951515e-01 5.98814473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851858064 meters Centerline goodness [0,1] 0.999846069268829 Centerline is valid? [True, True] Translation: X:124.11, Y:132.47, Z:0.60 [[-1.82660134e-01 -9.83174473e-01 1.79761524e-03 1.24105441e+02] [ 9.83122671e-01 -1.82668963e-01 -1.00927235e-02 1.32474593e+02] [ 1.02512766e-02 -7.62619285e-05 9.99947451e-01 5.98728983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881858064 meters Centerline goodness [0,1] 0.9999560651992443 Centerline is valid? [True, True] Translation: X:124.10, Y:132.50, Z:0.60 [[-1.81972047e-01 -9.83301939e-01 1.86306107e-03 1.24098977e+02] [ 9.83246470e-01 -1.81981571e-01 -1.04444387e-02 1.32501820e+02] [ 1.06090796e-02 -6.87476542e-05 9.99943720e-01 5.99132402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911858064 meters Centerline goodness [0,1] 0.9999562956164503 Centerline is valid? [True, True] Translation: X:124.09, Y:132.53, Z:0.60 [[-1.80948486e-01 -9.83490668e-01 1.93707365e-03 1.24092371e+02] [ 9.83430875e-01 -1.80958845e-01 -1.08447981e-02 1.32527651e+02] [ 1.10162884e-02 -5.73717761e-05 9.99939317e-01 5.99356248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941858064 meters Centerline goodness [0,1] 0.9996283015567605 Centerline is valid? [True, True] Translation: X:124.09, Y:132.55, Z:0.60 [[-1.81146163e-01 -9.83454284e-01 1.93348380e-03 1.24086546e+02] [ 9.83394888e-01 -1.81156472e-01 -1.08086430e-02 1.32554845e+02] [ 1.09800694e-02 -5.65661218e-05 9.99939716e-01 5.99910546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971858064 meters Centerline goodness [0,1] 0.9997152557222648 Centerline is valid? [True, True] Translation: X:124.08, Y:132.58, Z:0.60 [[-1.81657312e-01 -9.83359990e-01 1.93690479e-03 1.24080832e+02] [ 9.83300569e-01 -1.81667628e-01 -1.08103338e-02 1.32582068e+02] [ 1.09823226e-02 -5.92165901e-05 9.99939691e-01 6.00055382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001858064 meters Centerline goodness [0,1] 0.9998032571865778 Centerline is valid? [True, True] Translation: X:124.07, Y:132.61, Z:0.60 [[-1.82883188e-01 -9.83132200e-01 2.19479378e-03 1.24074021e+02] [ 9.83056150e-01 -1.82896340e-01 -1.22284196e-02 1.32608887e+02] [ 1.24235728e-02 -7.87668405e-05 9.99922821e-01 5.99960035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031858064 meters Centerline goodness [0,1] 0.9996717149610435 Centerline is valid? [True, True] Translation: X:124.07, Y:132.64, Z:0.60 [[-1.83896742e-01 -9.82942820e-01 2.32379476e-03 1.24068393e+02] [ 9.82857834e-01 -1.83911400e-01 -1.29257842e-02 1.32636876e+02] [ 1.31326791e-02 -9.30497169e-05 9.99913758e-01 5.99785930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.06, Y:132.66, Z:0.60 [[-1.85184457e-01 -9.82700963e-01 2.35257667e-03 1.24063136e+02] [ 9.82614116e-01 -1.85199368e-01 -1.30649937e-02 1.32664161e+02] [ 1.32746776e-02 -1.07758723e-04 9.99911882e-01 5.99878906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091858064 meters Centerline goodness [0,1] 0.9998909344734317 Centerline is valid? [True, True] Translation: X:124.06, Y:132.69, Z:0.60 [[-1.86378390e-01 -9.82475114e-01 2.39713444e-03 1.24058980e+02] [ 9.82385251e-01 -1.86393766e-01 -1.32884107e-02 1.32689965e+02] [ 1.35023438e-02 -1.21763081e-04 9.99908832e-01 5.99586616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121858064 meters Centerline goodness [0,1] 0.9999563318777293 Centerline is valid? [True, True] Translation: X:124.05, Y:132.72, Z:0.60 [[-1.88896256e-01 -9.81993909e-01 2.48332200e-03 1.24052368e+02] [ 9.81897737e-01 -1.88912513e-01 -1.37439405e-02 1.32717564e+02] [ 1.39655965e-02 -1.57810649e-04 9.99902464e-01 6.00561448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151858064 meters Centerline goodness [0,1] 0.9999128293416436 Centerline is valid? [True, True] Translation: X:124.05, Y:132.74, Z:0.60 [[-1.90072708e-01 -9.81766660e-01 2.56714768e-03 1.24048403e+02] [ 9.81664205e-01 -1.90089962e-01 -1.41843177e-02 1.32744598e+02] [ 1.44136792e-02 -1.75974694e-04 9.99896102e-01 5.99403417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:132.77, Z:0.60 [[-1.91727374e-01 -9.81444975e-01 2.52498939e-03 1.24042107e+02] [ 9.81346144e-01 -1.91743903e-01 -1.39291513e-02 1.32771823e+02] [ 1.41548468e-02 -1.92710992e-04 9.99899797e-01 6.01121034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:132.80, Z:0.60 [[-1.93095583e-01 -9.81176755e-01 2.50441289e-03 1.24037321e+02] [ 9.81079837e-01 -1.93111713e-01 -1.37920120e-02 1.32798644e+02] [ 1.40160331e-02 -2.06147619e-04 9.99901749e-01 6.01870642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.03, Y:132.83, Z:0.60 [[-1.95064872e-01 -9.80787050e-01 2.54139445e-03 1.24032190e+02] [ 9.80687550e-01 -1.95081287e-01 -1.39721545e-02 1.32825575e+02] [ 1.41994867e-02 -2.33162621e-04 9.99899155e-01 6.02414347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.03, Y:132.85, Z:0.60 [[-1.95823897e-01 -9.80635854e-01 2.51468694e-03 1.24026582e+02] [ 9.80538753e-01 -1.95839899e-01 -1.38017484e-02 1.32852128e+02] [ 1.40269654e-02 -2.36964158e-04 9.99901589e-01 6.02640546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.02, Y:132.88, Z:0.60 [[-1.96164047e-01 -9.80567848e-01 2.52246527e-03 1.24019561e+02] [ 9.80470456e-01 -1.96180120e-01 -1.38219451e-02 1.32879104e+02] [ 1.40482125e-02 -2.38166015e-04 9.99901291e-01 6.03595142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.331858064 meters Centerline goodness [0,1] 0.9999344692005242 Centerline is valid? [True, True] Translation: X:124.01, Y:132.91, Z:0.60 [[-1.96524209e-01 -9.80495990e-01 2.41849171e-03 1.24013401e+02] [ 9.80406748e-01 -1.96538957e-01 -1.32305326e-02 1.32905217e+02] [ 1.34478120e-02 -2.29014362e-04 9.99909548e-01 6.04136300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.01, Y:132.93, Z:0.60 [[-1.96605748e-01 -9.80479752e-01 2.37418756e-03 1.24007156e+02] [ 9.80394019e-01 -1.96619957e-01 -1.29676231e-02 1.32932140e+02] [ 1.31813046e-02 -2.21869958e-04 9.99913098e-01 6.04329330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.391858064 meters Centerline goodness [0,1] 0.9999564089710338 Centerline is valid? [True, True] Translation: X:124.00, Y:132.96, Z:0.60 [[-1.96888743e-01 -9.80423245e-01 2.25478809e-03 1.24000571e+02] [ 9.80346153e-01 -1.96901541e-01 -1.22964642e-02 1.32959359e+02] [ 1.24997106e-02 -2.10562562e-04 9.99921853e-01 6.04642204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.99, Y:132.99, Z:0.61 [[-1.96190629e-01 -9.80563455e-01 2.13266243e-03 1.23992664e+02] [ 9.80494709e-01 -1.96202131e-01 -1.16124604e-02 1.32986576e+02] [ 1.18051872e-02 -1.87191686e-04 9.99930299e-01 6.05178312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.99, Y:133.01, Z:0.60 [[-1.95864701e-01 -9.80628718e-01 2.08262566e-03 1.23986579e+02] [ 9.80563328e-01 -1.95875694e-01 -1.13257006e-02 1.33012949e+02] [ 1.15142430e-02 -1.76158608e-04 9.99933693e-01 6.04959899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.98, Y:133.04, Z:0.61 [[-1.95614078e-01 -9.80679065e-01 1.92483183e-03 1.23979344e+02] [ 9.80623380e-01 -1.95623485e-01 -1.04517277e-02 1.33039706e+02] [ 1.06263328e-02 -1.56969973e-04 9.99943527e-01 6.05253209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.97, Y:133.07, Z:0.61 [[-1.94855810e-01 -9.80830189e-01 1.83109036e-03 1.23971800e+02] [ 9.80779962e-01 -1.94864364e-01 -9.92700911e-03 1.33066821e+02] [ 1.00935245e-02 -1.38438664e-04 9.99949050e-01 6.05654534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:133.09, Z:0.61 [[-1.94104358e-01 -9.80979345e-01 1.73888904e-03 1.23964872e+02] [ 9.80934180e-01 -1.94112109e-01 -9.41407267e-03 1.33092663e+02] [ 9.57255026e-03 -1.21576835e-04 9.99954175e-01 6.05595727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:133.12, Z:0.61 [[-1.92477669e-01 -9.81299933e-01 1.66984072e-03 1.23956398e+02] [ 9.81258425e-01 -1.92484887e-01 -9.02610784e-03 1.33118530e+02] [ 9.17873812e-03 -9.87789222e-05 9.99957870e-01 6.06058166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.95, Y:133.15, Z:0.61 [[-1.91881078e-01 -9.81416783e-01 1.65858718e-03 1.23949666e+02] [ 9.81375963e-01 -1.91888225e-01 -8.95144350e-03 1.33146349e+02] [ 9.10336022e-03 -8.99150314e-05 9.99958560e-01 6.06300185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.94, Y:133.17, Z:0.61 [[-1.90271973e-01 -9.81729955e-01 1.69436737e-03 1.23939951e+02] [ 9.81687498e-01 -1.90279503e-01 -9.13059845e-03 1.33173121e+02] [ 9.28618539e-03 -7.39577217e-05 9.99956880e-01 6.05818168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:133.20, Z:0.61 [[-1.89435594e-01 -9.81891671e-01 1.70378990e-03 1.23932567e+02] [ 9.81848879e-01 -1.89443245e-01 -9.16708619e-03 1.33199997e+02] [ 9.32385706e-03 -6.37082176e-05 9.99956530e-01 6.05368846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:133.23, Z:0.60 [[-1.88485549e-01 -9.82074390e-01 1.75818152e-03 1.23925327e+02] [ 9.82028973e-01 -1.88493742e-01 -9.44491914e-03 1.33227420e+02] [ 9.60701941e-03 -5.36455838e-05 9.99953850e-01 6.04989149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.92, Y:133.25, Z:0.60 [[-1.87615642e-01 -9.82240816e-01 1.83050410e-03 1.23918580e+02] [ 9.82191747e-01 -1.87624566e-01 -9.81806385e-03 1.33254473e+02] [ 9.98715058e-03 -4.41163298e-05 9.99950126e-01 6.04972774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:133.28, Z:0.61 [[-1.85629658e-01 -9.82617822e-01 1.96116629e-03 1.23910582e+02] [ 9.82561700e-01 -1.85640016e-01 -1.05019256e-02 1.33281509e+02] [ 1.06834502e-02 -2.25019841e-05 9.99942930e-01 6.05446416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.90, Y:133.31, Z:0.61 [[-1.84584759e-01 -9.82814583e-01 1.99070989e-03 1.23904325e+02] [ 9.82756960e-01 -1.84595493e-01 -1.06424315e-02 1.33307568e+02] [ 1.08270129e-02 -8.04664672e-06 9.99941386e-01 6.05341801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.90, Y:133.34, Z:0.61 [[-1.83580988e-01 -9.83002584e-01 1.98530429e-03 1.23897652e+02] [ 9.82945468e-01 -1.83591722e-01 -1.05965018e-02 1.33335182e+02] [ 1.07808741e-02 6.12957491e-06 9.99941885e-01 6.05575534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.89, Y:133.36, Z:0.61 [[-1.82622266e-01 -9.83181309e-01 1.90281292e-03 1.23890842e+02] [ 9.83128984e-01 -1.82632178e-01 -1.01433589e-02 1.33361757e+02] [ 1.03202758e-02 1.83073457e-05 9.99946744e-01 6.05509739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:133.39, Z:0.61 [[-1.80493791e-01 -9.83574728e-01 1.65738652e-03 1.23883346e+02] [ 9.83535152e-01 -1.80501396e-01 -8.82326681e-03 1.33389091e+02] [ 8.97750283e-03 3.75530316e-05 9.99959701e-01 6.05883714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:133.42, Z:0.61 [[-1.79726239e-01 -9.83715327e-01 1.62287114e-03 1.23877427e+02] [ 9.83677505e-01 -1.79733560e-01 -8.62627853e-03 1.33416281e+02] [ 8.77748681e-03 4.60132376e-05 9.99961476e-01 6.06176820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93185806399998 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:123.87, Y:133.44, Z:0.61 [[-1.78783284e-01 -9.83887225e-01 1.57006591e-03 1.23871490e+02] [ 9.83851943e-01 -1.78790170e-01 -8.33243415e-03 1.33442709e+02] [ 8.47888787e-03 5.50124554e-05 9.99964052e-01 6.06024209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:133.47, Z:0.61 [[-1.76714741e-01 -9.84260906e-01 1.53936195e-03 1.23865233e+02] [ 9.84227117e-01 -1.76721430e-01 -8.15592879e-03 1.33469023e+02] [ 8.29960011e-03 7.38089344e-05 9.99965555e-01 6.06245085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.86, Y:133.50, Z:0.61 [[-1.75682664e-01 -9.84445623e-01 1.55461298e-03 1.23859678e+02] [ 9.84411279e-01 -1.75689521e-01 -8.22347815e-03 1.33496883e+02] [ 8.36869629e-03 8.56560060e-05 9.99964978e-01 6.06444706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:133.52, Z:0.61 [[-1.74846266e-01 -9.84594619e-01 1.48971830e-03 1.23853449e+02] [ 9.84563168e-01 -1.74852588e-01 -7.87021802e-03 1.33523092e+02] [ 8.00945541e-03 9.06435389e-05 9.99967920e-01 6.06344068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:133.55, Z:0.61 [[-1.73781447e-01 -9.84783550e-01 1.16938658e-03 1.23847349e+02] [ 9.84764221e-01 -1.73785363e-01 -6.17060740e-03 1.33550047e+02] [ 6.27993493e-03 7.92329810e-05 9.99980278e-01 6.07029956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:133.58, Z:0.61 [[-1.73448050e-01 -9.84842368e-01 1.13294260e-03 1.23842271e+02] [ 9.84824282e-01 -1.73451731e-01 -5.96920620e-03 1.33577948e+02] [ 6.07523802e-03 8.04022128e-05 9.99981542e-01 6.06993173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:133.61, Z:0.61 [[-1.73595970e-01 -9.84816284e-01 1.15189074e-03 1.23838205e+02] [ 9.84797645e-01 -1.73599772e-01 -6.05949520e-03 1.33605986e+02] [ 6.16745752e-03 8.24753384e-05 9.99980978e-01 6.07085311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:133.63, Z:0.61 [[-1.74495063e-01 -9.84657535e-01 1.00620983e-03 1.23835533e+02] [ 9.84643351e-01 -1.74497951e-01 -5.28542815e-03 1.33633205e+02] [ 5.37991820e-03 6.84767004e-05 9.99985526e-01 6.07522012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:133.66, Z:0.61 [[-1.75498120e-01 -9.84479286e-01 9.71971488e-04 1.23832411e+02] [ 9.84466090e-01 -1.75500800e-01 -5.09762456e-03 1.33661268e+02] [ 5.18908757e-03 6.22494433e-05 9.99986535e-01 6.08112037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:133.69, Z:0.61 [[-1.76638593e-01 -9.84275485e-01 7.60216062e-04 1.23828379e+02] [ 9.84267431e-01 -1.76640223e-01 -3.98205147e-03 1.33689393e+02] [ 4.05372037e-03 4.48719411e-05 9.99991783e-01 6.08349294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:133.72, Z:0.61 [[-1.79060675e-01 -9.83837750e-01 7.46435534e-04 1.23825978e+02] [ 9.83830005e-01 -1.79062227e-01 -3.90396966e-03 1.33716037e+02] [ 3.97453113e-03 3.53182329e-05 9.99992101e-01 6.07566256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261858064 meters Centerline goodness [0,1] 0.9997620026396071 Centerline is valid? [True, True] Translation: X:123.82, Y:133.74, Z:0.61 [[-1.80721636e-01 -9.83533912e-01 8.56517148e-04 1.23823668e+02] [ 9.83523747e-01 -1.80723662e-01 -4.47185247e-03 1.33743569e+02] [ 4.55301148e-03 3.42444608e-05 9.99989634e-01 6.07257801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.291858064 meters Centerline goodness [0,1] 0.9998481956974323 Centerline is valid? [True, True] Translation: X:123.82, Y:133.77, Z:0.61 [[-1.82344797e-01 -9.83234182e-01 9.58127435e-04 1.23820939e+02] [ 9.83221504e-01 -1.82347311e-01 -4.99320384e-03 1.33770218e+02] [ 5.08420066e-03 3.15667581e-05 9.99987075e-01 6.06403830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321858064 meters Centerline goodness [0,1] 0.9997391928017213 Centerline is valid? [True, True] Translation: X:123.82, Y:133.80, Z:0.61 [[-1.86478924e-01 -9.82458236e-01 1.19402188e-03 1.23823309e+02] [ 9.82438606e-01 -1.86482746e-01 -6.21050455e-03 1.33798828e+02] [ 6.32422582e-03 1.49249857e-05 9.99980002e-01 6.05446982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351858064 meters Centerline goodness [0,1] 0.9997820020927799 Centerline is valid? [True, True] Translation: X:123.82, Y:133.83, Z:0.61 [[-1.89075615e-01 -9.81961705e-01 1.27374496e-03 1.23822103e+02] [ 9.81939423e-01 -1.89079906e-01 -6.61508325e-03 1.33825746e+02] [ 6.73659800e-03 -1.05402839e-08 9.99977309e-01 6.05343869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381858064 meters Centerline goodness [0,1] 0.9996285127398278 Centerline is valid? [True, True] Translation: X:123.82, Y:133.85, Z:0.60 [[-1.91970363e-01 -9.81399810e-01 1.33881207e-03 1.23820667e+02] [ 9.81375254e-01 -1.91975030e-01 -6.94256209e-03 1.33853019e+02] [ 7.07044760e-03 -1.88891243e-05 9.99975004e-01 6.04889471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411858064 meters Centerline goodness [0,1] 0.9995414747046879 Centerline is valid? [True, True] Translation: X:123.82, Y:133.88, Z:0.60 [[-1.94952325e-01 -9.80811692e-01 1.41957009e-03 1.23818831e+02] [ 9.80784157e-01 -1.94957490e-01 -7.34948305e-03 1.33881598e+02] [ 7.48521473e-03 -4.05069531e-05 9.99971985e-01 6.04208764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441858064 meters Centerline goodness [0,1] 0.9996706698575099 Centerline is valid? [True, True] Translation: X:123.82, Y:133.91, Z:0.60 [[-2.00917309e-01 -9.79606979e-01 1.54942137e-03 1.23821622e+02] [ 9.79574244e-01 -2.00923263e-01 -8.00895361e-03 1.33909639e+02] [ 8.15694165e-03 -9.13641481e-05 9.99966727e-01 6.03377160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471858064 meters Centerline goodness [0,1] 0.9995387149917627 Centerline is valid? [True, True] Translation: X:123.82, Y:133.94, Z:0.60 [[-2.03539921e-01 -9.79065373e-01 1.57997185e-03 1.23821553e+02] [ 9.79031424e-01 -2.03546022e-01 -8.15404427e-03 1.33936925e+02] [ 8.30493937e-03 -1.12831434e-04 9.99965507e-01 6.03445189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501858064 meters Centerline goodness [0,1] 0.9995588592099168 Centerline is valid? [True, True] Translation: X:123.82, Y:133.96, Z:0.60 [[-2.06010353e-01 -9.78548743e-01 1.44667021e-03 1.23818899e+02] [ 9.78520349e-01 -2.06015398e-01 -7.45531875e-03 1.33964938e+02] [ 7.59342912e-03 -1.20276611e-04 9.99971162e-01 6.04250635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531858064 meters Centerline goodness [0,1] 0.9996464713420832 Centerline is valid? [True, True] Translation: X:123.82, Y:133.99, Z:0.61 [[-2.09864839e-01 -9.77729577e-01 1.27384237e-03 1.23821516e+02] [ 9.77707610e-01 -2.09868665e-01 -6.55539961e-03 1.33993401e+02] [ 6.67674769e-03 -1.30302507e-04 9.99977702e-01 6.05128372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561858064 meters Centerline goodness [0,1] 0.9995344403307691 Centerline is valid? [True, True] Translation: X:123.82, Y:134.02, Z:0.61 [[-2.11361497e-01 -9.77407175e-01 1.23790775e-03 1.23819578e+02] [ 9.77386484e-01 -2.11365080e-01 -6.36115082e-03 1.34021428e+02] [ 6.47908492e-03 -1.34588058e-04 9.99979001e-01 6.05183316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591858064 meters Centerline goodness [0,1] 0.9996453114608734 Centerline is valid? [True, True] Translation: X:123.82, Y:134.05, Z:0.61 [[-2.12337206e-01 -9.77195626e-01 1.27272363e-03 1.23816889e+02] [ 9.77173818e-01 -2.12340972e-01 -6.53000112e-03 1.34048528e+02] [ 6.65133990e-03 -1.42889990e-04 9.99977869e-01 6.05477100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621858064 meters Centerline goodness [0,1] 0.9995549126516079 Centerline is valid? [True, True] Translation: X:123.82, Y:134.08, Z:0.61 [[-2.13140882e-01 -9.77020656e-01 1.26551821e-03 1.23815933e+02] [ 9.76999161e-01 -2.13144589e-01 -6.48251164e-03 1.34076149e+02] [ 6.60328614e-03 -1.45278019e-04 9.99978188e-01 6.05584610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651858064 meters Centerline goodness [0,1] 0.9996882862422907 Centerline is valid? [True, True] Translation: X:123.81, Y:134.10, Z:0.61 [[-2.13499154e-01 -9.76942199e-01 1.43231871e-03 1.23811869e+02] [ 9.76914752e-01 -2.13503895e-01 -7.32483159e-03 1.34104106e+02] [ 7.46174271e-03 -1.64592067e-04 9.99972147e-01 6.05818589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68185806399998 meters Centerline goodness [0,1] 0.9996882862422907 Centerline is valid? [True, True] Translation: X:123.81, Y:134.13, Z:0.61 [[-2.13770969e-01 -9.76882754e-01 1.43435652e-03 1.23806501e+02] [ 9.76855309e-01 -2.13775718e-01 -7.32443269e-03 1.34131174e+02] [ 7.46174257e-03 -1.64592295e-04 9.99972147e-01 6.05912380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71185806399998 meters Centerline goodness [0,1] 0.9997120453639303 Centerline is valid? [True, True] Translation: X:123.80, Y:134.16, Z:0.61 [[-2.11872085e-01 -9.77296436e-01 1.37696641e-03 1.23801474e+02] [ 9.77271224e-01 -2.11876512e-01 -7.02134297e-03 1.34157472e+02] [ 7.15368030e-03 -1.41956930e-04 9.99974402e-01 6.06156258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74185806399998 meters Centerline goodness [0,1] 0.9996221634476474 Centerline is valid? [True, True] Translation: X:123.79, Y:134.18, Z:0.61 [[-2.09217219e-01 -9.77868320e-01 1.30569874e-03 1.23794055e+02] [ 9.77845723e-01 -2.09221262e-01 -6.64867116e-03 1.34184737e+02] [ 6.77470483e-03 -1.14244568e-04 9.99977045e-01 6.06280494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77185806399999 meters Centerline goodness [0,1] 0.9993310141824994 Centerline is valid? [True, True] Translation: X:123.79, Y:134.21, Z:0.61 [[-2.06740247e-01 -9.78394612e-01 1.56665844e-03 1.23788608e+02] [ 9.78362195e-01 -2.06746151e-01 -7.96522810e-03 1.34211951e+02] [ 8.11703686e-03 -1.13973830e-04 9.99967050e-01 6.05973879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.801858064 meters Centerline goodness [0,1] 0.9996892686716236 Centerline is valid? [True, True] Translation: X:123.78, Y:134.24, Z:0.61 [[-2.01597317e-01 -9.79466735e-01 1.85358683e-03 1.23780514e+02] [ 9.79421507e-01 -2.01605822e-01 -9.41294436e-03 1.34239536e+02] [ 9.59335978e-03 -8.21815260e-05 9.99953979e-01 6.06100279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.831858064 meters Centerline goodness [0,1] 0.9996003729852138 Centerline is valid? [True, True] Translation: X:123.77, Y:134.27, Z:0.61 [[-1.98921739e-01 -9.80013530e-01 1.90341145e-03 1.23772741e+02] [ 9.79965994e-01 -1.98930838e-01 -9.65256813e-03 1.34265338e+02] [ 9.83829460e-03 -5.48271465e-05 9.99951601e-01 6.05976098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.861858064 meters Centerline goodness [0,1] 0.9998892874540543 Centerline is valid? [True, True] Translation: X:123.77, Y:134.29, Z:0.61 [[-1.97657462e-01 -9.80268906e-01 2.09748216e-03 1.23767420e+02] [ 9.80211377e-01 -1.97668585e-01 -1.06201064e-02 1.34292712e+02] [ 1.08251664e-02 -4.31673876e-05 9.99941405e-01 6.05570735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.891858064 meters Centerline goodness [0,1] 0.9999111150615528 Centerline is valid? [True, True] Translation: X:123.76, Y:134.32, Z:0.61 [[-1.96432046e-01 -9.80514645e-01 2.34147970e-03 1.23764019e+02] [ 9.80443165e-01 -1.96445998e-01 -1.18393191e-02 1.34319178e+02] [ 1.20686001e-02 -2.99339041e-05 9.99927171e-01 6.05106693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921858064 meters Centerline goodness [0,1] 0.9998672066927827 Centerline is valid? [True, True] Translation: X:123.76, Y:134.35, Z:0.61 [[-1.96265395e-01 -9.80548115e-01 2.29955792e-03 1.23758263e+02] [ 9.80479382e-01 -1.96278865e-01 -1.16098907e-02 1.34346012e+02] [ 1.18354111e-02 -2.39506618e-05 9.99929959e-01 6.05206664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.951858064 meters Centerline goodness [0,1] 0.999844995571302 Centerline is valid? [True, True] Translation: X:123.75, Y:134.37, Z:0.61 [[-1.97316850e-01 -9.80337576e-01 2.07318645e-03 1.23753127e+02] [ 9.80281861e-01 -1.97327739e-01 -1.04516651e-02 1.34374055e+02] [ 1.06552572e-02 -2.99825611e-05 9.99943231e-01 6.06600472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981858064 meters Centerline goodness [0,1] 0.9998672948045916 Centerline is valid? [True, True] Translation: X:123.75, Y:134.40, Z:0.61 [[-1.98187029e-01 -9.80162285e-01 1.94837007e-03 1.23748387e+02] [ 9.80113210e-01 -1.98196603e-01 -9.80831468e-03 1.34402172e+02] [ 9.99990046e-03 -3.42575048e-05 9.99949999e-01 6.07097824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.011858064 meters Centerline goodness [0,1] 0.9997118730468317 Centerline is valid? [True, True] Translation: X:123.74, Y:134.43, Z:0.61 [[-1.99077324e-01 -9.79982129e-01 1.80160330e-03 1.23742782e+02] [ 9.79940282e-01 -1.99085472e-01 -9.05640531e-03 1.34429967e+02] [ 9.23378840e-03 -3.74612870e-05 9.99957367e-01 6.07297890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.041858064 meters Centerline goodness [0,1] 0.9998445722406022 Centerline is valid? [True, True] Translation: X:123.74, Y:134.46, Z:0.61 [[-2.00254228e-01 -9.79742460e-01 1.71944511e-03 1.23737279e+02] [ 9.79704449e-01 -2.00261605e-01 -8.63032868e-03 1.34456878e+02] [ 8.79983829e-03 -4.37117825e-05 9.99961280e-01 6.06703028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071858064 meters Centerline goodness [0,1] 0.9999557434002345 Centerline is valid? [True, True] Translation: X:123.73, Y:134.48, Z:0.61 [[-2.01228230e-01 -9.79542906e-01 1.70112242e-03 1.23731191e+02] [ 9.79505805e-01 -2.01235415e-01 -8.52555466e-03 1.34484513e+02] [ 8.69347266e-03 -4.93229872e-05 9.99962210e-01 6.06466616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101858064 meters Centerline goodness [0,1] 0.9998673124129238 Centerline is valid? [True, True] Translation: X:123.73, Y:134.51, Z:0.60 [[-2.02165817e-01 -9.79349747e-01 1.74794138e-03 1.23726251e+02] [ 9.79310684e-01 -2.02173366e-01 -8.74729457e-03 1.34512572e+02] [ 8.92004792e-03 -5.66262865e-05 9.99960214e-01 6.04728192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131858064 meters Centerline goodness [0,1] 0.9997788491308771 Centerline is valid? [True, True] Translation: X:123.72, Y:134.54, Z:0.60 [[-2.02585306e-01 -9.79262871e-01 1.85026729e-03 1.23720896e+02] [ 9.79219225e-01 -2.02593746e-01 -9.24568768e-03 1.34540515e+02] [ 9.42881124e-03 -6.12231615e-05 9.99955546e-01 6.03985598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161858064 meters Centerline goodness [0,1] 0.9998894172287958 Centerline is valid? [True, True] Translation: X:123.72, Y:134.57, Z:0.60 [[-2.03243232e-01 -9.79126369e-01 1.93452696e-03 1.23715440e+02] [ 9.79078801e-01 -2.03252427e-01 -9.65151872e-03 1.34567025e+02] [ 9.84325378e-03 -6.75515242e-05 9.99951552e-01 6.03436290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191858064 meters Centerline goodness [0,1] 0.999845286772019 Centerline is valid? [True, True] Translation: X:123.71, Y:134.59, Z:0.60 [[-2.04196762e-01 -9.78927786e-01 2.01780346e-03 1.23710221e+02] [ 9.78876199e-01 -2.04206717e-01 -1.00500955e-02 1.34592316e+02] [ 1.02503668e-02 -7.70171874e-05 9.99947461e-01 6.02233564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221858064 meters Centerline goodness [0,1] 0.9997340838079198 Centerline is valid? [True, True] Translation: X:123.71, Y:134.62, Z:0.60 [[-2.04858334e-01 -9.78789361e-01 2.10954119e-03 1.23705072e+02] [ 9.78733125e-01 -2.04869178e-01 -1.04923554e-02 1.34618556e+02] [ 1.07019858e-02 -8.47686057e-05 9.99942729e-01 6.01896785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251858064 meters Centerline goodness [0,1] 0.9999117309559538 Centerline is valid? [True, True] Translation: X:123.70, Y:134.65, Z:0.60 [[-2.05783277e-01 -9.78595083e-01 2.21507939e-03 1.23699965e+02] [ 9.78533252e-01 -2.05795175e-01 -1.10009730e-02 1.34645037e+02] [ 1.12213507e-02 -9.62874294e-05 9.99937034e-01 6.01676070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281858064 meters Centerline goodness [0,1] 0.9997795025577704 Centerline is valid? [True, True] Translation: X:123.69, Y:134.67, Z:0.60 [[-2.06754876e-01 -9.78390007e-01 2.32705193e-03 1.23694716e+02] [ 9.78321969e-01 -2.06767942e-01 -1.15387598e-02 1.34672275e+02] [ 1.17705670e-02 -1.09088822e-04 9.99930719e-01 6.01500833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311858064 meters Centerline goodness [0,1] 0.9998893682929527 Centerline is valid? [True, True] Translation: X:123.69, Y:134.70, Z:0.60 [[-2.09043827e-01 -9.77903297e-01 2.41247727e-03 1.23689523e+02] [ 9.77830354e-01 -2.09057702e-01 -1.19446984e-02 1.34700103e+02] [ 1.21851069e-02 -1.37971969e-04 9.99925749e-01 6.02269715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.69, Y:134.73, Z:0.60 [[-2.10429532e-01 -9.77605966e-01 2.44704925e-03 1.23686165e+02] [ 9.77531137e-01 -2.10443703e-01 -1.20964775e-02 1.34726178e+02] [ 1.23405546e-02 -1.53389252e-04 9.99923841e-01 6.02053812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:134.75, Z:0.60 [[-2.12422583e-01 -9.77175024e-01 2.37015619e-03 1.23680786e+02] [ 9.77105010e-01 -2.12435738e-01 -1.16985699e-02 1.34753282e+02] [ 1.19350562e-02 -1.69148942e-04 9.99928760e-01 6.03149449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:134.78, Z:0.60 [[-2.16397532e-01 -9.76302742e-01 2.25034915e-03 1.23677490e+02] [ 9.76239755e-01 -2.16409137e-01 -1.10917411e-02 1.34781554e+02] [ 1.13158933e-02 -2.03345099e-04 9.99935953e-01 6.04643552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:134.81, Z:0.61 [[-2.18629343e-01 -9.75805812e-01 2.05599242e-03 1.23672861e+02] [ 9.75753356e-01 -2.18638912e-01 -1.01200149e-02 1.34808998e+02] [ 1.03246893e-02 -2.06390697e-04 9.99946678e-01 6.05909463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:134.84, Z:0.61 [[-2.20851867e-01 -9.75305388e-01 1.96269875e-03 1.23668517e+02] [ 9.75257696e-01 -2.20860482e-01 -9.64753432e-03 1.34837029e+02] [ 9.84277480e-03 -2.16538900e-04 9.99951535e-01 6.06722722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:134.86, Z:0.61 [[-2.24259825e-01 -9.74527700e-01 1.81478285e-03 1.23668554e+02] [ 9.74486997e-01 -2.24267050e-01 -8.90969213e-03 1.34864246e+02] [ 9.08973777e-03 -2.29603706e-04 9.99958661e-01 6.06242949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:134.89, Z:0.61 [[-2.25908699e-01 -9.74146772e-01 1.82385158e-03 1.23660033e+02] [ 9.74105755e-01 -2.25915930e-01 -8.94266095e-03 1.34891591e+02] [ 9.12350142e-03 -2.43600581e-04 9.99958350e-01 6.07051271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:134.92, Z:0.61 [[-2.27370637e-01 -9.73806678e-01 1.77419004e-03 1.23658771e+02] [ 9.73767961e-01 -2.27377425e-01 -8.68703941e-03 1.34918915e+02] [ 8.86290774e-03 -2.47528267e-04 9.99960693e-01 6.06602405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.65, Y:134.95, Z:0.61 [[-2.28354980e-01 -9.73576329e-01 1.77066576e-03 1.23648441e+02] [ 9.73537866e-01 -2.28361704e-01 -8.65765621e-03 1.34945408e+02] [ 8.83324140e-03 -2.53208744e-04 9.99960954e-01 6.07743096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:134.97, Z:0.61 [[-2.29822436e-01 -9.73231266e-01 1.59745219e-03 1.23643132e+02] [ 9.73200037e-01 -2.29827864e-01 -7.80008409e-03 1.34971631e+02] [ 7.95842473e-03 -2.37993796e-04 9.99968303e-01 6.07330945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:135.00, Z:0.61 [[-2.30696631e-01 -9.73024452e-01 1.57469884e-03 1.23637252e+02] [ 9.72994186e-01 -2.30701881e-01 -7.67835614e-03 1.34999545e+02] [ 7.83451426e-03 -2.39198074e-04 9.99969281e-01 6.06901805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:135.03, Z:0.61 [[-2.31209172e-01 -9.72902867e-01 1.52680608e-03 1.23637080e+02] [ 9.72874492e-01 -2.31214095e-01 -7.43398351e-03 1.35026664e+02] [ 7.58556295e-03 -2.33414479e-04 9.99971202e-01 6.06135514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.63, Y:135.05, Z:0.61 [[-2.31887962e-01 -9.72741535e-01 1.37091832e-03 1.23631197e+02] [ 9.72718723e-01 -2.31891918e-01 -6.66514768e-03 1.35052713e+02] [ 6.80137086e-03 -2.12049597e-04 9.99976848e-01 6.06306535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:135.08, Z:0.61 [[-2.32027188e-01 -9.72708745e-01 1.04018868e-03 1.23618638e+02] [ 9.72695645e-01 -2.32029465e-01 -5.05077586e-03 1.35077689e+02] [ 5.15428826e-03 -1.60130322e-04 9.99986704e-01 6.07324815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:135.10, Z:0.61 [[-2.32046242e-01 -9.72704270e-01 9.72409101e-04 1.23611047e+02] [ 9.72692854e-01 -2.32048232e-01 -4.71488453e-03 1.35103711e+02] [ 4.81183412e-03 -1.48215851e-04 9.99988412e-01 6.07614863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.791858064 meters Centerline goodness [0,1] 0.9999778009634381 Centerline is valid? [True, True] Translation: X:123.60, Y:135.13, Z:0.61 [[-2.31990754e-01 -9.72717679e-01 7.79634758e-04 1.23603215e+02] [ 9.72710359e-01 -2.31992035e-01 -3.77548458e-03 1.35130864e+02] [ 3.85334965e-03 -1.17518709e-04 9.99992569e-01 6.07731667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:135.16, Z:0.61 [[-2.30840473e-01 -9.72991498e-01 4.70952722e-04 1.23599941e+02] [ 9.72988831e-01 -2.30840943e-01 -2.27892244e-03 1.35158239e+02] [ 2.32608733e-03 -6.78357950e-05 9.99997292e-01 6.08248203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:135.18, Z:0.61 [[-2.30234380e-01 -9.73135125e-01 3.98292026e-04 1.23589439e+02] [ 9.73133220e-01 -2.30234718e-01 -1.92641452e-03 1.35184559e+02] [ 1.96636229e-03 -5.59356501e-05 9.99998065e-01 6.08396985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:135.21, Z:0.61 [[-2.29229460e-01 -9.73372391e-01 2.07963171e-04 1.23582771e+02] [ 9.73371871e-01 -2.29229552e-01 -1.00664716e-03 1.35211983e+02] [ 1.02751386e-03 -2.83276836e-05 9.99999472e-01 6.08692114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:135.24, Z:0.61 [[-2.27733906e-01 -9.73723391e-01 1.62402017e-04 1.23576199e+02] [ 9.73723074e-01 -2.27733963e-01 -7.85961316e-04 1.35238564e+02] [ 8.02293372e-04 -2.08554495e-05 9.99999678e-01 6.08784216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.57, Y:135.26, Z:0.61 [[-2.24192555e-01 -9.74544850e-01 1.83232354e-04 1.23567490e+02] [ 9.74544448e-01 -2.24192629e-01 -8.85081725e-04 1.35264958e+02] [ 9.03631181e-04 -1.98606598e-05 9.99999592e-01 6.08980963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.56, Y:135.29, Z:0.61 [[-2.22554453e-01 -9.74920249e-01 1.52676463e-04 1.23560257e+02] [ 9.74919970e-01 -2.22554505e-01 -7.37154347e-04 1.35291948e+02] [ 7.52645534e-04 -1.52096498e-05 9.99999717e-01 6.08938252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:135.32, Z:0.61 [[-2.20926510e-01 -9.75290442e-01 1.77925176e-04 1.23552774e+02] [ 9.75290065e-01 -2.20926581e-01 -8.57146778e-04 1.35319050e+02] [ 8.75275460e-04 -1.58377895e-05 9.99999617e-01 6.08882368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031858064 meters Centerline goodness [0,1] 0.9999338128226625 Centerline is valid? [True, True] Translation: X:123.54, Y:135.35, Z:0.61 [[-2.17412743e-01 -9.76079749e-01 1.50481609e-04 1.23543446e+02] [ 9.76079480e-01 -2.17412795e-01 -7.24508876e-04 1.35345104e+02] [ 7.39895069e-04 -1.06354516e-05 9.99999726e-01 6.08377320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:135.37, Z:0.61 [[-2.15765323e-01 -9.76445240e-01 1.36671020e-04 1.23534905e+02] [ 9.76445018e-01 -2.15765367e-01 -6.58254377e-04 1.35371024e+02] [ 6.72238226e-04 -8.57673214e-06 9.99999774e-01 6.07366079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:135.40, Z:0.61 [[-2.14479132e-01 -9.76728518e-01 3.24127299e-04 1.23528488e+02] [ 9.76727285e-01 -2.14479376e-01 -1.55183208e-03 1.35396111e+02] [ 1.58523727e-03 -1.62516205e-05 9.99998743e-01 6.07002772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:135.42, Z:0.61 [[-2.13283391e-01 -9.76990301e-01 3.83230801e-04 1.23521403e+02] [ 9.76988586e-01 -2.13283735e-01 -1.83066196e-03 1.35422076e+02] [ 1.87027587e-03 -1.60376715e-05 9.99998251e-01 6.06574300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151858064 meters Centerline goodness [0,1] 0.9999345364086674 Centerline is valid? [True, True] Translation: X:123.51, Y:135.45, Z:0.61 [[-2.11636529e-01 -9.77348333e-01 4.64103680e-04 1.23514634e+02] [ 9.77345828e-01 -2.11637038e-01 -2.21282338e-03 1.35447244e+02] [ 2.26092077e-03 -1.47244653e-05 9.99997444e-01 6.06452128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18185806399998 meters Centerline goodness [0,1] 0.999934553546107 Centerline is valid? [True, True] Translation: X:123.51, Y:135.47, Z:0.61 [[-2.11497048e-01 -9.77378525e-01 4.67136977e-04 1.23507836e+02] [ 9.77375995e-01 -2.11497564e-01 -2.22371848e-03 1.35474157e+02] [ 2.27221302e-03 -1.37414259e-05 9.99997418e-01 6.06387940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:135.50, Z:0.61 [[-2.11782051e-01 -9.77316802e-01 4.80863168e-04 1.23502264e+02] [ 9.77314129e-01 -2.11782596e-01 -2.28574598e-03 1.35501632e+02] [ 2.33573640e-03 -1.41256034e-05 9.99997272e-01 6.06654509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:135.53, Z:0.61 [[-2.13174285e-01 -9.77014082e-01 4.56761808e-04 1.23496873e+02] [ 9.77011676e-01 -2.13174773e-01 -2.16840816e-03 1.35529474e+02] [ 2.21593540e-03 -1.59872389e-05 9.99997545e-01 6.06884982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.49, Y:135.56, Z:0.61 [[-2.14159002e-01 -9.76798744e-01 3.69263920e-04 1.23491967e+02] [ 9.76797173e-01 -2.14159320e-01 -1.75175362e-03 1.35555855e+02] [ 1.79019205e-03 -1.44578556e-05 9.99998398e-01 6.07334670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.49, Y:135.58, Z:0.61 [[-2.16244616e-01 -9.76339183e-01 2.55994628e-04 1.23488821e+02] [ 9.76338429e-01 -2.16244768e-01 -1.21338720e-03 1.35582388e+02] [ 1.24003497e-03 -1.24510568e-05 9.99999231e-01 6.08056058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.331858064 meters Centerline goodness [0,1] 0.9999561288058261 Centerline is valid? [True, True] Translation: X:123.48, Y:135.61, Z:0.61 [[-2.17391307e-01 -9.76084496e-01 2.76452085e-04 1.23483422e+02] [ 9.76083618e-01 -2.17391482e-01 -1.30896935e-03 1.35609826e+02] [ 1.33776302e-03 -1.47182061e-05 9.99999105e-01 6.07907977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.48, Y:135.64, Z:0.61 [[-2.18824775e-01 -9.75764126e-01 2.96016966e-04 1.23480134e+02] [ 9.75763123e-01 -2.18824975e-01 -1.39942923e-03 1.35637244e+02] [ 1.43028875e-03 -1.73873491e-05 9.99998977e-01 6.08076580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.48, Y:135.66, Z:0.61 [[-2.19978744e-01 -9.75504601e-01 3.54722077e-04 1.23475763e+02] [ 9.75503166e-01 -2.19979029e-01 -1.67347801e-03 1.35663709e+02] [ 1.71051692e-03 -2.20970825e-05 9.99998537e-01 6.07879859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.47, Y:135.69, Z:0.61 [[-2.22099073e-01 -9.75023938e-01 5.67020572e-04 1.23472706e+02] [ 9.75020289e-01 -2.22099794e-01 -2.66775771e-03 1.35690460e+02] [ 2.72706278e-03 -3.96499536e-05 9.99996281e-01 6.06842445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.47, Y:135.72, Z:0.61 [[-2.22982198e-01 -9.74822270e-01 6.94076133e-04 1.23466020e+02] [ 9.74816814e-01 -2.22983272e-01 -3.26170943e-03 1.35717375e+02] [ 3.33435436e-03 -5.07060526e-05 9.99994440e-01 6.06666936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:135.74, Z:0.61 [[-2.23855415e-01 -9.74622113e-01 7.00299717e-04 1.23461426e+02] [ 9.74616573e-01 -2.23856504e-01 -3.28639859e-03 1.35743581e+02] [ 3.35976339e-03 -5.31544103e-05 9.99994355e-01 6.06662307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.511858064 meters Centerline goodness [0,1] 0.9999339788732394 Centerline is valid? [True, True] Translation: X:123.46, Y:135.77, Z:0.61 [[-2.24634589e-01 -9.74442896e-01 5.87065200e-04 1.23457886e+02] [ 9.74439007e-01 -2.24635352e-01 -2.75314783e-03 1.35769928e+02] [ 2.81466094e-03 -4.63930026e-05 9.99996038e-01 6.07816629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.45, Y:135.80, Z:0.61 [[-2.24877144e-01 -9.74387020e-01 4.52380125e-04 1.23452312e+02] [ 9.74384716e-01 -2.24877596e-01 -2.11924285e-03 1.35797066e+02] [ 2.16669289e-03 -3.57770004e-05 9.99997652e-01 6.08412366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.45, Y:135.82, Z:0.61 [[-2.25176809e-01 -9.74317812e-01 4.53026522e-04 1.23446598e+02] [ 9.74315509e-01 -2.25177262e-01 -2.11910461e-03 1.35823215e+02] [ 2.16669264e-03 -3.57824476e-05 9.99997652e-01 6.08503299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601858064 meters Centerline goodness [0,1] 0.999978059108761 Centerline is valid? [True, True] Translation: X:123.44, Y:135.85, Z:0.61 [[-2.25153947e-01 -9.74323099e-01 4.45827919e-04 1.23440011e+02] [ 9.74320874e-01 -2.25154386e-01 -2.08237402e-03 1.35850027e+02] [ 2.12928522e-03 -3.44752825e-05 9.99997732e-01 6.08672894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.43, Y:135.88, Z:0.61 [[-2.24930232e-01 -9.74374796e-01 3.85483125e-04 1.23433570e+02] [ 9.74373136e-01 -2.24930560e-01 -1.79848131e-03 1.35876060e+02] [ 1.83910179e-03 -2.89284165e-05 9.99998308e-01 6.08869351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.43, Y:135.90, Z:0.61 [[-2.24051470e-01 -9.74577265e-01 3.04693665e-04 1.23426947e+02] [ 9.74576231e-01 -2.24051676e-01 -1.41985688e-03 1.35901117e+02] [ 1.45202736e-03 -2.11738155e-05 9.99998946e-01 6.09155180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.42, Y:135.93, Z:0.61 [[-2.23681659e-01 -9.74662160e-01 4.34679739e-04 1.23419479e+02] [ 9.74660063e-01 -2.23682080e-01 -2.02198145e-03 1.35927857e+02] [ 2.06797887e-03 -2.86151823e-05 9.99997861e-01 6.09104019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.41, Y:135.95, Z:0.61 [[-2.23301953e-01 -9.74749216e-01 4.50638959e-04 1.23413586e+02] [ 9.74746969e-01 -2.23302406e-01 -2.09327630e-03 1.35954450e+02] [ 2.14104820e-03 -2.81737266e-05 9.99997708e-01 6.08910693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.41, Y:135.98, Z:0.61 [[-2.21552301e-01 -9.75148337e-01 5.47382361e-04 1.23406358e+02] [ 9.75145034e-01 -2.21552976e-01 -2.53806830e-03 1.35981007e+02] [ 2.59626728e-03 -2.85376823e-05 9.99996629e-01 6.08438030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781858064 meters Centerline goodness [0,1] 0.9999561470826847 Centerline is valid? [True, True] Translation: X:123.40, Y:136.01, Z:0.61 [[-2.20745698e-01 -9.75331223e-01 5.85060970e-04 1.23399549e+02] [ 9.75327463e-01 -2.20746472e-01 -2.70836238e-03 1.36007055e+02] [ 2.77070054e-03 -2.72333123e-05 9.99996161e-01 6.08042250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811858064 meters Centerline goodness [0,1] 0.9998681550496616 Centerline is valid? [True, True] Translation: X:123.39, Y:136.03, Z:0.61 [[-2.19866482e-01 -9.75529740e-01 6.76270367e-04 1.23392480e+02] [ 9.75524734e-01 -2.19867520e-01 -3.12515188e-03 1.36033715e+02] [ 3.19736849e-03 -2.73976802e-05 9.99994888e-01 6.07941595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.39, Y:136.06, Z:0.61 [[-2.19168033e-01 -9.75686848e-01 7.40249924e-04 1.23385483e+02] [ 9.75680871e-01 -2.19169282e-01 -3.41525383e-03 1.36060576e+02] [ 3.49445829e-03 -2.62667751e-05 9.99993894e-01 6.07626841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.38, Y:136.09, Z:0.61 [[-2.16445805e-01 -9.76294272e-01 8.41769615e-04 1.23377391e+02] [ 9.76286573e-01 -2.16447441e-01 -3.87711142e-03 1.36086095e+02] [ 3.96740055e-03 -1.73761269e-05 9.99992130e-01 6.07777567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901858064 meters Centerline goodness [0,1] 0.999912654219893 Centerline is valid? [True, True] Translation: X:123.37, Y:136.11, Z:0.61 [[-2.15465606e-01 -9.76511099e-01 8.03549144e-04 1.23369817e+02] [ 9.76504107e-01 -2.15467104e-01 -3.69554958e-03 1.36112759e+02] [ 3.78188359e-03 -1.15947899e-05 9.99992849e-01 6.07909304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93185806399998 meters Centerline goodness [0,1] 0.9999128483343138 Centerline is valid? [True, True] Translation: X:123.36, Y:136.14, Z:0.61 [[-2.14330175e-01 -9.76760976e-01 7.55860881e-04 1.23362745e+02] [ 9.76754808e-01 -2.14331507e-01 -3.47134991e-03 1.36139664e+02] [ 3.55268393e-03 -5.72428207e-06 9.99993689e-01 6.08312941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.36, Y:136.17, Z:0.61 [[-2.12146210e-01 -9.77237587e-01 8.27225055e-04 1.23355501e+02] [ 9.77230224e-01 -2.12147822e-01 -3.79360018e-03 1.36167115e+02] [ 3.88274268e-03 3.59142733e-06 9.99992462e-01 6.08878868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.35, Y:136.19, Z:0.61 [[-2.11581529e-01 -9.77359962e-01 8.73015715e-04 1.23349322e+02] [ 9.77351785e-01 -2.11583330e-01 -3.99783775e-03 1.36193908e+02] [ 4.09204212e-03 7.37484511e-06 9.99991628e-01 6.09099411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.34, Y:136.22, Z:0.61 [[-2.11269232e-01 -9.77427469e-01 9.24021179e-04 1.23343337e+02] [ 9.77418337e-01 -2.11271252e-01 -4.22512888e-03 1.36221080e+02] [ 4.32497614e-03 1.05155118e-05 9.99990647e-01 6.09027367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.34, Y:136.25, Z:0.61 [[-2.11594082e-01 -9.77357112e-01 1.00969484e-03 1.23337656e+02] [ 9.77346237e-01 -2.11596490e-01 -4.61067442e-03 1.36247701e+02] [ 4.71992332e-03 1.12300306e-05 9.99988861e-01 6.08845699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:136.27, Z:0.61 [[-2.12004931e-01 -9.77267956e-01 1.11886034e-03 1.23332354e+02] [ 9.77254632e-01 -2.12007883e-01 -5.10312306e-03 1.36274979e+02] [ 5.22432585e-03 1.15241934e-05 9.99986353e-01 6.09118986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:136.30, Z:0.61 [[-2.12743162e-01 -9.77107580e-01 1.06050183e-03 1.23327250e+02] [ 9.77095639e-01 -2.12745805e-01 -4.83054976e-03 1.36301312e+02] [ 4.94558410e-03 8.54527915e-06 9.99987770e-01 6.08983712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.32, Y:136.33, Z:0.61 [[-2.13707627e-01 -9.76896964e-01 1.17129138e-03 1.23322428e+02] [ 9.76882433e-01 -2.13710836e-01 -5.32830093e-03 1.36329485e+02] [ 5.45551866e-03 5.51542936e-06 9.99985119e-01 6.09572526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.32, Y:136.36, Z:0.61 [[-2.14083954e-01 -9.76814709e-01 1.04186545e-03 1.23316321e+02] [ 9.76803231e-01 -2.14086489e-01 -4.73520004e-03 1.36357259e+02] [ 4.84846237e-03 3.96718421e-06 9.99988246e-01 6.09634843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201858064 meters Centerline goodness [0,1] 0.9999562200380886 Centerline is valid? [True, True] Translation: X:123.31, Y:136.39, Z:0.61 [[-2.14569963e-01 -9.76708029e-01 1.07571946e-03 1.23310287e+02] [ 9.76695826e-01 -2.14572659e-01 -4.88242992e-03 1.36385068e+02] [ 4.99952849e-03 3.02789898e-06 9.99987502e-01 6.09817991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.231858064 meters Centerline goodness [0,1] 0.9999562296194165 Centerline is valid? [True, True] Translation: X:123.31, Y:136.41, Z:0.61 [[-2.15552827e-01 -9.76491446e-01 1.19757825e-03 1.23305747e+02] [ 9.76476364e-01 -2.15556153e-01 -5.42735282e-03 1.36411202e+02] [ 5.55790896e-03 -4.74384980e-07 9.99984555e-01 6.09202974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.30, Y:136.44, Z:0.61 [[-2.16353192e-01 -9.76314216e-01 1.35910489e-03 1.23300707e+02] [ 9.76294850e-01 -2.16357461e-01 -6.14937967e-03 1.36438304e+02] [ 6.29777928e-03 -3.55081658e-06 9.99980169e-01 6.09179042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.30, Y:136.46, Z:0.61 [[-2.17367644e-01 -9.76088819e-01 1.38742309e-03 1.23296079e+02] [ 9.76068692e-01 -2.17372072e-01 -6.26827500e-03 1.36464446e+02] [ 6.41998017e-03 -8.29993036e-06 9.99979392e-01 6.09226554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.29, Y:136.49, Z:0.61 [[-2.18309231e-01 -9.75878730e-01 1.33581905e-03 1.23291548e+02] [ 9.75860116e-01 -2.18313317e-01 -6.02745999e-03 1.36489807e+02] [ 6.17369709e-03 -1.22776228e-05 9.99980942e-01 6.09302785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351858064 meters Centerline goodness [0,1] 0.9999779793887078 Centerline is valid? [True, True] Translation: X:123.29, Y:136.52, Z:0.61 [[-2.20373788e-01 -9.75414745e-01 1.21181053e-03 1.23287209e+02] [ 9.75399454e-01 -2.20377119e-01 -5.46168328e-03 1.36517799e+02] [ 5.59446171e-03 -2.16125060e-05 9.99984351e-01 6.10641277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:136.54, Z:0.61 [[-2.21603745e-01 -9.75136002e-01 1.24838297e-03 1.23282083e+02] [ 9.75119809e-01 -2.21607260e-01 -5.61971541e-03 1.36544461e+02] [ 5.75663754e-03 -2.80270158e-05 9.99983430e-01 6.10823993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411858064 meters Centerline goodness [0,1] 0.9998905309250137 Centerline is valid? [True, True] Translation: X:123.28, Y:136.57, Z:0.61 [[-2.22658643e-01 -9.74895805e-01 1.13891808e-03 1.23276427e+02] [ 9.74882352e-01 -2.22661554e-01 -5.12164843e-03 1.36572391e+02] [ 5.24666684e-03 -3.00681530e-05 9.99986236e-01 6.10815623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441858064 meters Centerline goodness [0,1] 0.9999562181213196 Centerline is valid? [True, True] Translation: X:123.27, Y:136.60, Z:0.61 [[-2.24039473e-01 -9.74579421e-01 1.12517465e-03 1.23272170e+02] [ 9.74566323e-01 -2.24042296e-01 -5.05288612e-03 1.36598360e+02] [ 5.17652554e-03 -3.54886273e-05 9.99986601e-01 6.11244311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471858064 meters Centerline goodness [0,1] 0.9999780788285326 Centerline is valid? [True, True] Translation: X:123.27, Y:136.63, Z:0.61 [[-2.24712530e-01 -9.74424450e-01 1.12692206e-03 1.23266454e+02] [ 9.74411349e-01 -2.24715353e-01 -5.05311577e-03 1.36625213e+02] [ 5.17711625e-03 -3.74127852e-05 9.99986598e-01 6.11363584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.26, Y:136.65, Z:0.61 [[-2.25177636e-01 -9.74317032e-01 1.16343889e-03 1.23260228e+02] [ 9.74303107e-01 -2.25180638e-01 -5.20920505e-03 1.36652234e+02] [ 5.33740111e-03 -3.94543517e-05 9.99985755e-01 6.11215061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.25, Y:136.68, Z:0.61 [[-2.25815521e-01 -9.74169282e-01 1.24966781e-03 1.23254052e+02] [ 9.74153261e-01 -2.25818974e-01 -5.58695703e-03 1.36679291e+02] [ 5.72484062e-03 -4.42536401e-05 9.99983612e-01 6.10889030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.25, Y:136.71, Z:0.61 [[-2.26331718e-01 -9.74049340e-01 1.35549429e-03 1.23247988e+02] [ 9.74030545e-01 -2.26335772e-01 -6.05111259e-03 1.36706108e+02] [ 6.20087907e-03 -4.92658703e-05 9.99980773e-01 6.10877072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591858064 meters Centerline goodness [0,1] 0.9999780547752809 Centerline is valid? [True, True] Translation: X:123.24, Y:136.73, Z:0.61 [[-2.26838643e-01 -9.73931362e-01 1.39012522e-03 1.23242014e+02] [ 9.73911649e-01 -2.26842896e-01 -6.19684341e-03 1.36732682e+02] [ 6.35064017e-03 -5.18244060e-05 9.99979833e-01 6.11023325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.24, Y:136.76, Z:0.61 [[-2.27606700e-01 -9.73752036e-01 1.47030262e-03 1.23236193e+02] [ 9.73730044e-01 -2.27611442e-01 -6.54473373e-03 1.36759311e+02] [ 6.70760550e-03 -5.79474115e-05 9.99977502e-01 6.11251707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.23, Y:136.78, Z:0.61 [[-2.28204507e-01 -9.73611975e-01 1.55726872e-03 1.23230683e+02] [ 9.73587374e-01 -2.28209812e-01 -6.92154188e-03 1.36784792e+02] [ 7.09428006e-03 -6.33898886e-05 9.99974833e-01 6.11259163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.23, Y:136.81, Z:0.61 [[-2.29864962e-01 -9.73221167e-01 1.63079512e-03 1.23225575e+02] [ 9.73194259e-01 -2.29870734e-01 -7.23745120e-03 1.36810950e+02] [ 7.41851277e-03 -7.65560013e-05 9.99972480e-01 6.11072696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.22, Y:136.84, Z:0.61 [[-2.30934071e-01 -9.72968097e-01 1.59264356e-03 1.23219780e+02] [ 9.72942498e-01 -2.30939549e-01 -7.05834475e-03 1.36837443e+02] [ 7.23534865e-03 -8.04616814e-05 9.99973821e-01 6.11372353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.21, Y:136.86, Z:0.61 [[-2.33409443e-01 -9.72377423e-01 1.47618962e-03 1.23211979e+02] [ 9.72355473e-01 -2.33414094e-01 -6.53411354e-03 1.36864942e+02] [ 6.69818795e-03 -8.97427465e-05 9.99977563e-01 6.12575940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.21, Y:136.89, Z:0.61 [[-2.34887010e-01 -9.72021584e-01 1.46024199e-03 1.23209049e+02] [ 9.72000155e-01 -2.34891529e-01 -6.45514126e-03 1.36892500e+02] [ 6.61753511e-03 -9.68733927e-05 9.99978099e-01 6.11882547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.20, Y:136.92, Z:0.61 [[-2.36337213e-01 -9.71670067e-01 1.41545729e-03 1.23202153e+02] [ 9.71649977e-01 -2.36341430e-01 -6.24913794e-03 1.36920202e+02] [ 6.40663148e-03 -1.01574807e-04 9.99979472e-01 6.12376723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.20, Y:136.95, Z:0.61 [[-2.38077707e-01 -9.71245034e-01 1.44564790e-03 1.23195346e+02] [ 9.71224122e-01 -2.38082069e-01 -6.37439522e-03 1.36947472e+02] [ 6.53528254e-03 -1.13553289e-04 9.99978638e-01 6.12546305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.861858064 meters Centerline goodness [0,1] 0.9997363796133568 Centerline is valid? [True, True] Translation: X:123.19, Y:136.98, Z:0.61 [[-2.41000423e-01 -9.70523667e-01 1.61523756e-03 1.23189683e+02] [ 9.70497614e-01 -2.41005791e-01 -7.11272461e-03 1.36975005e+02] [ 7.29234917e-03 -1.46585435e-04 9.99973400e-01 6.12115493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.891858064 meters Centerline goodness [0,1] 0.9991206665347666 Centerline is valid? [True, True] Translation: X:123.18, Y:137.00, Z:0.61 [[-2.42119456e-01 -9.70244810e-01 1.78252527e-03 1.23183355e+02] [ 9.70213156e-01 -2.42125959e-01 -7.83907826e-03 1.37002158e+02] [ 8.03742064e-03 -1.68563901e-04 9.99967685e-01 6.11928369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921858064 meters Centerline goodness [0,1] 0.9985337564284933 Centerline is valid? [True, True] Translation: X:123.18, Y:137.03, Z:0.61 [[-2.42979391e-01 -9.70029450e-01 1.97040402e-03 1.23177763e+02] [ 9.69990869e-01 -2.42987305e-01 -8.65359709e-03 1.37028476e+02] [ 8.87302718e-03 -1.91371842e-04 9.99960616e-01 6.11349186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.951858064 meters Centerline goodness [0,1] 0.9984208448480063 Centerline is valid? [True, True] Translation: X:123.17, Y:137.06, Z:0.61 [[-2.43969053e-01 -9.69780389e-01 2.25816997e-03 1.23170947e+02] [ 9.69729817e-01 -2.43979398e-01 -9.90635721e-03 1.37055242e+02] [ 1.01579379e-02 -2.27029833e-04 9.99948381e-01 6.11220323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981858064 meters Centerline goodness [0,1] 0.9983909363427966 Centerline is valid? [True, True] Translation: X:123.16, Y:137.08, Z:0.61 [[-2.44334046e-01 -9.69688346e-01 2.32052395e-03 1.23164771e+02] [ 9.69635075e-01 -2.44344953e-01 -1.01668269e-02 1.37080855e+02] [ 1.04256619e-02 -2.34040544e-04 9.99945624e-01 6.10838970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.011858064 meters Centerline goodness [0,1] 0.9985271488239174 Centerline is valid? [True, True] Translation: X:123.16, Y:137.11, Z:0.61 [[-2.44406827e-01 -9.69669657e-01 2.46158399e-03 1.23156134e+02] [ 9.69609884e-01 -2.44419099e-01 -1.07692111e-02 1.37106858e+02] [ 1.10442354e-02 -2.45292548e-04 9.99938980e-01 6.10985810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041858064 meters Centerline goodness [0,1] 0.9987012129350387 Centerline is valid? [True, True] Translation: X:123.15, Y:137.13, Z:0.61 [[-2.44225033e-01 -9.69715055e-01 2.61626306e-03 1.23147324e+02] [ 9.69647730e-01 -2.44238914e-01 -1.14294850e-02 1.37133079e+02] [ 1.17223369e-02 -2.54512805e-04 9.99931259e-01 6.10210686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071858064 meters Centerline goodness [0,1] 0.9989007606736139 Centerline is valid? [True, True] Translation: X:123.14, Y:137.16, Z:0.61 [[-2.44558202e-01 -9.69630909e-01 2.68066510e-03 1.23140248e+02] [ 9.69560423e-01 -2.44572754e-01 -1.16942107e-02 1.37159649e+02] [ 1.19946858e-02 -2.60848362e-04 9.99928027e-01 6.10182086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101858064 meters Centerline goodness [0,1] 0.9990557336729764 Centerline is valid? [True, True] Translation: X:123.13, Y:137.18, Z:0.61 [[-2.44960602e-01 -9.69529116e-01 2.75615277e-03 1.23133884e+02] [ 9.69454815e-01 -2.44975959e-01 -1.20058844e-02 1.37184655e+02] [ 1.23152457e-02 -2.69003102e-04 9.99924128e-01 6.09454650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131858064 meters Centerline goodness [0,1] 0.9990385455816799 Centerline is valid? [True, True] Translation: X:123.13, Y:137.21, Z:0.61 [[-2.45506276e-01 -9.69391203e-01 2.71378356e-03 1.23126297e+02] [ 9.69319361e-01 -2.45521129e-01 -1.18047401e-02 1.37211343e+02] [ 1.21097024e-02 -2.67614832e-04 9.99926639e-01 6.09061272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161858064 meters Centerline goodness [0,1] 0.9989940297854659 Centerline is valid? [True, True] Translation: X:123.12, Y:137.24, Z:0.61 [[-2.46095536e-01 -9.69241944e-01 2.65363030e-03 1.23118950e+02] [ 9.69173432e-01 -2.46109699e-01 -1.15271641e-02 1.37237823e+02] [ 1.18256951e-02 -2.64955638e-04 9.99930039e-01 6.08966202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191858064 meters Centerline goodness [0,1] 0.9991022946225259 Centerline is valid? [True, True] Translation: X:123.11, Y:137.27, Z:0.61 [[-2.47305210e-01 -9.68934159e-01 2.59387978e-03 1.23112229e+02] [ 9.68868846e-01 -2.47318665e-01 -1.12533328e-02 1.37265146e+02] [ 1.15452535e-02 -2.69878529e-04 9.99933315e-01 6.08895723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221858064 meters Centerline goodness [0,1] 0.9992773617133097 Centerline is valid? [True, True] Translation: X:123.10, Y:137.29, Z:0.61 [[-2.49575654e-01 -9.68351872e-01 2.57770227e-03 1.23104234e+02] [ 9.68287500e-01 -2.49588795e-01 -1.11691514e-02 1.37291746e+02] [ 1.14590343e-02 -2.91591366e-04 9.99934301e-01 6.09575736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251858064 meters Centerline goodness [0,1] 0.9994522228795548 Centerline is valid? [True, True] Translation: X:123.10, Y:137.32, Z:0.61 [[-2.50752960e-01 -9.68047707e-01 2.56726895e-03 1.23097758e+02] [ 9.67984000e-01 -2.50765921e-01 -1.11098811e-02 1.37319054e+02] [ 1.13986785e-02 -3.00760318e-04 9.99934988e-01 6.10080017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281858064 meters Centerline goodness [0,1] 0.9993664664117968 Centerline is valid? [True, True] Translation: X:123.09, Y:137.35, Z:0.61 [[-2.52052049e-01 -9.67710642e-01 2.42433436e-03 1.23092345e+02] [ 9.67653962e-01 -2.52063535e-01 -1.04778040e-02 1.37345703e+02] [ 1.07505687e-02 -2.95035213e-04 9.99942167e-01 6.09939016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311858064 meters Centerline goodness [0,1] 0.9994757536041939 Centerline is valid? [True, True] Translation: X:123.08, Y:137.37, Z:0.61 [[-2.53372047e-01 -9.67366224e-01 2.27929259e-03 1.23084655e+02] [ 9.67316234e-01 -2.53382135e-01 -9.83855294e-03 1.37373162e+02] [ 1.00950158e-02 -2.88017571e-04 9.99949003e-01 6.10741598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341858064 meters Centerline goodness [0,1] 0.999737962659679 Centerline is valid? [True, True] Translation: X:123.08, Y:137.40, Z:0.61 [[-2.53847680e-01 -9.67241771e-01 2.17050525e-03 1.23076965e+02] [ 9.67196547e-01 -2.53856809e-01 -9.35732027e-03 1.37400208e+02] [ 9.60178857e-03 -2.76028850e-04 9.99953864e-01 6.10555369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371858064 meters Centerline goodness [0,1] 0.9998033560566335 Centerline is valid? [True, True] Translation: X:123.07, Y:137.43, Z:0.61 [[-2.53781543e-01 -9.67259247e-01 2.11587252e-03 1.23069342e+02] [ 9.67216379e-01 -2.53790225e-01 -9.11033170e-03 1.37427747e+02] [ 9.34904035e-03 -2.65527483e-04 9.99956262e-01 6.10458704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401858064 meters Centerline goodness [0,1] 0.9997821635516054 Centerline is valid? [True, True] Translation: X:123.06, Y:137.45, Z:0.61 [[-2.53689293e-01 -9.67283660e-01 2.01576902e-03 1.23062761e+02] [ 9.67244851e-01 -2.53697179e-01 -8.66825977e-03 1.37454232e+02] [ 8.89606095e-03 -2.49302487e-04 9.99960398e-01 6.10360971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43185806399998 meters Centerline goodness [0,1] 0.9998690728173347 Centerline is valid? [True, True] Translation: X:123.05, Y:137.48, Z:0.61 [[-2.52120078e-01 -9.67693858e-01 2.01568935e-03 1.23053635e+02] [ 9.67655164e-01 -2.52128028e-01 -8.65680128e-03 1.37481168e+02] [ 8.88534521e-03 -2.32061200e-04 9.99960498e-01 6.10429076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46185806399998 meters Centerline goodness [0,1] 0.9998690728173347 Centerline is valid? [True, True] Translation: X:123.05, Y:137.51, Z:0.61 [[-2.52390459e-01 -9.67623369e-01 2.01810718e-03 1.23047309e+02] [ 9.67584677e-01 -2.52398420e-01 -8.65623781e-03 1.37508025e+02] [ 8.88534505e-03 -2.32062248e-04 9.99960498e-01 6.10522877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49185806399998 meters Centerline goodness [0,1] 0.9998474712919182 Centerline is valid? [True, True] Translation: X:123.04, Y:137.54, Z:0.61 [[-2.51490324e-01 -9.67857495e-01 2.11819739e-03 1.23039332e+02] [ 9.67814987e-01 -2.51499137e-01 -9.07386811e-03 1.37535202e+02] [ 9.31493608e-03 -2.31966846e-04 9.99956588e-01 6.10117805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52185806399999 meters Centerline goodness [0,1] 0.9999347400478573 Centerline is valid? [True, True] Translation: X:123.03, Y:137.56, Z:0.61 [[-2.50334459e-01 -9.68157165e-01 2.08886314e-03 1.23031564e+02] [ 9.68115937e-01 -2.50343082e-01 -8.93723598e-03 1.37562070e+02] [ 9.17558148e-03 -2.15036437e-04 9.99957880e-01 6.09778290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.551858064 meters Centerline goodness [0,1] 0.9999348222820892 Centerline is valid? [True, True] Translation: X:123.03, Y:137.59, Z:0.61 [[-2.49478846e-01 -9.68377894e-01 2.13528680e-03 1.23025020e+02] [ 9.68334930e-01 -2.49487896e-01 -9.12428740e-03 1.37588523e+02] [ 9.36848643e-03 -2.08643893e-04 9.99956093e-01 6.09353162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.581858064 meters Centerline goodness [0,1] 0.9999346462181945 Centerline is valid? [True, True] Translation: X:123.01, Y:137.62, Z:0.61 [[-2.47678442e-01 -9.68840096e-01 2.06345322e-03 1.23014010e+02] [ 9.68800084e-01 -2.47686971e-01 -8.80694134e-03 1.37615493e+02] [ 9.04360837e-03 -1.82215863e-04 9.99959089e-01 6.09458739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.01, Y:137.64, Z:0.61 [[-2.47507313e-01 -9.68883719e-01 2.11417266e-03 1.23007315e+02] [ 9.68841820e-01 -2.47516275e-01 -9.01232101e-03 1.37642421e+02] [ 9.25518323e-03 -1.82316469e-04 9.99957153e-01 6.09001550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.641858064 meters Centerline goodness [0,1] 0.999803870292887 Centerline is valid? [True, True] Translation: X:123.00, Y:137.67, Z:0.61 [[-2.47367157e-01 -9.68919171e-01 2.26504555e-03 1.23001489e+02] [ 9.68871208e-01 -2.47377453e-01 -9.64252588e-03 1.37668722e+02] [ 9.90314938e-03 -1.90706794e-04 9.99950944e-01 6.08716233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.99, Y:137.70, Z:0.61 [[-2.47062310e-01 -9.68996806e-01 2.32509704e-03 1.22994991e+02] [ 9.68946367e-01 -2.47073177e-01 -9.88854385e-03 1.37696517e+02] [ 1.01564365e-02 -1.90192154e-04 9.99948404e-01 6.09261643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701858064 meters Centerline goodness [0,1] 0.9999563375976946 Centerline is valid? [True, True] Translation: X:122.99, Y:137.72, Z:0.61 [[-2.47143321e-01 -9.68976567e-01 2.14271568e-03 1.22987845e+02] [ 9.68933820e-01 -2.47152548e-01 -9.10335538e-03 1.37724157e+02] [ 9.35051569e-03 -1.73683792e-04 9.99956268e-01 6.09968411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.731858064 meters Centerline goodness [0,1] 0.9999782078103208 Centerline is valid? [True, True] Translation: X:122.98, Y:137.75, Z:0.61 [[-2.47215725e-01 -9.68958637e-01 1.88291362e-03 1.22980777e+02] [ 9.68925709e-01 -2.47222850e-01 -7.98952335e-03 1.37750140e+02] [ 8.20701692e-03 -1.50732392e-04 9.99966311e-01 6.10293247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.97, Y:137.78, Z:0.61 [[-2.47132601e-01 -9.68980179e-01 1.69997842e-03 1.22973438e+02] [ 9.68953410e-01 -2.47138412e-01 -7.20383202e-03 1.37776542e+02] [ 7.40050040e-03 -1.33101854e-04 9.99972607e-01 6.10840618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.96, Y:137.80, Z:0.61 [[-2.46884318e-01 -9.69043832e-01 1.47808248e-03 1.22964877e+02] [ 9.69023645e-01 -2.46888717e-01 -6.25592761e-03 1.37803842e+02] [ 6.42718995e-03 -1.12193546e-04 9.99979339e-01 6.11107748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.96, Y:137.83, Z:0.61 [[-2.46739090e-01 -9.69080742e-01 1.52887519e-03 1.22957886e+02] [ 9.69059198e-01 -2.46743801e-01 -6.46276250e-03 1.37831316e+02] [ 6.64017915e-03 -1.13045580e-04 9.99977947e-01 6.10875881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851858064 meters Centerline goodness [0,1] 0.9999347031168379 Centerline is valid? [True, True] Translation: X:122.95, Y:137.86, Z:0.61 [[-2.46726620e-01 -9.69083863e-01 1.56282569e-03 1.22950741e+02] [ 9.69061408e-01 -2.46731543e-01 -6.59795997e-03 1.37858756e+02] [ 6.77957492e-03 -1.13418298e-04 9.99977012e-01 6.10763108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881858064 meters Centerline goodness [0,1] 0.9999347911142025 Centerline is valid? [True, True] Translation: X:122.95, Y:137.89, Z:0.61 [[-2.46678151e-01 -9.69096110e-01 1.61860015e-03 1.22946421e+02] [ 9.69072077e-01 -2.46683434e-01 -6.82590001e-03 1.37885434e+02] [ 7.01423499e-03 -1.15260177e-04 9.99975393e-01 6.09889789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.94, Y:137.91, Z:0.61 [[-2.46209342e-01 -9.69215143e-01 1.72263628e-03 1.22938344e+02] [ 9.69187984e-01 -2.46215340e-01 -7.25656428e-03 1.37912779e+02] [ 7.45731146e-03 -1.17075530e-04 9.99972187e-01 6.09611556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941858064 meters Centerline goodness [0,1] 0.9999132791327914 Centerline is valid? [True, True] Translation: X:122.93, Y:137.94, Z:0.61 [[-2.46195933e-01 -9.69218639e-01 1.67095632e-03 1.22931766e+02] [ 9.69193151e-01 -2.46201579e-01 -7.02981800e-03 1.37938801e+02] [ 7.22482271e-03 -1.11233184e-04 9.99973894e-01 6.09741855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971858064 meters Centerline goodness [0,1] 0.9998480869810543 Centerline is valid? [True, True] Translation: X:122.93, Y:137.96, Z:0.61 [[-2.45931975e-01 -9.69285805e-01 1.57851744e-03 1.22925336e+02] [ 9.69263114e-01 -2.45937020e-01 -6.63311225e-03 1.37963890e+02] [ 6.81759743e-03 -1.01295669e-04 9.99976755e-01 6.10074563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001858064 meters Centerline goodness [0,1] 0.9997182427014023 Centerline is valid? [True, True] Translation: X:122.92, Y:137.99, Z:0.61 [[-2.46033043e-01 -9.69260161e-01 1.57524067e-03 1.22918992e+02] [ 9.69237618e-01 -2.46038066e-01 -6.61138828e-03 1.37990503e+02] [ 6.79572444e-03 -9.98374650e-05 9.99976904e-01 6.10187616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031858064 meters Centerline goodness [0,1] 0.9998046663049376 Centerline is valid? [True, True] Translation: X:122.91, Y:138.02, Z:0.61 [[-2.46054158e-01 -9.69254929e-01 1.49482925e-03 1.22911471e+02] [ 9.69234679e-01 -2.46058681e-01 -6.26596197e-03 1.38018051e+02] [ 6.44113024e-03 -9.29256444e-05 9.99979251e-01 6.10789327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061858064 meters Centerline goodness [0,1] 0.9999564564237661 Centerline is valid? [True, True] Translation: X:122.91, Y:138.04, Z:0.61 [[-2.46302791e-01 -9.69192021e-01 1.32725902e-03 1.22905614e+02] [ 9.69176089e-01 -2.46306353e-01 -5.55783050e-03 1.38044310e+02] [ 5.71351731e-03 -8.25614563e-05 9.99983674e-01 6.11137403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091858064 meters Centerline goodness [0,1] 0.9998693038250414 Centerline is valid? [True, True] Translation: X:122.90, Y:138.07, Z:0.61 [[-2.45609533e-01 -9.69368141e-01 1.16791183e-03 1.22898507e+02] [ 9.69355830e-01 -2.45612301e-01 -4.88595305e-03 1.38071346e+02] [ 5.02314074e-03 -6.79145048e-05 9.99987382e-01 6.12076456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121858064 meters Centerline goodness [0,1] 0.9998695056438809 Centerline is valid? [True, True] Translation: X:122.89, Y:138.10, Z:0.61 [[-2.44864658e-01 -9.69556712e-01 1.03969483e-03 1.22891077e+02] [ 9.69546978e-01 -2.44866859e-01 -4.34506237e-03 1.38098907e+02] [ 4.46737119e-03 -5.59192275e-05 9.99990020e-01 6.12080803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151858064 meters Centerline goodness [0,1] 0.9998473948114236 Centerline is valid? [True, True] Translation: X:122.89, Y:138.13, Z:0.61 [[-2.44144560e-01 -9.69738293e-01 1.03825272e-03 1.22885828e+02] [ 9.69728604e-01 -2.44146762e-01 -4.33512736e-03 1.38125108e+02] [ 4.45742504e-03 -5.15744032e-05 9.99990064e-01 6.12070362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18185806399998 meters Centerline goodness [0,1] 0.999848146300193 Centerline is valid? [True, True] Translation: X:122.88, Y:138.15, Z:0.61 [[-2.42374634e-01 -9.70182195e-01 1.02268662e-03 1.22876538e+02] [ 9.70172822e-01 -2.42376788e-01 -4.26472149e-03 1.38151860e+02] [ 4.38543236e-03 -4.14775469e-05 9.99990383e-01 6.12120306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21185806399998 meters Centerline goodness [0,1] 0.9998475011982049 Centerline is valid? [True, True] Translation: X:122.87, Y:138.18, Z:0.61 [[-2.42169883e-01 -9.70233407e-01 9.40432627e-04 1.22869820e+02] [ 9.70225500e-01 -2.42171706e-01 -3.91725924e-03 1.38179010e+02] [ 4.02840195e-03 -3.62104945e-05 9.99991885e-01 6.12504849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24185806399998 meters Centerline goodness [0,1] 0.9999345235496966 Centerline is valid? [True, True] Translation: X:122.86, Y:138.21, Z:0.61 [[-2.42187931e-01 -9.70228921e-01 9.19835391e-04 1.22863032e+02] [ 9.70221375e-01 -2.42189675e-01 -3.82686736e-03 1.38206655e+02] [ 3.93571202e-03 -3.43771286e-05 9.99992254e-01 6.12729537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27185806399999 meters Centerline goodness [0,1] 0.9996296134907839 Centerline is valid? [True, True] Translation: X:122.86, Y:138.23, Z:0.61 [[-2.42954583e-01 -9.70037166e-01 9.83431885e-04 1.22857923e+02] [ 9.70028561e-01 -2.42956570e-01 -4.08595300e-03 1.38233165e+02] [ 4.20245750e-03 -3.87439908e-05 9.99991169e-01 6.12413737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.301858064 meters Centerline goodness [0,1] 0.9998256814764779 Centerline is valid? [True, True] Translation: X:122.85, Y:138.26, Z:0.61 [[-2.43776650e-01 -9.69830764e-01 1.11101109e-03 1.22852417e+02] [ 9.69819811e-01 -2.43779177e-01 -4.60942997e-03 1.38260790e+02] [ 4.74120836e-03 -4.61908317e-05 9.99988759e-01 6.12242439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.331858064 meters Centerline goodness [0,1] 0.9994989652543296 Centerline is valid? [True, True] Translation: X:122.85, Y:138.29, Z:0.61 [[-2.45111612e-01 -9.69493990e-01 1.30434657e-03 1.22847663e+02] [ 9.69478931e-01 -2.45115075e-01 -5.40399820e-03 1.38287169e+02] [ 5.55885879e-03 -6.00461961e-05 9.99984548e-01 6.11949997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.361858064 meters Centerline goodness [0,1] 0.9997815830857941 Centerline is valid? [True, True] Translation: X:122.84, Y:138.32, Z:0.61 [[-2.47454776e-01 -9.68898052e-01 1.64298478e-03 1.22844486e+02] [ 9.68874212e-01 -2.47460214e-01 -6.79732812e-03 1.38315432e+02] [ 6.99249134e-03 -9.01857264e-05 9.99975548e-01 6.11532511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.391858064 meters Centerline goodness [0,1] 0.999912965904393 Centerline is valid? [True, True] Translation: X:122.84, Y:138.34, Z:0.61 [[-2.48772507e-01 -9.68560438e-01 1.70804550e-03 1.22839332e+02] [ 9.68534728e-01 -2.48778350e-01 -7.05779936e-03 1.38342888e+02] [ 7.26082998e-03 -1.01485057e-04 9.99973635e-01 6.11252579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421858064 meters Centerline goodness [0,1] 0.9998039471964449 Centerline is valid? [True, True] Translation: X:122.83, Y:138.37, Z:0.61 [[-2.50405668e-01 -9.68139268e-01 1.83268944e-03 1.22834654e+02] [ 9.68109733e-01 -2.50412346e-01 -7.56313951e-03 1.38369397e+02] [ 7.78110041e-03 -1.19608514e-04 9.99969720e-01 6.11446644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.451858064 meters Centerline goodness [0,1] 0.9994970368912506 Centerline is valid? [True, True] Translation: X:122.83, Y:138.40, Z:0.61 [[-2.53406165e-01 -9.67358007e-01 1.94985081e-03 1.22831614e+02] [ 9.67324636e-01 -2.53413622e-01 -8.03647451e-03 1.38397752e+02] [ 8.26826672e-03 -1.50353467e-04 9.99965806e-01 6.12172468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481858064 meters Centerline goodness [0,1] 0.9993883524837258 Centerline is valid? [True, True] Translation: X:122.83, Y:138.43, Z:0.61 [[-2.55008585e-01 -9.66936634e-01 2.04149824e-03 1.22826920e+02] [ 9.66900127e-01 -2.55016700e-01 -8.40393774e-03 1.38425186e+02] [ 8.64669142e-03 -1.69151360e-04 9.99962602e-01 6.12068234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.511858064 meters Centerline goodness [0,1] 0.9997370035942842 Centerline is valid? [True, True] Translation: X:122.82, Y:138.45, Z:0.61 [[-2.56432182e-01 -9.66559745e-01 2.19009538e-03 1.22820519e+02] [ 9.66517815e-01 -2.56441462e-01 -9.00501642e-03 1.38452409e+02] [ 9.26551763e-03 -1.92409800e-04 9.99957056e-01 6.12655466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541858064 meters Centerline goodness [0,1] 0.9996054448609193 Centerline is valid? [True, True] Translation: X:122.82, Y:138.48, Z:0.61 [[-2.57783794e-01 -9.66199780e-01 2.34535138e-03 1.22818133e+02] [ 9.66151789e-01 -2.57794372e-01 -9.63240407e-03 1.38479854e+02] [ 9.91144508e-03 -2.17112240e-04 9.99950857e-01 6.11831998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571858064 meters Centerline goodness [0,1] 0.9997815067295928 Centerline is valid? [True, True] Translation: X:122.81, Y:138.51, Z:0.61 [[-2.60309783e-01 -9.65521892e-01 2.50840121e-03 1.22814591e+02] [ 9.65467101e-01 -2.60321742e-01 -1.02891790e-02 1.38507479e+02] [ 1.05874190e-02 -2.56595126e-04 9.99943919e-01 6.12334340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601858064 meters Centerline goodness [0,1] 0.9997142794347128 Centerline is valid? [True, True] Translation: X:122.81, Y:138.54, Z:0.61 [[-2.61832194e-01 -9.65110134e-01 2.51636235e-03 1.22809315e+02] [ 9.65055110e-01 -2.61844146e-01 -1.03091042e-02 1.38535147e+02] [ 1.06083157e-02 -2.70827040e-04 9.99943694e-01 6.12271369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631858064 meters Centerline goodness [0,1] 0.9998460117031106 Centerline is valid? [True, True] Translation: X:122.81, Y:138.56, Z:0.61 [[-2.63331001e-01 -9.64702001e-01 2.61418018e-03 1.22805194e+02] [ 9.64642746e-01 -2.63343812e-01 -1.06962690e-02 1.38561856e+02] [ 1.10071403e-02 -2.94909278e-04 9.99939376e-01 6.11778521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661858064 meters Centerline goodness [0,1] 0.9999341701044501 Centerline is valid? [True, True] Translation: X:122.80, Y:138.59, Z:0.61 [[-2.64208251e-01 -9.64461861e-01 2.70520754e-03 1.22798038e+02] [ 9.64398550e-01 -2.64221915e-01 -1.10551850e-02 1.38589738e+02] [ 1.13770795e-02 -3.11972868e-04 9.99935230e-01 6.12367308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691858064 meters Centerline goodness [0,1] 0.9998900688169207 Centerline is valid? [True, True] Translation: X:122.80, Y:138.62, Z:0.61 [[-2.65925909e-01 -9.63989738e-01 2.68257592e-03 1.22796035e+02] [ 9.63927598e-01 -2.65939239e-01 -1.09501697e-02 1.38617638e+02] [ 1.12692534e-02 -3.26124867e-04 9.99936447e-01 6.12301567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:138.64, Z:0.61 [[-2.66508889e-01 -9.63828717e-01 2.68640561e-03 1.22791264e+02] [ 9.63766510e-01 -2.66522223e-01 -1.09553411e-02 1.38644824e+02] [ 1.12750592e-02 -3.30628033e-04 9.99936380e-01 6.12404911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751858064 meters Centerline goodness [0,1] 0.9999120705194434 Centerline is valid? [True, True] Translation: X:122.79, Y:138.67, Z:0.61 [[-2.66879416e-01 -9.63726213e-01 2.67657673e-03 1.22788210e+02] [ 9.63664607e-01 -2.66892633e-01 -1.09016964e-02 1.38671087e+02] [ 1.12206092e-02 -3.30116113e-04 9.99936992e-01 6.12460236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781858064 meters Centerline goodness [0,1] 0.99986839219127 Centerline is valid? [True, True] Translation: X:122.78, Y:138.70, Z:0.61 [[-2.67292403e-01 -9.63611812e-01 2.65466254e-03 1.22781679e+02] [ 9.63551367e-01 -2.67305383e-01 -1.07978973e-02 1.38697984e+02] [ 1.11145870e-02 -3.28292193e-04 9.99938177e-01 6.12703737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:138.73, Z:0.61 [[-2.67172233e-01 -9.63645010e-01 2.70040015e-03 1.22775033e+02] [ 9.63582620e-01 -2.67185677e-01 -1.09703206e-02 1.38725619e+02] [ 1.12930029e-02 -3.28906385e-04 9.99936178e-01 6.13371186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841858064 meters Centerline goodness [0,1] 0.9999779264066397 Centerline is valid? [True, True] Translation: X:122.77, Y:138.75, Z:0.61 [[-2.67399522e-01 -9.63581898e-01 2.72419951e-03 1.22771667e+02] [ 9.63518557e-01 -2.67413194e-01 -1.10532679e-02 1.38753033e+02] [ 1.13792158e-02 -3.30821777e-04 9.99935200e-01 6.12801453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:138.78, Z:0.61 [[-2.67178427e-01 -9.63643453e-01 2.64257259e-03 1.22766563e+02] [ 9.63584004e-01 -2.67191309e-01 -1.07084942e-02 1.38780316e+02] [ 1.10252427e-02 -3.14737952e-04 9.99939171e-01 6.12557079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901858064 meters Centerline goodness [0,1] 0.9999339716077914 Centerline is valid? [True, True] Translation: X:122.76, Y:138.81, Z:0.61 [[-2.66596973e-01 -9.63804414e-01 2.66571748e-03 1.22757678e+02] [ 9.63744067e-01 -2.66610123e-01 -1.07895969e-02 1.38807589e+02] [ 1.11097684e-02 -3.07404471e-04 9.99938237e-01 6.13241092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93185806399998 meters Centerline goodness [0,1] 0.9997796094679773 Centerline is valid? [True, True] Translation: X:122.75, Y:138.83, Z:0.61 [[-2.65976650e-01 -9.63976034e-01 2.57448965e-03 1.22752110e+02] [ 9.63919885e-01 -2.65988955e-01 -1.04081882e-02 1.38834478e+02] [ 1.07180298e-02 -2.86733275e-04 9.99942519e-01 6.12810370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96185806399998 meters Centerline goodness [0,1] 0.999956013987552 Centerline is valid? [True, True] Translation: X:122.75, Y:138.86, Z:0.61 [[-2.63974396e-01 -9.64526649e-01 2.42104641e-03 1.22745271e+02] [ 9.64477128e-01 -2.63985384e-01 -9.77688391e-03 1.38862088e+02] [ 1.00691859e-02 -2.45803141e-04 9.99949274e-01 6.13486612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99185806399998 meters Centerline goodness [0,1] 0.9998896369054189 Centerline is valid? [True, True] Translation: X:122.74, Y:138.89, Z:0.61 [[-2.63047933e-01 -9.64779861e-01 2.36729844e-03 1.22738681e+02] [ 9.64732632e-01 -2.63058487e-01 -9.54885993e-03 1.38889707e+02] [ 9.83528570e-03 -2.27997814e-04 9.99951606e-01 6.13683404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:138.91, Z:0.61 [[-2.62102423e-01 -9.65037323e-01 2.29883776e-03 1.22732785e+02] [ 9.64992912e-01 -2.62112421e-01 -9.26063509e-03 1.38914878e+02] [ 9.53941243e-03 -2.08872752e-04 9.99954477e-01 6.13574020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.051858064 meters Centerline goodness [0,1] 0.9999120937081072 Centerline is valid? [True, True] Translation: X:122.73, Y:138.94, Z:0.61 [[-2.59902171e-01 -9.65632453e-01 2.19730419e-03 1.22725775e+02] [ 9.65591998e-01 -2.59911399e-01 -8.84071433e-03 1.38941690e+02] [ 9.10798507e-03 -1.76021502e-04 9.99958506e-01 6.13524441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:138.97, Z:0.61 [[-2.59174579e-01 -9.65827844e-01 2.26128553e-03 1.22718127e+02] [ 9.65785084e-01 -2.59184386e-01 -9.08982759e-03 1.38969234e+02] [ 9.36529848e-03 -1.71936398e-04 9.99956130e-01 6.13669333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:139.00, Z:0.61 [[-2.58204179e-01 -9.66087415e-01 2.38935872e-03 1.22712895e+02] [ 9.66039787e-01 -2.58215179e-01 -9.59432371e-03 1.38996029e+02] [ 9.88592408e-03 -1.69078887e-04 9.99951119e-01 6.13117298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:139.02, Z:0.61 [[-2.56632187e-01 -9.66505916e-01 2.49695341e-03 1.22705176e+02] [ 9.66454049e-01 -2.56644286e-01 -1.00140656e-02 1.39022996e+02] [ 1.03194825e-02 -1.56740816e-04 9.99946740e-01 6.13167736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:139.05, Z:0.61 [[-2.56128357e-01 -9.66639623e-01 2.47052567e-03 1.22699537e+02] [ 9.66588979e-01 -2.56140230e-01 -9.89591785e-03 1.39049385e+02] [ 1.01985873e-02 -1.46642299e-04 9.99947982e-01 6.12961880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:139.07, Z:0.61 [[-2.55804777e-01 -9.66725520e-01 2.38437327e-03 1.22694188e+02] [ 9.66678473e-01 -2.55815854e-01 -9.53832216e-03 1.39074918e+02] [ 9.83089993e-03 -1.35026066e-04 9.99951666e-01 6.12527063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.231858064 meters Centerline goodness [0,1] 0.9998888419554923 Centerline is valid? [True, True] Translation: X:122.69, Y:139.10, Z:0.61 [[-2.56012152e-01 -9.66671100e-01 2.18230361e-03 1.22687314e+02] [ 9.66631782e-01 -2.56021423e-01 -8.71946137e-03 1.39101724e+02] [ 8.98756779e-03 -1.22804045e-04 9.99959603e-01 6.13339589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.261858064 meters Centerline goodness [0,1] 0.9999557786278108 Centerline is valid? [True, True] Translation: X:122.68, Y:139.13, Z:0.61 [[-2.56678060e-01 -9.66494527e-01 2.16885596e-03 1.22682079e+02] [ 9.66455786e-01 -2.56687192e-01 -8.65445168e-03 1.39127913e+02] [ 8.92119773e-03 -1.25304475e-04 9.99960197e-01 6.13736959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:139.15, Z:0.61 [[-2.57310323e-01 -9.66326491e-01 2.12392890e-03 1.22678196e+02] [ 9.66289433e-01 -2.57319058e-01 -8.46365726e-03 1.39154173e+02] [ 8.72518360e-03 -1.25456332e-04 9.99961927e-01 6.13866786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:139.18, Z:0.61 [[-2.58639229e-01 -9.65971883e-01 2.01741353e-03 1.22671028e+02] [ 9.65938525e-01 -2.58647066e-01 -8.02873253e-03 1.39180328e+02] [ 8.27732797e-03 -1.27847746e-04 9.99965734e-01 6.14468395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:139.21, Z:0.61 [[-2.60451526e-01 -9.65484844e-01 2.00472996e-03 1.22667285e+02] [ 9.65451970e-01 -2.60459203e-01 -7.96850107e-03 1.39208654e+02] [ 8.21561738e-03 -1.39937767e-04 9.99966241e-01 6.14823777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:139.24, Z:0.61 [[-2.60718442e-01 -9.65412796e-01 2.00693319e-03 1.22660478e+02] [ 9.65379924e-01 -2.60726128e-01 -7.96794632e-03 1.39235397e+02] [ 8.21561725e-03 -1.39937536e-04 9.99966241e-01 6.14917558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:139.26, Z:0.62 [[-2.62361211e-01 -9.64967764e-01 1.95173176e-03 1.22655722e+02] [ 9.64936737e-01 -2.62368429e-01 -7.73957881e-03 1.39261994e+02] [ 7.98051686e-03 -1.47267593e-04 9.99968144e-01 6.15023087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441858064 meters Centerline goodness [0,1] 0.9999554833396399 Centerline is valid? [True, True] Translation: X:122.65, Y:139.29, Z:0.62 [[-2.63642015e-01 -9.64618393e-01 2.06029433e-03 1.22650573e+02] [ 9.64583890e-01 -2.63650014e-01 -8.16020778e-03 1.39289562e+02] [ 8.41468314e-03 -1.64046901e-04 9.99964582e-01 6.15245994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:139.32, Z:0.62 [[-2.65179294e-01 -9.64196857e-01 2.08897920e-03 1.22644943e+02] [ 9.64161455e-01 -2.65187463e-01 -8.26428588e-03 1.39317151e+02] [ 8.52236956e-03 -1.77404271e-04 9.99963668e-01 6.15112375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:139.34, Z:0.62 [[-2.67621844e-01 -9.63521479e-01 2.21539934e-03 1.22641278e+02] [ 9.63481735e-01 -2.67630933e-01 -8.75383118e-03 1.39343821e+02] [ 9.02741375e-03 -2.08219641e-04 9.99959230e-01 6.15186732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:139.37, Z:0.61 [[-2.68755359e-01 -9.63205908e-01 2.22193195e-03 1.22636151e+02] [ 9.63166010e-01 -2.68764456e-01 -8.76953811e-03 1.39371679e+02] [ 9.04404725e-03 -2.16771030e-04 9.99959078e-01 6.14999044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:139.40, Z:0.62 [[-2.69562019e-01 -9.62980460e-01 2.22502072e-03 1.22630324e+02] [ 9.62940540e-01 -2.69571111e-01 -8.77111033e-03 1.39398283e+02] [ 9.04620917e-03 -2.21795561e-04 9.99959058e-01 6.15397792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:139.42, Z:0.62 [[-2.70544848e-01 -9.62705179e-01 2.05507679e-03 1.22622897e+02] [ 9.62671200e-01 -2.70552572e-01 -8.09112079e-03 1.39424198e+02] [ 8.34537020e-03 -2.10647812e-04 9.99965155e-01 6.16184244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:139.45, Z:0.62 [[-2.70738939e-01 -9.62650911e-01 1.91058854e-03 1.22618409e+02] [ 9.62621616e-01 -2.70745610e-01 -7.51259370e-03 1.39450034e+02] [ 7.74928863e-03 -1.94777813e-04 9.99969955e-01 6.16480460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651858064 meters Centerline goodness [0,1] 0.9999776186213071 Centerline is valid? [True, True] Translation: X:122.61, Y:139.48, Z:0.62 [[-2.70909964e-01 -9.62602943e-01 1.83481735e-03 1.22612538e+02] [ 9.62575993e-01 -2.70916113e-01 -7.20532534e-03 1.39475814e+02] [ 7.43294896e-03 -1.85843294e-04 9.99972358e-01 6.16759118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:139.50, Z:0.62 [[-2.70523697e-01 -9.62711680e-01 1.77504001e-03 1.22603823e+02] [ 9.62686524e-01 -2.70529464e-01 -6.96180186e-03 1.39502067e+02] [ 7.18240859e-03 -1.74525284e-04 9.99974191e-01 6.17018013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:139.53, Z:0.62 [[-2.69624614e-01 -9.62963957e-01 1.72783647e-03 1.22594563e+02] [ 9.62940182e-01 -2.69630102e-01 -6.76853502e-03 1.39529077e+02] [ 6.98373199e-03 -1.61160473e-04 9.99975600e-01 6.17431761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:139.56, Z:0.62 [[-2.68565453e-01 -9.63259910e-01 1.71540754e-03 1.22587401e+02] [ 9.63236537e-01 -2.68570889e-01 -6.71199676e-03 1.39555396e+02] [ 6.92610592e-03 -1.50267225e-04 9.99976003e-01 6.17284461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:139.58, Z:0.62 [[-2.65300751e-01 -9.64164020e-01 1.80381472e-03 1.22577857e+02] [ 9.64138257e-01 -2.65306851e-01 -7.04951161e-03 1.39582130e+02] [ 7.27544986e-03 -1.31113947e-04 9.99973525e-01 6.17002775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:139.61, Z:0.62 [[-2.63713482e-01 -9.64599362e-01 1.80826601e-03 1.22568850e+02] [ 9.64573542e-01 -2.63719656e-01 -7.05875825e-03 1.39608881e+02] [ 7.28574899e-03 -1.17284171e-04 9.99973452e-01 6.16725588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:139.64, Z:0.62 [[-2.61929390e-01 -9.65085297e-01 1.83430923e-03 1.22560024e+02] [ 9.65058800e-01 -2.61935792e-01 -7.15210617e-03 1.39635494e+02] [ 7.38286375e-03 -1.03130536e-04 9.99972741e-01 6.16733565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:139.66, Z:0.62 [[-2.58990209e-01 -9.65878303e-01 1.78204252e-03 1.22550092e+02] [ 9.65853370e-01 -2.58996329e-01 -6.94044923e-03 1.39661383e+02] [ 7.16517179e-03 -7.63166222e-05 9.99974327e-01 6.16630544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:139.69, Z:0.62 [[-2.57999860e-01 -9.66143594e-01 1.62083989e-03 1.22541935e+02] [ 9.66123021e-01 -2.58004944e-01 -6.30536482e-03 1.39686961e+02] [ 6.51007254e-03 -6.08525145e-05 9.99978807e-01 6.16820710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921858064 meters Centerline goodness [0,1] 0.9999336928653523 Centerline is valid? [True, True] Translation: X:122.53, Y:139.71, Z:0.62 [[-2.57285770e-01 -9.66334125e-01 1.54644421e-03 1.22533846e+02] [ 9.66315446e-01 -2.57290413e-01 -6.00847462e-03 1.39712844e+02] [ 6.20407933e-03 -5.15420953e-05 9.99980753e-01 6.17116523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.951858064 meters Centerline goodness [0,1] 0.9998671214067414 Centerline is valid? [True, True] Translation: X:122.53, Y:139.74, Z:0.62 [[-2.56368452e-01 -9.66578170e-01 1.36287863e-03 1.22526360e+02] [ 9.66563701e-01 -2.56372072e-01 -5.28886036e-03 1.39738118e+02] [ 5.46150098e-03 -3.85879339e-05 9.99985085e-01 6.17556624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:139.76, Z:0.62 [[-2.56565848e-01 -9.66525897e-01 1.28695133e-03 1.22520111e+02] [ 9.66513028e-01 -2.56569073e-01 -4.98779249e-03 1.39763478e+02] [ 5.15102252e-03 -3.58419859e-05 9.99986733e-01 6.17527542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:139.79, Z:0.62 [[-2.57130306e-01 -9.66375902e-01 1.27338202e-03 1.22513390e+02] [ 9.66363333e-01 -2.57133457e-01 -4.92886584e-03 1.39789725e+02] [ 5.09056629e-03 -3.68110897e-05 9.99987042e-01 6.17551865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:139.82, Z:0.62 [[-2.57695890e-01 -9.66225425e-01 1.12102793e-03 1.22506624e+02] [ 9.66215704e-01 -2.57698326e-01 -4.33430473e-03 1.39816236e+02] [ 4.47680245e-03 -3.37777211e-05 9.99989979e-01 6.17594242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:139.84, Z:0.62 [[-2.59070542e-01 -9.65857979e-01 9.04311192e-04 1.22500521e+02] [ 9.65851664e-01 -2.59072118e-01 -3.49288679e-03 1.39841973e+02] [ 3.60791440e-03 -3.14736055e-05 9.99993491e-01 6.17480018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101858064 meters Centerline goodness [0,1] 0.9999778324577154 Centerline is valid? [True, True] Translation: X:122.49, Y:139.87, Z:0.62 [[-2.59851669e-01 -9.65648120e-01 9.04670552e-04 1.22492809e+02] [ 9.65641814e-01 -2.59853242e-01 -3.48981794e-03 1.39868578e+02] [ 3.60501771e-03 -3.32473050e-05 9.99993501e-01 6.17553583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:139.90, Z:0.62 [[-2.60853732e-01 -9.65378026e-01 7.73401986e-04 1.22485743e+02] [ 9.65373425e-01 -2.60854877e-01 -2.98057650e-03 1.39895898e+02] [ 3.07912874e-03 -3.08727811e-05 9.99995259e-01 6.17383049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161858064 meters Centerline goodness [0,1] 0.9999557041925982 Centerline is valid? [True, True] Translation: X:122.48, Y:139.92, Z:0.62 [[-2.61570424e-01 -9.65184135e-01 7.06750630e-04 1.22479287e+02] [ 9.65180300e-01 -2.61571378e-01 -2.72094773e-03 1.39921726e+02] [ 2.81108132e-03 -2.95776694e-05 9.99996048e-01 6.17337756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:139.95, Z:0.62 [[-2.61796427e-01 -9.65122813e-01 7.65779231e-04 1.22471975e+02] [ 9.65118323e-01 -2.61797546e-01 -2.94427200e-03 1.39949079e+02] [ 3.04206320e-03 -3.17323246e-05 9.99995372e-01 6.17529214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221858064 meters Centerline goodness [0,1] 0.9999338113623828 Centerline is valid? [True, True] Translation: X:122.47, Y:139.97, Z:0.62 [[-2.62062064e-01 -9.65050632e-01 8.67099123e-04 1.22465276e+02] [ 9.65044889e-01 -2.62063496e-01 -3.32954621e-03 1.39974515e+02] [ 3.44041570e-03 -3.57581753e-05 9.99994081e-01 6.17133791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:140.00, Z:0.62 [[-2.62162653e-01 -9.65023110e-01 1.06823641e-03 1.22457064e+02] [ 9.65014420e-01 -2.62164826e-01 -4.09554892e-03 1.40001752e+02] [ 4.23235337e-03 -4.28364310e-05 9.99991043e-01 6.16449145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:140.03, Z:0.61 [[-2.62026286e-01 -9.65059744e-01 1.38398322e-03 1.22448646e+02] [ 9.65045198e-01 -2.62029936e-01 -5.29895775e-03 1.40028881e+02] [ 5.47645585e-03 -5.28598581e-05 9.99985003e-01 6.14593069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311858064 meters Centerline goodness [0,1] 0.9998892653865745 Centerline is valid? [True, True] Translation: X:122.44, Y:140.06, Z:0.61 [[-2.62128082e-01 -9.65032042e-01 1.42387843e-03 1.22441006e+02] [ 9.65016679e-01 -2.62131944e-01 -5.44542714e-03 1.40056073e+02] [ 5.62825569e-03 -5.33329393e-05 9.99984160e-01 6.13624894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:140.08, Z:0.61 [[-2.62432362e-01 -9.64949154e-01 1.54478730e-03 1.22434413e+02] [ 9.64931116e-01 -2.62436902e-01 -5.90031740e-03 1.40081611e+02] [ 6.09891547e-03 -5.78209000e-05 9.99981400e-01 6.13493171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:140.11, Z:0.61 [[-2.63054977e-01 -9.64779659e-01 1.51307584e-03 1.22427939e+02] [ 9.64762396e-01 -2.63059322e-01 -5.77176288e-03 1.40108048e+02] [ 5.96650812e-03 -5.85322758e-05 9.99982199e-01 6.13923952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40185806399998 meters Centerline goodness [0,1] 0.9999779015292142 Centerline is valid? [True, True] Translation: X:122.42, Y:140.13, Z:0.61 [[-2.63651080e-01 -9.64617031e-01 1.44610968e-03 1.22422177e+02] [ 9.64601299e-01 -2.63655040e-01 -5.50939136e-03 1.40133395e+02] [ 5.69572685e-03 -5.76377061e-05 9.99983778e-01 6.14096950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:140.16, Z:0.61 [[-2.64721770e-01 -9.64323665e-01 1.50134585e-03 1.22415715e+02] [ 9.64306748e-01 -2.64726019e-01 -5.71229890e-03 1.40159688e+02] [ 5.90595032e-03 -6.44119362e-05 9.99982558e-01 6.14911225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:140.19, Z:0.62 [[-2.66450178e-01 -9.63847733e-01 1.36055038e-03 1.22409934e+02] [ 9.63833866e-01 -2.66453643e-01 -5.17058276e-03 1.40186116e+02] [ 5.34617808e-03 -6.63581653e-05 9.99985707e-01 6.15605619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49185806399998 meters Centerline goodness [0,1] 0.999977889802777 Centerline is valid? [True, True] Translation: X:122.40, Y:140.21, Z:0.62 [[-2.67399184e-01 -9.63584928e-01 1.32774646e-03 1.22403279e+02] [ 9.63571751e-01 -2.67402472e-01 -5.03980460e-03 1.40212583e+02] [ 5.21132244e-03 -6.82606617e-05 9.99986419e-01 6.15573632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:140.24, Z:0.62 [[-2.68227735e-01 -9.63354567e-01 1.36408091e-03 1.22396755e+02] [ 9.63340690e-01 -2.68231194e-01 -5.17127662e-03 1.40238847e+02] [ 5.34766200e-03 -7.30051716e-05 9.99985698e-01 6.15696012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:140.26, Z:0.62 [[-2.69477837e-01 -9.63005620e-01 1.36779009e-03 1.22390903e+02] [ 9.62991698e-01 -2.69481297e-01 -5.17889410e-03 1.40264676e+02] [ 5.35589797e-03 -7.84266799e-05 9.99985654e-01 6.15357096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:140.29, Z:0.62 [[-2.70039661e-01 -9.62848079e-01 1.46899841e-03 1.22384176e+02] [ 9.62832059e-01 -2.70043643e-01 -5.55487309e-03 1.40290919e+02] [ 5.74519257e-03 -8.56372797e-05 9.99983493e-01 6.15159685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:140.32, Z:0.61 [[-2.71487146e-01 -9.62440640e-01 1.65667723e-03 1.22377826e+02] [ 9.62420308e-01 -2.71492181e-01 -6.25679758e-03 1.40317483e+02] [ 6.47157118e-03 -1.04220313e-04 9.99979054e-01 6.14502801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:140.34, Z:0.61 [[-2.72508213e-01 -9.62151840e-01 1.76352499e-03 1.22371461e+02] [ 9.62128849e-01 -2.72513895e-01 -6.65244983e-03 1.40344241e+02] [ 6.88125191e-03 -1.16108954e-04 9.99976317e-01 6.14607048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.36, Y:140.37, Z:0.62 [[-2.73501547e-01 -9.61869676e-01 1.90530915e-03 1.22362145e+02] [ 9.61842896e-01 -2.73508153e-01 -7.17869878e-03 1.40370589e+02] [ 7.42609025e-03 -1.30777157e-04 9.99972418e-01 6.15461386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.36, Y:140.40, Z:0.62 [[-2.74553369e-01 -9.61569722e-01 2.02899177e-03 1.22357168e+02] [ 9.61539417e-01 -2.74560828e-01 -7.63552964e-03 1.40397700e+02] [ 7.89917577e-03 -1.45404830e-04 9.99968790e-01 6.15389874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.731858064 meters Centerline goodness [0,1] 0.9999779000640898 Centerline is valid? [True, True] Translation: X:122.35, Y:140.43, Z:0.62 [[-2.76632866e-01 -9.60973402e-01 2.09222895e-03 1.22350538e+02] [ 9.60941236e-01 -2.76640729e-01 -7.86437323e-03 1.40425147e+02] [ 8.13624924e-03 -1.65035030e-04 9.99966887e-01 6.15623044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:140.45, Z:0.62 [[-2.77339945e-01 -9.60769660e-01 2.05301572e-03 1.22343215e+02] [ 9.60738751e-01 -2.77347494e-01 -7.70842396e-03 1.40451784e+02] [ 7.97541864e-03 -1.65442120e-04 9.99968182e-01 6.16081840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:140.48, Z:0.62 [[-2.78372021e-01 -9.60471129e-01 2.05625950e-03 1.22336632e+02] [ 9.60440185e-01 -2.78379563e-01 -7.71165424e-03 1.40478101e+02] [ 7.97924187e-03 -1.71794528e-04 9.99968151e-01 6.15916343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.33, Y:140.51, Z:0.62 [[-2.78994653e-01 -9.60290388e-01 2.08692827e-03 1.22328405e+02] [ 9.60258582e-01 -2.79002402e-01 -7.81762189e-03 1.40505250e+02] [ 8.08944516e-03 -1.77083924e-04 9.99967264e-01 6.16329037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:140.53, Z:0.62 [[-2.79651131e-01 -9.60099632e-01 1.98522181e-03 1.22322224e+02] [ 9.60070911e-01 -2.79658125e-01 -7.42821087e-03 1.40532039e+02] [ 7.68700593e-03 -1.71353857e-04 9.99970440e-01 6.16749870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:140.56, Z:0.62 [[-2.80078456e-01 -9.59975227e-01 1.90338917e-03 1.22315392e+02] [ 9.59948884e-01 -2.80084875e-01 -7.11352758e-03 1.40558478e+02] [ 7.36192077e-03 -1.65189506e-04 9.99972887e-01 6.17398307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:140.58, Z:0.62 [[-2.80503094e-01 -9.59851357e-01 1.84016855e-03 1.22308366e+02] [ 9.59826795e-01 -2.80509084e-01 -6.86864483e-03 1.40583645e+02] [ 7.10906206e-03 -1.60433043e-04 9.99974717e-01 6.18020533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:140.61, Z:0.62 [[-2.80810854e-01 -9.59761307e-01 1.87039412e-03 1.22300100e+02] [ 9.59735993e-01 -2.80817036e-01 -6.97255037e-03 1.40609991e+02] [ 7.21722259e-03 -1.62883271e-04 9.99973942e-01 6.18240019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:140.64, Z:0.62 [[-2.80758718e-01 -9.59776716e-01 1.78845404e-03 1.22291767e+02] [ 9.59753624e-01 -2.80764372e-01 -6.65944798e-03 1.40636493e+02] [ 6.89371729e-03 -1.53222833e-04 9.99976226e-01 6.18785720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001858064 meters Centerline goodness [0,1] 0.9999339614334771 Centerline is valid? [True, True] Translation: X:122.28, Y:140.66, Z:0.62 [[-2.80867130e-01 -9.59745010e-01 1.78092661e-03 1.22283457e+02] [ 9.59722163e-01 -2.80872735e-01 -6.62387388e-03 1.40662557e+02] [ 6.85744363e-03 -1.51233711e-04 9.99976476e-01 6.18951692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:140.69, Z:0.62 [[-2.80639296e-01 -9.59811593e-01 1.81436141e-03 1.22275601e+02] [ 9.59787939e-01 -2.80645120e-01 -6.74007674e-03 1.40688907e+02] [ 6.97839547e-03 -1.50128190e-04 9.99975639e-01 6.18793237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:140.72, Z:0.62 [[-2.80679331e-01 -9.59799688e-01 1.91624711e-03 1.22266281e+02] [ 9.59773365e-01 -2.80685829e-01 -7.11006434e-03 1.40715974e+02] [ 7.36210094e-03 -1.56485170e-04 9.99972887e-01 6.18868727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091858064 meters Centerline goodness [0,1] 0.9999779380942926 Centerline is valid? [True, True] Translation: X:122.26, Y:140.74, Z:0.62 [[-2.80553172e-01 -9.59835915e-01 2.22122410e-03 1.22258617e+02] [ 9.59800633e-01 -2.80561909e-01 -8.23164424e-03 1.40741810e+02] [ 8.52421866e-03 -1.77481608e-04 9.99963652e-01 6.18683010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:140.77, Z:0.62 [[-2.80969722e-01 -9.59713829e-01 2.32010484e-03 1.22250217e+02] [ 9.59675419e-01 -2.80979239e-01 -8.58821351e-03 1.40768811e+02] [ 8.89412855e-03 -1.86480376e-04 9.99960429e-01 6.18900491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:140.80, Z:0.62 [[-2.81459962e-01 -9.59569970e-01 2.40062341e-03 1.22244236e+02] [ 9.59528937e-01 -2.81470132e-01 -8.87598855e-03 1.40795473e+02] [ 9.19283585e-03 -1.94767771e-04 9.99957726e-01 6.19028044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18185806399998 meters Centerline goodness [0,1] 0.9999558820285444 Centerline is valid? [True, True] Translation: X:122.23, Y:140.82, Z:0.62 [[-2.81787082e-01 -9.59473856e-01 2.44131158e-03 1.22234601e+02] [ 9.59431513e-01 -2.81797587e-01 -9.01617475e-03 1.40821518e+02] [ 9.33873966e-03 -1.98370310e-04 9.99956373e-01 6.20092821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:140.85, Z:0.62 [[-2.82504415e-01 -9.59263547e-01 2.16850396e-03 1.22228264e+02] [ 9.59230205e-01 -2.82512680e-01 -7.99990462e-03 1.40847855e+02] [ 8.28664675e-03 -1.79913878e-04 9.99965649e-01 6.21074038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:140.87, Z:0.62 [[-2.83316136e-01 -9.59024202e-01 2.13246915e-03 1.22221263e+02] [ 9.58992027e-01 -2.83324103e-01 -7.85775407e-03 1.40873854e+02] [ 8.13995623e-03 -1.81207603e-04 9.99966854e-01 6.22155976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:140.90, Z:0.62 [[-2.83604511e-01 -9.58938957e-01 2.13483150e-03 1.22214135e+02] [ 9.58906785e-01 -2.83612488e-01 -7.85711242e-03 1.40899660e+02] [ 8.13995607e-03 -1.81208115e-04 9.99966854e-01 6.22246920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:140.93, Z:0.62 [[-2.84332299e-01 -9.58723500e-01 2.09646122e-03 1.22206224e+02] [ 9.58692541e-01 -2.84339970e-01 -7.70672996e-03 1.40925945e+02] [ 7.98473083e-03 -1.81410511e-04 9.99968105e-01 6.23179177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:140.95, Z:0.62 [[-2.86268857e-01 -9.58147283e-01 1.98133270e-03 1.22199236e+02] [ 9.58119680e-01 -2.86275654e-01 -7.27523840e-03 1.40952638e+02] [ 7.53795722e-03 -1.84320328e-04 9.99971572e-01 6.23836514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:140.98, Z:0.62 [[-2.87611575e-01 -9.57744839e-01 2.09892800e-03 1.22193478e+02] [ 9.57713922e-01 -2.87619161e-01 -7.69813561e-03 1.40979063e+02] [ 7.97654156e-03 -2.03900340e-04 9.99968166e-01 6.23977935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:141.01, Z:0.62 [[-2.88629651e-01 -9.57438350e-01 2.17503015e-03 1.22186913e+02] [ 9.57405214e-01 -2.88637764e-01 -7.96857550e-03 1.41006420e+02] [ 8.25721562e-03 -2.17581959e-04 9.99965885e-01 6.24043093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:141.03, Z:0.62 [[-2.89501300e-01 -9.57174981e-01 2.24800572e-03 1.22179153e+02] [ 9.57139650e-01 -2.89509936e-01 -8.22721150e-03 1.41033010e+02] [ 8.52570101e-03 -2.30133015e-04 9.99963629e-01 6.24412217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:141.06, Z:0.62 [[-2.91017546e-01 -9.56714515e-01 2.47481597e-03 1.22169742e+02] [ 9.56671773e-01 -2.91027947e-01 -9.04726477e-03 1.41059622e+02] [ 9.37589014e-03 -2.65326208e-04 9.99956010e-01 6.24627542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:141.09, Z:0.62 [[-2.91620787e-01 -9.56530963e-01 2.41517725e-03 1.22162012e+02] [ 9.56490342e-01 -2.91630671e-01 -8.81911164e-03 1.41085780e+02] [ 9.14009311e-03 -2.61742566e-04 9.99958194e-01 6.24375520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:141.11, Z:0.62 [[-2.91754229e-01 -9.56490070e-01 2.49306642e-03 1.22151729e+02] [ 9.56446884e-01 -2.91764757e-01 -9.09306578e-03 1.41112313e+02] [ 9.42481604e-03 -2.68454783e-04 9.99955549e-01 6.24427154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:141.14, Z:0.62 [[-2.91497310e-01 -9.56567537e-01 2.80461174e-03 1.22143942e+02] [ 9.56513014e-01 -2.91510652e-01 -1.02173468e-02 1.41138589e+02] [ 1.05911564e-02 -2.95681469e-04 9.99943868e-01 6.23815210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.571858064 meters Centerline goodness [0,1] 0.9999779029941442 Centerline is valid? [True, True] Translation: X:122.14, Y:141.17, Z:0.62 [[-2.91001732e-01 -9.56717479e-01 3.10769092e-03 1.22135196e+02] [ 9.56650695e-01 -2.91018152e-01 -1.13085716e-02 1.41165247e+02] [ 1.17235025e-02 -3.17839235e-04 9.99931227e-01 6.23385914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:141.19, Z:0.62 [[-2.90080301e-01 -9.56995679e-01 3.56234222e-03 1.22125938e+02] [ 9.56908121e-01 -2.90101966e-01 -1.29497960e-02 1.41189481e+02] [ 1.34263413e-02 -3.47646527e-04 9.99909802e-01 6.22357358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.12, Y:141.22, Z:0.62 [[-2.90147713e-01 -9.56975331e-01 3.53854859e-03 1.22117444e+02] [ 9.56889132e-01 -2.90169088e-01 -1.28487072e-02 1.41215459e+02] [ 1.33226732e-02 -3.42024305e-04 9.99911191e-01 6.21812907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661858064 meters Centerline goodness [0,1] 0.9999121226767432 Centerline is valid? [True, True] Translation: X:122.11, Y:141.24, Z:0.62 [[-2.90714646e-01 -9.56802479e-01 3.74306767e-03 1.22109522e+02] [ 9.56706208e-01 -2.90738512e-01 -1.35775717e-02 1.41240802e+02] [ 1.40793082e-02 -3.66182872e-04 9.99900815e-01 6.21098437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.691858064 meters Centerline goodness [0,1] 0.9999118670955801 Centerline is valid? [True, True] Translation: X:122.10, Y:141.27, Z:0.62 [[-2.92534373e-01 -9.56247008e-01 3.91144736e-03 1.22099655e+02] [ 9.56142042e-01 -2.92560240e-01 -1.41740040e-02 1.41267999e+02] [ 1.46981829e-02 -4.06484120e-04 9.99891893e-01 6.21327683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721858064 meters Centerline goodness [0,1] 0.9999560767777924 Centerline is valid? [True, True] Translation: X:122.09, Y:141.30, Z:0.62 [[-2.93714845e-01 -9.55884987e-01 3.93454385e-03 1.22092582e+02] [ 9.55778962e-01 -2.93740893e-01 -1.42429954e-02 1.41295539e+02] [ 1.47704019e-02 -4.22824969e-04 9.99890822e-01 6.21609491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.751858064 meters Centerline goodness [0,1] 0.9996263900487891 Centerline is valid? [True, True] Translation: X:122.09, Y:141.32, Z:0.62 [[-2.95590156e-01 -9.55306938e-01 3.88774499e-03 1.22086195e+02] [ 9.55203601e-01 -2.95615392e-01 -1.40578010e-02 1.41322505e+02] [ 1.45787921e-02 -4.41759574e-04 9.99893626e-01 6.22299559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781858064 meters Centerline goodness [0,1] 0.999890148519202 Centerline is valid? [True, True] Translation: X:122.08, Y:141.35, Z:0.62 [[-2.97425727e-01 -9.54737568e-01 3.75683987e-03 1.22080523e+02] [ 9.54641245e-01 -2.97449113e-01 -1.35690346e-02 1.41348664e+02] [ 1.40723357e-02 -4.49345673e-04 9.99900879e-01 6.22652586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.811858064 meters Centerline goodness [0,1] 0.9996491766614775 Centerline is valid? [True, True] Translation: X:122.08, Y:141.38, Z:0.62 [[-3.01194645e-01 -9.53556326e-01 3.48118189e-03 1.22075257e+02] [ 9.53473724e-01 -3.01214405e-01 -1.25594225e-02 1.41375142e+02] [ 1.30246989e-02 -4.63615337e-04 9.99915068e-01 6.24156100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841858064 meters Centerline goodness [0,1] 0.9997799683154375 Centerline is valid? [True, True] Translation: X:122.07, Y:141.40, Z:0.63 [[-3.03041147e-01 -9.52971182e-01 3.46249686e-03 1.22065526e+02] [ 9.52889596e-01 -3.03060543e-01 -1.24789451e-02 1.41402120e+02] [ 1.29414212e-02 -4.82256596e-04 9.99916140e-01 6.25683454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.871858064 meters Centerline goodness [0,1] 0.99986838064318 Centerline is valid? [True, True] Translation: X:122.06, Y:141.43, Z:0.63 [[-3.04248030e-01 -9.52586930e-01 3.35810781e-03 1.22061070e+02] [ 9.52510334e-01 -3.04266184e-01 -1.20894036e-02 1.41428801e+02] [ 1.25379665e-02 -4.79544850e-04 9.99921282e-01 6.25766403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90185806399998 meters Centerline goodness [0,1] 0.9999124649859944 Centerline is valid? [True, True] Translation: X:122.06, Y:141.46, Z:0.63 [[-3.05488393e-01 -9.52189441e-01 3.47998304e-03 1.22056730e+02] [ 9.52107300e-01 -3.05507787e-01 -1.25172107e-02 1.41456064e+02] [ 1.29819178e-02 -5.10545325e-04 9.99915601e-01 6.25896275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93185806399998 meters Centerline goodness [0,1] 0.9998242337690871 Centerline is valid? [True, True] Translation: X:122.05, Y:141.48, Z:0.63 [[-3.05553263e-01 -9.52169011e-01 3.37314651e-03 1.22046669e+02] [ 9.52091997e-01 -3.05571486e-01 -1.21200880e-02 1.41481209e+02] [ 1.25711096e-02 -4.91786656e-04 9.99920860e-01 6.27578014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96185806399998 meters Centerline goodness [0,1] 0.9998462248193142 Centerline is valid? [True, True] Translation: X:122.04, Y:141.51, Z:0.63 [[-3.05375066e-01 -9.52226370e-01 3.31799847e-03 1.22039030e+02] [ 9.52152029e-01 -3.05392718e-01 -1.19080384e-02 1.41507382e+02] [ 1.23524408e-02 -4.77179049e-04 9.99923592e-01 6.28445205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:141.53, Z:0.63 [[-3.04374678e-01 -9.52546460e-01 3.36104684e-03 1.22026913e+02] [ 9.52470362e-01 -3.04392878e-01 -1.20493151e-02 1.41532980e+02] [ 1.25006112e-02 -4.66208912e-04 9.99921756e-01 6.29194378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02185806399999 meters Centerline goodness [0,1] 0.9998472216159588 Centerline is valid? [True, True] Translation: X:122.02, Y:141.56, Z:0.63 [[-3.03349970e-01 -9.52872795e-01 3.49729739e-03 1.22017982e+02] [ 9.52790598e-01 -3.03369770e-01 -1.25243435e-02 1.41559365e+02] [ 1.29950806e-02 -4.67067169e-04 9.99915451e-01 6.29049943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.01, Y:141.59, Z:0.63 [[-3.02644558e-01 -9.53096946e-01 3.53304540e-03 1.22008334e+02] [ 9.53013252e-01 -3.02664833e-01 -1.26388666e-02 1.41585941e+02] [ 1.31153938e-02 -4.58045129e-04 9.99913885e-01 6.29508255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.00, Y:141.61, Z:0.63 [[-3.01528304e-01 -9.53451092e-01 3.42011053e-03 1.22000875e+02] [ 9.53372845e-01 -3.01547401e-01 -1.22222410e-02 1.41611873e+02] [ 1.26846345e-02 -4.24711098e-04 9.99919457e-01 6.29657764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.111858064 meters Centerline goodness [0,1] 0.9998908201589658 Centerline is valid? [True, True] Translation: X:121.99, Y:141.64, Z:0.63 [[-3.00725660e-01 -9.53704079e-01 3.55064483e-03 1.21990659e+02] [ 9.53619942e-01 -3.00746319e-01 -1.26751223e-02 1.41638406e+02] [ 1.31561592e-02 -4.25768807e-04 9.99913363e-01 6.30378270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.141858064 meters Centerline goodness [0,1] 0.9998688037084819 Centerline is valid? [True, True] Translation: X:121.98, Y:141.66, Z:0.63 [[-2.99205677e-01 -9.54181646e-01 3.65360597e-03 1.21981574e+02] [ 9.54092779e-01 -2.99227699e-01 -1.30289359e-02 1.41663972e+02] [ 1.35252317e-02 -4.12452532e-04 9.99908445e-01 6.29494436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.171858064 meters Centerline goodness [0,1] 0.9999345835150458 Centerline is valid? [True, True] Translation: X:121.97, Y:141.69, Z:0.63 [[-2.98841754e-01 -9.54295215e-01 3.77469339e-03 1.21973469e+02] [ 9.54200586e-01 -2.98865303e-01 -1.34451716e-02 1.41690096e+02] [ 1.39587878e-02 -4.16164011e-04 9.99902485e-01 6.29327098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.201858064 meters Centerline goodness [0,1] 0.9998908106219427 Centerline is valid? [True, True] Translation: X:121.96, Y:141.72, Z:0.63 [[-2.98816319e-01 -9.54303039e-01 3.81015365e-03 1.21964504e+02] [ 9.54206833e-01 -2.98840321e-01 -1.35566225e-02 1.41716398e+02] [ 1.40757536e-02 -4.15265397e-04 9.99900845e-01 6.29226217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.231858064 meters Centerline goodness [0,1] 0.9998904085568999 Centerline is valid? [True, True] Translation: X:121.96, Y:141.74, Z:0.63 [[-2.99303547e-01 -9.54150378e-01 3.80025767e-03 1.21956110e+02] [ 9.54054860e-01 -2.99327382e-01 -1.35071012e-02 1.41743043e+02] [ 1.40253269e-02 -4.17069006e-04 9.99901553e-01 6.28597175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.261858064 meters Centerline goodness [0,1] 0.9997368767267465 Centerline is valid? [True, True] Translation: X:121.95, Y:141.77, Z:0.63 [[-2.99734769e-01 -9.54015371e-01 3.70673153e-03 1.21947556e+02] [ 9.53924678e-01 -2.99757409e-01 -1.31607019e-02 1.41769830e+02] [ 1.36666322e-02 -4.08777279e-04 9.99906524e-01 6.29229733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.291858064 meters Centerline goodness [0,1] 0.9999343329320346 Centerline is valid? [True, True] Translation: X:121.94, Y:141.80, Z:0.63 [[-3.00511608e-01 -9.53772070e-01 3.40758182e-03 1.21939402e+02] [ 9.53695571e-01 -3.00530684e-01 -1.20857972e-02 1.41796675e+02] [ 1.25511787e-02 -3.82126657e-04 9.99921158e-01 6.29936636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321858064 meters Centerline goodness [0,1] 0.9999780364594772 Centerline is valid? [True, True] Translation: X:121.94, Y:141.82, Z:0.63 [[-3.01339402e-01 -9.53512668e-01 2.85607771e-03 1.21936788e+02] [ 9.53459029e-01 -3.01352760e-01 -1.01189469e-02 1.41824217e+02] [ 1.05092310e-02 -3.26084338e-04 9.99944723e-01 6.29173840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:141.85, Z:0.63 [[-3.01555509e-01 -9.53445080e-01 2.59901297e-03 1.21924735e+02] [ 9.53400753e-01 -3.01566564e-01 -9.19851126e-03 1.41850318e+02] [ 9.55405071e-03 -2.95960823e-04 9.99954315e-01 6.30555214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381858064 meters Centerline goodness [0,1] 0.9999781229490264 Centerline is valid? [True, True] Translation: X:121.92, Y:141.88, Z:0.63 [[-3.01874826e-01 -9.53344797e-01 2.29955630e-03 1.21916367e+02] [ 9.53310162e-01 -3.01883471e-01 -8.13049578e-03 1.41876893e+02] [ 8.44536388e-03 -2.62201612e-04 9.99964303e-01 6.30096130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:141.90, Z:0.63 [[-3.02339343e-01 -9.53197802e-01 2.20730923e-03 1.21907545e+02] [ 9.53165952e-01 -3.02347294e-01 -7.79624422e-03 1.41903616e+02] [ 8.09873682e-03 -2.53179350e-04 9.99967173e-01 6.30275732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.90, Y:141.93, Z:0.63 [[-3.02834080e-01 -9.53041803e-01 1.68575080e-03 1.21900364e+02] [ 9.53023259e-01 -3.02838710e-01 -5.94846498e-03 1.41930201e+02] [ 6.17964639e-03 -1.94838202e-04 9.99980887e-01 6.30605931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:141.96, Z:0.63 [[-3.03445560e-01 -9.52847781e-01 1.37746121e-03 1.21891788e+02] [ 9.52835421e-01 -3.03448644e-01 -4.85596510e-03 1.41956826e+02] [ 5.04498431e-03 -1.61027217e-04 9.99987261e-01 6.31189397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501858064 meters Centerline goodness [0,1] 0.9998252893644901 Centerline is valid? [True, True] Translation: X:121.88, Y:141.98, Z:0.63 [[-3.03889073e-01 -9.52706806e-01 1.08276884e-03 1.21883189e+02] [ 9.52699181e-01 -3.03890975e-01 -3.81380936e-03 1.41983954e+02] [ 3.96248582e-03 -1.27422002e-04 9.99992141e-01 6.31977631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:142.01, Z:0.63 [[-3.04272226e-01 -9.52584764e-01 8.24381521e-04 1.21876525e+02] [ 9.52580350e-01 -3.04273327e-01 -2.90147727e-03 1.42010163e+02] [ 3.01474035e-03 -9.75493093e-05 9.99995451e-01 6.32527055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561858064 meters Centerline goodness [0,1] 0.999956344269094 Centerline is valid? [True, True] Translation: X:121.87, Y:142.04, Z:0.63 [[-3.04568882e-01 -9.52489986e-01 7.89231947e-04 1.21867320e+02] [ 9.52485949e-01 -3.04569890e-01 -2.77485342e-03 1.42035957e+02] [ 2.88339639e-03 -9.34016654e-05 9.99995839e-01 6.32439177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:142.06, Z:0.63 [[-3.05067919e-01 -9.52330316e-01 7.30460689e-04 1.21860542e+02] [ 9.52326864e-01 -3.05068781e-01 -2.56555731e-03 1.42061021e+02] [ 2.66609875e-03 -8.70318913e-05 9.99996442e-01 6.32331523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.85, Y:142.09, Z:0.63 [[-3.05718763e-01 -9.52121670e-01 6.03303542e-04 1.21853249e+02] [ 9.52119319e-01 -3.05719350e-01 -2.11697585e-03 1.42087299e+02] [ 2.20006014e-03 -7.27822808e-05 9.99997577e-01 6.32621173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65185806399998 meters Centerline goodness [0,1] 0.9998694800957146 Centerline is valid? [True, True] Translation: X:121.84, Y:142.11, Z:0.63 [[-3.05783236e-01 -9.52100936e-01 6.47745976e-04 1.21844526e+02] [ 9.52098233e-01 -3.05783913e-01 -2.27007638e-03 1.42112936e+02] [ 2.35941214e-03 -7.74335023e-05 9.99997214e-01 6.32361594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68185806399998 meters Centerline goodness [0,1] 0.999781892734847 Centerline is valid? [True, True] Translation: X:121.84, Y:142.14, Z:0.63 [[-3.06111450e-01 -9.51995462e-01 6.48595209e-04 1.21837785e+02] [ 9.51992758e-01 -3.06112127e-01 -2.27045433e-03 1.42138400e+02] [ 2.36000508e-03 -7.75541264e-05 9.99997212e-01 6.31992127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:142.16, Z:0.63 [[-3.06799772e-01 -9.51773611e-01 9.45288465e-04 1.21827488e+02] [ 9.51767886e-01 -3.06801208e-01 -3.30319216e-03 1.42164715e+02] [ 3.43390677e-03 -1.13723399e-04 9.99994098e-01 6.30993252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.82, Y:142.19, Z:0.63 [[-3.06908003e-01 -9.51738490e-01 1.15096888e-03 1.21819621e+02] [ 9.51730023e-01 -3.06910131e-01 -4.01691633e-03 1.42191779e+02] [ 4.17629789e-03 -1.37412128e-04 9.99991270e-01 6.30486443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:142.22, Z:0.63 [[-3.07363528e-01 -9.51591364e-01 1.24013368e-03 1.21812369e+02] [ 9.51581555e-01 -3.07365993e-01 -4.32319695e-03 1.42218409e+02] [ 4.49509180e-03 -1.48704730e-04 9.99989886e-01 6.30340109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:142.24, Z:0.63 [[-3.08152464e-01 -9.51336065e-01 1.32269515e-03 1.21806539e+02] [ 9.51324931e-01 -3.08155261e-01 -4.60563140e-03 1.42244904e+02] [ 4.78909873e-03 -1.60923792e-04 9.99988519e-01 6.29574628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.80, Y:142.27, Z:0.63 [[-3.08937266e-01 -9.51081497e-01 1.32371105e-03 1.21799519e+02] [ 9.51070367e-01 -3.08940059e-01 -4.60400666e-03 1.42270932e+02] [ 4.78773292e-03 -1.63406880e-04 9.99988525e-01 6.29300722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.79, Y:142.30, Z:0.63 [[-3.09573795e-01 -9.50874564e-01 1.27617691e-03 1.21790240e+02] [ 9.50864240e-01 -3.09576384e-01 -4.43382528e-03 1.42297606e+02] [ 4.61108592e-03 -1.59125132e-04 9.99989356e-01 6.29016918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:142.32, Z:0.63 [[-3.10570827e-01 -9.50549651e-01 1.05976274e-03 1.21784269e+02] [ 9.50542542e-01 -3.10572606e-01 -3.67863217e-03 1.42323897e+02] [ 3.82585580e-03 -1.35126269e-04 9.99992672e-01 6.29448028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:142.35, Z:0.63 [[-3.11166256e-01 -9.50354817e-01 1.13296047e-03 1.21778503e+02] [ 9.50346710e-01 -3.11168284e-01 -3.92804257e-03 1.42349479e+02] [ 4.08557554e-03 -1.45569047e-04 9.99991643e-01 6.29706172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:142.37, Z:0.63 [[-3.11769664e-01 -9.50157088e-01 1.08832870e-03 1.21772743e+02] [ 9.50149624e-01 -3.11771532e-01 -3.76886204e-03 1.42374842e+02] [ 3.92032088e-03 -1.40941749e-04 9.99992306e-01 6.29923073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:142.40, Z:0.63 [[-3.12368107e-01 -9.49960727e-01 8.85409706e-04 1.21766910e+02] [ 9.49955795e-01 -3.12369340e-01 -3.06319339e-03 1.42401599e+02] [ 3.18648827e-03 -1.15743840e-04 9.99994916e-01 6.30580414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.76, Y:142.43, Z:0.63 [[-3.12310744e-01 -9.49979824e-01 5.78018735e-04 1.21755476e+02] [ 9.49977724e-01 -3.12311270e-01 -1.99867493e-03 1.42427424e+02] [ 2.07922262e-03 -7.51027308e-05 9.99997836e-01 6.30800668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.75, Y:142.45, Z:0.63 [[-3.11918797e-01 -9.50108617e-01 5.29356958e-04 1.21748260e+02] [ 9.50106859e-01 -3.11919239e-01 -1.82881174e-03 1.42453422e+02] [ 1.90268642e-03 -6.74950821e-05 9.99998188e-01 6.31187558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:142.48, Z:0.63 [[-3.11107415e-01 -9.50374694e-01 3.42260472e-04 1.21738736e+02] [ 9.50373960e-01 -3.11107600e-01 -1.18235411e-03 1.42480001e+02] [ 1.23015926e-03 -4.25636897e-05 9.99999242e-01 6.31047618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.73, Y:142.51, Z:0.63 [[-3.09242571e-01 -9.50983108e-01 4.00220539e-04 1.21732755e+02] [ 9.50982108e-01 -3.09242827e-01 -1.38004373e-03 1.42506401e+02] [ 1.43616361e-03 -4.61657006e-05 9.99998968e-01 6.30911681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:142.53, Z:0.63 [[-3.08661137e-01 -9.51171948e-01 4.77441956e-04 1.21724880e+02] [ 9.51170527e-01 -3.08661502e-01 -1.64516451e-03 1.42532174e+02] [ 1.71220229e-03 -5.36696337e-05 9.99998533e-01 6.30396650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:142.56, Z:0.63 [[-3.07765032e-01 -9.51462041e-01 8.18453684e-04 1.21714789e+02] [ 9.51457882e-01 -3.07766108e-01 -2.81441778e-03 1.42558856e+02] [ 2.92970399e-03 -8.74551676e-05 9.99995705e-01 6.29579111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:142.59, Z:0.63 [[-3.08030401e-01 -9.51376162e-01 8.19238498e-04 1.21707010e+02] [ 9.51372003e-01 -3.08031478e-01 -2.81418929e-03 1.42585332e+02] [ 2.92970385e-03 -8.74552839e-05 9.99995705e-01 6.29672917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:142.61, Z:0.63 [[-3.08336666e-01 -9.51276825e-01 9.49975946e-04 1.21700038e+02] [ 9.51271247e-01 -3.08338113e-01 -3.25936228e-03 1.42612787e+02] [ 3.39346959e-03 -1.01296096e-04 9.99994237e-01 6.29502782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:142.64, Z:0.63 [[-3.08877739e-01 -9.51101224e-01 1.00228426e-03 1.21692784e+02] [ 9.51095027e-01 -3.08879346e-01 -3.43510772e-03 1.42640405e+02] [ 3.57672006e-03 -1.07760724e-04 9.99993598e-01 6.29390720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:142.67, Z:0.63 [[-3.09457144e-01 -9.50912806e-01 1.05477079e-03 1.21685666e+02] [ 9.50905956e-01 -3.09458920e-01 -3.61110790e-03 1.42667708e+02] [ 3.76025698e-03 -1.14495312e-04 9.99992924e-01 6.29126235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:142.70, Z:0.63 [[-3.11445722e-01 -9.50263060e-01 1.29586202e-03 1.21679830e+02] [ 9.50252740e-01 -3.11448383e-01 -4.43119286e-03 1.42695070e+02] [ 4.61439302e-03 -1.48679628e-04 9.99989343e-01 6.28776217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:142.72, Z:0.63 [[-3.12571271e-01 -9.49893646e-01 1.12333521e-03 1.21673485e+02] [ 9.49885903e-01 -3.12573262e-01 -3.83774571e-03 1.42722135e+02] [ 3.99657481e-03 -1.32528774e-04 9.99992005e-01 6.28838430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.371858064 meters Centerline goodness [0,1] 0.999956242068875 Centerline is valid? [True, True] Translation: X:121.67, Y:142.75, Z:0.63 [[-3.13671320e-01 -9.49531023e-01 1.06720264e-03 1.21667870e+02] [ 9.49524046e-01 -3.13673109e-01 -3.64239946e-03 1.42749117e+02] [ 3.79332405e-03 -1.29181682e-04 9.99992797e-01 6.29268676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:142.78, Z:0.63 [[-3.15432619e-01 -9.48947763e-01 6.36670241e-04 1.21660526e+02] [ 9.48945281e-01 -3.15433251e-01 -2.17199765e-03 1.42775979e+02] [ 2.26193927e-03 -8.09536853e-05 9.99997439e-01 6.29792571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:142.80, Z:0.63 [[-3.15865694e-01 -9.48803724e-01 5.97309786e-04 1.21656395e+02] [ 9.48801542e-01 -3.15866249e-01 -2.03607874e-03 1.42802170e+02] [ 2.12050909e-03 -7.63989780e-05 9.99997749e-01 6.30438582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:142.83, Z:0.63 [[-3.16384166e-01 -9.48630973e-01 5.80321908e-04 1.21649672e+02] [ 9.48628918e-01 -3.16384690e-01 -1.97584742e-03 1.42827372e+02] [ 2.05795502e-03 -7.46166947e-05 9.99997880e-01 6.30231282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:142.85, Z:0.63 [[-3.16186261e-01 -9.48696834e-01 7.52290275e-04 1.21639951e+02] [ 9.48693392e-01 -3.16187141e-01 -2.55729771e-03 1.42853337e+02] [ 2.66396476e-03 -9.48895883e-05 9.99996447e-01 6.29569167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:142.88, Z:0.63 [[-3.15761688e-01 -9.48838165e-01 8.32862303e-04 1.21628535e+02] [ 9.48833957e-01 -3.15762770e-01 -2.82764915e-03 1.42879514e+02] [ 2.94596834e-03 -1.02615234e-04 9.99995655e-01 6.29383308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:142.91, Z:0.63 [[-3.14848158e-01 -9.49141581e-01 9.47355944e-04 1.21623908e+02] [ 9.49136150e-01 -3.14849563e-01 -3.21261559e-03 1.42906204e+02] [ 3.34750165e-03 -1.12316326e-04 9.99994391e-01 6.29378109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:142.93, Z:0.63 [[-3.12763603e-01 -9.49830181e-01 1.24707008e-03 1.21610934e+02] [ 9.49820800e-01 -3.12766060e-01 -4.22365130e-03 1.42931359e+02] [ 4.40179268e-03 -1.36511304e-04 9.99990303e-01 6.29394716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:142.96, Z:0.63 [[-3.11359621e-01 -9.50291327e-01 1.25724883e-03 1.21601994e+02] [ 9.50281815e-01 -3.11362132e-01 -4.25370064e-03 1.42958029e+02] [ 4.43371450e-03 -1.29689923e-04 9.99990163e-01 6.29559827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:142.98, Z:0.63 [[-3.10258099e-01 -9.50651422e-01 1.33662941e-03 1.21594013e+02] [ 9.50640697e-01 -3.10260951e-01 -4.51745040e-03 1.42983666e+02] [ 4.70922455e-03 -1.30921258e-04 9.99988903e-01 6.29359086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:143.01, Z:0.63 [[-3.08802637e-01 -9.51124686e-01 1.66242715e-03 1.21584561e+02] [ 9.51108141e-01 -3.08807074e-01 -5.61205875e-03 1.43009954e+02] [ 5.85113687e-03 -1.51870545e-04 9.99982870e-01 6.29564508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:143.04, Z:0.63 [[-3.06659633e-01 -9.51816954e-01 2.08702256e-03 1.21575972e+02] [ 9.51790953e-01 -3.06666687e-01 -7.03741646e-03 1.43036278e+02] [ 7.33835259e-03 -1.71682359e-04 9.99973059e-01 6.29068902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.57, Y:143.06, Z:0.63 [[-3.06302869e-01 -9.51931528e-01 2.21783614e-03 1.21567274e+02] [ 9.51902229e-01 -3.06310847e-01 -7.47071880e-03 1.43062729e+02] [ 7.79096003e-03 -1.77139444e-04 9.99969634e-01 6.28969425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:143.09, Z:0.63 [[-3.05690018e-01 -9.52128333e-01 2.29146624e-03 1.21558685e+02] [ 9.52097124e-01 -3.05698555e-01 -7.71106365e-03 1.43089975e+02] [ 8.04242009e-03 -1.75496768e-04 9.99967644e-01 6.28722033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:143.12, Z:0.63 [[-3.05148723e-01 -9.52301721e-01 2.38531263e-03 1.21551322e+02] [ 9.52267977e-01 -3.05157995e-01 -8.01863378e-03 1.43115770e+02] [ 8.36405596e-03 -1.75419027e-04 9.99965005e-01 6.28348593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:143.14, Z:0.63 [[-3.05438098e-01 -9.52208935e-01 2.39000831e-03 1.21543822e+02] [ 9.52175129e-01 -3.05447398e-01 -8.02558717e-03 1.43141639e+02] [ 8.37205763e-03 -1.75613612e-04 9.99964938e-01 6.28188701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:143.17, Z:0.63 [[-3.06006341e-01 -9.52026405e-01 2.41740092e-03 1.21537196e+02] [ 9.51991892e-01 -3.06015836e-01 -8.10837448e-03 1.43168330e+02] [ 8.45914957e-03 -1.79867929e-04 9.99964205e-01 6.28184516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:143.19, Z:0.63 [[-3.07017684e-01 -9.51700757e-01 2.41049972e-03 1.21532495e+02] [ 9.51666510e-01 -3.07027090e-01 -8.07590382e-03 1.43194043e+02] [ 8.42593250e-03 -1.85453429e-04 9.99964484e-01 6.28695208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:143.22, Z:0.63 [[-3.07816089e-01 -9.51442785e-01 2.42530896e-03 1.21526269e+02] [ 9.51408178e-01 -3.07825584e-01 -8.11719793e-03 1.43219049e+02] [ 8.46962155e-03 -1.91145340e-04 9.99964114e-01 6.28339493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:143.25, Z:0.63 [[-3.08783879e-01 -9.51128945e-01 2.49944185e-03 1.21518811e+02] [ 9.51092250e-01 -3.08793927e-01 -8.35723058e-03 1.43245815e+02] [ 8.72061637e-03 -2.03378305e-04 9.99961954e-01 6.28089898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.971858064 meters Centerline goodness [0,1] 0.9999563204333013 Centerline is valid? [True, True] Translation: X:121.51, Y:143.27, Z:0.63 [[-3.10270771e-01 -9.50644607e-01 2.62289534e-03 1.21510330e+02] [ 9.50604262e-01 -3.10281776e-01 -8.76105289e-03 1.43273045e+02] [ 9.14248431e-03 -2.24963146e-04 9.99958181e-01 6.28072251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001858064 meters Centerline goodness [0,1] 0.9999561931880407 Centerline is valid? [True, True] Translation: X:121.50, Y:143.30, Z:0.63 [[-3.11267330e-01 -9.50318421e-01 2.74757210e-03 1.21504807e+02] [ 9.50274230e-01 -3.11279361e-01 -9.16767905e-03 1.43300033e+02] [ 9.56747676e-03 -2.42652016e-04 9.99954201e-01 6.28008489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:143.33, Z:0.63 [[-3.12589170e-01 -9.49884823e-01 2.61408854e-03 1.21496463e+02] [ 9.49844891e-01 -3.12600008e-01 -8.71308930e-03 1.43326331e+02] [ 9.09359539e-03 -2.40638706e-04 9.99958623e-01 6.28940366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:143.35, Z:0.63 [[-3.14744293e-01 -9.49172966e-01 2.59040184e-03 1.21494102e+02] [ 9.49133813e-01 -3.14754849e-01 -8.62492723e-03 1.43353539e+02] [ 9.00188930e-03 -2.56008649e-04 9.99959449e-01 6.29243834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:143.38, Z:0.63 [[-3.15917852e-01 -9.48782904e-01 2.62913232e-03 1.21484445e+02] [ 9.48742640e-01 -3.15928678e-01 -8.74487701e-03 1.43380422e+02] [ 9.12760810e-03 -2.68292826e-04 9.99958307e-01 6.29909669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:143.41, Z:0.63 [[-3.17032545e-01 -9.48410573e-01 2.78391270e-03 1.21476728e+02] [ 9.48365507e-01 -3.17044632e-01 -9.25022548e-03 1.43407881e+02] [ 9.65563623e-03 -2.92455743e-04 9.99953340e-01 6.29905399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:143.44, Z:0.63 [[-3.18259063e-01 -9.47999174e-01 2.95539402e-03 1.21469801e+02] [ 9.47948470e-01 -3.18272623e-01 -9.80995342e-03 1.43435002e+02] [ 1.02404487e-02 -3.20545342e-04 9.99947514e-01 6.29762829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:143.46, Z:0.63 [[-3.19653547e-01 -9.47529946e-01 2.93453073e-03 1.21465382e+02] [ 9.47480022e-01 -3.19666846e-01 -9.73221753e-03 1.43461480e+02] [ 1.01596397e-02 -3.30528613e-04 9.99948335e-01 6.29894513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:143.49, Z:0.63 [[-3.20154618e-01 -9.47360581e-01 2.99158262e-03 1.21458687e+02] [ 9.47308794e-01 -3.20168415e-01 -9.91136621e-03 1.43488190e+02] [ 1.03474479e-02 -3.39217139e-04 9.99946406e-01 6.30346215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24185806399998 meters Centerline goodness [0,1] 0.9999779449063761 Centerline is valid? [True, True] Translation: X:121.45, Y:143.51, Z:0.63 [[-3.20086256e-01 -9.47383391e-01 3.08217775e-03 1.21449615e+02] [ 9.47328535e-01 -3.20100909e-01 -1.02007790e-02 1.43514907e+02] [ 1.06506565e-02 -3.45294211e-04 9.99943221e-01 6.30686473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:143.54, Z:0.63 [[-3.19527659e-01 -9.47571666e-01 3.16425785e-03 1.21442691e+02] [ 9.47513976e-01 -3.19543140e-01 -1.04616654e-02 1.43540883e+02] [ 1.09242946e-02 -3.44612920e-04 9.99940269e-01 6.30512391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.301858064 meters Centerline goodness [0,1] 0.999889911488837 Centerline is valid? [True, True] Translation: X:121.44, Y:143.57, Z:0.63 [[-3.17838267e-01 -9.48139103e-01 3.32816648e-03 1.21437537e+02] [ 9.48075438e-01 -3.17855512e-01 -1.09926396e-02 1.43567706e+02] [ 1.14804275e-02 -3.38528629e-04 9.99934040e-01 6.29171269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.331858064 meters Centerline goodness [0,1] 0.9999558216076517 Centerline is valid? [True, True] Translation: X:121.43, Y:143.59, Z:0.63 [[-3.17090096e-01 -9.48388913e-01 3.51285029e-03 1.21428440e+02] [ 9.48318152e-01 -3.17109368e-01 -1.15901374e-02 1.43593703e+02] [ 1.21059156e-02 -3.43818089e-04 9.99926662e-01 6.29382902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.361858064 meters Centerline goodness [0,1] 0.9998898411509397 Centerline is valid? [True, True] Translation: X:121.42, Y:143.62, Z:0.63 [[-3.15403314e-01 -9.48951139e-01 3.53339718e-03 1.21422988e+02] [ 9.48879723e-01 -3.15422943e-01 -1.16463855e-02 1.43620114e+02] [ 1.21663653e-02 -3.20539662e-04 9.99925936e-01 6.29078136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:143.65, Z:0.63 [[-3.14881626e-01 -9.49124819e-01 3.41166753e-03 1.21414443e+02] [ 9.49058386e-01 -3.14899965e-01 -1.12335127e-02 1.43645541e+02] [ 1.17363397e-02 -2.99355057e-04 9.99931082e-01 6.30161788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:143.67, Z:0.63 [[-3.14661223e-01 -9.49198205e-01 3.32894131e-03 1.21406923e+02] [ 9.49135095e-01 -3.14678702e-01 -1.09492233e-02 1.43671327e+02] [ 1.14405300e-02 -2.85680950e-04 9.99934514e-01 6.30871714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:143.70, Z:0.63 [[-3.14927803e-01 -9.49110094e-01 3.24165524e-03 1.21403354e+02] [ 9.49050354e-01 -3.14944364e-01 -1.06523786e-02 1.43698022e+02] [ 1.11312211e-02 -2.78236153e-04 9.99938007e-01 6.31566108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.481858064 meters Centerline goodness [0,1] 0.9997356420593484 Centerline is valid? [True, True] Translation: X:121.40, Y:143.72, Z:0.63 [[-3.15305801e-01 -9.48984307e-01 3.32231444e-03 1.21396610e+02] [ 9.48921675e-01 -3.15323174e-01 -1.09064511e-02 1.43724045e+02] [ 1.13976537e-02 -2.86251135e-04 9.99935004e-01 6.31974231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.511858064 meters Centerline goodness [0,1] 0.99949023692901 Centerline is valid? [True, True] Translation: X:121.39, Y:143.75, Z:0.63 [[-3.15694130e-01 -9.48855077e-01 3.35547907e-03 1.21387368e+02] [ 9.48791311e-01 -3.15711828e-01 -1.10040967e-02 1.43750291e+02] [ 1.15006575e-02 -2.90279347e-04 9.99933823e-01 6.33146544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.541858064 meters Centerline goodness [0,1] 0.9996902517810523 Centerline is valid? [True, True] Translation: X:121.38, Y:143.78, Z:0.63 [[-3.16096260e-01 -9.48721398e-01 3.29612812e-03 1.21383473e+02] [ 9.48659985e-01 -3.16113315e-01 -1.07983501e-02 1.43777860e+02] [ 1.12865758e-02 -2.86413234e-04 9.99936264e-01 6.32456132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.571858064 meters Centerline goodness [0,1] 0.9998233215547703 Centerline is valid? [True, True] Translation: X:121.37, Y:143.80, Z:0.63 [[-3.16565869e-01 -9.48564541e-01 3.37075437e-03 1.21374448e+02] [ 9.48500447e-01 -3.16583677e-01 -1.10307568e-02 1.43803340e+02] [ 1.15305105e-02 -2.94799077e-04 9.99933478e-01 6.33531929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601858064 meters Centerline goodness [0,1] 0.9996891513832763 Centerline is valid? [True, True] Translation: X:121.37, Y:143.83, Z:0.63 [[-3.16785687e-01 -9.48491514e-01 3.26762388e-03 1.21367755e+02] [ 9.48431387e-01 -3.16802411e-01 -1.06834533e-02 1.43829033e+02] [ 1.11683559e-02 -2.85248045e-04 9.99937591e-01 6.33331212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.631858064 meters Centerline goodness [0,1] 0.9994451226278992 Centerline is valid? [True, True] Translation: X:121.36, Y:143.86, Z:0.63 [[-3.16655550e-01 -9.48534224e-01 3.47694490e-03 1.21361482e+02] [ 9.48466289e-01 -3.16674498e-01 -1.13560836e-02 1.43855516e+02] [ 1.18726937e-02 -2.98201870e-04 9.99929473e-01 6.33267047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661858064 meters Centerline goodness [0,1] 0.999421154573992 Centerline is valid? [True, True] Translation: X:121.35, Y:143.88, Z:0.63 [[-3.17047747e-01 -9.48402693e-01 3.61352645e-03 1.21352674e+02] [ 9.48329457e-01 -3.17068186e-01 -1.17900668e-02 1.43882301e+02] [ 1.23274654e-02 -3.11200548e-04 9.99923965e-01 6.33733938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.691858064 meters Centerline goodness [0,1] 0.9993094076499811 Centerline is valid? [True, True] Translation: X:121.35, Y:143.91, Z:0.63 [[-3.16788638e-01 -9.48488163e-01 3.89392991e-03 1.21345467e+02] [ 9.48403296e-01 -3.16812399e-01 -1.26922018e-02 1.43909668e+02] [ 1.32720484e-02 -3.27729344e-04 9.99911869e-01 6.33548104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721858064 meters Centerline goodness [0,1] 0.9996000533262231 Centerline is valid? [True, True] Translation: X:121.34, Y:143.94, Z:0.63 [[-3.16924086e-01 -9.48442725e-01 3.93956140e-03 1.21339149e+02] [ 9.48356046e-01 -3.16948400e-01 -1.28266014e-02 1.43935371e+02] [ 1.34139345e-02 -3.28952054e-04 9.99909975e-01 6.33362778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.751858064 meters Centerline goodness [0,1] 0.9993736298152208 Centerline is valid? [True, True] Translation: X:121.33, Y:143.96, Z:0.63 [[-3.17342958e-01 -9.48302404e-01 3.99966028e-03 1.21333251e+02] [ 9.48213246e-01 -3.17367984e-01 -1.30078049e-02 1.43962190e+02] [ 1.36046968e-02 -3.35404433e-04 9.99907396e-01 6.33967551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781858064 meters Centerline goodness [0,1] 0.9994414156761104 Centerline is valid? [True, True] Translation: X:121.33, Y:143.99, Z:0.63 [[-3.17522240e-01 -9.48241994e-01 4.09248947e-03 1.21326065e+02] [ 9.48148846e-01 -3.17548430e-01 -1.32951427e-02 1.43988181e+02] [ 1.39065762e-02 -3.41214339e-04 9.99903241e-01 6.34218024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.811858064 meters Centerline goodness [0,1] 0.9995311662796929 Centerline is valid? [True, True] Translation: X:121.32, Y:144.02, Z:0.63 [[-3.17717998e-01 -9.48176633e-01 4.04311104e-03 1.21317626e+02] [ 9.48085896e-01 -3.17743545e-01 -1.31215142e-02 1.44015149e+02] [ 1.37261856e-02 -3.35724678e-04 9.99905735e-01 6.34542825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841858064 meters Centerline goodness [0,1] 0.9995305164319249 Centerline is valid? [True, True] Translation: X:121.31, Y:144.04, Z:0.63 [[-3.16219978e-01 -9.48677510e-01 3.98852320e-03 1.21309447e+02] [ 9.48589415e-01 -3.16244983e-01 -1.29318378e-02 1.44041326e+02] [ 1.35294942e-02 -3.05834576e-04 9.99908425e-01 6.34158007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.871858064 meters Centerline goodness [0,1] 0.9996645721058163 Centerline is valid? [True, True] Translation: X:121.30, Y:144.07, Z:0.63 [[-3.15693309e-01 -9.48852726e-01 4.02970297e-03 1.21300253e+02] [ 9.48763004e-01 -3.15718887e-01 -1.30516526e-02 1.44067067e+02] [ 1.36563495e-02 -2.97086305e-04 9.99906704e-01 6.34521947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90185806399998 meters Centerline goodness [0,1] 0.9995746490854955 Centerline is valid? [True, True] Translation: X:121.29, Y:144.09, Z:0.63 [[-3.15522931e-01 -9.48908972e-01 4.12830490e-03 1.21292522e+02] [ 9.48815011e-01 -3.15549797e-01 -1.33566618e-02 1.44092855e+02] [ 1.39769420e-02 -2.97335414e-04 9.99902274e-01 6.34774548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93185806399998 meters Centerline goodness [0,1] 0.9996194399050838 Centerline is valid? [True, True] Translation: X:121.29, Y:144.12, Z:0.63 [[-3.15642468e-01 -9.48868701e-01 4.24515377e-03 1.21285511e+02] [ 9.48769560e-01 -3.15670869e-01 -1.37194796e-02 1.44118569e+02] [ 1.43580561e-02 -3.02777718e-04 9.99896872e-01 6.34388259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96185806399998 meters Centerline goodness [0,1] 0.9995517102254897 Centerline is valid? [True, True] Translation: X:121.28, Y:144.14, Z:0.63 [[-3.15662871e-01 -9.48861787e-01 4.27328759e-03 1.21275905e+02] [ 9.48761541e-01 -3.15691651e-01 -1.37956617e-02 1.44144254e+02] [ 1.44392175e-02 -3.00447270e-04 9.99895704e-01 6.34733717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99185806399998 meters Centerline goodness [0,1] 0.9997097112743675 Centerline is valid? [True, True] Translation: X:121.27, Y:144.17, Z:0.64 [[-3.15972301e-01 -9.48759916e-01 4.01569240e-03 1.21265229e+02] [ 9.48671559e-01 -3.15997692e-01 -1.29511513e-02 1.44170266e+02] [ 1.35564827e-02 -2.82631903e-04 9.99908067e-01 6.36348002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02185806399999 meters Centerline goodness [0,1] 0.9994416776470063 Centerline is valid? [True, True] Translation: X:121.26, Y:144.20, Z:0.64 [[-3.16840794e-01 -9.48469551e-01 4.17401986e-03 1.21257783e+02] [ 9.48374262e-01 -3.16868143e-01 -1.34476416e-02 1.44196336e+02] [ 1.40772925e-02 -3.02228448e-04 9.99900864e-01 6.36519304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.051858064 meters Centerline goodness [0,1] 0.9995300015666615 Centerline is valid? [True, True] Translation: X:121.25, Y:144.22, Z:0.64 [[-3.17527244e-01 -9.48239755e-01 4.22093537e-03 1.21249222e+02] [ 9.48142485e-01 -3.17555145e-01 -1.35851906e-02 1.44223083e+02] [ 1.42223976e-02 -3.11619988e-04 9.99898808e-01 6.36418549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.081858064 meters Centerline goodness [0,1] 0.9995300015666615 Centerline is valid? [True, True] Translation: X:121.24, Y:144.25, Z:0.64 [[-3.17790415e-01 -9.48151572e-01 4.22470632e-03 1.21240962e+02] [ 9.48054311e-01 -3.17818342e-01 -1.35840183e-02 1.44249420e+02] [ 1.42223974e-02 -3.11619755e-04 9.99898808e-01 6.36512343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.111858064 meters Centerline goodness [0,1] 0.9994620763851533 Centerline is valid? [True, True] Translation: X:121.23, Y:144.28, Z:0.64 [[-3.17881357e-01 -9.48120946e-01 4.25626552e-03 1.21232433e+02] [ 9.48022415e-01 -3.17909698e-01 -1.36720609e-02 1.44275804e+02] [ 1.43158754e-02 -3.11058161e-04 9.99897474e-01 6.36329567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.141858064 meters Centerline goodness [0,1] 0.9995320855614973 Centerline is valid? [True, True] Translation: X:121.22, Y:144.30, Z:0.64 [[-3.17710990e-01 -9.48177685e-01 4.33637319e-03 1.21224044e+02] [ 9.48075643e-01 -3.17740431e-01 -1.39137903e-02 1.44300718e+02] [ 1.45705866e-02 -3.09354296e-04 9.99893796e-01 6.36162173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.171858064 meters Centerline goodness [0,1] 0.9996870039571643 Centerline is valid? [True, True] Translation: X:121.22, Y:144.33, Z:0.64 [[-3.17562451e-01 -9.48227186e-01 4.39238734e-03 1.21215694e+02] [ 9.48122734e-01 -3.17592679e-01 -1.40773442e-02 1.44326052e+02] [ 1.47435106e-02 -3.05913647e-04 9.99891262e-01 6.35582887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.201858064 meters Centerline goodness [0,1] 0.9996644370372028 Centerline is valid? [True, True] Translation: X:121.21, Y:144.35, Z:0.64 [[-3.17434332e-01 -9.48269400e-01 4.53756732e-03 1.21206619e+02] [ 9.48158176e-01 -3.17466611e-01 -1.45266863e-02 1.44352089e+02] [ 1.52157382e-02 -3.08937407e-04 9.99884186e-01 6.35097813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.231858064 meters Centerline goodness [0,1] 0.9994854701237109 Centerline is valid? [True, True] Translation: X:121.20, Y:144.38, Z:0.63 [[-3.17321105e-01 -9.48306635e-01 4.67362588e-03 1.21198212e+02] [ 9.48188906e-01 -3.17355369e-01 -1.49455255e-02 1.44377304e+02] [ 1.56561412e-02 -3.11050449e-04 9.99877387e-01 6.33566680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.261858064 meters Centerline goodness [0,1] 0.9995530226840987 Centerline is valid? [True, True] Translation: X:121.19, Y:144.40, Z:0.63 [[-3.17580304e-01 -9.48219193e-01 4.80752502e-03 1.21190256e+02] [ 9.48094878e-01 -3.17616529e-01 -1.53571558e-02 1.44403445e+02] [ 1.60888993e-02 -3.19140357e-04 9.99870514e-01 6.33305275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.291858064 meters Centerline goodness [0,1] 0.9995542182101861 Centerline is valid? [True, True] Translation: X:121.18, Y:144.43, Z:0.63 [[-3.17590530e-01 -9.48215366e-01 4.88633049e-03 1.21181038e+02] [ 9.48087215e-01 -3.17627957e-01 -1.55920933e-02 1.44429216e+02] [ 1.63366976e-02 -3.19233689e-04 9.99866496e-01 6.33655111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321858064 meters Centerline goodness [0,1] 0.999553272280545 Centerline is valid? [True, True] Translation: X:121.17, Y:144.45, Z:0.63 [[-3.18063232e-01 -9.48057290e-01 4.81205536e-03 1.21173380e+02] [ 9.47933263e-01 -3.18099474e-01 -1.53379995e-02 1.44454362e+02] [ 1.60720145e-02 -3.16946342e-04 9.99870787e-01 6.33121895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.351858064 meters Centerline goodness [0,1] 0.9996648643817865 Centerline is valid? [True, True] Translation: X:121.16, Y:144.48, Z:0.63 [[-3.18512408e-01 -9.47908201e-01 4.45959169e-03 1.21164654e+02] [ 9.47801893e-01 -3.18543490e-01 -1.41992015e-02 1.44479579e+02] [ 1.48801135e-02 -2.95812424e-04 9.99889241e-01 6.33843236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381858064 meters Centerline goodness [0,1] 0.9997330010679957 Centerline is valid? [True, True] Translation: X:121.16, Y:144.51, Z:0.63 [[-3.18741354e-01 -9.47831402e-01 4.42524369e-03 1.21156803e+02] [ 9.47726934e-01 -3.18771938e-01 -1.40751951e-02 1.44505544e+02] [ 1.47515554e-02 -2.92424104e-04 9.99891147e-01 6.34561326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.411858064 meters Centerline goodness [0,1] 0.9998220759290972 Centerline is valid? [True, True] Translation: X:121.15, Y:144.53, Z:0.64 [[-3.19113284e-01 -9.47706164e-01 4.44284945e-03 1.21146893e+02] [ 9.47601074e-01 -3.19144075e-01 -1.41160873e-02 1.44531096e+02] [ 1.47958121e-02 -2.94582077e-04 9.99890493e-01 6.36154434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441858064 meters Centerline goodness [0,1] 0.9997769450392576 Centerline is valid? [True, True] Translation: X:121.14, Y:144.56, Z:0.64 [[-3.19386660e-01 -9.47614393e-01 4.37302400e-03 1.21139279e+02] [ 9.47512798e-01 -3.19416465e-01 -1.38787567e-02 1.44556082e+02] [ 1.45485254e-02 -2.89193532e-04 9.99894123e-01 6.36205581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.471858064 meters Centerline goodness [0,1] 0.9998883803995982 Centerline is valid? [True, True] Translation: X:121.13, Y:144.58, Z:0.64 [[-3.19271097e-01 -9.47653766e-01 4.27865850e-03 1.21130988e+02] [ 9.47556720e-01 -3.19299646e-01 -1.35646342e-02 1.44581979e+02] [ 1.42207508e-02 -2.76524030e-04 9.99898842e-01 6.36924020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501858064 meters Centerline goodness [0,1] 0.9997095361515774 Centerline is valid? [True, True] Translation: X:121.12, Y:144.61, Z:0.64 [[-3.18289509e-01 -9.47986035e-01 3.77695368e-03 1.21122388e+02] [ 9.47910579e-01 -3.18311836e-01 -1.19628432e-02 1.44607237e+02] [ 1.25428574e-02 -2.27433136e-04 9.99921309e-01 6.37928662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.531858064 meters Centerline goodness [0,1] 0.9996652757012474 Centerline is valid? [True, True] Translation: X:121.11, Y:144.63, Z:0.64 [[-3.17408454e-01 -9.48282101e-01 3.59597508e-03 1.21110904e+02] [ 9.48213852e-01 -3.17428759e-01 -1.13786581e-02 1.44633354e+02] [ 1.19316437e-02 -2.01928892e-04 9.99928795e-01 6.39404548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561858064 meters Centerline goodness [0,1] 0.9998215719511108 Centerline is valid? [True, True] Translation: X:121.10, Y:144.66, Z:0.64 [[-3.16598266e-01 -9.48553521e-01 3.42855212e-03 1.21103371e+02] [ 9.48491618e-01 -3.16616780e-01 -1.08381242e-02 1.44658924e+02] [ 1.13660780e-02 -1.79378393e-04 9.99935388e-01 6.38797742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.591858064 meters Centerline goodness [0,1] 0.9997111560423934 Centerline is valid? [True, True] Translation: X:121.09, Y:144.68, Z:0.64 [[-3.15637479e-01 -9.48874670e-01 3.13726451e-03 1.21093452e+02] [ 9.48822960e-01 -3.15653035e-01 -9.90717473e-03 1.44684765e+02] [ 1.03909542e-02 -1.50367061e-04 9.99946001e-01 6.39287410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621858064 meters Centerline goodness [0,1] 0.9995100877388322 Centerline is valid? [True, True] Translation: X:121.08, Y:144.71, Z:0.64 [[-3.14025397e-01 -9.49409127e-01 3.21850146e-03 1.21084942e+02] [ 9.49354853e-01 -3.14041862e-01 -1.01523909e-02 1.44710058e+02] [ 1.06495167e-02 -1.32608590e-04 9.99943284e-01 6.39089812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65185806399998 meters Centerline goodness [0,1] 0.9997093088258313 Centerline is valid? [True, True] Translation: X:121.08, Y:144.74, Z:0.64 [[-3.13789328e-01 -9.49486653e-01 3.36940132e-03 1.21075169e+02] [ 9.49427299e-01 -3.13807389e-01 -1.06172858e-02 1.44736366e+02] [ 1.11383142e-02 -1.32589365e-04 9.99937958e-01 6.39627944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68185806399998 meters Centerline goodness [0,1] 0.9997992729219172 Centerline is valid? [True, True] Translation: X:121.07, Y:144.76, Z:0.64 [[-3.14039819e-01 -9.49403501e-01 3.46202172e-03 1.21067211e+02] [ 9.49340934e-01 -3.14058871e-01 -1.09003364e-02 1.44762285e+02] [ 1.14360961e-02 -1.36500726e-04 9.99934596e-01 6.38627614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71185806399998 meters Centerline goodness [0,1] 0.9996874720957228 Centerline is valid? [True, True] Translation: X:121.06, Y:144.79, Z:0.64 [[-3.14920948e-01 -9.49111786e-01 3.40807085e-03 1.21058354e+02] [ 9.49051244e-01 -3.14939356e-01 -1.07209610e-02 1.44789180e+02] [ 1.12487260e-02 -1.41821310e-04 9.99936721e-01 6.38026703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74185806399998 meters Centerline goodness [0,1] 0.9997094127903078 Centerline is valid? [True, True] Translation: X:121.05, Y:144.82, Z:0.64 [[-3.16680926e-01 -9.48526055e-01 3.39334243e-03 1.21050610e+02] [ 9.48466116e-01 -3.16699066e-01 -1.06643520e-02 1.44816518e+02] [ 1.11900841e-02 -1.58726567e-04 9.99937376e-01 6.38056342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77185806399999 meters Centerline goodness [0,1] 0.9993327105298279 Centerline is valid? [True, True] Translation: X:121.04, Y:144.84, Z:0.64 [[-3.18878248e-01 -9.47789278e-01 3.48546667e-03 1.21044740e+02] [ 9.47726123e-01 -3.18897241e-01 -1.09428298e-02 1.44842811e+02] [ 1.14830024e-02 -1.86162574e-04 9.99934051e-01 6.37778601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.801858064 meters Centerline goodness [0,1] 0.9993756271602185 Centerline is valid? [True, True] Translation: X:121.04, Y:144.87, Z:0.64 [[-3.21438371e-01 -9.46924981e-01 3.23335844e-03 1.21037414e+02] [ 9.46870691e-01 -3.21454572e-01 -1.01416138e-02 1.44869625e+02] [ 1.06427253e-02 -1.98331494e-04 9.99943345e-01 6.38695411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.831858064 meters Centerline goodness [0,1] 0.9996882307092751 Centerline is valid? [True, True] Translation: X:121.03, Y:144.90, Z:0.64 [[-3.26427155e-01 -9.45218692e-01 2.63395299e-03 1.21032324e+02] [ 9.45182675e-01 -3.26437717e-01 -8.25391344e-03 1.44896194e+02] [ 8.66157486e-03 -2.04734749e-04 9.99962467e-01 6.40165548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.861858064 meters Centerline goodness [0,1] 0.9997107189746101 Centerline is valid? [True, True] Translation: X:121.03, Y:144.92, Z:0.64 [[-3.28636616e-01 -9.44453444e-01 2.38068330e-03 1.21025196e+02] [ 9.44424055e-01 -3.28645177e-01 -7.45329559e-03 1.44923143e+02] [ 7.82169077e-03 -2.01051267e-04 9.99969390e-01 6.40874446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.891858064 meters Centerline goodness [0,1] 0.9998439833285042 Centerline is valid? [True, True] Translation: X:121.02, Y:144.95, Z:0.64 [[-3.31708986e-01 -9.43379678e-01 1.98267817e-03 1.21018840e+02] [ 9.43359308e-01 -3.31714859e-01 -6.20233499e-03 1.44948973e+02] [ 6.50884059e-03 -1.86992340e-04 9.99978800e-01 6.41479924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.921858064 meters Centerline goodness [0,1] 0.9994892747701737 Centerline is valid? [True, True] Translation: X:121.01, Y:144.98, Z:0.64 [[-3.32674365e-01 -9.43039665e-01 1.98896616e-03 1.21012583e+02] [ 9.43019195e-01 -3.32680255e-01 -6.21648531e-03 1.44975279e+02] [ 6.52408199e-03 -1.92432038e-04 9.99978699e-01 6.40622085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.951858064 meters Centerline goodness [0,1] 0.9997557943344285 Centerline is valid? [True, True] Translation: X:121.00, Y:145.00, Z:0.64 [[-3.33873657e-01 -9.42615558e-01 2.07126911e-03 1.21002682e+02] [ 9.42593395e-01 -3.33880018e-01 -6.46720496e-03 1.45001058e+02] [ 6.78764338e-03 -2.06864789e-04 9.99976942e-01 6.40181570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.981858064 meters Centerline goodness [0,1] 0.999799048831134 Centerline is valid? [True, True] Translation: X:120.99, Y:145.03, Z:0.64 [[-3.35230554e-01 -9.42133940e-01 2.02825877e-03 1.20991565e+02] [ 9.42112720e-01 -3.35236624e-01 -6.32684422e-03 1.45027383e+02] [ 6.64068130e-03 -2.10103107e-04 9.99977928e-01 6.39202773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.011858064 meters Centerline goodness [0,1] 0.9999553681015823 Centerline is valid? [True, True] Translation: X:120.98, Y:145.05, Z:0.64 [[-3.35813837e-01 -9.41926264e-01 1.99509360e-03 1.20982516e+02] [ 9.41905768e-01 -3.35819699e-01 -6.21719882e-03 1.45053152e+02] [ 6.52613459e-03 -2.08631221e-04 9.99978683e-01 6.39115015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.041858064 meters Centerline goodness [0,1] 0.9997785405824383 Centerline is valid? [True, True] Translation: X:120.97, Y:145.08, Z:0.64 [[-3.35971716e-01 -9.41869978e-01 1.98782489e-03 1.20973715e+02] [ 9.41849673e-01 -3.35977533e-01 -6.18799421e-03 1.45079383e+02] [ 6.49615047e-03 -2.06758808e-04 9.99978878e-01 6.39291821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.071858064 meters Centerline goodness [0,1] 0.9999332041947766 Centerline is valid? [True, True] Translation: X:120.97, Y:145.11, Z:0.64 [[-3.36016678e-01 -9.41854080e-01 1.91940871e-03 1.20965051e+02] [ 9.41835187e-01 -3.36022102e-01 -5.96883311e-03 1.45105020e+02] [ 6.26673357e-03 -1.97860815e-04 9.99980344e-01 6.40064659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101858064 meters Centerline goodness [0,1] 0.9998217905593548 Centerline is valid? [True, True] Translation: X:120.95, Y:145.13, Z:0.64 [[-3.35688630e-01 -9.41971351e-01 1.76560924e-03 1.20954497e+02] [ 9.41955396e-01 -3.35693226e-01 -5.48541161e-03 1.45131661e+02] [ 5.75980365e-03 -1.78265158e-04 9.99983396e-01 6.40667080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.131858064 meters Centerline goodness [0,1] 0.9999115259560727 Centerline is valid? [True, True] Translation: X:120.95, Y:145.16, Z:0.64 [[-3.35258647e-01 -9.42124730e-01 1.62280131e-03 1.20947924e+02] [ 9.42111276e-01 -3.35262536e-01 -5.03737747e-03 1.45158492e+02] [ 5.28990237e-03 -1.59964940e-04 9.99985996e-01 6.40808396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161858064 meters Centerline goodness [0,1] 0.9999334413063253 Centerline is valid? [True, True] Translation: X:120.93, Y:145.18, Z:0.64 [[-3.33743584e-01 -9.42662702e-01 1.50014950e-03 1.20932774e+02] [ 9.42651231e-01 -3.33746927e-01 -4.65251763e-03 1.45183108e+02] [ 4.88642513e-03 -1.38630133e-04 9.99988052e-01 6.41432264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.191858064 meters Centerline goodness [0,1] 0.9999109825303216 Centerline is valid? [True, True] Translation: X:120.93, Y:145.21, Z:0.64 [[-3.33290662e-01 -9.42822764e-01 1.60344475e-03 1.20925749e+02] [ 9.42809686e-01 -3.33294487e-01 -4.96796320e-03 1.45208927e+02] [ 5.21832809e-03 -1.44032505e-04 9.99986374e-01 6.41325366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221858064 meters Centerline goodness [0,1] 0.9999332918260251 Centerline is valid? [True, True] Translation: X:120.91, Y:145.23, Z:0.64 [[-3.33103596e-01 -9.42888553e-01 1.78068172e-03 1.20914559e+02] [ 9.42872459e-01 -3.33108318e-01 -5.51135952e-03 1.45234726e+02] [ 5.78975769e-03 -1.56897926e-04 9.99983227e-01 6.41388531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.251858064 meters Centerline goodness [0,1] 0.9998671625929861 Centerline is valid? [True, True] Translation: X:120.91, Y:145.26, Z:0.64 [[-3.32678857e-01 -9.43037968e-01 2.04199419e-03 1.20906316e+02] [ 9.43016849e-01 -3.32685078e-01 -6.31354559e-03 1.45260629e+02] [ 6.63325420e-03 -1.74748204e-04 9.99977984e-01 6.40635790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281858064 meters Centerline goodness [0,1] 0.9999779546306299 Centerline is valid? [True, True] Translation: X:120.90, Y:145.29, Z:0.64 [[-3.32614243e-01 -9.43060091e-01 2.33047198e-03 1.20895313e+02] [ 9.43032644e-01 -3.32622349e-01 -7.19763464e-03 1.45286227e+02] [ 7.56296904e-03 -1.96324647e-04 9.99971381e-01 6.39803917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.311858064 meters Centerline goodness [0,1] 0.99986781811773 Centerline is valid? [True, True] Translation: X:120.89, Y:145.31, Z:0.64 [[-3.33107004e-01 -9.42886230e-01 2.29817697e-03 1.20885727e+02] [ 9.42859590e-01 -3.33114875e-01 -7.09044235e-03 1.45311802e+02] [ 7.45103739e-03 -1.95017815e-04 9.99972222e-01 6.39514065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341858064 meters Centerline goodness [0,1] 0.999911902035063 Centerline is valid? [True, True] Translation: X:120.88, Y:145.34, Z:0.64 [[-3.33776911e-01 -9.42649821e-01 2.07110921e-03 1.20877742e+02] [ 9.42628224e-01 -3.33783289e-01 -6.38332488e-03 1.45336676e+02] [ 6.70854170e-03 -1.78320464e-04 9.99977482e-01 6.39796702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.371858064 meters Centerline goodness [0,1] 0.9999116841826371 Centerline is valid? [True, True] Translation: X:120.87, Y:145.36, Z:0.64 [[-3.34794047e-01 -9.42289737e-01 1.73149294e-03 1.20867839e+02] [ 9.42274666e-01 -3.34798490e-01 -5.33145859e-03 1.45361685e+02] [ 5.60347993e-03 -1.53398661e-04 9.99984289e-01 6.41159802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40185806399998 meters Centerline goodness [0,1] 0.9999117660034411 Centerline is valid? [True, True] Translation: X:120.86, Y:145.39, Z:0.64 [[-3.35240878e-01 -9.42130833e-01 1.74557273e-03 1.20855764e+02] [ 9.42115545e-01 -3.35245387e-01 -5.36941692e-03 1.45387353e+02] [ 5.64388844e-03 -1.55516837e-04 9.99984061e-01 6.41827995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.85, Y:145.41, Z:0.64 [[-3.34968137e-01 -9.42227978e-01 1.66875133e-03 1.20846359e+02] [ 9.42214030e-01 -3.34972262e-01 -5.12882962e-03 1.45412593e+02] [ 5.39151217e-03 -1.45673590e-04 9.99985455e-01 6.42013283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46185806399998 meters Centerline goodness [0,1] 0.9998027915945396 Centerline is valid? [True, True] Translation: X:120.84, Y:145.44, Z:0.64 [[-3.34769451e-01 -9.42298592e-01 1.66668593e-03 1.20835575e+02] [ 9.42284701e-01 -3.34773570e-01 -5.11845281e-03 1.45438881e+02] [ 5.38107327e-03 -1.43008983e-04 9.99985512e-01 6.42435252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49185806399998 meters Centerline goodness [0,1] 0.9996490381451666 Centerline is valid? [True, True] Translation: X:120.83, Y:145.46, Z:0.64 [[-3.34337540e-01 -9.42452027e-01 1.60839042e-03 1.20826126e+02] [ 9.42439117e-01 -3.34341382e-01 -4.93469832e-03 1.45464269e+02] [ 5.18846790e-03 -1.34044851e-04 9.99986531e-01 6.42921314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52185806399999 meters Centerline goodness [0,1] 0.9998686140977073 Centerline is valid? [True, True] Translation: X:120.81, Y:145.49, Z:0.64 [[-3.33247852e-01 -9.42838014e-01 1.53285622e-03 1.20812937e+02] [ 9.42826315e-01 -3.33251355e-01 -4.69832724e-03 1.45489265e+02] [ 4.94058794e-03 -1.20490281e-04 9.99987788e-01 6.43551258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.551858064 meters Centerline goodness [0,1] 0.9998465215198754 Centerline is valid? [True, True] Translation: X:120.80, Y:145.51, Z:0.64 [[-3.33021561e-01 -9.42918060e-01 1.47356674e-03 1.20802875e+02] [ 9.42907270e-01 -3.33024802e-01 -4.51241215e-03 1.45514755e+02] [ 4.74556919e-03 -1.13293744e-04 9.99988733e-01 6.43720613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.581858064 meters Centerline goodness [0,1] 0.9998464676595091 Centerline is valid? [True, True] Translation: X:120.79, Y:145.54, Z:0.64 [[-3.32568726e-01 -9.43077966e-01 1.41161236e-03 1.20790930e+02] [ 9.43068084e-01 -3.32571705e-01 -4.31862281e-03 1.45540133e+02] [ 4.54226034e-03 -1.04992323e-04 9.99989678e-01 6.43826687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.611858064 meters Centerline goodness [0,1] 0.9997810330859007 Centerline is valid? [True, True] Translation: X:120.78, Y:145.57, Z:0.64 [[-3.32676709e-01 -9.43039697e-01 1.52909426e-03 1.20781114e+02] [ 9.43028124e-01 -3.32680204e-01 -4.67327959e-03 1.45565752e+02] [ 4.91578756e-03 -1.12712385e-04 9.99987911e-01 6.44137805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.641858064 meters Centerline goodness [0,1] 0.9994523068834071 Centerline is valid? [True, True] Translation: X:120.77, Y:145.59, Z:0.64 [[-3.33122626e-01 -9.42882386e-01 1.45699879e-03 1.20768277e+02] [ 9.42871897e-01 -3.33125795e-01 -4.44868380e-03 1.45590820e+02] [ 4.67994947e-03 -1.08194021e-04 9.99989043e-01 6.44531372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.671858064 meters Centerline goodness [0,1] 0.9997369401758116 Centerline is valid? [True, True] Translation: X:120.76, Y:145.62, Z:0.64 [[-3.33805304e-01 -9.42640963e-01 1.42633175e-03 1.20761676e+02] [ 9.42630928e-01 -3.33808333e-01 -4.35085342e-03 1.45616833e+02] [ 4.57741408e-03 -1.07833522e-04 9.99989518e-01 6.44803168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.701858064 meters Centerline goodness [0,1] 0.9996716646601729 Centerline is valid? [True, True] Translation: X:120.75, Y:145.64, Z:0.65 [[-3.34101251e-01 -9.42535978e-01 1.51119770e-03 1.20748048e+02] [ 9.42524736e-01 -3.34104649e-01 -4.60491197e-03 1.45641579e+02] [ 4.84519338e-03 -1.14165630e-04 9.99988255e-01 6.45023563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:145.67, Z:0.64 [[-3.34760857e-01 -9.42301255e-01 1.87464708e-03 1.20736662e+02] [ 9.42283989e-01 -3.34766075e-01 -5.70600090e-03 1.45666084e+02] [ 6.00434005e-03 -1.43695820e-04 9.99981963e-01 6.44354180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.73, Y:145.69, Z:0.64 [[-3.34609470e-01 -9.42354812e-01 1.97756602e-03 1.20725884e+02] [ 9.42335639e-01 -3.34615281e-01 -6.01316685e-03 1.45692453e+02] [ 6.32826052e-03 -1.48531635e-04 9.99979965e-01 6.44258207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.791858064 meters Centerline goodness [0,1] 0.9999130491489685 Centerline is valid? [True, True] Translation: X:120.71, Y:145.72, Z:0.64 [[-3.34813367e-01 -9.42282379e-01 1.98163839e-03 1.20714632e+02] [ 9.42263162e-01 -3.34819199e-01 -6.01984186e-03 1.45718398e+02] [ 6.33588148e-03 -1.48298672e-04 9.99979917e-01 6.44362368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:145.74, Z:0.64 [[-3.35590883e-01 -9.42005391e-01 2.14555195e-03 1.20702812e+02] [ 9.41982901e-01 -3.35597701e-01 -6.51130855e-03 1.45743681e+02] [ 6.85373006e-03 -1.64062534e-04 9.99976499e-01 6.44540879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.69, Y:145.77, Z:0.64 [[-3.36422306e-01 -9.41708501e-01 2.26540627e-03 1.20693673e+02] [ 9.41683463e-01 -3.36429886e-01 -6.86925487e-03 1.45768774e+02] [ 7.23098608e-03 -1.77674938e-04 9.99973840e-01 6.44563804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:145.79, Z:0.64 [[-3.37193135e-01 -9.41432044e-01 2.54874406e-03 1.20683397e+02] [ 9.41400401e-01 -3.37202706e-01 -7.72146005e-03 1.45793808e+02] [ 8.12867331e-03 -2.04234646e-04 9.99966941e-01 6.44172359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.67, Y:145.82, Z:0.64 [[-3.38053599e-01 -9.41122794e-01 2.76602190e-03 1.20672494e+02] [ 9.41085587e-01 -3.38064839e-01 -8.37150430e-03 1.45819413e+02] [ 8.81370826e-03 -2.26953813e-04 9.99961133e-01 6.44404256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:145.85, Z:0.64 [[-3.38752977e-01 -9.40871231e-01 2.78350724e-03 1.20662138e+02] [ 9.40833613e-01 -3.38764333e-01 -8.41660319e-03 1.45845230e+02] [ 8.86189278e-03 -2.32332206e-04 9.99960706e-01 6.44580262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:145.87, Z:0.64 [[-3.39495072e-01 -9.40603265e-01 2.93173296e-03 1.20653544e+02] [ 9.40561611e-01 -3.39507639e-01 -8.85549187e-03 1.45869687e+02] [ 9.32485030e-03 -2.48920376e-04 9.99956492e-01 6.44589026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:145.90, Z:0.64 [[-3.39782527e-01 -9.40499454e-01 2.93450530e-03 1.20645027e+02] [ 9.40457804e-01 -3.39795107e-01 -8.85457339e-03 1.45895059e+02] [ 9.32485198e-03 -2.48850903e-04 9.99956492e-01 6.44679954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.63, Y:145.92, Z:0.65 [[-3.40897463e-01 -9.40095708e-01 2.99646594e-03 1.20633656e+02] [ 9.40052348e-01 -3.40910531e-01 -9.03286406e-03 1.45920943e+02] [ 9.51328353e-03 -2.62445592e-04 9.99954713e-01 6.45388408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:145.95, Z:0.65 [[-3.41726963e-01 -9.39795077e-01 2.81008564e-03 1.20622600e+02] [ 9.39757001e-01 -3.41738425e-01 -8.46337325e-03 1.45946529e+02] [ 8.91415075e-03 -2.51365190e-04 9.99960237e-01 6.46184010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:145.97, Z:0.65 [[-3.42787697e-01 -9.39409003e-01 2.70548076e-03 1.20612804e+02] [ 9.39373761e-01 -3.42798283e-01 -8.14085698e-03 1.45973145e+02] [ 8.57502850e-03 -2.49127979e-04 9.99963203e-01 6.46796064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.60, Y:146.00, Z:0.65 [[-3.44920116e-01 -9.38628831e-01 2.45567655e-03 1.20601689e+02] [ 9.38599829e-01 -3.44928773e-01 -7.38261417e-03 1.45999399e+02] [ 7.77656801e-03 -2.41514543e-04 9.99969733e-01 6.48075494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:146.03, Z:0.65 [[-3.46065416e-01 -9.38207289e-01 2.41049112e-03 1.20591909e+02] [ 9.38179384e-01 -3.46073725e-01 -7.24012292e-03 1.46025443e+02] [ 7.62694374e-03 -2.44083078e-04 9.99970885e-01 6.48526732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:146.05, Z:0.65 [[-3.47002133e-01 -9.37860428e-01 2.70870210e-03 1.20582843e+02] [ 9.37825251e-01 -3.47012592e-01 -8.12769744e-03 1.46050974e+02] [ 8.56259954e-03 -2.80039125e-04 9.99963301e-01 6.48677131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.57, Y:146.08, Z:0.65 [[-3.47816319e-01 -9.37558307e-01 2.86851159e-03 1.20571286e+02] [ 9.37518920e-01 -3.47828017e-01 -8.59910774e-03 1.46077292e+02] [ 9.05991359e-03 -3.01626112e-04 9.99958913e-01 6.48582758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:146.10, Z:0.65 [[-3.48692227e-01 -9.37231878e-01 3.18405807e-03 1.20558793e+02] [ 9.37183423e-01 -3.48706597e-01 -9.53625625e-03 1.46103472e+02] [ 1.00479854e-02 -3.41171993e-04 9.99949460e-01 6.48056241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.55, Y:146.13, Z:0.65 [[-3.48782080e-01 -9.37198488e-01 3.17098108e-03 1.20548920e+02] [ 9.37150500e-01 -3.48796330e-01 -9.48996035e-03 1.46128840e+02] [ 1.00000031e-02 -3.38241603e-04 9.99949942e-01 6.47784617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.54, Y:146.15, Z:0.65 [[-3.48123784e-01 -9.37442870e-01 3.27039419e-03 1.20537071e+02] [ 9.37391915e-01 -3.48138981e-01 -9.77998053e-03 1.46152096e+02] [ 1.03067247e-02 -3.39002758e-04 9.99946827e-01 6.47183437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:146.18, Z:0.65 [[-3.47674126e-01 -9.37609392e-01 3.36599686e-03 1.20526240e+02] [ 9.37555524e-01 -3.47690253e-01 -1.00562284e-02 1.46176921e+02] [ 1.05991385e-02 -3.40481490e-04 9.99943770e-01 6.47157491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:146.20, Z:0.65 [[-3.47451293e-01 -9.37691739e-01 3.43534618e-03 1.20515748e+02] [ 9.37635746e-01 -3.47468108e-01 -1.02528714e-02 1.46202321e+02] [ 1.08077061e-02 -3.41270062e-04 9.99941537e-01 6.47201284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:146.23, Z:0.65 [[-3.46317031e-01 -9.38111329e-01 3.41305120e-03 1.20503959e+02] [ 9.38056182e-01 -3.46333699e-01 -1.01769006e-02 1.46226694e+02] [ 1.07291204e-02 -3.22800217e-04 9.99942389e-01 6.46242560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.49, Y:146.25, Z:0.65 [[-3.45969829e-01 -9.38239601e-01 3.36584105e-03 1.20493231e+02] [ 9.38186077e-01 -3.45986062e-01 -1.00265054e-02 1.46251447e+02] [ 1.05717985e-02 -3.11083139e-04 9.99944069e-01 6.45790729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.48, Y:146.28, Z:0.65 [[-3.45413021e-01 -9.38445014e-01 3.28629012e-03 1.20482354e+02] [ 9.38394099e-01 -3.45428529e-01 -9.77986539e-03 1.46276400e+02] [ 1.03130443e-02 -2.94257592e-04 9.99946776e-01 6.45264274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.47, Y:146.30, Z:0.65 [[-3.44362512e-01 -9.38830942e-01 3.30498632e-03 1.20469419e+02] [ 9.38779559e-01 -3.44378256e-01 -9.82627417e-03 1.46302050e+02] [ 1.03633757e-02 -2.81146853e-04 9.99946259e-01 6.45672026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:146.33, Z:0.65 [[-3.41589916e-01 -9.39843916e-01 3.12145395e-03 1.20456124e+02] [ 9.39798202e-01 -3.41604098e-01 -9.27255835e-03 1.46327664e+02] [ 9.78105901e-03 -2.33875626e-04 9.99952137e-01 6.46201336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:146.35, Z:0.65 [[-3.40111641e-01 -9.40380472e-01 2.93927072e-03 1.20446269e+02] [ 9.40340028e-01 -3.40124281e-01 -8.72378861e-03 1.46352912e+02] [ 9.20339779e-03 -2.03148146e-04 9.99957627e-01 6.46499142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.43, Y:146.38, Z:0.65 [[-3.36043003e-01 -9.41843532e-01 2.42095195e-03 1.20432651e+02] [ 9.41816177e-01 -3.36051697e-01 -7.17954906e-03 1.46378264e+02] [ 7.57557686e-03 -1.32545523e-04 9.99971296e-01 6.48271646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.42, Y:146.40, Z:0.65 [[-3.34088026e-01 -9.42539139e-01 2.27216228e-03 1.20421801e+02] [ 9.42515100e-01 -3.34095735e-01 -6.73242697e-03 1.46403896e+02] [ 7.10469564e-03 -1.07675974e-04 9.99974756e-01 6.48938673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:146.43, Z:0.65 [[-3.32530881e-01 -9.43089258e-01 2.42184490e-03 1.20412377e+02] [ 9.43062017e-01 -3.32539685e-01 -7.16876313e-03 1.46428942e+02] [ 7.56614304e-03 -9.98851762e-05 9.99971371e-01 6.48192446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.40, Y:146.45, Z:0.65 [[-3.31476762e-01 -9.43460005e-01 2.52491192e-03 1.20400383e+02] [ 9.43430467e-01 -3.31486366e-01 -7.46610650e-03 1.46453576e+02] [ 7.88094675e-03 -9.27619740e-05 9.99968941e-01 6.48177298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.39, Y:146.48, Z:0.65 [[-3.30036065e-01 -9.43964437e-01 2.70872879e-03 1.20390318e+02] [ 9.43930520e-01 -3.30047170e-01 -8.00239422e-03 1.46477551e+02] [ 8.44798382e-03 -8.42269251e-05 9.99964312e-01 6.47480243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.38, Y:146.50, Z:0.65 [[-3.30314214e-01 -9.43867390e-01 2.62130900e-03 1.20382146e+02] [ 9.43835680e-01 -3.30324604e-01 -7.73718345e-03 1.46503208e+02] [ 8.16875800e-03 -8.16166981e-05 9.99966632e-01 6.47670989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.38, Y:146.53, Z:0.65 [[-3.31472757e-01 -9.43461155e-01 2.61903510e-03 1.20375120e+02] [ 9.43429553e-01 -3.31483092e-01 -7.72255211e-03 1.46528522e+02] [ 8.15409379e-03 -8.89405298e-05 9.99966751e-01 6.48002349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.37, Y:146.56, Z:0.65 [[-3.32652547e-01 -9.43045879e-01 2.59856815e-03 1.20366063e+02] [ 9.43014816e-01 -3.32662683e-01 -7.65477646e-03 1.46555328e+02] [ 8.08325205e-03 -9.58926213e-05 9.99967325e-01 6.48686417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.36, Y:146.58, Z:0.65 [[-3.34053548e-01 -9.42550510e-01 2.60067195e-03 1.20360088e+02] [ 9.42519440e-01 -3.34063655e-01 -7.65370650e-03 1.46582256e+02] [ 8.08279494e-03 -1.05563940e-04 9.99967328e-01 6.48272783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:146.61, Z:0.65 [[-3.35519017e-01 -9.42029738e-01 2.63847190e-03 1.20351340e+02] [ 9.41997803e-01 -3.35529371e-01 -7.75759600e-03 1.46608440e+02] [ 8.19317095e-03 -1.17386256e-04 9.99966429e-01 6.49127402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:146.64, Z:0.65 [[-3.38671867e-01 -9.40900399e-01 2.79381950e-03 1.20345796e+02] [ 9.40864621e-01 -3.38683357e-01 -8.20662535e-03 1.46636370e+02] [ 8.66783724e-03 -1.50747204e-04 9.99962422e-01 6.48712412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:146.66, Z:0.65 [[-3.40224040e-01 -9.40340225e-01 2.80420724e-03 1.20337963e+02] [ 9.40304226e-01 -3.40235557e-01 -8.22969591e-03 1.46663739e+02] [ 8.69280512e-03 -1.63132470e-04 9.99962204e-01 6.49084130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.33, Y:146.69, Z:0.65 [[-3.41754634e-01 -9.39785082e-01 2.78748420e-03 1.20332221e+02] [ 9.39749542e-01 -3.41765958e-01 -8.17486543e-03 1.46690341e+02] [ 8.63528378e-03 -1.74261150e-04 9.99962700e-01 6.49129730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.33, Y:146.72, Z:0.65 [[-3.44207730e-01 -9.38888662e-01 3.01985554e-03 1.20327892e+02] [ 9.38846969e-01 -3.44220912e-01 -8.85054686e-03 1.46717601e+02] [ 9.34917552e-03 -2.11244425e-04 9.99956273e-01 6.48930171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:146.74, Z:0.65 [[-3.45431019e-01 -9.38438545e-01 3.24163078e-03 1.20320611e+02] [ 9.38390564e-01 -3.45446148e-01 -9.49256363e-03 1.46744520e+02] [ 1.00279965e-02 -2.37110189e-04 9.99949690e-01 6.48832284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:146.77, Z:0.65 [[-3.46572604e-01 -9.38016991e-01 3.39919452e-03 1.20312431e+02] [ 9.37964302e-01 -3.46589177e-01 -9.94537082e-03 1.46771258e+02] [ 1.05070508e-02 -2.58469944e-04 9.99944766e-01 6.48861517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:146.80, Z:0.65 [[-3.48144526e-01 -9.37432975e-01 3.84793586e-03 1.20307645e+02] [ 9.37365526e-01 -3.48165653e-01 -1.12493528e-02 1.46797764e+02] [ 1.18852334e-02 -3.09478182e-04 9.99929320e-01 6.48165039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.30, Y:146.82, Z:0.65 [[-3.49076733e-01 -9.37086397e-01 3.81033044e-03 1.20300620e+02] [ 9.37020357e-01 -3.49097386e-01 -1.11295101e-02 1.46824086e+02] [ 1.17594890e-02 -3.14695854e-04 9.99930805e-01 6.47728467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:146.85, Z:0.65 [[-3.49824641e-01 -9.36806625e-01 4.00855614e-03 1.20292983e+02] [ 9.36733650e-01 -3.49847444e-01 -1.16976609e-02 1.46850821e+02] [ 1.23608293e-02 -3.37180591e-04 9.99923545e-01 6.47930083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:146.88, Z:0.65 [[-3.50541853e-01 -9.36538145e-01 4.08799581e-03 1.20285304e+02] [ 9.36462367e-01 -3.50565514e-01 -1.19186902e-02 1.46877499e+02] [ 1.25954184e-02 -3.49745519e-04 9.99920613e-01 6.47757028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.28, Y:146.91, Z:0.65 [[-3.51945455e-01 -9.36008827e-01 4.67682798e-03 1.20282190e+02] [ 9.35909789e-01 -3.51976281e-01 -1.36222478e-02 1.46905260e+02] [ 1.43966767e-02 -4.17199112e-04 9.99896275e-01 6.47156466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.28, Y:146.93, Z:0.65 [[-3.52912922e-01 -9.35643312e-01 4.90524163e-03 1.20275741e+02] [ 9.35534522e-01 -3.52946725e-01 -1.42747311e-02 1.46932573e+02] [ 1.50873456e-02 -4.48714169e-04 9.99886079e-01 6.47243892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.27, Y:146.96, Z:0.65 [[-3.53461761e-01 -9.35436037e-01 4.91986065e-03 1.20269444e+02] [ 9.35326782e-01 -3.53495708e-01 -1.43036927e-02 1.46959144e+02] [ 1.51193392e-02 -4.54130964e-04 9.99885593e-01 6.47635026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:146.98, Z:0.65 [[-3.53412469e-01 -9.35455126e-01 4.83047472e-03 1.20264607e+02] [ 9.35350017e-01 -3.53445205e-01 -1.40297429e-02 1.46984876e+02] [ 1.48315031e-02 -4.40101472e-04 9.99889910e-01 6.48239164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:147.01, Z:0.65 [[-3.52747752e-01 -9.35705922e-01 4.84253160e-03 1.20257073e+02] [ 9.35600513e-01 -3.52780733e-01 -1.40511782e-02 1.47010620e+02] [ 1.48561225e-02 -4.25846491e-04 9.99889551e-01 6.48492595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.25, Y:147.04, Z:0.65 [[-3.50777599e-01 -9.36444920e-01 5.09781659e-03 1.20250034e+02] [ 9.36328401e-01 -3.50814400e-01 -1.47777529e-02 1.47036723e+02] [ 1.56269391e-02 -4.10474222e-04 9.99877808e-01 6.48128886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.24, Y:147.06, Z:0.65 [[-3.50028165e-01 -9.36724451e-01 5.25230004e-03 1.20241959e+02] [ 9.36601016e-01 -3.50067334e-01 -1.52117653e-02 1.47063282e+02] [ 1.60878912e-02 -4.05236740e-04 9.99870499e-01 6.47768572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:147.09, Z:0.65 [[-3.49049195e-01 -9.37089797e-01 5.23184247e-03 1.20232524e+02] [ 9.36967571e-01 -3.49088193e-01 -1.51394798e-02 1.47089695e+02] [ 1.60134265e-02 -3.82356493e-04 9.99871704e-01 6.48351999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:147.12, Z:0.65 [[-3.47454410e-01 -9.37683405e-01 5.02631276e-03 1.20225462e+02] [ 9.37570845e-01 -3.47490601e-01 -1.45325006e-02 1.47116313e+02] [ 1.53734811e-02 -3.36857126e-04 9.99881764e-01 6.49002729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.22, Y:147.14, Z:0.65 [[-3.46356031e-01 -9.38090706e-01 4.82976172e-03 1.20219300e+02] [ 9.37986988e-01 -3.46389572e-01 -1.39525880e-02 1.47143223e+02] [ 1.47617722e-02 -3.02309342e-04 9.99890993e-01 6.48578656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.21, Y:147.17, Z:0.65 [[-3.45445180e-01 -9.38426499e-01 4.83040479e-03 1.20208057e+02] [ 9.38322984e-01 -3.45478834e-01 -1.39410377e-02 1.47167777e+02] [ 1.47514418e-02 -2.83384441e-04 9.99891151e-01 6.51367559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:147.19, Z:0.65 [[-3.44492626e-01 -9.38777524e-01 4.64658234e-03 1.20203398e+02] [ 9.38681957e-01 -3.44523868e-01 -1.33973385e-02 1.47194518e+02] [ 1.41779788e-02 -2.53621325e-04 9.99899455e-01 6.49537753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:147.22, Z:0.65 [[-3.42767086e-01 -9.39409516e-01 4.52608493e-03 1.20196011e+02] [ 9.39319060e-01 -3.42796898e-01 -1.30379953e-02 1.47220278e+02] [ 1.37995447e-02 -2.17557802e-04 9.99904758e-01 6.49609505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:147.25, Z:0.65 [[-3.42528657e-01 -9.39497475e-01 4.31440289e-03 1.20186258e+02] [ 9.39415442e-01 -3.42555769e-01 -1.24166479e-02 1.47245881e+02] [ 1.31433330e-02 -2.00041050e-04 9.99913603e-01 6.51743496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.591858064 meters Centerline goodness [0,1] 0.999978354978355 Centerline is valid? [True, True] Translation: X:120.18, Y:147.27, Z:0.65 [[-3.42005759e-01 -9.39688386e-01 4.21869772e-03 1.20180066e+02] [ 9.39610090e-01 -3.42031727e-01 -1.21315999e-02 1.47271610e+02] [ 1.28428520e-02 -1.85146071e-04 9.99917510e-01 6.51372485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:147.30, Z:0.65 [[-3.40490007e-01 -9.40238886e-01 4.17049310e-03 1.20172537e+02] [ 9.40162545e-01 -3.40515510e-01 -1.19823551e-02 1.47297911e+02] [ 1.26863938e-02 -1.58930759e-04 9.99919512e-01 6.52361957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.16, Y:147.32, Z:0.65 [[-3.40027663e-01 -9.40405590e-01 4.30276787e-03 1.20164588e+02] [ 9.40324497e-01 -3.40054852e-01 -1.23506602e-02 1.47324251e+02] [ 1.30778070e-02 -1.53568102e-04 9.99914470e-01 6.52237375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.16, Y:147.35, Z:0.65 [[-3.38567838e-01 -9.40930738e-01 4.60054388e-03 1.20156354e+02] [ 9.40838250e-01 -3.38599065e-01 -1.31932381e-02 1.47351345e+02] [ 1.39716631e-02 -1.38438443e-04 9.99902382e-01 6.53192063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.15, Y:147.38, Z:0.65 [[-3.38057381e-01 -9.41114333e-01 4.58459844e-03 1.20148249e+02] [ 9.41022665e-01 -3.38088443e-01 -1.31357403e-02 1.47378015e+02] [ 1.39122332e-02 -1.26422930e-04 9.99903212e-01 6.53270130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.14, Y:147.40, Z:0.65 [[-3.37499734e-01 -9.41314343e-01 4.60845342e-03 1.20141915e+02] [ 9.41221909e-01 -3.37531177e-01 -1.31917772e-02 1.47404358e+02] [ 1.39731058e-02 -1.14643987e-04 9.99902365e-01 6.51342733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.13, Y:147.43, Z:0.65 [[-3.36258808e-01 -9.41758169e-01 4.64383922e-03 1.20134364e+02] [ 9.41664522e-01 -3.36290860e-01 -1.32810517e-02 1.47431882e+02] [ 1.40692196e-02 -9.29319719e-05 9.99901019e-01 6.53638179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.13, Y:147.46, Z:0.65 [[-3.35875904e-01 -9.41894482e-01 4.70766353e-03 1.20127496e+02] [ 9.41798443e-01 -3.35908883e-01 -1.34504756e-02 1.47458040e+02] [ 1.42502747e-02 -8.40204618e-05 9.99898456e-01 6.53779550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.831858064 meters Centerline goodness [0,1] 0.9999562200380886 Centerline is valid? [True, True] Translation: X:120.12, Y:147.48, Z:0.65 [[-3.35313698e-01 -9.42094617e-01 4.73879265e-03 1.20120982e+02] [ 9.41997524e-01 -3.35347174e-01 -1.35254258e-02 1.47484098e+02] [ 1.43313715e-02 -7.13295869e-05 9.99897298e-01 6.53815183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.861858064 meters Centerline goodness [0,1] 0.9999120221704131 Centerline is valid? [True, True] Translation: X:120.12, Y:147.51, Z:0.65 [[-3.34133542e-01 -9.42512920e-01 4.91644768e-03 1.20115752e+02] [ 9.42408665e-01 -3.34169707e-01 -1.40183748e-02 1.47511212e+02] [ 1.48554273e-02 -5.07063356e-05 9.99889651e-01 6.54215625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.891858064 meters Centerline goodness [0,1] 0.9999120221704131 Centerline is valid? [True, True] Translation: X:120.11, Y:147.54, Z:0.65 [[-3.34422836e-01 -9.42410289e-01 4.92075141e-03 1.20106788e+02] [ 9.42306045e-01 -3.34459032e-01 -1.40168645e-02 1.47536429e+02] [ 1.48554271e-02 -5.07057766e-05 9.99889651e-01 6.54306550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.921858064 meters Centerline goodness [0,1] 0.9997580237136761 Centerline is valid? [True, True] Translation: X:120.10, Y:147.56, Z:0.65 [[-3.34213921e-01 -9.42484747e-01 4.85354354e-03 1.20099912e+02] [ 9.42383545e-01 -3.34249159e-01 -1.38114038e-02 1.47561382e+02] [ 1.46393302e-02 -4.20638430e-05 9.99892838e-01 6.53886305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.951858064 meters Centerline goodness [0,1] 0.9997357875732089 Centerline is valid? [True, True] Translation: X:120.09, Y:147.59, Z:0.65 [[-3.34130796e-01 -9.42513573e-01 4.97759134e-03 1.20092214e+02] [ 9.42407344e-01 -3.34167868e-01 -1.41504145e-02 1.47588066e+02] [ 1.50003088e-02 -3.71706346e-05 9.99887488e-01 6.53752804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.981858064 meters Centerline goodness [0,1] 0.9995829858215179 Centerline is valid? [True, True] Translation: X:120.09, Y:147.61, Z:0.65 [[-3.34039333e-01 -9.42544936e-01 5.17376934e-03 1.20085039e+02] [ 9.42430394e-01 -3.34079396e-01 -1.46938468e-02 1.47613943e+02] [ 1.55780607e-02 -3.24053060e-05 9.99878654e-01 6.53269256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.011858064 meters Centerline goodness [0,1] 0.999933989042181 Centerline is valid? [True, True] Translation: X:120.08, Y:147.64, Z:0.65 [[-3.34914838e-01 -9.42233452e-01 5.30789459e-03 1.20081240e+02] [ 9.42113096e-01 -3.34956893e-01 -1.50596846e-02 1.47640571e+02] [ 1.59676545e-02 -4.30748050e-05 9.99872508e-01 6.53225657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.041858064 meters Centerline goodness [0,1] 0.9998670919723551 Centerline is valid? [True, True] Translation: X:120.08, Y:147.67, Z:0.65 [[-3.35689681e-01 -9.41956727e-01 5.47377390e-03 1.20075361e+02] [ 9.41828940e-01 -3.35734302e-01 -1.55153325e-02 1.47667005e+02] [ 1.64525055e-02 -5.29783608e-05 9.99864647e-01 6.53502182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.071858064 meters Centerline goodness [0,1] 0.999866879659212 Centerline is valid? [True, True] Translation: X:120.07, Y:147.69, Z:0.65 [[-3.36479729e-01 -9.41674222e-01 5.57241116e-03 1.20070048e+02] [ 9.41542010e-01 -3.36525862e-01 -1.57793627e-02 1.47693272e+02] [ 1.67342795e-02 -6.27764662e-05 9.99859970e-01 6.53448590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101858064 meters Centerline goodness [0,1] 0.9996450281758885 Centerline is valid? [True, True] Translation: X:120.07, Y:147.72, Z:0.65 [[-3.37900182e-01 -9.41164726e-01 5.69441507e-03 1.20067397e+02] [ 9.41026860e-01 -3.37948150e-01 -1.61089101e-02 1.47719983e+02] [ 1.70855550e-02 -8.46061295e-05 9.99854028e-01 6.53893841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.131858064 meters Centerline goodness [0,1] 0.9996655145501171 Centerline is valid? [True, True] Translation: X:120.06, Y:147.75, Z:0.65 [[-3.38459088e-01 -9.40963836e-01 5.70131103e-03 1.20060245e+02] [ 9.40825866e-01 -3.38507092e-01 -1.61133125e-02 1.47746672e+02] [ 1.70919786e-02 -8.97561762e-05 9.99853917e-01 6.53965721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161858064 meters Centerline goodness [0,1] 0.9999333007247988 Centerline is valid? [True, True] Translation: X:120.05, Y:147.77, Z:0.66 [[-3.39247673e-01 -9.40679401e-01 5.76899724e-03 1.20052426e+02] [ 9.40538366e-01 -3.39296706e-01 -1.62888676e-02 1.47773075e+02] [ 1.72800039e-02 -9.99971704e-05 9.99850685e-01 6.55532487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.05, Y:147.80, Z:0.65 [[-3.40359714e-01 -9.40277919e-01 5.71842468e-03 1.20048121e+02] [ 9.40139567e-01 -3.40407730e-01 -1.61298500e-02 1.47799375e+02] [ 1.71131377e-02 -1.13833820e-04 9.99853553e-01 6.54466660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:147.83, Z:0.66 [[-3.41312698e-01 -9.39933008e-01 5.61978686e-03 1.20040591e+02] [ 9.39799598e-01 -3.41358938e-01 -1.58363992e-02 1.47826156e+02] [ 1.68035188e-02 -1.23690686e-04 9.99858803e-01 6.55513481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.251858064 meters Centerline goodness [0,1] 0.9999775078722447 Centerline is valid? [True, True] Translation: X:120.03, Y:147.85, Z:0.66 [[-3.42641998e-01 -9.39449897e-01 5.50928666e-03 1.20034572e+02] [ 9.39321851e-01 -3.42686258e-01 -1.55109061e-02 1.47853338e+02] [ 1.64596760e-02 -1.39694517e-04 9.99864521e-01 6.58730898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.03, Y:147.88, Z:0.66 [[-3.43549387e-01 -9.39119384e-01 5.34799630e-03 1.20028982e+02] [ 9.38998912e-01 -3.43590979e-01 -1.50427034e-02 1.47880475e+02] [ 1.59644176e-02 -1.46148820e-04 9.99872550e-01 6.56202184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.02, Y:147.91, Z:0.66 [[-3.43751094e-01 -9.39046282e-01 5.22159000e-03 1.20018947e+02] [ 9.38931644e-01 -3.43790721e-01 -1.46734197e-02 1.47905981e+02] [ 1.55741544e-02 -1.41287985e-04 9.99878706e-01 6.58056242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:147.93, Z:0.66 [[-3.43388840e-01 -9.39179987e-01 5.00570407e-03 1.20007514e+02] [ 9.39074832e-01 -3.43425300e-01 -1.40542932e-02 1.47931230e+02] [ 1.49185963e-02 -1.25356717e-04 9.99888704e-01 6.59750229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.00, Y:147.96, Z:0.66 [[-3.43289927e-01 -9.39216361e-01 4.96512887e-03 1.19997349e+02] [ 9.39113091e-01 -3.43325811e-01 -1.39280420e-02 1.47957484e+02] [ 1.47861019e-02 -1.18539018e-04 9.99890673e-01 6.59775686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.99, Y:147.98, Z:0.66 [[-3.43879977e-01 -9.39000194e-01 5.01972582e-03 1.19988994e+02] [ 9.38894811e-01 -3.43916589e-01 -1.40681533e-02 1.47983698e+02] [ 1.49363657e-02 -1.24761719e-04 9.99888438e-01 6.59610164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.98, Y:148.01, Z:0.66 [[-3.44968419e-01 -9.38600571e-01 5.07515239e-03 1.19981323e+02] [ 9.38493023e-01 -3.45005722e-01 -1.42091035e-02 1.48009018e+02] [ 1.50876293e-02 -1.38696875e-04 9.99886166e-01 6.59378835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46185806399998 meters Centerline goodness [0,1] 0.9998422641849565 Centerline is valid? [True, True] Translation: X:119.97, Y:148.04, Z:0.66 [[-3.46107986e-01 -9.38182575e-01 4.76637004e-03 1.19971674e+02] [ 9.38087847e-01 -3.46140775e-01 -1.33324960e-02 1.48035103e+02] [ 1.41581504e-02 -1.43209529e-04 9.99899758e-01 6.61284680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.97, Y:148.06, Z:0.66 [[-3.47097198e-01 -9.37817550e-01 4.66672731e-03 1.19965009e+02] [ 9.37726874e-01 -3.47128536e-01 -1.30418055e-02 1.48061352e+02] [ 1.38507883e-02 -1.50658537e-04 9.99904062e-01 6.58894685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.95, Y:148.09, Z:0.66 [[-3.48148138e-01 -9.37428052e-01 4.63917594e-03 1.19954284e+02] [ 9.37338579e-01 -3.48179008e-01 -1.29524458e-02 1.48086769e+02] [ 1.37572497e-02 -1.60891286e-04 9.99905352e-01 6.60822617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:148.11, Z:0.66 [[-3.50191934e-01 -9.36666611e-01 4.61183864e-03 1.19943971e+02] [ 9.36578278e-01 -3.50222251e-01 -1.28648422e-02 1.48112852e+02] [ 1.36652367e-02 -1.85816091e-04 9.99906609e-01 6.61680536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:148.14, Z:0.66 [[-3.51101427e-01 -9.36325973e-01 4.63257013e-03 1.19935924e+02] [ 9.36236977e-01 -3.51131933e-01 -1.29107931e-02 1.48138324e+02] [ 1.37153542e-02 -1.95814410e-04 9.99905921e-01 6.60732282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:148.16, Z:0.66 [[-3.51531372e-01 -9.36164643e-01 4.63205388e-03 1.19925967e+02] [ 9.36075823e-01 -3.51561833e-01 -1.28969560e-02 1.48163449e+02] [ 1.37021275e-02 -1.97730975e-04 9.99906102e-01 6.60875340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.92, Y:148.19, Z:0.66 [[-3.51445034e-01 -9.36197174e-01 4.60871926e-03 1.19916207e+02] [ 9.36109418e-01 -3.51475199e-01 -1.28196171e-02 1.48188649e+02] [ 1.36215398e-02 -1.91125259e-04 9.99907204e-01 6.60919778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.671858064 meters Centerline goodness [0,1] 0.9999775995699117 Centerline is valid? [True, True] Translation: X:119.91, Y:148.21, Z:0.66 [[-3.51554417e-01 -9.36155399e-01 4.74975504e-03 1.19906560e+02] [ 9.36062366e-01 -3.51586448e-01 -1.31991161e-02 1.48214249e+02] [ 1.40263733e-02 -1.94140630e-04 9.99901607e-01 6.60683637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.701858064 meters Centerline goodness [0,1] 0.9999553062638271 Centerline is valid? [True, True] Translation: X:119.90, Y:148.24, Z:0.66 [[-3.50865846e-01 -9.36412081e-01 5.05704173e-03 1.19895065e+02] [ 9.36306837e-01 -3.50902236e-01 -1.40402346e-02 1.48240254e+02] [ 1.49219725e-02 -1.91296028e-04 9.99888643e-01 6.60792662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.89, Y:148.27, Z:0.66 [[-3.50532159e-01 -9.36537638e-01 4.94560639e-03 1.19885712e+02] [ 9.36437174e-01 -3.50567001e-01 -1.37184799e-02 1.48265268e+02] [ 1.45816392e-02 -1.77518700e-04 9.99893666e-01 6.60596859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.761858064 meters Centerline goodness [0,1] 0.9999553212402824 Centerline is valid? [True, True] Translation: X:119.88, Y:148.29, Z:0.66 [[-3.50418472e-01 -9.36580014e-01 4.97710736e-03 1.19875960e+02] [ 9.36478466e-01 -3.50453773e-01 -1.37925793e-02 1.48291206e+02] [ 1.46621001e-02 -1.72220675e-04 9.99892491e-01 6.60682692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.87, Y:148.32, Z:0.66 [[-3.49846649e-01 -9.36794924e-01 4.75328785e-03 1.19865492e+02] [ 9.36702486e-01 -3.49878905e-01 -1.31606862e-02 1.48317170e+02] [ 1.39919392e-02 -1.51805414e-04 9.99902097e-01 6.61877694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.86, Y:148.34, Z:0.66 [[-3.49607923e-01 -9.36884812e-01 4.59881780e-03 1.19856082e+02] [ 9.36798462e-01 -3.49638141e-01 -1.27205499e-02 1.48341493e+02] [ 1.35256121e-02 -1.39039576e-04 9.99908515e-01 6.61960918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.851858064 meters Centerline goodness [0,1] 0.9998657087222185 Centerline is valid? [True, True] Translation: X:119.85, Y:148.37, Z:0.66 [[-3.49397629e-01 -9.36964294e-01 4.38281359e-03 1.19845220e+02] [ 9.36886013e-01 -3.49425094e-01 -1.21120660e-02 1.48367323e+02] [ 1.28800384e-02 -1.25730388e-04 9.99917041e-01 6.62928756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881858064 meters Centerline goodness [0,1] 0.9999775945509948 Centerline is valid? [True, True] Translation: X:119.84, Y:148.39, Z:0.66 [[-3.49316293e-01 -9.36995118e-01 4.27515339e-03 1.19835564e+02] [ 9.36920773e-01 -3.49342433e-01 -1.18037722e-02 1.48393017e+02] [ 1.25535694e-02 -1.17769919e-04 9.99921194e-01 6.63156019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:148.42, Z:0.66 [[-3.48709550e-01 -9.37222235e-01 4.01643295e-03 1.19826230e+02] [ 9.37156746e-01 -3.48732666e-01 -1.10797544e-02 1.48419416e+02] [ 1.17848536e-02 -9.95889608e-05 9.99930551e-01 6.64073049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.82, Y:148.44, Z:0.66 [[-3.48658750e-01 -9.37241985e-01 3.81293979e-03 1.19816977e+02] [ 9.37183070e-01 -3.48679587e-01 -1.05090322e-02 1.48444959e+02] [ 1.11790004e-02 -9.06434046e-05 9.99937509e-01 6.64207109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:148.47, Z:0.66 [[-3.48081017e-01 -9.37455404e-01 4.11951099e-03 1.19806511e+02] [ 9.37386787e-01 -3.48105383e-01 -1.13425570e-02 1.48469349e+02] [ 1.20671653e-02 -8.65535991e-05 9.99927185e-01 6.62505922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001858064 meters Centerline goodness [0,1] 0.9999106923574985 Centerline is valid? [True, True] Translation: X:119.80, Y:148.49, Z:0.66 [[-3.48300741e-01 -9.37372429e-01 4.41858729e-03 1.19796706e+02] [ 9.37293636e-01 -3.48328755e-01 -1.21539272e-02 1.48494360e+02] [ 1.29318772e-02 -9.17080868e-05 9.99916376e-01 6.61115505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.79, Y:148.52, Z:0.66 [[-3.48764341e-01 -9.37198912e-01 4.65117713e-03 1.19787445e+02] [ 9.37111759e-01 -3.48795340e-01 -1.27812954e-02 1.48520354e+02] [ 1.36009251e-02 -9.89872784e-05 9.99907498e-01 6.59974098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:148.55, Z:0.66 [[-3.49714924e-01 -9.36844365e-01 4.70190805e-03 1.19779156e+02] [ 9.36755438e-01 -3.49746514e-01 -1.29083331e-02 1.48546502e+02] [ 1.37375750e-02 -1.09698780e-04 9.99905629e-01 6.59837898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:148.57, Z:0.66 [[-3.50384495e-01 -9.36594841e-01 4.56173436e-03 1.19770916e+02] [ 9.36511273e-01 -3.50414171e-01 -1.25117382e-02 1.48572022e+02] [ 1.33169258e-02 -1.11803425e-04 9.99911320e-01 6.60413476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:148.60, Z:0.66 [[-3.51042589e-01 -9.36349231e-01 4.38391219e-03 1.19762543e+02] [ 9.36272176e-01 -3.51069944e-01 -1.20128069e-02 1.48598092e+02] [ 1.27872423e-02 -1.12471829e-04 9.99918234e-01 6.61175805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:148.62, Z:0.66 [[-3.51442818e-01 -9.36198282e-01 4.55224331e-03 1.19753002e+02] [ 9.36115332e-01 -3.51472280e-01 -1.24628496e-02 1.48624114e+02] [ 1.32676857e-02 -1.18554238e-04 9.99911973e-01 6.62264065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.74, Y:148.65, Z:0.66 [[-3.51584912e-01 -9.36141797e-01 5.15606136e-03 1.19743933e+02] [ 9.36035527e-01 -3.51622692e-01 -1.41058310e-02 1.48649302e+02] [ 1.50180462e-02 -1.33140751e-04 9.99887214e-01 6.60391369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:148.67, Z:0.66 [[-3.51829000e-01 -9.36050008e-01 5.17092298e-03 1.19733319e+02] [ 9.35943288e-01 -3.51866972e-01 -1.41349112e-02 1.48674995e+02] [ 1.50504608e-02 -1.33381017e-04 9.99886727e-01 6.60355425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:148.70, Z:0.66 [[-3.50939665e-01 -9.36383699e-01 5.18846318e-03 1.19722630e+02] [ 9.36276476e-01 -3.50977999e-01 -1.41705828e-02 1.48701337e+02] [ 1.50901392e-02 -1.15183565e-04 9.99886131e-01 6.60508596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27185806399999 meters Centerline goodness [0,1] 0.9999551398515129 Centerline is valid? [True, True] Translation: X:119.71, Y:148.73, Z:0.66 [[-3.50224224e-01 -9.36651973e-01 5.10628778e-03 1.19712887e+02] [ 9.36548326e-01 -3.50261434e-01 -1.39341820e-02 1.48727204e+02] [ 1.48400148e-02 -9.78028310e-05 9.99889876e-01 6.60831658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.70, Y:148.75, Z:0.66 [[-3.50106427e-01 -9.36696414e-01 5.03165117e-03 1.19702978e+02] [ 9.36595952e-01 -3.50142570e-01 -1.37187264e-02 1.48753604e+02] [ 1.46120771e-02 -9.03901600e-05 9.99893234e-01 6.61351908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:148.78, Z:0.66 [[-3.50697146e-01 -9.36475655e-01 4.98589872e-03 1.19693837e+02] [ 9.36377182e-01 -3.50732574e-01 -1.35807086e-02 1.48778288e+02] [ 1.44667200e-02 -9.40339353e-05 9.99895347e-01 6.61728563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:148.80, Z:0.66 [[-3.51346241e-01 -9.36232872e-01 4.88150770e-03 1.19684202e+02] [ 9.36138637e-01 -3.51380137e-01 -1.32834878e-02 1.48804186e+02] [ 1.41517027e-02 -9.73355231e-05 9.99899855e-01 6.62167737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:148.83, Z:0.66 [[-3.52284634e-01 -9.35880645e-01 4.79112814e-03 1.19675169e+02] [ 9.35790007e-01 -3.52317197e-01 -1.30251605e-02 1.48829679e+02] [ 1.38779924e-02 -1.05074055e-04 9.99903691e-01 6.62389329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.67, Y:148.86, Z:0.66 [[-3.52887618e-01 -9.35653498e-01 4.78132904e-03 1.19665812e+02] [ 9.35563380e-01 -3.52919991e-01 -1.29862157e-02 1.48855546e+02] [ 1.38380248e-02 -1.09438374e-04 9.99904244e-01 6.62195770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:148.88, Z:0.66 [[-3.53306335e-01 -9.35495367e-01 4.80119044e-03 1.19656178e+02] [ 9.35404655e-01 -3.53338938e-01 -1.30278791e-02 1.48881295e+02] [ 1.38839680e-02 -1.11776316e-04 9.99903607e-01 6.61892208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.65, Y:148.91, Z:0.66 [[-3.53488264e-01 -9.35426492e-01 4.82964529e-03 1.19646510e+02] [ 9.35334867e-01 -3.53521238e-01 -1.30927453e-02 1.48906631e+02] [ 1.39546830e-02 -1.10796172e-04 9.99902623e-01 6.62161313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.511858064 meters Centerline goodness [0,1] 0.9999777367143843 Centerline is valid? [True, True] Translation: X:119.64, Y:148.93, Z:0.66 [[-3.52826517e-01 -9.35676975e-01 4.69538930e-03 1.19636025e+02] [ 9.35590563e-01 -3.52857746e-01 -1.27164734e-02 1.48930524e+02] [ 1.35553159e-02 -9.37471125e-05 9.99908118e-01 6.61723712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.63, Y:148.96, Z:0.66 [[-3.52835917e-01 -9.35674075e-01 4.56515422e-03 1.19626164e+02] [ 9.35592548e-01 -3.52865438e-01 -1.23518186e-02 1.48955012e+02] [ 1.31681616e-02 -8.70409698e-05 9.99913292e-01 6.62037568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:148.98, Z:0.66 [[-3.53605300e-01 -9.35384473e-01 4.37944288e-03 1.19616636e+02] [ 9.35309559e-01 -3.53632407e-01 -1.18384666e-02 1.48980356e+02] [ 1.26222308e-02 -9.00097502e-05 9.99920332e-01 6.63634260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:149.01, Z:0.67 [[-3.54634729e-01 -9.34995624e-01 4.17041959e-03 1.19607063e+02] [ 9.34927789e-01 -3.54659237e-01 -1.12629629e-02 1.49005493e+02] [ 1.20098988e-02 -9.51966144e-05 9.99927874e-01 6.65317599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:149.03, Z:0.67 [[-3.55519183e-01 -9.34661119e-01 3.83439566e-03 1.19597782e+02] [ 9.34603862e-01 -3.55539848e-01 -1.03458742e-02 1.49031334e+02] [ 1.10331668e-02 -9.45157544e-05 9.99939128e-01 6.66291391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:149.06, Z:0.67 [[-3.56814908e-01 -9.34170286e-01 2.99968531e-03 1.19589200e+02] [ 9.34135290e-01 -3.56827507e-01 -8.08642926e-03 1.49056309e+02] [ 8.62447217e-03 -8.32466135e-05 9.99962805e-01 6.68036931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:149.08, Z:0.67 [[-3.57529626e-01 -9.33897573e-01 2.80901139e-03 1.19579361e+02] [ 9.33866933e-01 -3.57540651e-01 -7.56528883e-03 1.49082042e+02] [ 8.06954063e-03 -8.15720294e-05 9.99967437e-01 6.68847143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:149.11, Z:0.67 [[-3.59148988e-01 -9.33275934e-01 2.83480060e-03 1.19571120e+02] [ 9.33244770e-01 -3.59160164e-01 -7.62728201e-03 1.49107250e+02] [ 8.13650618e-03 -9.37677812e-05 9.99966894e-01 6.69178243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.56, Y:149.13, Z:0.67 [[-3.60334135e-01 -9.32818214e-01 3.08080314e-03 1.19562113e+02] [ 9.32781463e-01 -3.60347288e-01 -8.28097415e-03 1.49133417e+02] [ 8.83480257e-03 -1.10201594e-04 9.99960966e-01 6.69088482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:149.16, Z:0.67 [[-3.61516756e-01 -9.32359644e-01 3.33624212e-03 1.19553133e+02] [ 9.32316608e-01 -3.61532127e-01 -8.95898469e-03 1.49159404e+02] [ 9.55915448e-03 -1.28389138e-04 9.99954302e-01 6.68720056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:149.18, Z:0.67 [[-3.62605001e-01 -9.31936552e-01 3.44615625e-03 1.19544734e+02] [ 9.31890704e-01 -3.62621349e-01 -9.24518920e-03 1.49184688e+02] [ 9.86557958e-03 -1.40910862e-04 9.99951324e-01 6.68668276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:149.21, Z:0.67 [[-3.62885580e-01 -9.31827323e-01 3.44899461e-03 1.19535271e+02] [ 9.31781480e-01 -3.62901943e-01 -9.24413053e-03 1.49209734e+02] [ 9.86558025e-03 -1.40852371e-04 9.99951324e-01 6.68759182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.871858064 meters Centerline goodness [0,1] 0.9999099707404907 Centerline is valid? [True, True] Translation: X:119.53, Y:149.24, Z:0.67 [[-3.64146156e-01 -9.31335123e-01 3.53067779e-03 1.19526170e+02] [ 9.31287148e-01 -3.64163239e-01 -9.45432565e-03 1.49235293e+02] [ 1.00908886e-02 -1.54681490e-04 9.99949074e-01 6.68683278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:149.26, Z:0.67 [[-3.66781283e-01 -9.30300763e-01 3.46124954e-03 1.19514930e+02] [ 9.30254689e-01 -3.66797571e-01 -9.26042446e-03 1.49261435e+02] [ 9.88455787e-03 -1.76706743e-04 9.99951131e-01 6.68773121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:149.29, Z:0.67 [[-3.68614236e-01 -9.29576317e-01 3.37886767e-03 1.19507466e+02] [ 9.29532454e-01 -3.68629673e-01 -9.03219416e-03 1.49287637e+02] [ 9.64166467e-03 -1.88628194e-04 9.99953500e-01 6.67751007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:149.31, Z:0.67 [[-3.72915893e-01 -9.27859177e-01 3.32924473e-03 1.19498634e+02] [ 9.27816596e-01 -3.72930685e-01 -8.89200548e-03 1.49314499e+02] [ 9.49210641e-03 -2.27041651e-04 9.99954923e-01 6.67797548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.49, Y:149.34, Z:0.67 [[-3.74671363e-01 -9.27151357e-01 3.42515815e-03 1.19490531e+02] [ 9.27106319e-01 -3.74686935e-01 -9.14184122e-03 1.49340369e+02] [ 9.75923249e-03 -2.49700340e-04 9.99952346e-01 6.67921175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.48, Y:149.37, Z:0.67 [[-3.76211656e-01 -9.26527609e-01 3.37331440e-03 1.19481270e+02] [ 9.26483964e-01 -3.76226690e-01 -8.99676407e-03 1.49366861e+02] [ 9.60488122e-03 -2.59365811e-04 9.99953838e-01 6.68531951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:149.39, Z:0.67 [[-3.77336680e-01 -9.26070879e-01 3.12372978e-03 1.19473074e+02] [ 9.26033499e-01 -3.77349528e-01 -8.32419414e-03 1.49392323e+02] [ 8.88753174e-03 -2.48345363e-04 9.99960474e-01 6.68632458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:149.42, Z:0.67 [[-3.77107742e-01 -9.26164809e-01 2.91494843e-03 1.19461665e+02] [ 9.26132318e-01 -3.77118939e-01 -7.76110023e-03 1.49416900e+02] [ 8.28734017e-03 -2.27143031e-04 9.99965634e-01 6.69266741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:149.44, Z:0.67 [[-3.76508872e-01 -9.26409016e-01 2.72122145e-03 1.19448676e+02] [ 9.26380756e-01 -3.76518650e-01 -7.23886290e-03 1.49441454e+02] [ 7.73073848e-03 -2.04608916e-04 9.99970096e-01 6.69336365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:149.47, Z:0.67 [[-3.75315328e-01 -9.26892981e-01 2.79402289e-03 1.19436933e+02] [ 9.26863256e-01 -3.75325676e-01 -7.42580579e-03 1.49466693e+02] [ 7.93159579e-03 -1.97341584e-04 9.99968525e-01 6.68974269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:149.49, Z:0.67 [[-3.74090360e-01 -9.27388361e-01 2.68874838e-03 1.19425782e+02] [ 9.27360891e-01 -3.74099981e-01 -7.14014079e-03 1.49491355e+02] [ 7.62754418e-03 -1.77617744e-04 9.99970894e-01 6.68848103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.201858064 meters Centerline goodness [0,1] 0.9999777471182518 Centerline is valid? [True, True] Translation: X:119.41, Y:149.52, Z:0.67 [[-3.71553323e-01 -9.28408095e-01 2.55692724e-03 1.19413207e+02] [ 9.28383309e-01 -3.71562092e-01 -6.78548804e-03 1.49515471e+02] [ 7.24975926e-03 -1.47362054e-04 9.99973709e-01 6.69764427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.231858064 meters Centerline goodness [0,1] 0.9999777920895423 Centerline is valid? [True, True] Translation: X:119.40, Y:149.54, Z:0.67 [[-3.70435915e-01 -9.28855032e-01 2.35838437e-03 1.19402133e+02] [ 9.28833984e-01 -3.70443401e-01 -6.25440010e-03 1.49541543e+02] [ 6.68307893e-03 -1.26306875e-04 9.99977660e-01 6.70329075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:149.57, Z:0.67 [[-3.68532096e-01 -9.29612654e-01 2.09957560e-03 1.19390738e+02] [ 9.29596008e-01 -3.68538064e-01 -5.56390790e-03 1.49566178e+02] [ 5.94605271e-03 -9.87215461e-05 9.99982317e-01 6.71508135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.38, Y:149.59, Z:0.67 [[-3.67723722e-01 -9.29933058e-01 1.94200276e-03 1.19378597e+02] [ 9.29918845e-01 -3.67728840e-01 -5.14223462e-03 1.49590495e+02] [ 5.49606439e-03 -8.50166849e-05 9.99984893e-01 6.71979478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:149.61, Z:0.67 [[-3.67150078e-01 -9.30159659e-01 1.95673330e-03 1.19368917e+02] [ 9.30145259e-01 -3.67155283e-01 -5.17639323e-03 1.49614482e+02] [ 5.53329713e-03 -8.04669741e-05 9.99984688e-01 6.72325222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.36, Y:149.64, Z:0.67 [[-3.66780903e-01 -9.30305460e-01 1.87622892e-03 1.19358720e+02] [ 9.30292248e-01 -3.66785694e-01 -4.95870004e-03 1.49637675e+02] [ 5.30127964e-03 -7.33152588e-05 9.99985945e-01 6.72663485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381858064 meters Centerline goodness [0,1] 0.9996686693762149 Centerline is valid? [True, True] Translation: X:119.34, Y:149.66, Z:0.67 [[-3.65491381e-01 -9.30812776e-01 1.90439694e-03 1.19344477e+02] [ 9.30799196e-01 -3.65496337e-01 -5.02831282e-03 1.49662449e+02] [ 5.37646792e-03 -6.51938564e-05 9.99985545e-01 6.73020934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.411858064 meters Centerline goodness [0,1] 0.9995359833837859 Centerline is valid? [True, True] Translation: X:119.34, Y:149.69, Z:0.67 [[-3.65209814e-01 -9.30922712e-01 2.16702518e-03 1.19335163e+02] [ 9.30905165e-01 -3.65216237e-01 -5.71617268e-03 1.49686779e+02] [ 6.11274776e-03 -7.03074338e-05 9.99981315e-01 6.73016022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441858064 meters Centerline goodness [0,1] 0.9995342751325098 Centerline is valid? [True, True] Translation: X:119.33, Y:149.71, Z:0.67 [[-3.64884062e-01 -9.31050463e-01 2.15772597e-03 1.19325207e+02] [ 9.31033102e-01 -3.64890436e-01 -5.68617761e-03 1.49712172e+02] [ 6.08145187e-03 -6.58812867e-05 9.99981506e-01 6.73110831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.471858064 meters Centerline goodness [0,1] 0.9996456178431415 Centerline is valid? [True, True] Translation: X:119.32, Y:149.74, Z:0.67 [[-3.65057822e-01 -9.30982397e-01 2.13623480e-03 1.19315161e+02] [ 9.30965409e-01 -3.65064067e-01 -5.62438635e-03 1.49737843e+02] [ 6.01606725e-03 -6.44655312e-05 9.99981901e-01 6.73394406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501858064 meters Centerline goodness [0,1] 0.9996243841003999 Centerline is valid? [True, True] Translation: X:119.30, Y:149.76, Z:0.67 [[-3.65278408e-01 -9.30895408e-01 2.32912401e-03 1.19304095e+02] [ 9.30875251e-01 -3.65285827e-01 -6.12631095e-03 1.49762955e+02] [ 6.55375072e-03 -6.96852113e-05 9.99978522e-01 6.73314400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.531858064 meters Centerline goodness [0,1] 0.999911664679122 Centerline is valid? [True, True] Translation: X:119.29, Y:149.79, Z:0.67 [[-3.65691845e-01 -9.30732647e-01 2.49284219e-03 1.19293911e+02] [ 9.30709598e-01 -3.65700334e-01 -6.55063229e-03 1.49787929e+02] [ 7.00852055e-03 -7.54006598e-05 9.99975437e-01 6.72715827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561858064 meters Centerline goodness [0,1] 0.9995594034322473 Centerline is valid? [True, True] Translation: X:119.28, Y:149.81, Z:0.67 [[-3.66298743e-01 -9.30493025e-01 2.82142987e-03 1.19283915e+02] [ 9.30463550e-01 -3.66309598e-01 -7.40680118e-03 1.49813232e+02] [ 7.92549368e-03 -8.78643081e-05 9.99968589e-01 6.72201490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.591858064 meters Centerline goodness [0,1] 0.9994235544519333 Centerline is valid? [True, True] Translation: X:119.27, Y:149.84, Z:0.67 [[-3.67226616e-01 -9.30125497e-01 3.34266782e-03 1.19273931e+02] [ 9.30084190e-01 -3.67241812e-01 -8.76644551e-03 1.49838480e+02] [ 9.38146187e-03 -1.10309625e-04 9.99955987e-01 6.71468965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621858064 meters Centerline goodness [0,1] 0.9994914204846984 Centerline is valid? [True, True] Translation: X:119.26, Y:149.86, Z:0.67 [[-3.68439739e-01 -9.29644922e-01 3.53247001e-03 1.19264613e+02] [ 9.29598856e-01 -3.68456651e-01 -9.25547181e-03 1.49864129e+02] [ 9.90586443e-03 -1.26303537e-04 9.99950928e-01 6.71020652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65185806399998 meters Centerline goodness [0,1] 0.99969114694787 Centerline is valid? [True, True] Translation: X:119.26, Y:149.89, Z:0.67 [[-3.69691107e-01 -9.29146692e-01 3.86142758e-03 1.19256348e+02] [ 9.29091719e-01 -3.69711242e-01 -1.01081853e-02 1.49889823e+02] [ 1.08196001e-02 -1.49285813e-04 9.99941455e-01 6.70483548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68185806399998 meters Centerline goodness [0,1] 0.999601655343351 Centerline is valid? [True, True] Translation: X:119.25, Y:149.92, Z:0.67 [[-3.71220822e-01 -9.28535401e-01 4.13651809e-03 1.19247035e+02] [ 9.28472383e-01 -3.71243827e-01 -1.08191650e-02 1.49916312e+02] [ 1.15816345e-02 -1.75656509e-04 9.99932915e-01 6.70483176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71185806399998 meters Centerline goodness [0,1] 0.9996013024121204 Centerline is valid? [True, True] Translation: X:119.24, Y:149.94, Z:0.67 [[-3.73816506e-01 -9.27493282e-01 4.17520398e-03 1.19237973e+02] [ 9.27429120e-01 -3.73839765e-01 -1.09113520e-02 1.49943140e+02] [ 1.16810629e-02 -2.06637719e-04 9.99931753e-01 6.71222510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74185806399998 meters Centerline goodness [0,1] 0.9996474373099467 Centerline is valid? [True, True] Translation: X:119.23, Y:149.97, Z:0.67 [[-3.74968548e-01 -9.27027796e-01 4.24890314e-03 1.19230509e+02] [ 9.26961414e-01 -3.74992555e-01 -1.10959960e-02 1.49968722e+02] [ 1.18796038e-02 -2.22080249e-04 9.99929410e-01 6.71545176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77185806399999 meters Centerline goodness [0,1] 0.999845529172919 Centerline is valid? [True, True] Translation: X:119.22, Y:149.99, Z:0.67 [[-3.76200881e-01 -9.26529292e-01 4.04576260e-03 1.19219568e+02] [ 9.26469169e-01 -3.76222568e-01 -1.05573517e-02 1.49994480e+02] [ 1.13038028e-02 -2.23410706e-04 9.99936085e-01 6.73191142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.801858064 meters Centerline goodness [0,1] 0.9999338288814875 Centerline is valid? [True, True] Translation: X:119.21, Y:150.02, Z:0.67 [[-3.76765167e-01 -9.26300652e-01 3.88726472e-03 1.19210844e+02] [ 9.26245237e-01 -3.76785157e-01 -1.01344212e-02 1.50019057e+02] [ 1.08521847e-02 -2.17736481e-04 9.99941090e-01 6.74065906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:150.04, Z:0.67 [[-3.77146579e-01 -9.26146326e-01 3.66607497e-03 1.19201466e+02] [ 9.26097124e-01 -3.77164341e-01 -9.54867178e-03 1.50043488e+02] [ 1.02261800e-02 -2.06107414e-04 9.99947690e-01 6.74984076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.861858064 meters Centerline goodness [0,1] 0.9999779015292142 Centerline is valid? [True, True] Translation: X:119.19, Y:150.07, Z:0.68 [[-3.77252703e-01 -9.26103995e-01 3.43346739e-03 1.19191008e+02] [ 9.26060915e-01 -3.77268279e-01 -8.93465719e-03 1.50068839e+02] [ 9.56976005e-03 -1.91023621e-04 9.99954191e-01 6.75749517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.891858064 meters Centerline goodness [0,1] 0.9999116627282967 Centerline is valid? [True, True] Translation: X:119.18, Y:150.09, Z:0.68 [[-3.77266588e-01 -9.26098788e-01 3.30997531e-03 1.19181622e+02] [ 9.26058825e-01 -3.77281064e-01 -8.60528041e-03 1.50093476e+02] [ 9.21813077e-03 -1.81252932e-04 9.99957496e-01 6.76619577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.921858064 meters Centerline goodness [0,1] 0.9997583161225118 Centerline is valid? [True, True] Translation: X:119.17, Y:150.12, Z:0.68 [[-3.75851736e-01 -9.26673932e-01 3.30090693e-03 1.19170409e+02] [ 9.26634277e-01 -3.75866195e-01 -8.57434223e-03 1.50119461e+02] [ 9.18631876e-03 -1.63947901e-04 9.99957791e-01 6.77470849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.951858064 meters Centerline goodness [0,1] 0.9997143108298172 Centerline is valid? [True, True] Translation: X:119.16, Y:150.14, Z:0.68 [[-3.74609648e-01 -9.27175753e-01 3.56856732e-03 1.19160253e+02] [ 9.27129499e-01 -3.74626610e-01 -9.26260367e-03 1.50144037e+02] [ 9.92494181e-03 -1.61336671e-04 9.99950734e-01 6.77318899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.981858064 meters Centerline goodness [0,1] 0.9995389074301774 Centerline is valid? [True, True] Translation: X:119.15, Y:150.17, Z:0.68 [[-3.71579131e-01 -9.28391562e-01 4.24932180e-03 1.19148144e+02] [ 9.28326159e-01 -3.71603397e-01 -1.10207951e-02 1.50168798e+02] [ 1.18106756e-02 -1.50340883e-04 9.99930240e-01 6.77161148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.011858064 meters Centerline goodness [0,1] 0.9996486065051721 Centerline is valid? [True, True] Translation: X:119.14, Y:150.19, Z:0.68 [[-3.69640326e-01 -9.29164373e-01 4.42682472e-03 1.19135905e+02] [ 9.29093572e-01 -3.69666811e-01 -1.14710044e-02 1.50193314e+02] [ 1.22948988e-02 -1.27211408e-04 9.99924407e-01 6.77761154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.041858064 meters Centerline goodness [0,1] 0.9999780123131047 Centerline is valid? [True, True] Translation: X:119.12, Y:150.22, Z:0.68 [[-3.67714243e-01 -9.29927523e-01 4.58659136e-03 1.19124291e+02] [ 9.29851716e-01 -3.67742833e-01 -1.18741127e-02 1.50218019e+02] [ 1.27287503e-02 -1.01430502e-04 9.99918981e-01 6.78032973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.071858064 meters Centerline goodness [0,1] 0.9999780499582949 Centerline is valid? [True, True] Translation: X:119.11, Y:150.24, Z:0.68 [[-3.62829779e-01 -9.31844101e-01 4.59594101e-03 1.19111730e+02] [ 9.31768251e-01 -3.62858885e-01 -1.18893222e-02 1.50241736e+02] [ 1.27466728e-02 -3.14482316e-05 9.99918757e-01 6.78606227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101858064 meters Centerline goodness [0,1] 0.999956043956044 Centerline is valid? [True, True] Translation: X:119.10, Y:150.27, Z:0.68 [[-3.60519983e-01 -9.32739252e-01 4.77795621e-03 1.19101031e+02] [ 9.32657493e-01 -3.60551643e-01 -1.23496604e-02 1.50266645e+02] [ 1.32417130e-02 3.89729885e-06 9.99912325e-01 6.79142641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.131858064 meters Centerline goodness [0,1] 0.9998026964814206 Centerline is valid? [True, True] Translation: X:119.09, Y:150.29, Z:0.68 [[-3.58311951e-01 -9.33590396e-01 4.63883279e-03 1.19090431e+02] [ 9.33513535e-01 -3.58341976e-01 -1.19795008e-02 1.50291768e+02] [ 1.28462354e-02 3.80148997e-05 9.99917483e-01 6.79983341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161858064 meters Centerline goodness [0,1] 0.9999339556181754 Centerline is valid? [True, True] Translation: X:119.08, Y:150.32, Z:0.68 [[-3.56900466e-01 -9.34132418e-01 4.32231159e-03 1.19079570e+02] [ 9.34065844e-01 -3.56926634e-01 -1.11524626e-02 1.50317287e+02] [ 1.19606250e-02 5.70045137e-05 9.99928468e-01 6.80510399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.191858064 meters Centerline goodness [0,1] 0.9996921453074149 Centerline is valid? [True, True] Translation: X:119.07, Y:150.34, Z:0.68 [[-3.54524030e-01 -9.35037452e-01 4.20426066e-03 1.19069898e+02] [ 9.34974639e-01 -3.54548947e-01 -1.08382740e-02 1.50343172e+02] [ 1.16248083e-02 8.84485313e-05 9.99932426e-01 6.82388537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:150.37, Z:0.68 [[-3.53420808e-01 -9.35454378e-01 4.34047769e-03 1.19061690e+02] [ 9.35387586e-01 -3.53447444e-01 -1.11789687e-02 1.50368623e+02] [ 1.19915459e-02 1.09148810e-04 9.99928093e-01 6.82251989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.251858064 meters Centerline goodness [0,1] 0.9999780248758405 Centerline is valid? [True, True] Translation: X:119.05, Y:150.39, Z:0.68 [[-3.53539563e-01 -9.35408741e-01 4.50161553e-03 1.19052596e+02] [ 9.35337024e-01 -3.53568203e-01 -1.15834801e-02 1.50394778e+02] [ 1.24269166e-02 1.15309188e-04 9.99922776e-01 6.81693796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281858064 meters Centerline goodness [0,1] 0.9999559636259551 Centerline is valid? [True, True] Translation: X:119.04, Y:150.42, Z:0.68 [[-3.54112870e-01 -9.35192021e-01 4.46757734e-03 1.19043747e+02] [ 9.35121492e-01 -3.54141034e-01 -1.14858220e-02 1.50420503e+02] [ 1.23236015e-02 1.10450191e-04 9.99924055e-01 6.81578513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:150.45, Z:0.68 [[-3.55457585e-01 -9.34681280e-01 4.56183837e-03 1.19037725e+02] [ 9.34607835e-01 -3.55486843e-01 -1.17174995e-02 1.50446237e+02] [ 1.25738010e-02 9.84557900e-05 9.99920942e-01 6.81298727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341858064 meters Centerline goodness [0,1] 0.9999337280197932 Centerline is valid? [True, True] Translation: X:119.03, Y:150.47, Z:0.68 [[-3.56430004e-01 -9.34309996e-01 4.74178738e-03 1.19029658e+02] [ 9.34230743e-01 -3.56461532e-01 -1.21694133e-02 1.50472883e+02] [ 1.30602693e-02 9.23795174e-05 9.99914707e-01 6.80935449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.371858064 meters Centerline goodness [0,1] 0.9999556098102319 Centerline is valid? [True, True] Translation: X:119.02, Y:150.50, Z:0.68 [[-3.58248935e-01 -9.33611349e-01 5.24870925e-03 1.19023091e+02] [ 9.33514348e-01 -3.58287374e-01 -1.34580762e-02 1.50499855e+02] [ 1.44451589e-02 7.84039375e-05 9.99895660e-01 6.82031471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40185806399998 meters Centerline goodness [0,1] 0.9999556098102319 Centerline is valid? [True, True] Translation: X:119.01, Y:150.52, Z:0.68 [[-3.58539437e-01 -9.33499802e-01 5.25289800e-03 1.19013262e+02] [ 9.33402812e-01 -3.58577906e-01 -1.34564416e-02 1.50524758e+02] [ 1.44451587e-02 7.84047661e-05 9.99895660e-01 6.82122395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43185806399998 meters Centerline goodness [0,1] 0.9999336239130916 Centerline is valid? [True, True] Translation: X:119.00, Y:150.55, Z:0.68 [[-3.59302451e-01 -9.33207591e-01 5.03386968e-03 1.19002958e+02] [ 9.33118643e-01 -3.59337706e-01 -1.28845451e-02 1.50550449e+02] [ 1.38328145e-02 6.77489876e-05 9.99904320e-01 6.81889751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:150.57, Z:0.68 [[-3.60473232e-01 -9.32757708e-01 4.70174000e-03 1.18991779e+02] [ 9.32680186e-01 -3.60503891e-01 -1.20256304e-02 1.50574015e+02] [ 1.29119950e-02 5.03018902e-05 9.99916635e-01 6.79566862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.98, Y:150.60, Z:0.68 [[-3.60836956e-01 -9.32617109e-01 4.69259122e-03 1.18981713e+02] [ 9.32540008e-01 -3.60867464e-01 -1.19919639e-02 1.50599028e+02] [ 1.28773142e-02 4.88853033e-05 9.99917083e-01 6.81303820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.97, Y:150.62, Z:0.68 [[-3.61015674e-01 -9.32548202e-01 4.64047833e-03 1.18970691e+02] [ 9.32472935e-01 -3.61045494e-01 -1.18481120e-02 1.50623706e+02] [ 1.27243593e-02 4.97663173e-05 9.99919041e-01 6.80236788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:150.65, Z:0.68 [[-3.61139405e-01 -9.32498899e-01 4.91264136e-03 1.18958999e+02] [ 9.32414693e-01 -3.61172813e-01 -1.25315575e-02 1.50647984e+02] [ 1.34599761e-02 5.49797693e-05 9.99909409e-01 6.77597063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.95, Y:150.67, Z:0.68 [[-3.61055729e-01 -9.32530770e-01 5.01233264e-03 1.18948164e+02] [ 9.32443275e-01 -3.61090514e-01 -1.27741898e-02 1.50672682e+02] [ 1.37222308e-02 6.15214542e-05 9.99905844e-01 6.77100972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:150.70, Z:0.68 [[-3.60562916e-01 -9.32721961e-01 4.91188597e-03 1.18936325e+02] [ 9.32638109e-01 -3.60596364e-01 -1.25067737e-02 1.50697385e+02] [ 1.34365507e-02 7.15332553e-05 9.99909723e-01 6.76509896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.92, Y:150.72, Z:0.68 [[-3.59233471e-01 -9.33236439e-01 4.58946063e-03 1.18923301e+02] [ 9.33163413e-01 -3.59262775e-01 -1.16748898e-02 1.50720344e+02] [ 1.25442550e-02 8.87055484e-05 9.99921314e-01 6.75212081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.671858064 meters Centerline goodness [0,1] 0.9999779948948156 Centerline is valid? [True, True] Translation: X:118.91, Y:150.74, Z:0.67 [[-3.58916285e-01 -9.33359062e-01 4.46793718e-03 1.18912738e+02] [ 9.33289993e-01 -3.58944080e-01 -1.13549846e-02 1.50744217e+02] [ 1.22020174e-02 9.43921703e-05 9.99925548e-01 6.74284109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.701858064 meters Centerline goodness [0,1] 0.9999779948948156 Centerline is valid? [True, True] Translation: X:118.90, Y:150.77, Z:0.67 [[-3.59197285e-01 -9.33250940e-01 4.47142987e-03 1.18902822e+02] [ 9.33181880e-01 -3.59225103e-01 -1.13536095e-02 1.50769077e+02] [ 1.22020166e-02 9.44716179e-05 9.99925548e-01 6.74375003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:150.79, Z:0.67 [[-3.59628498e-01 -9.33085267e-01 4.38491565e-03 1.18893049e+02] [ 9.33018961e-01 -3.59655218e-01 -1.11239616e-02 1.50794653e+02] [ 1.19566625e-02 9.07158392e-05 9.99928512e-01 6.74684198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.88, Y:150.82, Z:0.67 [[-3.60655342e-01 -9.32689633e-01 4.21578565e-03 1.18883425e+02] [ 9.32628403e-01 -3.60679972e-01 -1.06873779e-02 1.50820683e+02] [ 1.14885560e-02 7.73015258e-05 9.99934001e-01 6.74197780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.88, Y:150.85, Z:0.67 [[-3.64444264e-01 -9.31218298e-01 3.58599353e-03 1.18876603e+02] [ 9.31173988e-01 -3.64461905e-01 -9.08423888e-03 1.50847735e+02] [ 9.76636751e-03 2.84851415e-05 9.99952307e-01 6.74247554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.87, Y:150.87, Z:0.67 [[-3.66117401e-01 -9.30562748e-01 3.31976850e-03 1.18867593e+02] [ 9.30524806e-01 -3.66132452e-01 -8.40311223e-03 1.50874200e+02] [ 9.03509819e-03 1.26013222e-05 9.99959183e-01 6.74419722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:150.90, Z:0.67 [[-3.67282609e-01 -9.30104742e-01 2.94164473e-03 1.18858209e+02] [ 9.30074976e-01 -3.67294389e-01 -7.44112204e-03 1.50899939e+02] [ 8.00147250e-03 2.95543102e-06 9.99967988e-01 6.73816043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.85, Y:150.92, Z:0.67 [[-3.68298915e-01 -9.29703582e-01 2.67579935e-03 1.18848561e+02] [ 9.29678979e-01 -3.68308635e-01 -6.76349429e-03 1.50924266e+02] [ 7.27356487e-03 -3.35320062e-06 9.99973547e-01 6.73737205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.84, Y:150.95, Z:0.67 [[-3.68793284e-01 -9.29509464e-01 1.91555403e-03 1.18838906e+02] [ 9.29496873e-01 -3.68798259e-01 -4.83813820e-03 1.50948292e+02] [ 5.20354823e-03 -3.77139209e-06 9.99986461e-01 6.73625343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:150.97, Z:0.67 [[-3.68943965e-01 -9.29450596e-01 1.39303535e-03 1.18828905e+02] [ 9.29443946e-01 -3.68946594e-01 -3.51594504e-03 1.50973927e+02] [ 3.78185286e-03 -2.43843095e-06 9.99992849e-01 6.74153223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.82, Y:151.00, Z:0.67 [[-3.69235233e-01 -9.29335317e-01 1.10023602e-03 1.18820562e+02] [ 9.29331174e-01 -3.69236873e-01 -2.77507898e-03 1.50998803e+02] [ 2.98522661e-03 -2.17329747e-06 9.99995544e-01 6.74677413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.81, Y:151.02, Z:0.67 [[-3.68625175e-01 -9.29577907e-01 6.29390186e-04 1.18809108e+02] [ 9.29576552e-01 -3.68625712e-01 -1.58722919e-03 1.51023671e+02] [ 1.70746260e-03 -2.62794479e-08 9.99998542e-01 6.74717357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:151.05, Z:0.67 [[-3.68894848e-01 -9.29470931e-01 6.16331072e-04 1.18799554e+02] [ 9.29469633e-01 -3.68895363e-01 -1.55302260e-03 1.51048153e+02] [ 1.67085104e-03 -4.10215817e-08 9.99998604e-01 6.74247497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.79, Y:151.07, Z:0.67 [[-3.70877456e-01 -9.28681322e-01 9.56689847e-04 1.18791635e+02] [ 9.28678203e-01 -3.70878690e-01 -2.40668353e-03 1.51074045e+02] [ 2.58985792e-03 -4.12765678e-06 9.99996646e-01 6.72584642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:151.10, Z:0.67 [[-3.71892834e-01 -9.28275266e-01 8.66534838e-04 1.18781050e+02] [ 9.28272710e-01 -3.71893844e-01 -2.17819773e-03 1.51099627e+02] [ 2.34422605e-03 -5.67548437e-06 9.99997252e-01 6.71887757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:151.13, Z:0.67 [[-3.73309032e-01 -9.27706758e-01 7.33556006e-04 1.18770909e+02] [ 9.27704928e-01 -3.73309752e-01 -1.84259816e-03 1.51125743e+02] [ 1.98323437e-03 -7.33501207e-06 9.99998033e-01 6.71088427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:151.15, Z:0.67 [[-3.74610496e-01 -9.27181868e-01 8.72239929e-04 1.18762372e+02] [ 9.27179284e-01 -3.74611511e-01 -2.18871866e-03 1.51151989e+02] [ 2.35609138e-03 -1.11941902e-05 9.99997224e-01 6.70615874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:151.18, Z:0.67 [[-3.77140166e-01 -9.26155904e-01 7.32528233e-04 1.18752465e+02] [ 9.26154082e-01 -3.77140877e-01 -1.83694405e-03 1.51178628e+02] [ 1.97756291e-03 -1.43513685e-05 9.99998045e-01 6.70233632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:151.20, Z:0.67 [[-3.78877740e-01 -9.25446471e-01 6.98954923e-04 1.18744505e+02] [ 9.25444813e-01 -3.78878384e-01 -1.75149085e-03 1.51204571e+02] [ 1.88572994e-03 -1.67566856e-05 9.99998222e-01 6.69838421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:151.23, Z:0.67 [[-3.83136143e-01 -9.23691626e-01 6.89690555e-04 1.18736256e+02] [ 9.23690013e-01 -3.83136762e-01 -1.72673284e-03 1.51231958e+02] [ 1.85921447e-03 -2.45134826e-05 9.99998271e-01 6.68556969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:151.26, Z:0.67 [[-3.83877105e-01 -9.23384148e-01 2.89600605e-04 1.18724796e+02] [ 9.23383863e-01 -3.83877214e-01 -7.25978335e-04 1.51257391e+02] [ 7.81527959e-04 -1.12739361e-05 9.99999695e-01 6.68679877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:151.28, Z:0.67 [[-3.85322300e-01 -9.22782052e-01 -9.90856768e-05 1.18713791e+02] [ 9.22782019e-01 -3.85322313e-01 2.44826412e-04 1.51283886e+02] [-2.64101341e-04 2.90259511e-06 9.99999965e-01 6.68125255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:151.31, Z:0.67 [[-3.86982058e-01 -9.22087223e-01 -2.02290351e-04 1.18705042e+02] [ 9.22087086e-01 -3.86982110e-01 5.01721793e-04 1.51309161e+02] [-5.40914002e-04 7.62801136e-06 9.99999854e-01 6.68145075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:151.34, Z:0.67 [[-3.89576392e-01 -9.20994054e-01 -4.32798039e-04 1.18696204e+02] [ 9.20993426e-01 -3.89576632e-01 1.07585679e-03 1.51336135e+02] [-1.15946571e-03 2.05242596e-05 9.99999328e-01 6.67680266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:151.36, Z:0.67 [[-3.90507033e-01 -9.20599814e-01 -4.88887616e-04 1.18687742e+02] [ 9.20599012e-01 -3.90507339e-01 1.21559743e-03 1.51362154e+02] [-1.30999297e-03 2.46298910e-05 9.99999142e-01 6.67939627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:151.39, Z:0.67 [[-3.90576175e-01 -9.20570431e-01 -5.77541158e-04 1.18678922e+02] [ 9.20569314e-01 -3.90576601e-01 1.43416794e-03 1.51388046e+02] [-1.54582666e-03 2.84851623e-05 9.99998805e-01 6.67974706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:151.41, Z:0.67 [[-3.90142261e-01 -9.20754440e-01 -5.27083104e-04 1.18668562e+02] [ 9.20753511e-01 -3.90142617e-01 1.30768679e-03 1.51413789e+02] [-1.40969600e-03 2.48702617e-05 9.99999006e-01 6.67886539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:151.44, Z:0.67 [[-3.88809372e-01 -9.21318139e-01 -4.00036695e-04 1.18657477e+02] [ 9.21317606e-01 -3.88809577e-01 9.91235361e-04 1.51439785e+02] [-1.06878122e-03 1.68407475e-05 9.99999429e-01 6.67787597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:151.46, Z:0.67 [[-3.87339124e-01 -9.21937208e-01 -4.32190116e-04 1.18646246e+02] [ 9.21936588e-01 -3.87339365e-01 1.06984600e-03 1.51464610e+02] [-1.15373508e-03 1.59413330e-05 9.99999334e-01 6.67417133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:151.49, Z:0.67 [[-3.83998736e-01 -9.23333587e-01 -2.41078729e-04 1.18634767e+02] [ 9.23333395e-01 -3.83998811e-01 5.95474552e-04 1.51489117e+02] [-6.42395599e-04 6.06543389e-06 9.99999794e-01 6.66779282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:151.51, Z:0.67 [[-3.82863549e-01 -9.23804851e-01 -3.16259458e-04 1.18623508e+02] [ 9.23804521e-01 -3.82863679e-01 7.80825210e-04 1.51513564e+02] [-8.42414377e-04 6.78759343e-06 9.99999645e-01 6.66048742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601858064 meters Centerline goodness [0,1] 0.9999775653968681 Centerline is valid? [True, True] Translation: X:118.61, Y:151.54, Z:0.67 [[-3.81537660e-01 -9.24353240e-01 -3.18231786e-04 1.18612554e+02] [ 9.24352907e-01 -3.81537793e-01 7.85005325e-04 1.51538274e+02] [-8.47039670e-04 5.35061833e-06 9.99999641e-01 6.65725397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:151.56, Z:0.67 [[-3.80166567e-01 -9.24917944e-01 -4.23174445e-04 1.18601036e+02] [ 9.24917354e-01 -3.80166802e-01 1.04419769e-03 1.51564161e+02] [-1.12667405e-03 5.56766069e-06 9.99999365e-01 6.65578526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:151.59, Z:0.67 [[-3.77989652e-01 -9.25809369e-01 -9.13722684e-04 1.18590751e+02] [ 9.25806621e-01 -3.77990757e-01 2.25553749e-03 1.51589100e+02] [-2.43357647e-03 6.63932227e-06 9.99997039e-01 6.66246213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:151.61, Z:0.67 [[-3.76496675e-01 -9.26417240e-01 -1.16272402e-03 1.18578986e+02] [ 9.26412799e-01 -3.76498470e-01 2.86825946e-03 1.51613692e+02] [-3.09496883e-03 2.72773123e-06 9.99995211e-01 6.66921350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:151.64, Z:0.67 [[-3.75690916e-01 -9.26744056e-01 -1.33794310e-03 1.18568460e+02] [ 9.26738189e-01 -3.75693298e-01 3.29771042e-03 1.51638080e+02] [-3.55878979e-03 -1.00311606e-06 9.99993667e-01 6.67385921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:151.66, Z:0.67 [[-3.75290040e-01 -9.26906504e-01 -1.31124276e-03 1.18559134e+02] [ 9.26900879e-01 -3.75292331e-01 3.22913331e-03 1.51663941e+02] [-3.48520401e-03 -3.53050023e-06 9.99993927e-01 6.67043172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781858064 meters Centerline goodness [0,1] 0.9999775694226369 Centerline is valid? [True, True] Translation: X:118.55, Y:151.69, Z:0.67 [[-3.76185666e-01 -9.26543185e-01 -1.43878181e-03 1.18549872e+02] [ 9.26536421e-01 -3.76188418e-01 3.54039522e-03 1.51689869e+02] [-3.82158212e-03 -1.23781472e-06 9.99992698e-01 6.67469340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.811858064 meters Centerline goodness [0,1] 0.9999775058484794 Centerline is valid? [True, True] Translation: X:118.54, Y:151.71, Z:0.67 [[-3.77555921e-01 -9.25985222e-01 -1.70164685e-03 1.18540523e+02] [ 9.25975770e-01 -3.77559755e-01 4.18374827e-03 1.51714815e+02] [-4.51656244e-03 3.91517398e-06 9.99989800e-01 6.68094932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:151.74, Z:0.67 [[-3.78349378e-01 -9.25661731e-01 -1.45185897e-03 1.18530568e+02] [ 9.25654862e-01 -3.78352164e-01 3.56610965e-03 1.51740091e+02] [-3.85032522e-03 5.31505117e-06 9.99992587e-01 6.67432809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:151.76, Z:0.67 [[-3.80076946e-01 -9.24953943e-01 -1.31097417e-03 1.18521631e+02] [ 9.24948344e-01 -3.80079207e-01 3.21822150e-03 1.51764369e+02] [-3.47498069e-03 1.05884097e-05 9.99993962e-01 6.67514756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:151.79, Z:0.66 [[-3.82245519e-01 -9.24060330e-01 -9.32952457e-04 1.18509075e+02] [ 9.24057499e-01 -3.82246657e-01 2.28743949e-03 1.51789755e+02] [-2.47035005e-03 1.22617814e-05 9.99996949e-01 6.64705583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93185806399998 meters Centerline goodness [0,1] 0.9999325145093805 Centerline is valid? [True, True] Translation: X:118.50, Y:151.82, Z:0.66 [[-3.84553870e-01 -9.23102411e-01 -5.09780680e-04 1.18499487e+02] [ 9.23101568e-01 -3.84554208e-01 1.24773714e-03 1.51815854e+02] [-1.34782746e-03 9.24280021e-06 9.99999092e-01 6.63491844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:151.84, Z:0.66 [[-3.85861904e-01 -9.22556417e-01 -4.99294639e-04 1.18489135e+02] [ 9.22555608e-01 -3.85862227e-01 1.22149830e-03 1.51840377e+02] [-1.31956003e-03 1.07025897e-05 9.99999129e-01 6.63795985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:151.87, Z:0.66 [[-3.87906371e-01 -9.21698644e-01 -5.06333922e-04 1.18479426e+02] [ 9.21697814e-01 -3.87906702e-01 1.23745011e-03 1.51866963e+02] [-1.33696641e-03 1.33279136e-05 9.99999106e-01 6.63653568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:151.89, Z:0.66 [[-3.92128887e-01 -9.19910230e-01 -3.24283124e-04 1.18472002e+02] [ 9.19909890e-01 -3.92129021e-01 7.90826447e-04 1.51893017e+02] [-8.54650163e-04 1.17946415e-05 9.99999635e-01 6.64393937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:151.92, Z:0.66 [[-3.93970717e-01 -9.19122917e-01 -3.71224093e-04 1.18461124e+02] [ 9.19122471e-01 -3.93970892e-01 9.05127115e-04 1.51918804e+02] [-9.78174561e-04 1.53931729e-05 9.99999521e-01 6.64516097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.081858064 meters Centerline goodness [0,1] 0.9999552171965965 Centerline is valid? [True, True] Translation: X:118.45, Y:151.94, Z:0.66 [[-3.95958778e-01 -9.18268237e-01 -3.00963136e-04 1.18451530e+02] [ 9.18267945e-01 -3.95958892e-01 7.32594202e-04 1.51944247e+02] [-7.91887017e-04 1.37123044e-05 9.99999686e-01 6.64020098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:151.97, Z:0.66 [[-3.99979957e-01 -9.16523876e-01 1.35135571e-04 1.18442347e+02] [ 9.16523816e-01 -3.99979980e-01 -3.32455410e-04 1.51970264e+02] [ 3.58754844e-04 -9.12053107e-06 9.99999936e-01 6.63009616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:152.00, Z:0.66 [[-4.01477171e-01 -9.15869018e-01 1.48370658e-04 1.18431633e+02] [ 9.15868946e-01 -4.01477199e-01 -3.64318765e-04 1.51995944e+02] [ 3.93235706e-04 -1.03775887e-05 9.99999923e-01 6.63309948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:152.02, Z:0.66 [[-4.02653134e-01 -9.15352626e-01 1.56211967e-04 1.18423229e+02] [ 9.15352546e-01 -4.02653164e-01 -3.83263094e-04 1.52021313e+02] [ 4.13720122e-04 -1.13330637e-05 9.99999914e-01 6.63460652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:152.05, Z:0.66 [[-4.05417526e-01 -9.14131580e-01 2.89250502e-04 1.18414006e+02] [ 9.14131307e-01 -4.05417628e-01 -7.06887410e-04 1.52047455e+02] [ 7.63455357e-04 -2.21716054e-05 9.99999708e-01 6.63896501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:152.07, Z:0.66 [[-4.07350587e-01 -9.13271714e-01 5.25955055e-04 1.18405518e+02] [ 9.13270814e-01 -4.07350924e-01 -1.28221692e-03 1.52073653e+02] [ 1.38526072e-03 -4.19724116e-05 9.99999040e-01 6.64531261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.39, Y:152.10, Z:0.66 [[-4.08509304e-01 -9.12754027e-01 4.84358197e-04 1.18393217e+02] [ 9.12753265e-01 -4.08509589e-01 -1.18001886e-03 1.52099341e+02] [ 1.27493194e-03 -3.99491585e-05 9.99999186e-01 6.64730487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.39, Y:152.13, Z:0.67 [[-4.09861658e-01 -9.12147644e-01 3.11442343e-04 1.18387200e+02] [ 9.12147329e-01 -4.09861775e-01 -7.59141160e-04 1.52126057e+02] [ 8.20097132e-04 -2.70615536e-05 9.99999663e-01 6.65911129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:152.15, Z:0.67 [[-4.10441533e-01 -9.11886895e-01 1.96073293e-04 1.18374091e+02] [ 9.11886770e-01 -4.10441580e-01 -4.78626774e-04 1.52150514e+02] [ 5.16930115e-04 -1.76516652e-05 9.99999866e-01 6.66291572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:152.18, Z:0.67 [[-4.09979251e-01 -9.12094798e-01 3.03886517e-04 1.18367584e+02] [ 9.12094499e-01 -4.09979363e-01 -7.39752242e-04 1.52176112e+02] [ 7.99311372e-04 -2.61098502e-05 9.99999680e-01 6.67263734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:152.20, Z:0.67 [[-4.09280906e-01 -9.12408362e-01 3.47327550e-04 1.18353256e+02] [ 9.12407972e-01 -4.09281052e-01 -8.43987409e-04 1.52200496e+02] [ 9.12215755e-04 -2.85235059e-05 9.99999584e-01 6.67519328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:152.23, Z:0.67 [[-4.07223384e-01 -9.13328393e-01 6.00984455e-04 1.18340217e+02] [ 9.13327232e-01 -4.07223825e-01 -1.45749903e-03 1.52225391e+02] [ 1.57591043e-03 -4.46322180e-05 9.99998757e-01 6.66964358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:152.25, Z:0.67 [[-4.05818812e-01 -9.13953202e-01 7.97327417e-04 1.18329030e+02] [ 9.13951163e-01 -4.05819592e-01 -1.93133589e-03 1.52251251e+02] [ 2.08872171e-03 -5.50541172e-05 9.99997817e-01 6.66384707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:152.28, Z:0.67 [[-4.03816750e-01 -9.14838953e-01 1.31264750e-03 1.18316773e+02] [ 9.14833445e-01 -4.03818875e-01 -3.17554445e-03 1.52276217e+02] [ 3.43518359e-03 -8.14842035e-05 9.99994096e-01 6.65715323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:152.30, Z:0.67 [[-4.03213462e-01 -9.15105103e-01 1.24702058e-03 1.18306895e+02] [ 9.15100140e-01 -4.03215384e-01 -3.01456025e-03 1.52300722e+02] [ 3.26145735e-03 -7.43625685e-05 9.99994679e-01 6.65980509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:152.33, Z:0.67 [[-4.02884627e-01 -9.15249934e-01 1.23953223e-03 1.18297254e+02] [ 9.15245040e-01 -4.02886528e-01 -2.99370731e-03 1.52325431e+02] [ 3.23938125e-03 -7.16429280e-05 9.99994751e-01 6.66346351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:152.35, Z:0.67 [[-4.02656929e-01 -9.15350201e-01 1.18588139e-03 1.18286696e+02] [ 9.15345731e-01 -4.02658670e-01 -2.86161687e-03 1.52351104e+02] [ 3.09688700e-03 -6.67583952e-05 9.99995202e-01 6.66768033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:152.38, Z:0.67 [[-4.02809599e-01 -9.15282271e-01 1.67063341e-03 1.18277192e+02] [ 9.15273417e-01 -4.02813053e-01 -4.02697728e-03 1.52376953e+02] [ 4.35877385e-03 -9.30187567e-05 9.99990496e-01 6.67183364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:152.40, Z:0.67 [[-4.02831877e-01 -9.15272523e-01 1.63938273e-03 1.18266516e+02] [ 9.15264011e-01 -4.02835203e-01 -3.94829756e-03 1.52401535e+02] [ 4.27416934e-03 -9.00321051e-05 9.99990862e-01 6.67421187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:152.43, Z:0.67 [[-4.03110007e-01 -9.15150059e-01 1.64058124e-03 1.18256136e+02] [ 9.15141549e-01 -4.03113335e-01 -3.94779954e-03 1.52426220e+02] [ 4.27416916e-03 -9.00334371e-05 9.99990862e-01 6.67512126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:152.45, Z:0.67 [[-4.02812132e-01 -9.15281457e-01 1.49668209e-03 1.18244188e+02] [ 9.15274386e-01 -4.02814905e-01 -3.59867546e-03 1.52450533e+02] [ 3.89668678e-03 -7.97153530e-05 9.99992405e-01 6.67562823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:152.47, Z:0.67 [[-4.02450520e-01 -9.15440100e-01 1.73261657e-03 1.18234410e+02] [ 9.15430644e-01 -4.02454240e-01 -4.16187281e-03 1.52474714e+02] [ 4.50724414e-03 -8.88575774e-05 9.99989838e-01 6.66955881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:152.50, Z:0.67 [[-4.02718183e-01 -9.15322059e-01 1.89573795e-03 1.18223822e+02] [ 9.15310758e-01 -4.02722633e-01 -4.54939292e-03 1.52500349e+02] [ 4.92761628e-03 -9.69339141e-05 9.99987855e-01 6.66885390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:152.53, Z:0.67 [[-4.02996867e-01 -9.15199005e-01 2.07517150e-03 1.18212953e+02] [ 9.15185486e-01 -4.03002196e-01 -4.97556309e-03 1.52525136e+02] [ 5.38992906e-03 -1.05969496e-04 9.99985469e-01 6.66856995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.801858064 meters Centerline goodness [0,1] 0.9998891598315229 Centerline is valid? [True, True] Translation: X:118.20, Y:152.55, Z:0.67 [[-4.03723078e-01 -9.14878213e-01 2.35197758e-03 1.18203455e+02] [ 9.14860874e-01 -4.03729910e-01 -5.63399950e-03 1.52549599e+02] [ 6.10398709e-03 -1.22843352e-04 9.99981363e-01 6.65924732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.831858064 meters Centerline goodness [0,1] 0.99997780047063 Centerline is valid? [True, True] Translation: X:118.19, Y:152.57, Z:0.67 [[-4.04222433e-01 -9.14657305e-01 2.49778544e-03 1.18192003e+02] [ 9.14637780e-01 -4.04230129e-01 -5.97788324e-03 1.52574192e+02] [ 6.47739470e-03 -1.31825586e-04 9.99979013e-01 6.65913648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:152.60, Z:0.67 [[-4.04252728e-01 -9.14643205e-01 2.74591606e-03 1.18180912e+02] [ 9.14619648e-01 -4.04262029e-01 -6.56591390e-03 1.52599261e+02] [ 7.11553813e-03 -1.42819824e-04 9.99974674e-01 6.65294775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:152.62, Z:0.66 [[-4.04313342e-01 -9.14612746e-01 3.77449863e-03 1.18170497e+02] [ 9.14568321e-01 -4.04330913e-01 -9.01661381e-03 1.52623402e+02] [ 9.77285639e-03 -1.93500387e-04 9.99952226e-01 6.63327969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:152.65, Z:0.66 [[-4.04229215e-01 -9.14648507e-01 4.10501426e-03 1.18159473e+02] [ 9.14596052e-01 -4.04250006e-01 -9.79764252e-03 1.52648449e+02] [ 1.06208511e-02 -2.06063507e-04 9.99943576e-01 6.62878582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:152.67, Z:0.66 [[-4.03898709e-01 -9.14794536e-01 4.09744649e-03 1.18147233e+02] [ 9.14742370e-01 -4.03919444e-01 -9.77139305e-03 1.52673105e+02] [ 1.05938553e-02 -1.98545132e-04 9.99943864e-01 6.62844373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:152.70, Z:0.66 [[-4.03780203e-01 -9.14845517e-01 4.38492649e-03 1.18136401e+02] [ 9.14785879e-01 -4.03803959e-01 -1.04478639e-02 1.52698019e+02] [ 1.13288321e-02 -2.07371780e-04 9.99935805e-01 6.63414232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:152.72, Z:0.66 [[-4.04225323e-01 -9.14648284e-01 4.51706823e-03 1.18126179e+02] [ 9.14585094e-01 -4.04250503e-01 -1.07534016e-02 1.52723549e+02] [ 1.16616074e-02 -2.15553951e-04 9.99931978e-01 6.63914128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:152.75, Z:0.66 [[-4.04488273e-01 -9.14531451e-01 4.63266871e-03 1.18115782e+02] [ 9.14465092e-01 -4.04514741e-01 -1.10191096e-02 1.52749194e+02] [ 1.19513051e-02 -2.20686793e-04 9.99928556e-01 6.63846993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:152.77, Z:0.66 [[-4.04989337e-01 -9.14310530e-01 4.46001929e-03 1.18105206e+02] [ 9.14249113e-01 -4.05013837e-01 -1.05995360e-02 1.52774734e+02] [ 1.14976369e-02 -2.15130370e-04 9.99933877e-01 6.64298199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:152.80, Z:0.67 [[-4.05484015e-01 -9.14093442e-01 3.98659411e-03 1.18095708e+02] [ 9.14044444e-01 -4.05503566e-01 -9.46640115e-03 1.52799219e+02] [ 1.02697533e-02 -1.94550158e-04 9.99947246e-01 6.65645176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:152.82, Z:0.67 [[-4.05542923e-01 -9.14067741e-01 3.88612328e-03 1.18084992e+02] [ 9.14021259e-01 -4.05561499e-01 -9.21999474e-03 1.52824532e+02] [ 1.00037618e-02 -1.87104329e-04 9.99949944e-01 6.66424524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:152.85, Z:0.67 [[-4.05893793e-01 -9.13913562e-01 3.49719127e-03 1.18074989e+02] [ 9.13875975e-01 -4.05908823e-01 -8.29032879e-03 1.52849283e+02] [ 8.99618470e-03 -1.68993916e-04 9.99959519e-01 6.66718577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:152.87, Z:0.67 [[-4.05941368e-01 -9.13892907e-01 3.37063095e-03 1.18064885e+02] [ 9.13858048e-01 -4.05955330e-01 -7.98359941e-03 1.52874170e+02] [ 8.66448046e-03 -1.60595045e-04 9.99962450e-01 6.67791282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:152.90, Z:0.67 [[-4.05896735e-01 -9.13912519e-01 3.42744517e-03 1.18055413e+02] [ 9.13876539e-01 -4.05911174e-01 -8.11114879e-03 1.52899101e+02] [ 8.80411872e-03 -1.60027087e-04 9.99961230e-01 6.67305951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:152.92, Z:0.67 [[-4.04742765e-01 -9.14423621e-01 3.56878487e-03 1.18043463e+02] [ 9.14384697e-01 -4.04758470e-01 -8.43843041e-03 1.52923945e+02] [ 9.16079600e-03 -1.52151388e-04 9.99958027e-01 6.67007097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281858064 meters Centerline goodness [0,1] 0.9999553192440016 Centerline is valid? [True, True] Translation: X:118.03, Y:152.95, Z:0.67 [[-4.04087267e-01 -9.14714065e-01 3.41463611e-03 1.18031683e+02] [ 9.14678499e-01 -4.04101671e-01 -8.06740813e-03 1.52948298e+02] [ 8.75923184e-03 -1.36642664e-04 9.99961628e-01 6.67014391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:152.97, Z:0.67 [[-4.03325042e-01 -9.15049856e-01 3.55982831e-03 1.18020019e+02] [ 9.15011279e-01 -4.03340730e-01 -8.40327720e-03 1.52972901e+02] [ 9.12524134e-03 -1.31969077e-04 9.99958355e-01 6.67479876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:153.00, Z:0.67 [[-4.02442954e-01 -9.15438523e-01 3.46119450e-03 1.18008164e+02] [ 9.15402127e-01 -4.02457821e-01 -8.16383541e-03 1.52998065e+02] [ 8.86647422e-03 -1.17093235e-04 9.99960685e-01 6.67552489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:153.02, Z:0.67 [[-4.00918133e-01 -9.16106534e-01 3.66997197e-03 1.17997474e+02] [ 9.16065714e-01 -4.00934916e-01 -8.64872219e-03 1.53022133e+02] [ 9.39457082e-03 -1.05494058e-04 9.99955864e-01 6.67711167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:153.05, Z:0.67 [[-4.00512826e-01 -9.16283407e-01 3.76751894e-03 1.17986859e+02] [ 9.16240472e-01 -4.00530533e-01 -8.87070858e-03 1.53045830e+02] [ 9.63708945e-03 -1.00879235e-04 9.99953557e-01 6.67294008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:153.07, Z:0.67 [[-3.99584486e-01 -9.16687979e-01 3.92264857e-03 1.17974963e+02] [ 9.16641534e-01 -3.99603729e-01 -9.22807553e-03 1.53069996e+02] [ 1.00267709e-02 -9.17332193e-05 9.99949726e-01 6.66558874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:153.09, Z:0.67 [[-3.99309991e-01 -9.16806157e-01 4.24284982e-03 1.17964812e+02] [ 9.16751921e-01 -3.99332521e-01 -9.97264772e-03 1.53094427e+02] [ 1.08372927e-02 -9.25371561e-05 9.99941271e-01 6.66106581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:153.12, Z:0.67 [[-3.99428682e-01 -9.16754259e-01 4.28455708e-03 1.17953970e+02] [ 9.16699039e-01 -3.99451650e-01 -1.00623273e-02 1.53119263e+02] [ 1.09361548e-02 -9.15327663e-05 9.99940194e-01 6.66313780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:153.14, Z:0.67 [[-3.99242242e-01 -9.16834732e-01 4.43914328e-03 1.17942714e+02] [ 9.16775558e-01 -3.99266911e-01 -1.04168179e-02 1.53144545e+02] [ 1.13229035e-02 -8.91356895e-05 9.99935890e-01 6.66747838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:153.17, Z:0.67 [[-3.99331790e-01 -9.16796140e-01 4.35427321e-03 1.17932421e+02] [ 9.16739299e-01 -3.99355519e-01 -1.02091324e-02 1.53168609e+02] [ 1.10985962e-02 -8.50977563e-05 9.99938405e-01 6.66628000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:153.19, Z:0.67 [[-3.99782736e-01 -9.16600427e-01 4.17379264e-03 1.17921901e+02] [ 9.16548280e-01 -3.99804515e-01 -9.77759475e-03 1.53192916e+02] [ 1.06308487e-02 -8.34311182e-05 9.99943487e-01 6.67039557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:153.22, Z:0.67 [[-4.00740456e-01 -9.16182285e-01 4.13608931e-03 1.17911418e+02] [ 9.16131142e-01 -4.00761790e-01 -9.68078282e-03 1.53216855e+02] [ 1.05269483e-02 -9.02811023e-05 9.99944586e-01 6.67264052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:153.24, Z:0.67 [[-4.01685047e-01 -9.15768403e-01 4.16602596e-03 1.17900833e+02] [ 9.15716586e-01 -4.01706638e-01 -9.74227606e-03 1.53241329e+02] [ 1.05951889e-02 -9.84275525e-05 9.99943865e-01 6.67269171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.671858064 meters Centerline goodness [0,1] 0.9999776641129302 Centerline is valid? [True, True] Translation: X:117.89, Y:153.27, Z:0.67 [[-4.02622584e-01 -9.15356728e-01 4.13707328e-03 1.17891011e+02] [ 9.15305696e-01 -4.02643824e-01 -9.66613077e-03 1.53266090e+02] [ 1.05137248e-02 -1.05115805e-04 9.99944724e-01 6.67856362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:153.29, Z:0.67 [[-4.03260281e-01 -9.15075347e-01 4.27263670e-03 1.17881830e+02] [ 9.15020982e-01 -4.03282899e-01 -9.97529287e-03 1.53290246e+02] [ 1.08512259e-02 -1.13087177e-04 9.99941117e-01 6.67919767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:153.31, Z:0.67 [[-4.03833045e-01 -9.14822238e-01 4.37556973e-03 1.17871802e+02] [ 9.14765299e-01 -4.03856731e-01 -1.02073112e-02 1.53314333e+02] [ 1.11049785e-02 -1.19430188e-04 9.99938331e-01 6.68000071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.761858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:153.34, Z:0.67 [[-4.04587811e-01 -9.14486689e-01 4.77483936e-03 1.17861802e+02] [ 9.14418962e-01 -4.04615963e-01 -1.11303449e-02 1.53337559e+02] [ 1.21105285e-02 -1.36998220e-04 9.99926655e-01 6.66886944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.791858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:153.36, Z:0.67 [[-4.05221276e-01 -9.14205309e-01 4.93665704e-03 1.17850858e+02] [ 9.14133009e-01 -4.05251319e-01 -1.14982570e-02 1.53361894e+02] [ 1.25123544e-02 -1.46577217e-04 9.99921707e-01 6.66703125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:153.39, Z:0.67 [[-4.05798980e-01 -9.13948592e-01 5.01593422e-03 1.17840963e+02] [ 9.13874061e-01 -4.05829950e-01 -1.16726691e-02 1.53385374e+02] [ 1.27038358e-02 -1.52825052e-04 9.99919291e-01 6.66396959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:153.41, Z:0.67 [[-4.07044267e-01 -9.13395389e-01 4.88141992e-03 1.17828538e+02] [ 9.13324882e-01 -4.07073504e-01 -1.13500135e-02 1.53409229e+02] [ 1.23541467e-02 -1.61635681e-04 9.99923672e-01 6.69399362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:153.44, Z:0.67 [[-4.07899437e-01 -9.13014297e-01 4.78990542e-03 1.17818408e+02] [ 9.12946495e-01 -4.07927526e-01 -1.11279373e-02 1.53435091e+02] [ 1.21139001e-02 -1.66151976e-04 9.99926610e-01 6.69693939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.911858064 meters Centerline goodness [0,1] 0.9999776361399978 Centerline is valid? [True, True] Translation: X:117.81, Y:153.46, Z:0.67 [[-4.09146361e-01 -9.12457781e-01 4.47811701e-03 1.17808529e+02] [ 9.12398583e-01 -4.09170832e-01 -1.03950275e-02 1.53460206e+02] [ 1.13173386e-02 -1.67260059e-04 9.99935943e-01 6.70456124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941858064 meters Centerline goodness [0,1] 0.9999776236294473 Centerline is valid? [True, True] Translation: X:117.80, Y:153.49, Z:0.67 [[-4.09831467e-01 -9.12150749e-01 4.37946556e-03 1.17797621e+02] [ 9.12094207e-01 -4.09854832e-01 -1.01574859e-02 1.53485353e+02] [ 1.10601035e-02 -1.68372197e-04 9.99938821e-01 6.71124359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.971858064 meters Centerline goodness [0,1] 0.9999553631210106 Centerline is valid? [True, True] Translation: X:117.79, Y:153.51, Z:0.67 [[-4.10599983e-01 -9.11805926e-01 4.19617061e-03 1.17786889e+02] [ 9.11754086e-01 -4.10621391e-01 -9.72420328e-03 1.53510517e+02] [ 1.05896236e-02 -1.66882003e-04 9.99943914e-01 6.71472601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:153.54, Z:0.67 [[-4.11757575e-01 -9.11284475e-01 4.03791057e-03 1.17776508e+02] [ 9.11236528e-01 -4.11777339e-01 -9.34956505e-03 1.53535643e+02] [ 1.01828335e-02 -1.70262622e-04 9.99948139e-01 6.71914784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.031858064 meters Centerline goodness [0,1] 0.9999777039530892 Centerline is valid? [True, True] Translation: X:117.77, Y:153.56, Z:0.67 [[-4.12065610e-01 -9.11145667e-01 3.93789480e-03 1.17768101e+02] [ 9.11100138e-01 -4.12084392e-01 -9.11001551e-03 1.53561030e+02] [ 9.92329614e-03 -1.66107601e-04 9.99950749e-01 6.71259805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:153.59, Z:0.67 [[-4.12515782e-01 -9.10941847e-01 3.95996126e-03 1.17754584e+02] [ 9.10895872e-01 -4.12534754e-01 -9.15356104e-03 1.53585874e+02] [ 9.97198344e-03 -1.68876018e-04 9.99950264e-01 6.72581832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:153.61, Z:0.67 [[-4.12600073e-01 -9.10903864e-01 3.91535211e-03 1.17744771e+02] [ 9.10858989e-01 -4.12618617e-01 -9.04319795e-03 1.53611002e+02] [ 9.85303113e-03 -1.64890476e-04 9.99951444e-01 6.72515532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:153.64, Z:0.67 [[-4.11344897e-01 -9.11471866e-01 3.79636620e-03 1.17732556e+02] [ 9.11429767e-01 -4.11362390e-01 -8.76149957e-03 1.53636046e+02] [ 9.54754264e-03 -1.43876982e-04 9.99954411e-01 6.73567201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:153.66, Z:0.67 [[-4.10603438e-01 -9.11805525e-01 3.93710131e-03 1.17720631e+02] [ 9.11760333e-01 -4.10622290e-01 -9.07910680e-03 1.53661818e+02] [ 9.89504130e-03 -1.38219665e-04 9.99951033e-01 6.74014272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.71, Y:153.69, Z:0.67 [[-4.09498072e-01 -9.12302376e-01 3.96271253e-03 1.17710284e+02] [ 9.12256690e-01 -4.09517226e-01 -9.13087523e-03 1.53686575e+02] [ 9.95291822e-03 -1.24064792e-04 9.99950461e-01 6.73636135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:153.71, Z:0.67 [[-4.06666091e-01 -9.13568783e-01 3.84308078e-03 1.17695391e+02] [ 9.13525936e-01 -4.06684240e-01 -8.84834368e-03 1.53710870e+02] [ 9.64649096e-03 -8.75673648e-05 9.99953468e-01 6.74583603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:153.74, Z:0.67 [[-4.05384467e-01 -9.14138106e-01 3.86739990e-03 1.17683608e+02] [ 9.14094810e-01 -4.05402908e-01 -8.89724236e-03 1.53735708e+02] [ 9.70116344e-03 -7.16336779e-05 9.99952940e-01 6.74844184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:153.76, Z:0.67 [[-4.04106942e-01 -9.14703926e-01 3.78260879e-03 1.17672412e+02] [ 9.14662597e-01 -4.04124641e-01 -8.69525540e-03 1.53760725e+02] [ 9.48222967e-03 -5.40022916e-05 9.99955041e-01 6.74726794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.301858064 meters Centerline goodness [0,1] 0.999933110367893 Centerline is valid? [True, True] Translation: X:117.66, Y:153.79, Z:0.67 [[-4.02137481e-01 -9.15570036e-01 4.11769844e-03 1.17661302e+02] [ 9.15521190e-01 -4.02158560e-01 -9.45741664e-03 1.53785370e+02] [ 1.03148950e-02 -3.33415241e-05 9.99946800e-01 6.74955883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:153.81, Z:0.68 [[-4.01769998e-01 -9.15730948e-01 4.20706339e-03 1.17649828e+02] [ 9.15680049e-01 -4.01792024e-01 -9.65492657e-03 1.53810910e+02] [ 1.05316796e-02 -2.67358227e-05 9.99944540e-01 6.75154942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:153.83, Z:0.67 [[-4.00956374e-01 -9.16087291e-01 4.24993230e-03 1.17638606e+02] [ 9.16035459e-01 -4.00978897e-01 -9.74488419e-03 1.53834543e+02] [ 1.06312977e-02 -1.41847472e-05 9.99943486e-01 6.74490760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:153.86, Z:0.67 [[-3.98841654e-01 -9.17010284e-01 4.18013373e-03 1.17625376e+02] [ 9.16960273e-01 -3.98863558e-01 -9.57708013e-03 1.53859878e+02] [ 1.04495840e-02 1.32780873e-05 9.99945402e-01 6.74946579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:153.88, Z:0.68 [[-3.98326273e-01 -9.17234102e-01 4.21699197e-03 1.17614344e+02] [ 9.17183298e-01 -3.98348594e-01 -9.65379412e-03 1.53884297e+02] [ 1.05346220e-02 2.23947672e-05 9.99944509e-01 6.75197256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.60, Y:153.91, Z:0.68 [[-3.98408769e-01 -9.17198705e-01 4.12171465e-03 1.17603635e+02] [ 9.17150253e-01 -3.98430088e-01 -9.42758196e-03 1.53908479e+02] [ 1.02891811e-02 2.42003151e-05 9.99947065e-01 6.75367102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:153.93, Z:0.68 [[-3.99028845e-01 -9.16930173e-01 3.87810487e-03 1.17593126e+02] [ 9.16887338e-01 -3.99047689e-01 -8.86286700e-03 1.53933346e+02] [ 9.67417895e-03 1.92456734e-05 9.99953204e-01 6.75909606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:153.96, Z:0.68 [[-3.99314547e-01 -9.16805776e-01 3.88086983e-03 1.17582294e+02] [ 9.16762948e-01 -3.99333405e-01 -8.86165645e-03 1.53957829e+02] [ 9.67417878e-03 1.92493290e-05 9.99953204e-01 6.76000524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:153.98, Z:0.68 [[-4.00338336e-01 -9.16358578e-01 4.02164373e-03 1.17572207e+02] [ 9.16312645e-01 -4.00358536e-01 -9.17498258e-03 1.53982208e+02] [ 1.00176734e-02 1.19857417e-05 9.99949822e-01 6.75557479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:154.01, Z:0.68 [[-4.00312110e-01 -9.16369618e-01 4.11563491e-03 1.17560173e+02] [ 9.16321591e-01 -4.00333266e-01 -9.38181227e-03 1.54007888e+02] [ 1.02448333e-02 1.55920626e-05 9.99947520e-01 6.76091709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601858064 meters Centerline goodness [0,1] 0.9999777386968233 Centerline is valid? [True, True] Translation: X:117.55, Y:154.03, Z:0.68 [[-4.00635197e-01 -9.16226445e-01 4.53219443e-03 1.17548305e+02] [ 9.16168278e-01 -4.00660832e-01 -1.03240170e-02 1.54030998e+02] [ 1.12750102e-02 1.60881627e-05 9.99936435e-01 6.75699467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.631858064 meters Centerline goodness [0,1] 0.9999776376403238 Centerline is valid? [True, True] Translation: X:117.54, Y:154.06, Z:0.68 [[-4.01601191e-01 -9.15802207e-01 4.77509277e-03 1.17537516e+02] [ 9.15737712e-01 -4.01629578e-01 -1.08685594e-02 1.54056284e+02] [ 1.18712691e-02 7.90614447e-06 9.99929534e-01 6.75528222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:154.08, Z:0.68 [[-4.02830336e-01 -9.15261319e-01 4.94350263e-03 1.17527144e+02] [ 9.15192272e-01 -4.02860668e-01 -1.12422732e-02 1.54081164e+02] [ 1.22811606e-02 -4.47327511e-06 9.99924584e-01 6.75457857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:154.11, Z:0.68 [[-4.03755048e-01 -9.14853328e-01 5.02491283e-03 1.17515977e+02] [ 9.14782076e-01 -4.03786315e-01 -1.14177629e-02 1.54105871e+02] [ 1.24745694e-02 -1.32792134e-05 9.99922189e-01 6.75770337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721858064 meters Centerline goodness [0,1] 0.9999553352092545 Centerline is valid? [True, True] Translation: X:117.51, Y:154.13, Z:0.68 [[-4.05682275e-01 -9.13997798e-01 5.46968456e-03 1.17506597e+02] [ 9.13913445e-01 -4.05719144e-01 -1.24173518e-02 1.54130694e+02] [ 1.35685880e-02 -3.86812781e-05 9.99907942e-01 6.75664700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:154.16, Z:0.68 [[-4.06033911e-01 -9.13841393e-01 5.51107842e-03 1.17495183e+02] [ 9.13755889e-01 -4.06071309e-01 -1.25007110e-02 1.54155788e+02] [ 1.36615580e-02 -3.99322283e-05 9.99906676e-01 6.76363603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:154.18, Z:0.68 [[-4.06421929e-01 -9.13668782e-01 5.52917162e-03 1.17482909e+02] [ 9.13582834e-01 -4.06459536e-01 -1.25320058e-02 1.54181193e+02] [ 1.36974870e-02 -4.19256885e-05 9.99906184e-01 6.77420885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:154.21, Z:0.68 [[-4.06991519e-01 -9.13413427e-01 5.81511428e-03 1.17472374e+02] [ 9.13318478e-01 -4.07033057e-01 -1.31699670e-02 1.54207141e+02] [ 1.43965685e-02 -4.90135586e-05 9.99896363e-01 6.77570706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841858064 meters Centerline goodness [0,1] 0.9999776251314524 Centerline is valid? [True, True] Translation: X:117.46, Y:154.23, Z:0.68 [[-4.08029208e-01 -9.12948557e-01 6.09077556e-03 1.17461570e+02] [ 9.12844501e-01 -4.08074659e-01 -1.37836682e-02 1.54233569e+02] [ 1.50692711e-02 -6.42082218e-05 9.99886450e-01 6.77392864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:154.26, Z:0.68 [[-4.08477357e-01 -9.12750445e-01 5.73360567e-03 1.17450155e+02] [ 9.12658354e-01 -4.08517590e-01 -1.29656302e-02 1.54258744e+02] [ 1.41766635e-02 -6.33432624e-05 9.99899504e-01 6.78333223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90185806399998 meters Centerline goodness [0,1] 0.9999331163329915 Centerline is valid? [True, True] Translation: X:117.44, Y:154.28, Z:0.68 [[-4.08249493e-01 -9.12854130e-01 5.44876945e-03 1.17439535e+02] [ 9.12771101e-01 -4.08285849e-01 -1.23119278e-02 1.54283758e+02] [ 1.34636496e-02 -5.28589678e-05 9.99909360e-01 6.79366774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93185806399998 meters Centerline goodness [0,1] 0.9999776860426196 Centerline is valid? [True, True] Translation: X:117.43, Y:154.31, Z:0.68 [[-4.07727078e-01 -9.13089156e-01 5.17908671e-03 1.17428318e+02] [ 9.13014263e-01 -4.07759968e-01 -1.16946035e-02 1.54307882e+02] [ 1.27900398e-02 -3.96264671e-05 9.99918203e-01 6.80465949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:154.33, Z:0.68 [[-4.05916567e-01 -9.13895634e-01 5.14887127e-03 1.17417110e+02] [ 9.13821784e-01 -4.05949221e-01 -1.16179288e-02 1.54333748e+02] [ 1.27077547e-02 -1.07590580e-05 9.99919253e-01 6.81951399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:154.36, Z:0.68 [[-4.05321566e-01 -9.14159283e-01 5.21854200e-03 1.17407544e+02] [ 9.14083573e-01 -4.05355159e-01 -1.17650452e-02 1.54357724e+02] [ 1.28704883e-02 1.55695561e-06 9.99917172e-01 6.81649604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02185806399999 meters Centerline goodness [0,1] 0.9999552592725157 Centerline is valid? [True, True] Translation: X:117.40, Y:154.38, Z:0.68 [[-4.04831437e-01 -9.14377119e-01 5.09828687e-03 1.17397135e+02] [ 9.14304995e-01 -4.04863539e-01 -1.14843701e-02 1.54382768e+02] [ 1.25651557e-02 1.21551061e-05 9.99921055e-01 6.82029747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:154.41, Z:0.68 [[-4.01998299e-01 -9.15627705e-01 4.82430426e-03 1.17383805e+02] [ 9.15563320e-01 -4.02027242e-01 -1.08583409e-02 1.54406981e+02] [ 1.18816995e-02 5.19214555e-05 9.99929409e-01 6.84101858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:154.43, Z:0.68 [[-4.00763004e-01 -9.16168002e-01 5.02058892e-03 1.17370150e+02] [ 9.16098432e-01 -4.00794444e-01 -1.12905767e-02 1.54430490e+02] [ 1.23562893e-02 7.45081751e-05 9.99923655e-01 6.83156293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:154.45, Z:0.68 [[-3.98753756e-01 -9.17040243e-01 5.71276355e-03 1.17356800e+02] [ 9.16950371e-01 -3.98794658e-01 -1.28389470e-02 1.54453698e+02] [ 1.40520507e-02 1.18742312e-04 9.99901258e-01 6.81698794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.141858064 meters Centerline goodness [0,1] 0.9999775855112745 Centerline is valid? [True, True] Translation: X:117.35, Y:154.48, Z:0.68 [[-3.98620352e-01 -9.17097566e-01 5.81979023e-03 1.17345122e+02] [ 9.17004445e-01 -3.98662814e-01 -1.30693512e-02 1.54478470e+02] [ 1.43060041e-02 1.27064149e-04 9.99897656e-01 6.82584205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.33, Y:154.50, Z:0.68 [[-3.98591819e-01 -9.17111089e-01 5.64025758e-03 1.17333853e+02] [ 9.17023774e-01 -3.98631703e-01 -1.26555970e-02 1.54503623e+02] [ 1.38549738e-02 1.27832854e-04 9.99904007e-01 6.83446853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:154.53, Z:0.68 [[-3.98700734e-01 -9.17064215e-01 5.56328603e-03 1.17322043e+02] [ 9.16979411e-01 -3.98739525e-01 -1.24720517e-02 1.54527245e+02] [ 1.36559743e-02 1.28802586e-04 9.99906745e-01 6.83472112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:154.55, Z:0.69 [[-3.98821902e-01 -9.17011973e-01 5.48928871e-03 1.17311226e+02] [ 9.16929534e-01 -3.98859656e-01 -1.22965378e-02 1.54552916e+02] [ 1.34655282e-02 1.29162320e-04 9.99909327e-01 6.85940342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.261858064 meters Centerline goodness [0,1] 0.999977561369654 Centerline is valid? [True, True] Translation: X:117.30, Y:154.58, Z:0.69 [[-3.98992625e-01 -9.16936407e-01 5.70180342e-03 1.17299562e+02] [ 9.16847590e-01 -3.99033341e-01 -1.27627878e-02 1.54578549e+02] [ 1.39778744e-02 1.35426529e-04 9.99902296e-01 6.86113386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:154.60, Z:0.69 [[-3.99510115e-01 -9.16710792e-01 5.74387323e-03 1.17287688e+02] [ 9.16620780e-01 -3.99551382e-01 -1.28467294e-02 1.54603219e+02] [ 1.40717080e-02 1.32555221e-04 9.99900980e-01 6.85665465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:154.63, Z:0.68 [[-4.00049473e-01 -9.16473424e-01 6.07308022e-03 1.17275035e+02] [ 9.16372929e-01 -4.00095545e-01 -1.35724037e-02 1.54628615e+02] [ 1.48685597e-02 1.35573341e-04 9.99889448e-01 6.84697115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:154.65, Z:0.68 [[-4.00645036e-01 -9.16214016e-01 5.95253440e-03 1.17262684e+02] [ 9.16117588e-01 -4.00689233e-01 -1.32929630e-02 1.54654323e+02] [ 1.45643155e-02 1.27461820e-04 9.99893927e-01 6.84358908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381858064 meters Centerline goodness [0,1] 0.9999103078682423 Centerline is valid? [True, True] Translation: X:117.25, Y:154.68, Z:0.68 [[-4.01861598e-01 -9.15679501e-01 6.18936762e-03 1.17251158e+02] [ 9.15575343e-01 -4.01909242e-01 -1.38113264e-02 1.54679759e+02] [ 1.51343125e-02 1.16590666e-04 9.99885463e-01 6.83961779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:154.71, Z:0.68 [[-4.02214228e-01 -9.15525227e-01 6.10523808e-03 1.17239758e+02] [ 9.15424016e-01 -4.02260545e-01 -1.36133853e-02 1.54705103e+02] [ 1.49192941e-02 1.13384303e-04 9.99888695e-01 6.84630655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:154.73, Z:0.69 [[-4.02643601e-01 -9.15338191e-01 5.84179503e-03 1.17228256e+02] [ 9.15245658e-01 -4.02685963e-01 -1.30154254e-02 1.54729276e+02] [ 1.42659248e-02 1.06099788e-04 9.99898231e-01 6.85231004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:154.75, Z:0.69 [[-4.02437943e-01 -9.15429235e-01 5.74604685e-03 1.17216519e+02] [ 9.15339859e-01 -4.02478947e-01 -1.27921578e-02 1.54754269e+02] [ 1.40229781e-02 1.11536052e-04 9.99901667e-01 6.86679186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:154.78, Z:0.69 [[-4.02180506e-01 -9.15540079e-01 6.09960677e-03 1.17204659e+02] [ 9.15439540e-01 -4.02226738e-01 -1.35683691e-02 1.54778501e+02] [ 1.48758107e-02 1.26887646e-04 9.99889341e-01 6.86323591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:154.80, Z:0.69 [[-4.01741170e-01 -9.15730540e-01 6.45065825e-03 1.17192079e+02] [ 9.15618293e-01 -4.01792929e-01 -1.43382044e-02 1.54803802e+02] [ 1.57217606e-02 1.46093659e-04 9.99876395e-01 6.85636107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561858064 meters Centerline goodness [0,1] 0.9999776710952328 Centerline is valid? [True, True] Translation: X:117.18, Y:154.83, Z:0.69 [[-4.01167020e-01 -9.15981640e-01 6.53124698e-03 1.17179508e+02] [ 9.15866778e-01 -4.01220150e-01 -1.45064363e-02 1.54828559e+02] [ 1.59080972e-02 1.62248286e-04 9.99873445e-01 6.85174682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:154.85, Z:0.68 [[-4.00682400e-01 -9.16190226e-01 7.00607197e-03 1.17166379e+02] [ 9.16058286e-01 -4.00743603e-01 -1.55493021e-02 1.54853424e+02] [ 1.70537571e-02 1.87638619e-04 9.99854557e-01 6.84511357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:154.88, Z:0.68 [[-4.00431291e-01 -9.16300249e-01 6.97389136e-03 1.17154063e+02] [ 9.16169759e-01 -4.00491967e-01 -1.54647424e-02 1.54876848e+02] [ 1.69633348e-02 1.96701600e-04 9.99856093e-01 6.84442499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:154.90, Z:0.68 [[-3.99656633e-01 -9.16640212e-01 6.73036170e-03 1.17140644e+02] [ 9.16518928e-01 -3.99713246e-01 -1.49123023e-02 1.54900418e+02] [ 1.63594306e-02 2.08703368e-04 9.99866154e-01 6.84537545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:154.92, Z:0.68 [[-3.99417469e-01 -9.16745311e-01 6.61221727e-03 1.17128424e+02] [ 9.16628455e-01 -3.99472139e-01 -1.46385191e-02 1.54924677e+02] [ 1.60611903e-02 2.14066244e-04 9.99870988e-01 6.84886031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71185806399998 meters Centerline goodness [0,1] 0.9999776401404199 Centerline is valid? [True, True] Translation: X:117.12, Y:154.95, Z:0.69 [[-3.99981975e-01 -9.16499690e-01 6.53737825e-03 1.17117092e+02] [ 9.16385620e-01 -4.00035342e-01 -1.44610172e-02 1.54949046e+02] [ 1.58687002e-02 2.06613181e-04 9.99874063e-01 6.85432438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:154.98, Z:0.69 [[-4.01483320e-01 -9.15845503e-01 6.17720294e-03 1.17107330e+02] [ 9.15743733e-01 -4.01530800e-01 -1.36540303e-02 1.54975871e+02] [ 1.49853195e-02 1.74869468e-04 9.99887699e-01 6.87041664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:155.00, Z:0.69 [[-4.02701942e-01 -9.15310124e-01 6.20667516e-03 1.17096323e+02] [ 9.15207472e-01 -4.02749738e-01 -1.37088338e-02 1.55002050e+02] [ 1.50475712e-02 1.59821480e-04 9.99886766e-01 6.87191516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:155.03, Z:0.69 [[-4.03005176e-01 -9.15177597e-01 6.06589051e-03 1.17084175e+02] [ 9.15079688e-01 -4.03050794e-01 -1.33873935e-02 1.55026801e+02] [ 1.46967046e-02 1.55584322e-04 9.99891986e-01 6.87159042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:155.05, Z:0.69 [[-4.03677865e-01 -9.14880991e-01 6.07889939e-03 1.17072946e+02] [ 9.14782778e-01 -4.03723606e-01 -1.34059759e-02 1.55052132e+02] [ 1.47190677e-02 1.49176735e-04 9.99891658e-01 6.85911082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:155.08, Z:0.69 [[-4.04932456e-01 -9.14325817e-01 6.16497335e-03 1.17063173e+02] [ 9.14224909e-01 -4.04979361e-01 -1.35842974e-02 1.55076306e+02] [ 1.49171608e-02 1.35449294e-04 9.99888724e-01 6.85032854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:155.10, Z:0.68 [[-4.07035556e-01 -9.13389596e-01 6.44220909e-03 1.17054679e+02] [ 9.13279477e-01 -4.07086519e-01 -1.41831967e-02 1.55102598e+02] [ 1.55773208e-02 1.10471969e-04 9.99878660e-01 6.84146408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:155.13, Z:0.68 [[-4.07670919e-01 -9.13110876e-01 5.74020344e-03 1.17043725e+02] [ 9.13023568e-01 -4.07711319e-01 -1.26271485e-02 1.55126257e+02] [ 1.38703325e-02 9.32198058e-05 9.99903798e-01 6.84319657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.951858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:155.15, Z:0.68 [[-4.09971623e-01 -9.12079920e-01 5.78692466e-03 1.17036537e+02] [ 9.11991202e-01 -4.10012458e-01 -1.27213185e-02 1.55151763e+02] [ 1.39755704e-02 6.22447818e-05 9.99902335e-01 6.84079681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.981858064 meters Centerline goodness [0,1] 0.9999328423361913 Centerline is valid? [True, True] Translation: X:117.03, Y:155.18, Z:0.69 [[-4.10315833e-01 -9.11928897e-01 5.15794793e-03 1.17025386e+02] [ 9.11858510e-01 -4.10348247e-01 -1.13302340e-02 1.55176424e+02] [ 1.24489227e-02 5.43443189e-05 9.99922508e-01 6.85892572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:155.20, Z:0.69 [[-4.12876512e-01 -9.10775450e-01 4.58978816e-03 1.17016587e+02] [ 9.10719733e-01 -4.12902023e-01 -1.00741449e-02 1.55202109e+02] [ 1.10704166e-02 2.06328572e-05 9.99938721e-01 6.85590022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:155.23, Z:0.69 [[-4.12293298e-01 -9.11041678e-01 4.15904703e-03 1.17004942e+02] [ 9.10996018e-01 -4.12314274e-01 -9.12115289e-03 1.55225838e+02] [ 1.00245849e-02 2.82850816e-05 9.99949752e-01 6.86437127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.071858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:155.25, Z:0.69 [[-4.10847544e-01 -9.11696994e-01 3.58985126e-03 1.16992202e+02] [ 9.11663055e-01 -4.10863226e-01 -7.86665659e-03 1.55250158e+02] [ 8.64694503e-03 4.07382269e-05 9.99962614e-01 6.86390476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:155.28, Z:0.69 [[-4.11715666e-01 -9.11305841e-01 3.44603931e-03 1.16983742e+02] [ 9.11274600e-01 -4.11730086e-01 -7.54579398e-03 1.55277490e+02] [ 8.29536419e-03 3.35665026e-05 9.99965592e-01 6.86915522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:155.30, Z:0.69 [[-4.11830784e-01 -9.11255798e-01 2.87665496e-03 1.16971626e+02] [ 9.11234058e-01 -4.11840830e-01 -6.29472262e-03 1.55302469e+02] [ 6.92082646e-03 2.89454152e-05 9.99976050e-01 6.87075107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:155.33, Z:0.69 [[-4.11978673e-01 -9.11189719e-01 2.62085830e-03 1.16960416e+02] [ 9.11171699e-01 -4.11987008e-01 -5.73059082e-03 1.55326637e+02] [ 6.30141501e-03 2.71707080e-05 9.99980146e-01 6.86902840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:155.35, Z:0.69 [[-4.13461391e-01 -9.10517715e-01 2.67760097e-03 1.16951475e+02] [ 9.10498925e-01 -4.13470060e-01 -5.84951413e-03 1.55351477e+02] [ 6.43319407e-03 1.94045551e-05 9.99979307e-01 6.86411038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:155.38, Z:0.69 [[-4.14495990e-01 -9.10048286e-01 2.27850081e-03 1.16941309e+02] [ 9.10034694e-01 -4.14502252e-01 -4.97377674e-03 1.55376041e+02] [ 5.47082071e-03 1.19042809e-05 9.99985035e-01 6.87041380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:155.40, Z:0.69 [[-4.15034932e-01 -9.09802793e-01 2.20961111e-03 1.16931492e+02] [ 9.09790029e-01 -4.15040814e-01 -4.81943277e-03 1.55400513e+02] [ 5.30181219e-03 1.00492000e-05 9.99985945e-01 6.86794870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281858064 meters Centerline goodness [0,1] 0.9999551690128217 Centerline is valid? [True, True] Translation: X:116.92, Y:155.42, Z:0.69 [[-4.14892094e-01 -9.09869066e-01 1.68320775e-03 1.16918646e+02] [ 9.09861669e-01 -4.14895508e-01 -3.66885929e-03 1.55424765e+02] [ 4.03653691e-03 9.30549949e-06 9.99991853e-01 6.87090332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:155.45, Z:0.69 [[-4.15352392e-01 -9.09659083e-01 1.65621976e-03 1.16907481e+02] [ 9.09651931e-01 -4.15355694e-01 -3.60720794e-03 1.55450813e+02] [ 3.96924978e-03 8.32105575e-06 9.99992122e-01 6.86744651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:155.48, Z:0.69 [[-4.16229733e-01 -9.09257248e-01 2.01665290e-03 1.16896030e+02] [ 9.09246657e-01 -4.16234618e-01 -4.38848455e-03 1.55476752e+02] [ 4.82966213e-03 7.01715856e-06 9.99988337e-01 6.85512951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:155.50, Z:0.68 [[-4.18018317e-01 -9.08435531e-01 2.36086620e-03 1.16886595e+02] [ 9.08421026e-01 -4.18024983e-01 -5.13356144e-03 1.55500995e+02] [ 5.65041066e-03 -1.26221275e-06 9.99984036e-01 6.84543810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:155.53, Z:0.68 [[-4.19533212e-01 -9.07737024e-01 2.31926189e-03 1.16875058e+02] [ 9.07723035e-01 -4.19539623e-01 -5.03955692e-03 1.55526117e+02] [ 5.54761466e-03 -9.01405887e-06 9.99984612e-01 6.83807229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:155.55, Z:0.68 [[-4.19815385e-01 -9.07606554e-01 2.32082943e-03 1.16863764e+02] [ 9.07592566e-01 -4.19821800e-01 -5.03883504e-03 1.55550391e+02] [ 5.54761450e-03 -9.01293362e-06 9.99984612e-01 6.83898145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:155.57, Z:0.68 [[-4.22372868e-01 -9.06419607e-01 2.15801362e-03 1.16855017e+02] [ 9.06407517e-01 -4.22378380e-01 -4.68162685e-03 1.55574805e+02] [ 5.15501666e-03 -2.13523862e-05 9.99986713e-01 6.83795376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:155.60, Z:0.68 [[-4.25196657e-01 -9.05098766e-01 2.00659567e-03 1.16845038e+02] [ 9.05088315e-01 -4.25201391e-01 -4.34966964e-03 1.55600029e+02] [ 4.79008789e-03 -3.33187003e-05 9.99988527e-01 6.84878579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:155.63, Z:0.68 [[-4.27889009e-01 -9.03829188e-01 1.94799068e-03 1.16834533e+02] [ 9.03819340e-01 -4.27893440e-01 -4.21942529e-03 1.55626343e+02] [ 4.64717217e-03 -4.48140565e-05 9.99989201e-01 6.84725209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:155.65, Z:0.68 [[-4.31724589e-01 -9.02003706e-01 1.78703180e-03 1.16824938e+02] [ 9.01995414e-01 -4.31728283e-01 -3.86817426e-03 1.55652178e+02] [ 4.26061969e-03 -5.80914551e-05 9.99990922e-01 6.84835405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:155.68, Z:0.68 [[-4.35364069e-01 -9.00253073e-01 1.59102757e-03 1.16813979e+02] [ 9.00246497e-01 -4.35366971e-01 -3.44158212e-03 1.55677793e+02] [ 3.79097574e-03 -6.60241995e-05 9.99992812e-01 6.84710976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.611858064 meters Centerline goodness [0,1] 0.999955000562493 Centerline is valid? [True, True] Translation: X:116.80, Y:155.70, Z:0.69 [[-4.37694199e-01 -8.99122732e-01 1.44971160e-03 1.16802933e+02] [ 8.99117273e-01 -4.37696594e-01 -3.13380771e-03 1.55704047e+02] [ 3.45221158e-03 -6.81887149e-05 9.99994039e-01 6.85117795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:155.73, Z:0.68 [[-4.40617330e-01 -8.97693810e-01 1.48035393e-03 1.16794642e+02] [ 8.97688119e-01 -4.40619810e-01 -3.19766978e-03 1.55730366e+02] [ 3.52280164e-03 -8.00525876e-05 9.99993792e-01 6.84721522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:155.76, Z:0.68 [[-4.45894238e-01 -8.95083741e-01 1.85075874e-03 1.16784323e+02] [ 8.95074838e-01 -4.45898062e-01 -3.99411231e-03 1.55756200e+02] [ 4.40031472e-03 -1.24384090e-04 9.99990311e-01 6.83317491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.701858064 meters Centerline goodness [0,1] 0.9999775669067008 Centerline is valid? [True, True] Translation: X:116.77, Y:155.78, Z:0.68 [[-4.48221283e-01 -8.93920749e-01 1.83739667e-03 1.16773973e+02] [ 8.93911978e-01 -4.48225029e-01 -3.96225132e-03 1.55781823e+02] [ 4.36550585e-03 -1.33494479e-04 9.99990462e-01 6.83695522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:155.81, Z:0.68 [[-4.51853284e-01 -8.92090463e-01 1.79339091e-03 1.16763038e+02] [ 8.92082104e-01 -4.51856819e-01 -3.86451331e-03 1.55807517e+02] [ 4.25785138e-03 -1.46341091e-04 9.99990925e-01 6.84042536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.761858064 meters Centerline goodness [0,1] 0.9999775507913347 Centerline is valid? [True, True] Translation: X:116.75, Y:155.83, Z:0.68 [[-4.57209284e-01 -8.89357452e-01 1.72998099e-03 1.16754338e+02] [ 8.89349666e-01 -4.57212527e-01 -3.72520925e-03 1.55833594e+02] [ 4.10401159e-03 -1.64642239e-04 9.99991565e-01 6.84050965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.791858064 meters Centerline goodness [0,1] 0.9998883180701362 Centerline is valid? [True, True] Translation: X:116.75, Y:155.86, Z:0.68 [[-4.59564446e-01 -8.88142985e-01 1.59961997e-03 1.16746051e+02] [ 8.88136329e-01 -4.59567202e-01 -3.44204640e-03 1.55859200e+02] [ 3.79216224e-03 -1.61161537e-04 9.99992797e-01 6.84131041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821858064 meters Centerline goodness [0,1] 0.999910229363975 Centerline is valid? [True, True] Translation: X:116.73, Y:155.88, Z:0.68 [[-4.62648506e-01 -8.86540775e-01 1.34715891e-03 1.16734459e+02] [ 8.86536053e-01 -4.62650444e-01 -2.89727429e-03 1.55884531e+02] [ 3.19181546e-03 -1.46114681e-04 9.99994895e-01 6.84369970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.851858064 meters Centerline goodness [0,1] 0.9998652835780681 Centerline is valid? [True, True] Translation: X:116.72, Y:155.91, Z:0.69 [[-4.65871136e-01 -8.84852109e-01 9.10739040e-04 1.16724399e+02] [ 8.84849949e-01 -4.65872014e-01 -1.95804758e-03 1.55909663e+02] [ 2.15687036e-03 -1.06330456e-04 9.99997668e-01 6.85552613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881858064 meters Centerline goodness [0,1] 0.9997985630833277 Centerline is valid? [True, True] Translation: X:116.71, Y:155.94, Z:0.69 [[-4.67603469e-01 -8.83937971e-01 8.12013701e-04 1.16714981e+02] [ 8.83936255e-01 -4.67604164e-01 -1.74463797e-03 1.55936303e+02] [ 1.92185273e-03 -9.80304160e-05 9.99998148e-01 6.85295039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.911858064 meters Centerline goodness [0,1] 0.9997976072681479 Centerline is valid? [True, True] Translation: X:116.71, Y:155.96, Z:0.69 [[-4.69986972e-01 -8.82672875e-01 9.17426242e-04 1.16705477e+02] [ 8.82670685e-01 -4.69987854e-01 -1.96953425e-03 1.55962510e+02] [ 2.16963365e-03 -1.15870192e-04 9.99997640e-01 6.85094959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941858064 meters Centerline goodness [0,1] 0.9999324810947066 Centerline is valid? [True, True] Translation: X:116.69, Y:155.99, Z:0.69 [[-4.72667518e-01 -8.81240549e-01 7.15798407e-04 1.16693047e+02] [ 8.81239215e-01 -4.72668050e-01 -1.53607133e-03 1.55986976e+02] [ 1.69198338e-03 -9.52613969e-05 9.99998564e-01 6.85572588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.971858064 meters Centerline goodness [0,1] 0.9999324339541902 Centerline is valid? [True, True] Translation: X:116.68, Y:156.01, Z:0.69 [[-4.73292502e-01 -8.80905265e-01 3.48218817e-04 1.16680992e+02] [ 8.80904949e-01 -4.73292628e-01 -7.47751083e-04 1.56012464e+02] [ 8.23507265e-04 -4.71573017e-05 9.99999660e-01 6.85762015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:156.04, Z:0.69 [[-4.73741401e-01 -8.80663871e-01 4.81668505e-04 1.16669446e+02] [ 8.80663267e-01 -4.73741641e-01 -1.03297326e-03 1.56036944e+02] [ 1.13788866e-03 -6.51744422e-05 9.99999350e-01 6.85866026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.031858064 meters Centerline goodness [0,1] 0.9998653349792391 Centerline is valid? [True, True] Translation: X:116.66, Y:156.06, Z:0.69 [[-4.72137006e-01 -8.81525145e-01 2.56620023e-04 1.16657534e+02] [ 8.81524974e-01 -4.72137075e-01 -5.50908310e-04 1.56061504e+02] [ 6.06799355e-04 -3.38872412e-05 9.99999815e-01 6.86115954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061858064 meters Centerline goodness [0,1] 0.999954987396471 Centerline is valid? [True, True] Translation: X:116.64, Y:156.09, Z:0.69 [[-4.71753795e-01 -8.81730275e-01 2.80921295e-04 1.16643574e+02] [ 8.81730070e-01 -4.71753877e-01 -6.02337544e-04 1.56086410e+02] [ 6.63624958e-04 -3.64582689e-05 9.99999779e-01 6.85645435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.091858064 meters Centerline goodness [0,1] 0.99990995047276 Centerline is valid? [True, True] Translation: X:116.63, Y:156.11, Z:0.69 [[-4.71308888e-01 -8.81968107e-01 4.35682120e-04 1.16634544e+02] [ 8.81967616e-01 -4.71309086e-01 -9.32286194e-04 1.56111943e+02] [ 1.02758763e-03 -5.51372482e-05 9.99999471e-01 6.85122716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:156.14, Z:0.68 [[-4.68882135e-01 -8.83260610e-01 4.89194656e-04 1.16618426e+02] [ 8.83259992e-01 -4.68882386e-01 -1.04592251e-03 1.56135082e+02] [ 1.15319692e-03 -5.83283128e-05 9.99999333e-01 6.84627882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15185806399998 meters Centerline goodness [0,1] 0.9999774617413059 Centerline is valid? [True, True] Translation: X:116.61, Y:156.16, Z:0.69 [[-4.68551164e-01 -8.83436149e-01 6.14225757e-04 1.16607929e+02] [ 8.83435178e-01 -4.68551561e-01 -1.31159118e-03 1.56160007e+02] [ 1.44650350e-03 -7.19189362e-05 9.99998951e-01 6.85247689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18185806399998 meters Centerline goodness [0,1] 0.9999774947112572 Centerline is valid? [True, True] Translation: X:116.60, Y:156.18, Z:0.69 [[-4.66732654e-01 -8.84398404e-01 3.04003818e-04 1.16595563e+02] [ 8.84398166e-01 -4.66732752e-01 -6.49829340e-04 1.56184253e+02] [ 7.16596570e-04 -3.44361536e-05 9.99999743e-01 6.85654443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21185806399998 meters Centerline goodness [0,1] 0.9999328633769722 Centerline is valid? [True, True] Translation: X:116.59, Y:156.21, Z:0.69 [[-4.64849403e-01 -8.85389753e-01 1.32050854e-04 1.16588143e+02] [ 8.85389708e-01 -4.64849422e-01 -2.83020090e-04 1.56210181e+02] [ 3.11966851e-04 -1.46452529e-05 9.99999951e-01 6.86728448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24185806399998 meters Centerline goodness [0,1] 0.999955005624297 Centerline is valid? [True, True] Translation: X:116.58, Y:156.24, Z:0.69 [[-4.64326453e-01 -8.85664092e-01 -2.45812700e-04 1.16575685e+02] [ 8.85663939e-01 -4.64326518e-01 5.20904465e-04 1.56235591e+02] [-5.75483735e-04 2.41622787e-05 9.99999834e-01 6.87935500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27185806399999 meters Centerline goodness [0,1] 0.9999774739260694 Centerline is valid? [True, True] Translation: X:116.56, Y:156.26, Z:0.69 [[-4.64329762e-01 -8.85662364e-01 -2.21087213e-04 1.16563723e+02] [ 8.85662241e-01 -4.64329814e-01 4.67654426e-04 1.56259627e+02] [-5.16841310e-04 2.13372718e-05 9.99999866e-01 6.87444173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.301858064 meters Centerline goodness [0,1] 0.9999776296362579 Centerline is valid? [True, True] Translation: X:116.55, Y:156.28, Z:0.69 [[-4.62378663e-01 -8.86682454e-01 -4.44064485e-04 1.16551145e+02] [ 8.86681956e-01 -4.62378875e-01 9.40980645e-04 1.56283402e+02] [-1.03967706e-03 4.13454071e-05 9.99999459e-01 6.87141776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.331858064 meters Centerline goodness [0,1] 0.9999551207252491 Centerline is valid? [True, True] Translation: X:116.54, Y:156.31, Z:0.69 [[-4.62144756e-01 -8.86804497e-01 8.82862990e-05 1.16539689e+02] [ 8.86804477e-01 -4.62144764e-01 -1.89722393e-04 1.56307905e+02] [ 2.09047722e-04 -9.38652375e-06 9.99999978e-01 6.86554933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:156.33, Z:0.69 [[-4.61322595e-01 -8.87232472e-01 -5.79755288e-05 1.16526939e+02] [ 8.87232464e-01 -4.61322598e-01 1.20662994e-04 1.56332186e+02] [-1.33801549e-04 4.22679444e-06 9.99999991e-01 6.85831898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:156.36, Z:0.69 [[-4.59911360e-01 -8.87964827e-01 8.44081094e-05 1.16512753e+02] [ 8.87964808e-01 -4.59911368e-01 -1.81064286e-04 1.56356781e+02] [ 1.99598966e-04 -8.32209144e-06 9.99999980e-01 6.86038587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:156.38, Z:0.69 [[-4.59569661e-01 -8.88141726e-01 4.73815050e-05 1.16502135e+02] [ 8.88141720e-01 -4.59569663e-01 -1.02742408e-04 1.56381958e+02] [ 1.13024922e-04 -5.13580242e-06 9.99999994e-01 6.86950551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:156.41, Z:0.69 [[-4.58221827e-01 -8.88837850e-01 -1.84678443e-04 1.16488850e+02] [ 8.88837765e-01 -4.58221864e-01 3.88765160e-04 1.56406673e+02] [-4.30172889e-04 1.39915071e-05 9.99999907e-01 6.87508171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:156.43, Z:0.69 [[-4.56565746e-01 -8.89689634e-01 2.74146399e-04 1.16478047e+02] [ 8.89689444e-01 -4.56565828e-01 -5.81857051e-04 1.56431567e+02] [ 6.42838064e-04 -2.17508417e-05 9.99999793e-01 6.86886023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.46, Y:156.46, Z:0.69 [[-4.56137093e-01 -8.89909326e-01 5.85971900e-04 1.16464203e+02] [ 8.89908462e-01 -4.56137467e-01 -1.24087443e-03 1.56455112e+02] [ 1.37154947e-03 -4.45475045e-05 9.99999058e-01 6.86504881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.541858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:156.48, Z:0.69 [[-4.54798173e-01 -8.90594370e-01 5.38170807e-04 1.16452739e+02] [ 8.90593643e-01 -4.54798490e-01 -1.13876758e-03 1.56480127e+02] [ 1.25893927e-03 -3.86179179e-05 9.99999207e-01 6.86364383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:156.50, Z:0.69 [[-4.54635636e-01 -8.90677016e-01 9.44116848e-04 1.16440416e+02] [ 8.90674785e-01 -4.54636612e-01 -1.99482418e-03 1.56504806e+02] [ 2.20597414e-03 -6.60170920e-05 9.99997565e-01 6.85602155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:156.53, Z:0.68 [[-4.55026691e-01 -8.90476889e-01 1.27323600e-03 1.16430496e+02] [ 8.90472838e-01 -4.55028463e-01 -2.68739583e-03 1.56529417e+02] [ 2.97242250e-03 -8.90547561e-05 9.99995578e-01 6.84815632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:156.55, Z:0.69 [[-4.55567765e-01 -8.90200347e-01 1.16348530e-03 1.16417580e+02] [ 8.90196969e-01 -4.55569243e-01 -2.45399890e-03 1.56553207e+02] [ 2.71459879e-03 -8.22317106e-05 9.99996312e-01 6.85297780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:156.58, Z:0.69 [[-4.57224050e-01 -8.89351322e-01 6.27235198e-04 1.16405615e+02] [ 8.89350340e-01 -4.57224478e-01 -1.32289846e-03 1.56578561e+02] [ 1.46330878e-03 -4.70291562e-05 9.99998928e-01 6.86756604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:156.60, Z:0.69 [[-4.57885743e-01 -8.89011024e-01 2.14354275e-04 1.16393291e+02] [ 8.89010908e-01 -4.57885793e-01 -4.53436427e-04 1.56602856e+02] [ 5.01259760e-04 -1.70587865e-05 9.99999874e-01 6.87667946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:156.63, Z:0.69 [[-4.58892990e-01 -8.88491543e-01 -3.16290159e-05 1.16382496e+02] [ 8.88491541e-01 -4.58892991e-01 6.42200387e-05 1.56628328e+02] [-7.15732952e-05 1.36801247e-06 9.99999997e-01 6.88807805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:156.65, Z:0.69 [[-4.60663687e-01 -8.87574755e-01 -1.48580184e-04 1.16373208e+02] [ 8.87574700e-01 -4.60663711e-01 3.10470924e-04 1.56653255e+02] [-3.44011654e-04 1.11466685e-05 9.99999941e-01 6.89774222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781858064 meters Centerline goodness [0,1] 0.9999775053424812 Centerline is valid? [True, True] Translation: X:116.36, Y:156.68, Z:0.69 [[-4.61597962e-01 -8.87089209e-01 2.37533361e-04 1.16362918e+02] [ 8.87089068e-01 -4.61598023e-01 -5.00983929e-04 1.56678314e+02] [ 5.54062367e-04 -2.05399123e-05 9.99999846e-01 6.89587882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.811858064 meters Centerline goodness [0,1] 0.9999550632484777 Centerline is valid? [True, True] Translation: X:116.35, Y:156.70, Z:0.69 [[-4.62060885e-01 -8.86848065e-01 4.96950990e-04 1.16351252e+02] [ 8.86847451e-01 -4.62061151e-01 -1.04503525e-03 1.56702933e+02] [ 1.15640924e-03 -4.21501960e-05 9.99999330e-01 6.89431985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:156.73, Z:0.69 [[-4.63602768e-01 -8.86042863e-01 7.20340668e-04 1.16337107e+02] [ 8.86041574e-01 -4.63603323e-01 -1.51247665e-03 1.56726906e+02] [ 1.67407146e-03 -6.29365803e-05 9.99998597e-01 6.87845108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.871858064 meters Centerline goodness [0,1] 0.9999551810684834 Centerline is valid? [True, True] Translation: X:116.32, Y:156.75, Z:0.69 [[-4.64414540e-01 -8.85617492e-01 8.90917598e-04 1.16323836e+02] [ 8.85615523e-01 -4.64415388e-01 -1.86884658e-03 1.56752100e+02] [ 2.06883906e-03 -7.89090678e-05 9.99997857e-01 6.86823923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:156.78, Z:0.69 [[-4.65941923e-01 -8.84814793e-01 9.51946341e-04 1.16312749e+02] [ 8.84812548e-01 -4.65942887e-01 -1.99540487e-03 1.56776994e+02] [ 2.20911637e-03 -8.74487129e-05 9.99997556e-01 6.85797371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.30, Y:156.80, Z:0.69 [[-4.67863470e-01 -8.83800027e-01 1.13424588e-03 1.16302153e+02] [ 8.83796841e-01 -4.67864832e-01 -2.37536858e-03 1.56802989e+02] [ 2.63002457e-03 -1.08905257e-04 9.99996536e-01 6.85187197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:156.83, Z:0.69 [[-4.70291716e-01 -8.82509794e-01 1.47158024e-03 1.16291567e+02] [ 8.82504435e-01 -4.70293995e-01 -3.07914166e-03 1.56828723e+02] [ 3.40944802e-03 -1.49418729e-04 9.99994177e-01 6.85243681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.27, Y:156.85, Z:0.69 [[-4.71924326e-01 -8.81637482e-01 1.66748791e-03 1.16274580e+02] [ 8.81630607e-01 -4.71927240e-01 -3.48625527e-03 1.56851295e+02] [ 3.86054629e-03 -1.75140296e-04 9.99992533e-01 6.85353080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:156.88, Z:0.69 [[-4.73765722e-01 -8.80649485e-01 1.58921135e-03 1.16264757e+02] [ 8.80643243e-01 -4.73768355e-01 -3.32023252e-03 1.56876991e+02] [ 3.67687911e-03 -1.73484121e-04 9.99993225e-01 6.85286182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:156.90, Z:0.69 [[-4.76567386e-01 -8.79136489e-01 1.59999704e-03 1.16258449e+02] [ 8.79130160e-01 -4.76570036e-01 -3.34099722e-03 1.56903387e+02] [ 3.69970321e-03 -1.85604661e-04 9.99993139e-01 6.85961248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.081858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:156.93, Z:0.69 [[-4.78475006e-01 -8.78099460e-01 1.73413052e-03 1.16250427e+02] [ 8.78092027e-01 -4.78478103e-01 -3.61887331e-03 1.56929238e+02] [ 4.00747418e-03 -2.08814246e-04 9.99991948e-01 6.85795322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:156.95, Z:0.69 [[-4.79084597e-01 -8.77767266e-01 1.60468245e-03 1.16230993e+02] [ 8.77760906e-01 -4.79087245e-01 -3.34713989e-03 1.56950912e+02] [ 3.70679272e-03 -1.95035643e-04 9.99993111e-01 6.86489468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.141858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:156.97, Z:0.69 [[-4.79485250e-01 -8.77548982e-01 1.29568330e-03 1.16220349e+02] [ 8.77544839e-01 -4.79486975e-01 -2.70116852e-03 1.56974981e+02] [ 2.99167095e-03 -1.58150266e-04 9.99995512e-01 6.87459195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.21, Y:157.00, Z:0.69 [[-4.80288784e-01 -8.77109270e-01 1.41870064e-03 1.16209944e+02] [ 8.77104310e-01 -4.80290847e-01 -2.95490740e-03 1.57001583e+02] [ 3.27316561e-03 -1.74860440e-04 9.99994628e-01 6.87997363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.201858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:157.03, Z:0.69 [[-4.80618322e-01 -8.76929003e-01 1.24552073e-03 1.16197706e+02] [ 8.76925184e-01 -4.80619912e-01 -2.59271609e-03 1.57026108e+02] [ 2.87225000e-03 -1.53878363e-04 9.99995863e-01 6.88629193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.231858064 meters Centerline goodness [0,1] 0.9999775154581225 Centerline is valid? [True, True] Translation: X:116.19, Y:157.05, Z:0.69 [[-4.80741451e-01 -8.76861748e-01 1.06441737e-03 1.16188382e+02] [ 8.76858962e-01 -4.80742611e-01 -2.21419789e-03 1.57051267e+02] [ 2.45325622e-03 -1.31112792e-04 9.99996982e-01 6.89765318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:157.07, Z:0.69 [[-4.80782258e-01 -8.76839449e-01 1.00063001e-03 1.16172159e+02] [ 8.76836989e-01 -4.80783284e-01 -2.08056055e-03 1.57074160e+02] [ 2.30540375e-03 -1.22907195e-04 9.99997335e-01 6.90122777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.16, Y:157.10, Z:0.69 [[-4.80654838e-01 -8.76909221e-01 1.07028306e-03 1.16157372e+02] [ 8.76906412e-01 -4.80656012e-01 -2.22338091e-03 1.57098533e+02] [ 2.46414121e-03 -1.30140712e-04 9.99996956e-01 6.90034550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:157.12, Z:0.69 [[-4.80902495e-01 -8.76773428e-01 1.07090997e-03 1.16145319e+02] [ 8.76770619e-01 -4.80903670e-01 -2.22307887e-03 1.57123408e+02] [ 2.46414101e-03 -1.30141778e-04 9.99996956e-01 6.90128444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.351858064 meters Centerline goodness [0,1] 0.9999775462547152 Centerline is valid? [True, True] Translation: X:116.14, Y:157.15, Z:0.69 [[-4.79969866e-01 -8.77284570e-01 8.43326393e-04 1.16138335e+02] [ 8.77282830e-01 -4.79970597e-01 -1.74980241e-03 1.57149907e+02] [ 1.93984652e-03 -1.00016661e-04 9.99998114e-01 6.90062589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381858064 meters Centerline goodness [0,1] 0.9999775195018321 Centerline is valid? [True, True] Translation: X:116.12, Y:157.17, Z:0.69 [[-4.79785962e-01 -8.77385278e-01 7.10948023e-04 1.16124653e+02] [ 8.77384043e-01 -4.79786481e-01 -1.47459228e-03 1.57173996e+02] [ 1.63488881e-03 -8.37142268e-05 9.99998660e-01 6.90347009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.411858064 meters Centerline goodness [0,1] 0.9999775543185491 Centerline is valid? [True, True] Translation: X:116.11, Y:157.20, Z:0.69 [[-4.79625872e-01 -8.77472839e-01 6.63795023e-04 1.16111179e+02] [ 8.77471763e-01 -4.79626325e-01 -1.37590826e-03 1.57197701e+02] [ 1.52569569e-03 -7.74598098e-05 9.99998833e-01 6.90543169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441858064 meters Centerline goodness [0,1] 0.9999775210178483 Centerline is valid? [True, True] Translation: X:116.10, Y:157.22, Z:0.69 [[-4.79272890e-01 -8.77665486e-01 8.90088650e-04 1.16100000e+02] [ 8.77663557e-01 -4.79273705e-01 -1.84259740e-03 1.57222706e+02] [ 2.04378023e-03 -1.01908609e-04 9.99997906e-01 6.90168396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:157.25, Z:0.69 [[-4.77895560e-01 -8.78415831e-01 1.20903828e-03 1.16083417e+02] [ 8.78412282e-01 -4.77897071e-01 -2.50038029e-03 1.57245909e+02] [ 2.77416948e-03 -1.32886565e-04 9.99996143e-01 6.89084625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.07, Y:157.27, Z:0.69 [[-4.78075721e-01 -8.78317768e-01 1.22584693e-03 1.16070367e+02] [ 8.78314125e-01 -4.78077274e-01 -2.53329017e-03 1.57271195e+02] [ 2.81108332e-03 -1.34425850e-04 9.99996040e-01 6.89316496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.531858064 meters Centerline goodness [0,1] 0.9998873188650756 Centerline is valid? [True, True] Translation: X:116.06, Y:157.30, Z:0.69 [[-4.77851040e-01 -8.78440435e-01 8.86144407e-04 1.16056837e+02] [ 8.78438533e-01 -4.77851852e-01 -1.83057720e-03 1.57295884e+02] [ 2.03149878e-03 -9.63198272e-05 9.99997932e-01 6.89351398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.05, Y:157.32, Z:0.69 [[-4.78609577e-01 -8.78027264e-01 9.97998054e-04 1.16046217e+02] [ 8.78024855e-01 -4.78610605e-01 -2.05993120e-03 1.57320387e+02] [ 2.28632821e-03 -1.09635702e-04 9.99997380e-01 6.88942493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:157.35, Z:0.69 [[-4.79973800e-01 -8.77282205e-01 1.04132118e-03 1.16034688e+02] [ 8.77279584e-01 -4.79974915e-01 -2.14759408e-03 1.57346429e+02] [ 2.38385412e-03 -1.17259081e-04 9.99997152e-01 6.88728860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:157.37, Z:0.69 [[-4.81242383e-01 -8.76587066e-01 9.40120283e-04 1.16022193e+02] [ 8.76584931e-01 -4.81243289e-01 -1.93768912e-03 1.57371468e+02] [ 2.15097980e-03 -1.08402857e-04 9.99997681e-01 6.89547412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65185806399998 meters Centerline goodness [0,1] 0.9999550248487711 Centerline is valid? [True, True] Translation: X:116.02, Y:157.40, Z:0.69 [[-4.82250157e-01 -8.76033045e-01 9.43916614e-04 1.16017201e+02] [ 8.76030894e-01 -4.82251068e-01 -1.94424727e-03 1.57399636e+02] [ 2.15842965e-03 -1.10713434e-04 9.99997664e-01 6.89953426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:157.42, Z:0.69 [[-4.81432166e-01 -8.76483023e-01 7.61896247e-04 1.15997542e+02] [ 8.76481624e-01 -4.81432760e-01 -1.56851198e-03 1.57421266e+02] [ 1.74157593e-03 -8.73440568e-05 9.99998480e-01 6.89850673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.99, Y:157.45, Z:0.69 [[-4.81486233e-01 -8.76453025e-01 1.04967512e-03 1.15986841e+02] [ 8.76450375e-01 -4.81487363e-01 -2.15872366e-03 1.57445133e+02] [ 2.39742519e-03 -1.19407574e-04 9.99997119e-01 6.89218555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:157.47, Z:0.69 [[-4.80763042e-01 -8.76850013e-01 9.76095433e-04 1.15974744e+02] [ 8.76847725e-01 -4.80764021e-01 -2.00574012e-03 1.57469512e+02] [ 2.22800481e-03 -1.08398661e-04 9.99997512e-01 6.89584029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.96, Y:157.49, Z:0.69 [[-4.80258422e-01 -8.77126290e-01 1.14835324e-03 1.15961350e+02] [ 8.77123131e-01 -4.80259779e-01 -2.35774966e-03 1.57494387e+02] [ 2.61955209e-03 -1.25081946e-04 9.99996561e-01 6.89235211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:157.52, Z:0.69 [[-4.80075916e-01 -8.77225928e-01 1.33651216e-03 1.15948700e+02] [ 8.77221655e-01 -4.80077755e-01 -2.74184270e-03 1.57518232e+02] [ 3.04684526e-03 -1.43875236e-04 9.99995348e-01 6.88942557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.831858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:157.54, Z:0.69 [[-4.79253650e-01 -8.77675021e-01 1.58014269e-03 1.15935056e+02] [ 8.77669061e-01 -4.79256227e-01 -3.23867267e-03 1.57542880e+02] [ 3.59979533e-03 -1.65303354e-04 9.99993507e-01 6.87692011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.861858064 meters Centerline goodness [0,1] 0.9999329593957407 Centerline is valid? [True, True] Translation: X:115.92, Y:157.57, Z:0.69 [[-4.79583785e-01 -8.77494361e-01 1.74355510e-03 1.15922609e+02] [ 8.77487114e-01 -4.79586920e-01 -3.57086047e-03 1.57567609e+02] [ 3.96959615e-03 -1.82579648e-04 9.99992104e-01 6.87615743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.891858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.91, Y:157.59, Z:0.69 [[-4.79417959e-01 -8.77585054e-01 1.70104345e-03 1.15909686e+02] [ 8.77578168e-01 -4.79420944e-01 -3.48113622e-03 1.57591900e+02] [ 3.87050898e-03 -1.76120627e-04 9.99992494e-01 6.87375217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.921858064 meters Centerline goodness [0,1] 0.9999775910364146 Centerline is valid? [True, True] Translation: X:115.90, Y:157.62, Z:0.69 [[-4.80659254e-01 -8.76906141e-01 1.51701352e-03 1.15900114e+02] [ 8.76900668e-01 -4.80661621e-01 -3.10235992e-03 1.57617307e+02] [ 3.44964864e-03 -1.60907834e-04 9.99994037e-01 6.88630878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.951858064 meters Centerline goodness [0,1] 0.9999775714349796 Centerline is valid? [True, True] Translation: X:115.89, Y:157.64, Z:0.69 [[-4.81348944e-01 -8.76527903e-01 1.42442734e-03 1.15889586e+02] [ 8.76523083e-01 -4.81351027e-01 -2.91101994e-03 1.57642029e+02] [ 3.23723977e-03 -1.52672927e-04 9.99994748e-01 6.89447700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.981858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.88, Y:157.67, Z:0.69 [[-4.81269446e-01 -8.76571781e-01 1.27819736e-03 1.15878803e+02] [ 8.76567904e-01 -4.81271124e-01 -2.61054575e-03 1.57665987e+02] [ 2.90349022e-03 -1.35949125e-04 9.99995776e-01 6.89451403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.011858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:157.69, Z:0.69 [[-4.80435322e-01 -8.77028847e-01 1.51734020e-03 1.15864418e+02] [ 8.77023397e-01 -4.80437693e-01 -3.09601927e-03 1.57690473e+02] [ 3.44428564e-03 -1.56694161e-04 9.99994056e-01 6.89088205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.041858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:157.72, Z:0.69 [[-4.80132180e-01 -8.77194842e-01 1.51615732e-03 1.15855502e+02] [ 8.77189408e-01 -4.80134549e-01 -3.09149477e-03 1.57715068e+02] [ 3.43980278e-03 -1.54368980e-04 9.99994072e-01 6.89161658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.071858064 meters Centerline goodness [0,1] 0.9999550844412505 Centerline is valid? [True, True] Translation: X:115.84, Y:157.74, Z:0.69 [[-4.79429474e-01 -8.77579104e-01 1.51494990e-03 1.15839858e+02] [ 8.77573689e-01 -4.79431844e-01 -3.08655556e-03 1.57738440e+02] [ 3.43501189e-03 -1.50305540e-04 9.99994089e-01 6.89000009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:157.76, Z:0.69 [[-4.77031225e-01 -8.78885091e-01 1.48575131e-03 1.15821167e+02] [ 8.78879896e-01 -4.77033519e-01 -3.02505313e-03 1.57761071e+02] [ 3.36742727e-03 -1.37247849e-04 9.99994321e-01 6.88699365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.131858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:157.79, Z:0.69 [[-4.76002138e-01 -8.79442712e-01 1.57486853e-03 1.15813053e+02] [ 8.79436886e-01 -4.76004723e-01 -3.20414517e-03 1.57787718e+02] [ 3.56750698e-03 -1.40182480e-04 9.99993627e-01 6.88946653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:157.81, Z:0.69 [[-4.75161063e-01 -8.79897490e-01 1.53998536e-03 1.15802689e+02] [ 8.79891929e-01 -4.75163540e-01 -3.13100572e-03 1.57812888e+02] [ 3.48670896e-03 -1.32711314e-04 9.99993913e-01 6.89478019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:157.84, Z:0.69 [[-4.72254016e-01 -8.81461389e-01 1.40148869e-03 1.15786162e+02] [ 8.81456796e-01 -4.72256082e-01 -2.84775177e-03 1.57835478e+02] [ 3.17204479e-03 -1.09510478e-04 9.99994963e-01 6.89693401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:157.86, Z:0.69 [[-4.70567771e-01 -8.82362548e-01 1.51894452e-03 1.15772302e+02] [ 8.82357166e-01 -4.70570210e-01 -3.08388993e-03 1.57860078e+02] [ 3.43587901e-03 -1.10927630e-04 9.99994091e-01 6.89703001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.76, Y:157.88, Z:0.69 [[-4.69460366e-01 -8.82952274e-01 1.49902725e-03 1.15759041e+02] [ 8.82947042e-01 -4.69462748e-01 -3.04136845e-03 1.57884554e+02] [ 3.38912064e-03 -1.04240275e-04 9.99994251e-01 6.89163755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:157.91, Z:0.69 [[-4.66889716e-01 -8.84313996e-01 1.65810418e-03 1.15746819e+02] [ 8.84307613e-01 -4.66892649e-01 -3.36156384e-03 1.57908506e+02] [ 3.74683460e-03 -1.03205441e-04 9.99992975e-01 6.88998696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:157.93, Z:0.69 [[-4.65540222e-01 -8.85025640e-01 1.38524517e-03 1.15732766e+02] [ 8.85021192e-01 -4.65542276e-01 -2.80691438e-03 1.57933221e+02] [ 3.12908138e-03 -8.07602144e-05 9.99995101e-01 6.89367985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:157.96, Z:0.69 [[-4.64261230e-01 -8.85697530e-01 1.18117919e-03 1.15719058e+02] [ 8.85694303e-01 -4.64262728e-01 -2.39207649e-03 1.57957657e+02] [ 2.66703371e-03 -6.43846958e-05 9.99996441e-01 6.89381870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.371858064 meters Centerline goodness [0,1] 0.9999775402030365 Centerline is valid? [True, True] Translation: X:115.71, Y:157.98, Z:0.69 [[-4.63879515e-01 -8.85897494e-01 1.19438019e-03 1.15707632e+02] [ 8.85894198e-01 -4.63881048e-01 -2.41716404e-03 1.57982124e+02] [ 2.69540990e-03 -6.31784004e-05 9.99996365e-01 6.89651408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40185806399998 meters Centerline goodness [0,1] 0.999977528594863 Centerline is valid? [True, True] Translation: X:115.69, Y:158.01, Z:0.69 [[-4.62077941e-01 -8.86838898e-01 8.63181001e-04 1.15693525e+02] [ 8.86837180e-01 -4.62078745e-01 -1.74608758e-03 1.58006516e+02] [ 1.94735598e-03 -4.13275472e-05 9.99998103e-01 6.90019469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:158.03, Z:0.69 [[-4.61500850e-01 -8.87139223e-01 9.82419319e-04 1.15682698e+02] [ 8.87137001e-01 -4.61501893e-01 -1.98574819e-03 1.58030098e+02] [ 2.21502348e-03 -4.48839493e-05 9.99997546e-01 6.89937391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:158.05, Z:0.69 [[-4.61250817e-01 -8.87268927e-01 1.23882302e-03 1.15670246e+02] [ 8.87265403e-01 -4.61252478e-01 -2.50124450e-03 1.58054909e+02] [ 2.79068671e-03 -5.45362684e-05 9.99996105e-01 6.89508739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:158.08, Z:0.69 [[-4.59732355e-01 -8.88056380e-01 1.42431347e-03 1.15656132e+02] [ 8.88051733e-01 -4.59734558e-01 -2.87337604e-03 1.58078815e+02] [ 3.20652604e-03 -5.61198899e-05 9.99994858e-01 6.88941330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52185806399999 meters Centerline goodness [0,1] 0.9999552161938243 Centerline is valid? [True, True] Translation: X:115.64, Y:158.10, Z:0.69 [[-4.58856635e-01 -8.88509002e-01 1.53033802e-03 1.15643811e+02] [ 8.88503648e-01 -4.58859184e-01 -3.08488451e-03 1.58102472e+02] [ 3.44315731e-03 -5.58088147e-05 9.99994071e-01 6.88640110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.551858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:158.13, Z:0.69 [[-4.58526894e-01 -8.88678748e-01 1.78032389e-03 1.15630254e+02] [ 8.88671517e-01 -4.58530346e-01 -3.58559158e-03 1.58126751e+02] [ 4.00277157e-03 -6.19670438e-05 9.99991987e-01 6.88794869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.581858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.62, Y:158.15, Z:0.69 [[-4.57906631e-01 -8.88998951e-01 1.54326680e-03 1.15616420e+02] [ 8.88993526e-01 -4.57909229e-01 -3.10619550e-03 1.58150926e+02] [ 3.46808065e-03 -5.03933171e-05 9.99993985e-01 6.89123642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:158.18, Z:0.69 [[-4.58096411e-01 -8.88900820e-01 1.73523003e-03 1.15604990e+02] [ 8.88893971e-01 -4.58099694e-01 -3.48980998e-03 1.58175808e+02] [ 3.89700330e-03 -5.62339136e-05 9.99992405e-01 6.89057876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.641858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.59, Y:158.20, Z:0.69 [[-4.58062190e-01 -8.88918555e-01 1.68318203e-03 1.15592335e+02] [ 8.88912120e-01 -4.58065280e-01 -3.38267377e-03 1.58199521e+02] [ 3.77792873e-03 -5.32740514e-05 9.99992862e-01 6.88714111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:158.22, Z:0.69 [[-4.57769099e-01 -8.89069310e-01 1.79258004e-03 1.15578522e+02] [ 8.89062025e-01 -4.57772606e-01 -3.59964948e-03 1.58222780e+02] [ 4.02093191e-03 -5.40934617e-05 9.99991915e-01 6.88079354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.701858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:158.25, Z:0.69 [[-4.56948135e-01 -8.89490557e-01 2.22488477e-03 1.15566077e+02] [ 8.89479359e-01 -4.56953548e-01 -4.46368836e-03 1.58247466e+02] [ 4.98707764e-03 -6.06849953e-05 9.99987563e-01 6.88144335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:158.27, Z:0.69 [[-4.57017966e-01 -8.89454726e-01 2.20667424e-03 1.15553621e+02] [ 8.89443727e-01 -4.57023289e-01 -4.42382846e-03 1.58272217e+02] [ 4.94329665e-03 -5.90565206e-05 9.99987780e-01 6.88290706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.761858064 meters Centerline goodness [0,1] 0.9999776386404293 Centerline is valid? [True, True] Translation: X:115.54, Y:158.30, Z:0.69 [[-4.56931363e-01 -8.89498566e-01 2.45598541e-03 1.15542012e+02] [ 8.89484960e-01 -4.56937959e-01 -4.92010492e-03 1.58295218e+02] [ 5.49865923e-03 -6.35881632e-05 9.99984880e-01 6.88424688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.791858064 meters Centerline goodness [0,1] 0.9999327866648743 Centerline is valid? [True, True] Translation: X:115.53, Y:158.32, Z:0.69 [[-4.58056849e-01 -8.88918807e-01 2.69763976e-03 1.15531520e+02] [ 8.88902407e-01 -4.58064786e-01 -5.40024752e-03 1.58319159e+02] [ 6.03607537e-03 -7.56818879e-05 9.99981780e-01 6.88150228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:158.34, Z:0.69 [[-4.58379808e-01 -8.88752671e-01 2.57693828e-03 1.15517529e+02] [ 8.88737726e-01 -4.58387046e-01 -5.15463634e-03 1.58342587e+02] [ 5.76243195e-03 -7.25589453e-05 9.99983394e-01 6.88158373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:158.37, Z:0.69 [[-4.59653888e-01 -8.88093824e-01 2.76810263e-03 1.15505694e+02] [ 8.88076594e-01 -4.59662215e-01 -5.53278597e-03 1.58367752e+02] [ 6.18602523e-03 -8.48794247e-05 9.99980863e-01 6.88042781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:158.39, Z:0.69 [[-4.58761271e-01 -8.88556061e-01 2.49476209e-03 1.15493003e+02] [ 8.88542089e-01 -4.58768049e-01 -4.98334981e-03 1.58390904e+02] [ 5.57250281e-03 -6.94667733e-05 9.99984471e-01 6.88504838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:158.42, Z:0.69 [[-4.59622044e-01 -8.88110963e-01 2.54839338e-03 1.15481941e+02] [ 8.88096397e-01 -4.59629103e-01 -5.08704420e-03 1.58415350e+02] [ 5.68917548e-03 -7.48986795e-05 9.99983814e-01 6.89185866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:158.44, Z:0.69 [[-4.58271835e-01 -8.88809326e-01 2.21517929e-03 1.15468891e+02] [ 8.88798344e-01 -4.58277186e-01 -4.41879099e-03 1.58437724e+02] [ 4.94262877e-03 -5.61597746e-05 9.99987784e-01 6.89897936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:158.46, Z:0.69 [[-4.58732463e-01 -8.88571093e-01 2.43710231e-03 1.15457171e+02] [ 8.88557818e-01 -4.58738933e-01 -4.85745809e-03 1.58462351e+02] [ 5.43419056e-03 -6.27674023e-05 9.99985233e-01 6.89791929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:158.49, Z:0.69 [[-4.57970808e-01 -8.88962453e-01 2.91465974e-03 1.15443274e+02] [ 8.88943505e-01 -4.57980078e-01 -5.80464627e-03 1.58487204e+02] [ 6.49496869e-03 -6.73907029e-05 9.99978905e-01 6.90060906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.031858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:158.51, Z:0.69 [[-4.56642983e-01 -8.89645088e-01 2.96689184e-03 1.15429363e+02] [ 8.89625496e-01 -4.56652618e-01 -5.90450903e-03 1.58511381e+02] [ 6.60775638e-03 -5.68299936e-05 9.99978167e-01 6.89647136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:158.53, Z:0.69 [[-4.55473611e-01 -8.90243855e-01 3.10926883e-03 1.15416309e+02] [ 8.90222385e-01 -4.55484221e-01 -6.18302822e-03 1.58534477e+02] [ 6.92062577e-03 -4.82654797e-05 9.99976051e-01 6.89456729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.091858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:158.56, Z:0.69 [[-4.53442735e-01 -8.91279746e-01 3.17816805e-03 1.15402373e+02] [ 8.91257375e-01 -4.53453871e-01 -6.31491565e-03 1.58557861e+02] [ 7.06950902e-03 -3.08869062e-05 9.99975010e-01 6.89801065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:158.58, Z:0.69 [[-4.52258304e-01 -8.91881656e-01 3.08856359e-03 1.15388563e+02] [ 8.91860573e-01 -4.52268849e-01 -6.13237381e-03 1.58582429e+02] [ 6.86621281e-03 -1.88488856e-05 9.99976427e-01 6.90241215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:158.61, Z:0.69 [[-4.50417883e-01 -8.92811904e-01 3.26124661e-03 1.15375108e+02] [ 8.92788451e-01 -4.50429689e-01 -6.47117841e-03 1.58606397e+02] [ 7.24650741e-03 -3.13117108e-06 9.99973744e-01 6.90977613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:158.63, Z:0.69 [[-4.49479318e-01 -8.93284636e-01 3.30177380e-03 1.15361735e+02] [ 8.93260642e-01 -4.49491445e-01 -6.54731040e-03 1.58630491e+02] [ 7.33273086e-03 6.46396838e-06 9.99973115e-01 6.91964339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:158.66, Z:0.69 [[-4.48828817e-01 -8.93611007e-01 3.47305019e-03 1.15347909e+02] [ 8.93584508e-01 -4.48842254e-01 -6.88180419e-03 1.58655104e+02] [ 7.70850765e-03 1.47118135e-05 9.99970289e-01 6.91760445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:158.68, Z:0.69 [[-4.49080293e-01 -8.93484647e-01 3.47498620e-03 1.15335411e+02] [ 8.93458152e-01 -4.49093737e-01 -6.88082665e-03 1.58679706e+02] [ 7.70850751e-03 1.47111051e-05 9.99970289e-01 6.91854211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27185806399999 meters Centerline goodness [0,1] 0.9999776984834968 Centerline is valid? [True, True] Translation: X:115.32, Y:158.70, Z:0.69 [[-4.49508840e-01 -8.93267532e-01 3.86254295e-03 1.15322087e+02] [ 8.93234837e-01 -4.49525435e-01 -7.64263464e-03 1.58704221e+02] [ 8.56322868e-03 1.47260859e-05 9.99963335e-01 6.91165577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:158.73, Z:0.69 [[-4.50340821e-01 -8.92847277e-01 4.10920616e-03 1.15309325e+02] [ 8.92810308e-01 -4.50359568e-01 -8.12486976e-03 1.58729301e+02] [ 9.10488815e-03 9.78109256e-06 9.99958550e-01 6.91426798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:158.75, Z:0.69 [[-4.50627965e-01 -8.92702044e-01 4.18299020e-03 1.15295838e+02] [ 8.92663785e-01 -4.50647379e-01 -8.26474417e-03 1.58753358e+02] [ 9.26300759e-03 9.67902291e-06 9.99957097e-01 6.91969324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:158.78, Z:0.69 [[-4.51464943e-01 -8.92277397e-01 4.52241702e-03 1.15283568e+02] [ 8.92232726e-01 -4.51487593e-01 -8.92838498e-03 1.58777384e+02] [ 1.00084113e-02 4.19564913e-06 9.99949915e-01 6.92041390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:158.80, Z:0.69 [[-4.51541471e-01 -8.92238058e-01 4.64194271e-03 1.15270340e+02] [ 8.92191066e-01 -4.51565330e-01 -9.15720937e-03 1.58801123e+02] [ 1.02665511e-02 6.64002316e-06 9.99947298e-01 6.92101954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.421858064 meters Centerline goodness [0,1] 0.9999776880340927 Centerline is valid? [True, True] Translation: X:115.26, Y:158.83, Z:0.69 [[-4.52219826e-01 -8.91893002e-01 4.90941616e-03 1.15258271e+02] [ 8.91840495e-01 -4.52246474e-01 -9.67775712e-03 1.58826639e+02] [ 1.08517900e-02 1.94250026e-06 9.99941118e-01 6.92614153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:158.85, Z:0.69 [[-4.52681622e-01 -8.91656424e-01 5.30762574e-03 1.15245932e+02] [ 8.91595135e-01 -4.52712736e-01 -1.04543728e-02 1.58849529e+02] [ 1.17245385e-02 -2.49159302e-07 9.99931265e-01 6.92382702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:158.87, Z:0.69 [[-4.53502823e-01 -8.91236032e-01 5.79010031e-03 1.15233391e+02] [ 8.91163176e-01 -4.53539784e-01 -1.13955600e-02 1.58873445e+02] [ 1.27821745e-02 -7.99444189e-06 9.99918305e-01 6.91891666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.511858064 meters Centerline goodness [0,1] 0.9999553909979034 Centerline is valid? [True, True] Translation: X:115.22, Y:158.90, Z:0.69 [[-4.53151988e-01 -8.91411563e-01 6.22106215e-03 1.15219728e+02] [ 8.91327605e-01 -4.53194689e-01 -1.22341874e-02 1.58896793e+02] [ 1.37250484e-02 1.05809667e-06 9.99905807e-01 6.92040048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.541858064 meters Centerline goodness [0,1] 0.9999776411403019 Centerline is valid? [True, True] Translation: X:115.21, Y:158.92, Z:0.69 [[-4.53635822e-01 -8.91162436e-01 6.63723458e-03 1.15207497e+02] [ 8.91066990e-01 -4.53684375e-01 -1.30425160e-02 1.58921371e+02] [ 1.46342099e-02 -2.33180859e-06 9.99892914e-01 6.92667319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:158.95, Z:0.69 [[-4.53812128e-01 -8.91069465e-01 7.05420657e-03 1.15194887e+02] [ 8.90961803e-01 -4.53866951e-01 -1.38511987e-02 1.58945259e+02] [ 1.55440515e-02 -8.13370341e-07 9.99879184e-01 6.92978704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601858064 meters Centerline goodness [0,1] 0.9999330581278589 Centerline is valid? [True, True] Translation: X:115.18, Y:158.97, Z:0.69 [[-4.54519340e-01 -8.90705831e-01 7.43585138e-03 1.15182344e+02] [ 8.90586339e-01 -4.54580161e-01 -1.45894104e-02 1.58969220e+02] [ 1.63750634e-02 -8.90152041e-06 9.99865920e-01 6.93043719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.631858064 meters Centerline goodness [0,1] 0.999910696345248 Centerline is valid? [True, True] Translation: X:115.17, Y:158.99, Z:0.69 [[-4.55315347e-01 -8.90296398e-01 7.76264695e-03 1.15169343e+02] [ 8.90166317e-01 -4.55381514e-01 -1.52185692e-02 1.58992584e+02] [ 1.70840033e-02 -1.92012770e-05 9.99854058e-01 6.93313564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661858064 meters Centerline goodness [0,1] 0.9999777302690184 Centerline is valid? [True, True] Translation: X:115.16, Y:159.02, Z:0.69 [[-4.56092969e-01 -8.89898054e-01 7.78823730e-03 1.15157094e+02] [ 8.89767252e-01 -4.56159459e-01 -1.52572951e-02 1.59016473e+02] [ 1.71301154e-02 -2.90265231e-05 9.99853268e-01 6.93927247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.691858064 meters Centerline goodness [0,1] 0.9999329054190057 Centerline is valid? [True, True] Translation: X:115.14, Y:159.04, Z:0.69 [[-4.56628594e-01 -8.89621838e-01 7.95685897e-03 1.15144557e+02] [ 8.89485478e-01 -4.56697913e-01 -1.55756267e-02 1.59039509e+02] [ 1.74902986e-02 -3.47660355e-05 9.99847032e-01 6.94222644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721858064 meters Centerline goodness [0,1] 0.9997780096343819 Centerline is valid? [True, True] Translation: X:115.13, Y:159.06, Z:0.70 [[-4.56941677e-01 -8.89456712e-01 8.42977528e-03 1.15132124e+02] [ 8.89303819e-01 -4.57019426e-01 -1.64912517e-02 1.59062170e+02] [ 1.85208256e-02 -3.89088796e-05 9.99828474e-01 6.95393724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.751858064 meters Centerline goodness [0,1] 0.9998888394842153 Centerline is valid? [True, True] Translation: X:115.12, Y:159.09, Z:0.70 [[-4.57285083e-01 -8.89277055e-01 8.75632546e-03 1.15119165e+02] [ 8.89112292e-01 -4.57368909e-01 -1.71176201e-02 1.59085562e+02] [ 1.92271778e-02 -4.22757319e-05 9.99815140e-01 6.95695917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781858064 meters Centerline goodness [0,1] 0.999933269568699 Centerline is valid? [True, True] Translation: X:115.11, Y:159.11, Z:0.70 [[-4.56930625e-01 -8.89458816e-01 8.79877791e-03 1.15105222e+02] [ 8.89292734e-01 -4.57015332e-01 -1.71877709e-02 1.59108549e+02] [ 1.93089908e-02 -2.89296299e-05 9.99813564e-01 6.97379260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.811858064 meters Centerline goodness [0,1] 0.9998885421310745 Centerline is valid? [True, True] Translation: X:115.09, Y:159.13, Z:0.70 [[-4.57275759e-01 -8.89277241e-01 9.21238432e-03 1.15092772e+02] [ 8.89095423e-01 -4.57368546e-01 -1.79817197e-02 1.59131752e+02] [ 2.02041889e-02 -3.19158179e-05 9.99795874e-01 6.97006997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841858064 meters Centerline goodness [0,1] 0.9998212969374762 Centerline is valid? [True, True] Translation: X:115.08, Y:159.16, Z:0.70 [[-4.58694500e-01 -8.88533604e-01 1.03628819e-02 1.15080300e+02] [ 8.88303664e-01 -4.58811540e-01 -2.02131273e-02 1.59156870e+02] [ 2.27146527e-02 -6.62643918e-05 9.99741987e-01 6.97697417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.871858064 meters Centerline goodness [0,1] 0.999932833314676 Centerline is valid? [True, True] Translation: X:115.07, Y:159.18, Z:0.70 [[-4.60391324e-01 -8.87649582e-01 1.08649514e-02 1.15068423e+02] [ 8.87396922e-01 -4.60519497e-01 -2.11777097e-02 1.59182773e+02] [ 2.38019072e-02 -1.08509371e-04 9.99716689e-01 6.98473953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90185806399998 meters Centerline goodness [0,1] 0.9998883803995982 Centerline is valid? [True, True] Translation: X:115.06, Y:159.21, Z:0.70 [[-4.61191597e-01 -8.87233369e-01 1.09206305e-02 1.15056731e+02] [ 8.86978364e-01 -4.61320858e-01 -2.12708144e-02 1.59207572e+02] [ 2.39100910e-02 -1.23557897e-04 9.99714105e-01 6.96027753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93185806399998 meters Centerline goodness [0,1] 0.9999554277818635 Centerline is valid? [True, True] Translation: X:115.04, Y:159.23, Z:0.70 [[-4.61593549e-01 -8.87029718e-01 1.04725439e-02 1.15042529e+02] [ 8.86795511e-01 -4.61712317e-01 -2.03827709e-02 1.59230994e+02] [ 2.29154261e-02 -1.21550699e-04 9.99737400e-01 6.98820929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96185806399998 meters Centerline goodness [0,1] 0.9998666607404774 Centerline is valid? [True, True] Translation: X:115.03, Y:159.25, Z:0.70 [[-4.62038274e-01 -8.86802561e-01 1.00921618e-02 1.15030783e+02] [ 8.86585269e-01 -4.62148465e-01 -1.96305154e-02 1.59254061e+02] [ 2.20724684e-02 -1.22487418e-04 9.99756366e-01 6.99440421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99185806399998 meters Centerline goodness [0,1] 0.9997773522732333 Centerline is valid? [True, True] Translation: X:115.02, Y:159.28, Z:0.70 [[-4.62473211e-01 -8.86576946e-01 9.99239121e-03 1.15018757e+02] [ 8.86364197e-01 -4.62581131e-01 -1.94218404e-02 1.59277425e+02] [ 2.18412476e-02 -1.25183068e-04 9.99761444e-01 6.99345656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02185806399999 meters Centerline goodness [0,1] 0.9999107601008411 Centerline is valid? [True, True] Translation: X:115.01, Y:159.30, Z:0.70 [[-4.63196971e-01 -8.86194049e-01 1.04246424e-02 1.15006838e+02] [ 8.85962717e-01 -4.63314242e-01 -2.02478898e-02 1.59303280e+02] [ 2.27734447e-02 -1.42916677e-04 9.99740641e-01 7.00926707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.051858064 meters Centerline goodness [0,1] 0.9999330685823926 Centerline is valid? [True, True] Translation: X:115.00, Y:159.33, Z:0.70 [[-4.62814937e-01 -8.86398274e-01 1.00216956e-02 1.14995135e+02] [ 8.86184844e-01 -4.62923413e-01 -1.94508502e-02 1.59327968e+02] [ 2.18804776e-02 -1.21069255e-04 9.99760586e-01 7.01991836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.081858064 meters Centerline goodness [0,1] 0.9999553192440016 Centerline is valid? [True, True] Translation: X:114.98, Y:159.35, Z:0.70 [[-4.62604788e-01 -8.86505956e-01 1.01980907e-02 1.14983164e+02] [ 8.86285304e-01 -4.62717169e-01 -1.97783150e-02 1.59352510e+02] [ 2.22524257e-02 -1.11125288e-04 9.99752378e-01 7.02257030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.97, Y:159.38, Z:0.70 [[-4.63865794e-01 -8.85845552e-01 1.03045567e-02 1.14972182e+02] [ 8.85620419e-01 -4.63980215e-01 -1.99708264e-02 1.59378736e+02] [ 2.24721781e-02 -1.37857355e-04 9.99747459e-01 7.03273038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.141858064 meters Centerline goodness [0,1] 0.9999552462574682 Centerline is valid? [True, True] Translation: X:114.96, Y:159.40, Z:0.70 [[-4.63548979e-01 -8.86014429e-01 1.00386545e-02 1.14960066e+02] [ 8.85801143e-01 -4.63657650e-01 -1.94401442e-02 1.59402350e+02] [ 2.18787473e-02 -1.19207383e-04 9.99760624e-01 7.02753180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.95, Y:159.43, Z:0.70 [[-4.63718923e-01 -8.85925319e-01 1.00543479e-02 1.14948679e+02] [ 8.85711610e-01 -4.63827895e-01 -1.94583486e-02 1.59426282e+02] [ 2.19021307e-02 -1.17951771e-04 9.99760113e-01 7.01068084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.201858064 meters Centerline goodness [0,1] 0.9999776805642353 Centerline is valid? [True, True] Translation: X:114.93, Y:159.45, Z:0.70 [[-4.61323339e-01 -8.87181092e-01 9.51241394e-03 1.14932774e+02] [ 8.86990310e-01 -4.61421398e-01 -1.83979091e-02 1.59450178e+02] [ 2.07115084e-02 -4.99658760e-05 9.99785492e-01 7.03632527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:159.48, Z:0.70 [[-4.60402021e-01 -8.87656576e-01 9.78687973e-03 1.14921074e+02] [ 8.87455007e-01 -4.60506030e-01 -1.89158083e-02 1.59475992e+02] [ 2.12976587e-02 -2.34609402e-05 9.99773179e-01 7.02056773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.261858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.91, Y:159.50, Z:0.70 [[-4.59007479e-01 -8.88378853e-01 9.75436435e-03 1.14906926e+02] [ 8.88179058e-01 -4.59111112e-01 -1.88400562e-02 1.59500760e+02] [ 2.12154446e-02 1.58954441e-05 9.99774927e-01 7.01455951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.291858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:159.53, Z:0.70 [[-4.58975649e-01 -8.88393580e-01 9.90961627e-03 1.14895142e+02] [ 8.88187661e-01 -4.59082614e-01 -1.91267430e-02 1.59525874e+02] [ 2.15414082e-02 2.28896254e-05 9.99767957e-01 7.01115057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321858064 meters Centerline goodness [0,1] 0.9999777565228997 Centerline is valid? [True, True] Translation: X:114.88, Y:159.55, Z:0.70 [[-4.57016141e-01 -8.89407551e-01 9.51075482e-03 1.14880803e+02] [ 8.89218392e-01 -4.57115087e-01 -1.83425320e-02 1.59548067e+02] [ 2.06614960e-02 7.43049120e-05 9.99786526e-01 6.99693787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.351858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.87, Y:159.57, Z:0.70 [[-4.57998792e-01 -8.88899639e-01 9.72309556e-03 1.14869175e+02] [ 8.88702126e-01 -4.58101985e-01 -1.87377323e-02 1.59573166e+02] [ 2.11101328e-02 5.90769424e-05 9.99777155e-01 6.99065810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381858064 meters Centerline goodness [0,1] 0.9999775845064108 Centerline is valid? [True, True] Translation: X:114.86, Y:159.60, Z:0.70 [[-4.60666695e-01 -8.87516591e-01 1.00247874e-02 1.14860103e+02] [ 8.87306631e-01 -4.60775759e-01 -1.93039662e-02 1.59597949e+02] [ 2.17517693e-02 2.36599807e-06 9.99763402e-01 6.97799814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.411858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:159.62, Z:0.70 [[-4.62161466e-01 -8.86750063e-01 9.00587150e-03 1.14848719e+02] [ 8.86580701e-01 -4.62249203e-01 -1.73301569e-02 1.59623426e+02] [ 1.95304747e-02 -2.48988598e-05 9.99809262e-01 7.00329174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.84, Y:159.65, Z:0.70 [[-4.64022555e-01 -8.85783708e-01 8.38392445e-03 1.14838316e+02] [ 8.85636998e-01 -4.64098286e-01 -1.61210540e-02 1.59647320e+02] [ 1.81707320e-02 -5.54189944e-05 9.99834897e-01 7.00879822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.471858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.83, Y:159.67, Z:0.70 [[-4.65380119e-01 -8.85071758e-01 8.32629662e-03 1.14827105e+02] [ 8.84927162e-01 -4.65454592e-01 -1.59981583e-02 1.59672133e+02] [ 1.80350311e-02 -7.70588038e-05 9.99837353e-01 7.02284981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:159.70, Z:0.70 [[-4.66715167e-01 -8.84370121e-01 8.15120713e-03 1.14816237e+02] [ 8.84231649e-01 -4.66786333e-01 -1.56496370e-02 1.59696417e+02] [ 1.76449435e-02 -9.63676497e-05 9.99844311e-01 7.01918740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.531858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.81, Y:159.72, Z:0.70 [[-4.71569980e-01 -8.81791146e-01 8.13199612e-03 1.14806873e+02] [ 8.81653129e-01 -4.71640054e-01 -1.56019476e-02 1.59722828e+02] [ 1.75930344e-02 -1.87810319e-04 9.99845213e-01 7.03314939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.80, Y:159.75, Z:0.70 [[-4.73306926e-01 -8.80863234e-01 7.77928943e-03 1.14796722e+02] [ 8.80736954e-01 -4.73370806e-01 -1.49163694e-02 1.59746681e+02] [ 1.68217699e-02 -2.08513265e-04 9.99858482e-01 7.02651418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.591858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:159.77, Z:0.70 [[-4.76081458e-01 -8.79368671e-01 7.56218964e-03 1.14784429e+02] [ 8.79249305e-01 -4.76141448e-01 -1.44907141e-02 1.59772076e+02] [ 1.63433519e-02 -2.49710308e-04 9.99866407e-01 7.03944623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.77, Y:159.80, Z:0.71 [[-4.78248094e-01 -8.78198883e-01 6.74408590e-03 1.14772134e+02] [ 8.78103966e-01 -4.78295575e-01 -1.29138698e-02 1.59796379e+02] [ 1.45666125e-02 -2.54025040e-04 9.99893869e-01 7.05216438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:159.82, Z:0.71 [[-4.81681588e-01 -8.76318668e-01 6.95984837e-03 1.14761697e+02] [ 8.76217521e-01 -4.81731763e-01 -1.33178366e-02 1.59822845e+02] [ 1.50234489e-02 -3.16615615e-04 9.99887092e-01 7.05134657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:159.85, Z:0.70 [[-4.83828848e-01 -8.75131764e-01 7.35122341e-03 1.14751993e+02] [ 8.75018911e-01 -4.83884551e-01 -1.40586804e-02 1.59847663e+02] [ 1.58603412e-02 -3.69535645e-04 9.99874149e-01 7.04794451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.74, Y:159.87, Z:0.70 [[-4.87716872e-01 -8.72967960e-01 7.69375904e-03 1.14740201e+02] [ 8.72844230e-01 -4.87777340e-01 -1.47043362e-02 1.59873374e+02] [ 1.65892557e-02 -4.56099658e-04 9.99862285e-01 7.03537146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74185806399998 meters Centerline goodness [0,1] 0.9999775492793319 Centerline is valid? [True, True] Translation: X:114.73, Y:159.90, Z:0.70 [[-4.89744434e-01 -8.71834227e-01 7.44787026e-03 1.14729963e+02] [ 8.71718274e-01 -4.89800833e-01 -1.42265603e-02 1.59898145e+02] [ 1.60511752e-02 -4.74934088e-04 9.99871059e-01 7.03202482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77185806399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:159.92, Z:0.71 [[-4.91823739e-01 -8.70665774e-01 7.10775225e-03 1.14714741e+02] [ 8.70560151e-01 -4.91874856e-01 -1.35701857e-02 1.59921312e+02] [ 1.53112209e-02 -4.86413606e-04 9.99882658e-01 7.05009059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:159.95, Z:0.70 [[-4.94267334e-01 -8.69282908e-01 6.85774801e-03 1.14705204e+02] [ 8.69184578e-01 -4.94314646e-01 -1.30843270e-02 1.59947331e+02] [ 1.47638671e-02 -5.06506635e-04 9.99890880e-01 7.04458302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.831858064 meters Centerline goodness [0,1] 0.9999776461383704 Centerline is valid? [True, True] Translation: X:114.69, Y:159.97, Z:0.70 [[-4.97280587e-01 -8.67563920e-01 6.69798110e-03 1.14694963e+02] [ 8.67470089e-01 -4.97325400e-01 -1.27707301e-02 1.59972347e+02] [ 1.44105008e-02 -5.40337922e-04 9.99896017e-01 7.04186978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.861858064 meters Centerline goodness [0,1] 0.9999328122550447 Centerline is valid? [True, True] Translation: X:114.68, Y:160.00, Z:0.70 [[-5.01298579e-01 -8.65251106e-01 6.34494489e-03 1.14684027e+02] [ 8.65166828e-01 -5.01338406e-01 -1.20897767e-02 1.59998085e+02] [ 1.36416573e-02 -5.71152055e-04 9.99906785e-01 7.04969465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.891858064 meters Centerline goodness [0,1] 0.999866387565136 Centerline is valid? [True, True] Translation: X:114.67, Y:160.02, Z:0.71 [[-5.02132570e-01 -8.64768820e-01 6.14580021e-03 1.14672197e+02] [ 8.64689791e-01 -5.02169864e-01 -1.17044272e-02 1.60022787e+02] [ 1.32078593e-02 -5.62963402e-04 9.99912614e-01 7.05315677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.921858064 meters Centerline goodness [0,1] 0.9994848016486347 Centerline is valid? [True, True] Translation: X:114.66, Y:160.05, Z:0.71 [[-5.07135937e-01 -8.61846401e-01 5.82424581e-03 1.14664633e+02] [ 8.61775324e-01 -5.07169023e-01 -1.10847713e-02 1.60049023e+02] [ 1.25072473e-02 -6.02294556e-04 9.99921600e-01 7.05443281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.951858064 meters Centerline goodness [0,1] 0.9998436452981907 Centerline is valid? [True, True] Translation: X:114.65, Y:160.07, Z:0.71 [[-5.08286587e-01 -8.61168444e-01 5.80137163e-03 1.14645648e+02] [ 8.61097975e-01 -5.08319324e-01 -1.10336773e-02 1.60071002e+02] [ 1.24508040e-02 -6.12720815e-04 9.99922298e-01 7.07365377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.981858064 meters Centerline goodness [0,1] 0.9996647595208296 Centerline is valid? [True, True] Translation: X:114.63, Y:160.10, Z:0.71 [[-5.09055824e-01 -8.60717141e-01 5.30761519e-03 1.14633484e+02] [ 8.60658193e-01 -5.09083176e-01 -1.00893305e-02 1.60095513e+02] [ 1.13860773e-02 -5.67989931e-04 9.99935015e-01 7.07810432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.011858064 meters Centerline goodness [0,1] 0.9997978890635527 Centerline is valid? [True, True] Translation: X:114.62, Y:160.12, Z:0.71 [[-5.10151861e-01 -8.60070044e-01 4.95962696e-03 1.14618930e+02] [ 8.60018590e-01 -5.10175681e-01 -9.42330736e-03 1.60119125e+02] [ 1.06349854e-02 -5.41946399e-04 9.99943300e-01 7.08508132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.041858064 meters Centerline goodness [0,1] 0.999639761341889 Centerline is valid? [True, True] Translation: X:114.61, Y:160.14, Z:0.71 [[-5.13298863e-01 -8.58195858e-01 4.91396679e-03 1.14609826e+02] [ 8.58145315e-01 -5.13322064e-01 -9.33154575e-03 1.60144525e+02] [ 1.05307415e-02 -5.72974246e-04 9.99944386e-01 7.07870676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.071858064 meters Centerline goodness [0,1] 0.9994826577893743 Centerline is valid? [True, True] Translation: X:114.60, Y:160.17, Z:0.71 [[-5.14130980e-01 -8.57698616e-01 4.73497791e-03 1.14599648e+02] [ 8.57651725e-01 -5.14152480e-01 -8.98585682e-03 1.60169838e+02] [ 1.01416576e-02 -5.58945406e-04 9.99948416e-01 7.07805080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101858064 meters Centerline goodness [0,1] 0.9998200467878352 Centerline is valid? [True, True] Translation: X:114.58, Y:160.19, Z:0.71 [[-5.15279673e-01 -8.57009898e-01 4.57096499e-03 1.14584566e+02] [ 8.56966230e-01 -5.15299653e-01 -8.66881037e-03 1.60193427e+02] [ 9.78467296e-03 -5.49699134e-04 9.99951978e-01 7.07974045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.131858064 meters Centerline goodness [0,1] 0.9998200467878352 Centerline is valid? [True, True] Translation: X:114.57, Y:160.22, Z:0.71 [[-5.15543693e-01 -8.56851086e-01 4.57353328e-03 1.14571965e+02] [ 8.56807424e-01 -5.15563686e-01 -8.66745548e-03 1.60217105e+02] [ 9.78466632e-03 -5.49814738e-04 9.99951978e-01 7.08065156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161858064 meters Centerline goodness [0,1] 0.9996620479891856 Centerline is valid? [True, True] Translation: X:114.56, Y:160.24, Z:0.71 [[-5.16623462e-01 -8.56201987e-01 4.28443524e-03 1.14560605e+02] [ 8.56163700e-01 -5.16640963e-01 -8.11389009e-03 1.60242264e+02] [ 9.16064356e-03 -5.23648065e-04 9.99957903e-01 7.08615723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.191858064 meters Centerline goodness [0,1] 0.9995705535338923 Centerline is valid? [True, True] Translation: X:114.55, Y:160.27, Z:0.71 [[-5.17368475e-01 -8.55754659e-01 3.71827967e-03 1.14549593e+02] [ 8.55725846e-01 -5.17381633e-01 -7.03723082e-03 1.60267805e+02] [ 7.94591266e-03 -4.59013356e-04 9.99968325e-01 7.09414694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221858064 meters Centerline goodness [0,1] 0.9994580924855492 Centerline is valid? [True, True] Translation: X:114.54, Y:160.29, Z:0.71 [[-5.16991324e-01 -8.55982610e-01 3.70718775e-03 1.14538032e+02] [ 8.55954011e-01 -5.17004418e-01 -7.01167432e-03 1.60292819e+02] [ 7.91850372e-03 -4.51792566e-04 9.99968546e-01 7.08844627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.251858064 meters Centerline goodness [0,1] 0.9996619489768322 Centerline is valid? [True, True] Translation: X:114.52, Y:160.32, Z:0.71 [[-5.16719750e-01 -8.56146571e-01 3.70791247e-03 1.14523470e+02] [ 8.56117997e-01 -5.16732860e-01 -7.00907762e-03 1.60316489e+02] [ 7.91679798e-03 -4.47318235e-04 9.99968562e-01 7.08558906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281858064 meters Centerline goodness [0,1] 0.999753158449835 Centerline is valid? [True, True] Translation: X:114.51, Y:160.34, Z:0.71 [[-5.12892699e-01 -8.58446867e-01 3.17120113e-03 1.14509942e+02] [ 8.58426033e-01 -5.12902383e-01 -5.99102832e-03 1.60339050e+02] [ 6.76949611e-03 -3.50513084e-04 9.99977025e-01 7.08692310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.311858064 meters Centerline goodness [0,1] 0.9996395746981438 Centerline is valid? [True, True] Translation: X:114.50, Y:160.36, Z:0.71 [[-5.12756298e-01 -8.58528335e-01 3.17435354e-03 1.14498855e+02] [ 8.58507488e-01 -5.12766006e-01 -5.99309771e-03 1.60362741e+02] [ 6.77294479e-03 -3.47792312e-04 9.99977003e-01 7.08667904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341858064 meters Centerline goodness [0,1] 0.9999101345734762 Centerline is valid? [True, True] Translation: X:114.48, Y:160.39, Z:0.71 [[-5.10901851e-01 -8.59632835e-01 3.26930313e-03 1.14482196e+02] [ 8.59610771e-01 -5.10912197e-01 -6.16843491e-03 1.60385184e+02] [ 6.97291603e-03 -3.41136627e-04 9.99975631e-01 7.09266876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.371858064 meters Centerline goodness [0,1] 0.9998427355035834 Centerline is valid? [True, True] Translation: X:114.47, Y:160.41, Z:0.71 [[-5.09676911e-01 -8.60359447e-01 3.32689918e-03 1.14469033e+02] [ 8.60336645e-01 -5.09687659e-01 -6.27282922e-03 1.60409382e+02] [ 7.09256734e-03 -3.34862941e-04 9.99974791e-01 7.09140926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40185806399998 meters Centerline goodness [0,1] 0.9998883105859226 Centerline is valid? [True, True] Translation: X:114.45, Y:160.43, Z:0.71 [[-5.06215781e-01 -8.62400737e-01 3.24833811e-03 1.14454556e+02] [ 8.62379069e-01 -5.06226116e-01 -6.12050431e-03 1.60432371e+02] [ 6.92272101e-03 -2.96997072e-04 9.99975994e-01 7.08953235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43185806399998 meters Centerline goodness [0,1] 0.9998877111031261 Centerline is valid? [True, True] Translation: X:114.44, Y:160.46, Z:0.71 [[-5.05837668e-01 -8.62623939e-01 2.86255773e-03 1.14440519e+02] [ 8.62607137e-01 -5.05845702e-01 -5.39016171e-03 1.60456862e+02] [ 6.09769505e-03 -2.57284100e-04 9.99981376e-01 7.09948318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46185806399998 meters Centerline goodness [0,1] 0.999887779149366 Centerline is valid? [True, True] Translation: X:114.43, Y:160.48, Z:0.71 [[-5.05659942e-01 -8.62728107e-01 2.86977590e-03 1.14427839e+02] [ 8.62711244e-01 -5.05668021e-01 -5.40011908e-03 1.60481029e+02] [ 6.10998842e-03 -2.54835962e-04 9.99981301e-01 7.09587014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49185806399998 meters Centerline goodness [0,1] 0.9998877841865476 Centerline is valid? [True, True] Translation: X:114.41, Y:160.51, Z:0.71 [[-5.04969639e-01 -8.63132225e-01 2.90251452e-03 1.14413480e+02] [ 8.63115005e-01 -5.04977919e-01 -5.45807618e-03 1.60505837e+02] [ 6.17674718e-03 -2.50958933e-04 9.99980892e-01 7.09843846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52185806399999 meters Centerline goodness [0,1] 0.9999552882788223 Centerline is valid? [True, True] Translation: X:114.40, Y:160.53, Z:0.71 [[-5.04143633e-01 -8.63615604e-01 2.69924593e-03 1.14402450e+02] [ 8.63600735e-01 -5.04150808e-01 -5.07285020e-03 1.60531197e+02] [ 5.74181961e-03 -2.26374364e-04 9.99983490e-01 7.11505486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.551858064 meters Centerline goodness [0,1] 0.9999101991334216 Centerline is valid? [True, True] Translation: X:114.39, Y:160.56, Z:0.71 [[-5.03470753e-01 -8.64009078e-01 2.34812222e-03 1.14388673e+02] [ 8.63997843e-01 -5.03476192e-01 -4.41042948e-03 1.60555654e+02] [ 4.99287474e-03 -1.91749713e-04 9.99987517e-01 7.11474828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.581858064 meters Centerline goodness [0,1] 0.9999327520118356 Centerline is valid? [True, True] Translation: X:114.37, Y:160.58, Z:0.71 [[-5.04755526e-01 -8.63258322e-01 2.63219823e-03 1.14374654e+02] [ 8.63244212e-01 -5.04762341e-01 -4.94058028e-03 1.60579479e+02] [ 5.59363158e-03 -2.21555307e-04 9.99984331e-01 7.11174027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.36, Y:160.60, Z:0.71 [[-5.03894479e-01 -8.63760461e-01 2.86714468e-03 1.14359570e+02] [ 8.63743751e-01 -5.03902582e-01 -5.37780550e-03 1.60603257e+02] [ 6.08989737e-03 -2.33368203e-04 9.99981429e-01 7.10970450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.641858064 meters Centerline goodness [0,1] 0.9999776396404454 Centerline is valid? [True, True] Translation: X:114.35, Y:160.63, Z:0.71 [[-5.03915556e-01 -8.63747868e-01 2.95509059e-03 1.14346620e+02] [ 8.63730141e-01 -5.03924164e-01 -5.53893528e-03 1.60627004e+02] [ 6.27338510e-03 -2.38754837e-04 9.99980294e-01 7.11249621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.33, Y:160.65, Z:0.71 [[-5.04488025e-01 -8.63412759e-01 3.19997332e-03 1.14333931e+02] [ 8.63391997e-01 -5.04498107e-01 -5.99339157e-03 1.60651034e+02] [ 6.78915123e-03 -2.60762923e-04 9.99976919e-01 7.11240981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.701858064 meters Centerline goodness [0,1] 0.999888285631298 Centerline is valid? [True, True] Translation: X:114.32, Y:160.68, Z:0.71 [[-5.06760168e-01 -8.62079932e-01 3.51047192e-03 1.14320950e+02] [ 8.62054948e-01 -5.06772236e-01 -6.57019393e-03 1.60676146e+02] [ 7.44304204e-03 -3.03292898e-04 9.99972254e-01 7.11262319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.731858064 meters Centerline goodness [0,1] 0.9998436662497767 Centerline is valid? [True, True] Translation: X:114.31, Y:160.70, Z:0.71 [[-5.08248274e-01 -8.61203136e-01 3.58476275e-03 1.14309905e+02] [ 8.61177096e-01 -5.08260815e-01 -6.70467099e-03 1.60700959e+02] [ 7.59607811e-03 -3.20521888e-04 9.99971098e-01 7.10866094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.761858064 meters Centerline goodness [0,1] 0.9998209890355785 Centerline is valid? [True, True] Translation: X:114.30, Y:160.73, Z:0.71 [[-5.10063131e-01 -8.60130053e-01 3.44872238e-03 1.14295950e+02] [ 8.60105959e-01 -5.10074688e-01 -6.44598535e-03 1.60725367e+02] [ 7.30349172e-03 -3.21592803e-04 9.99973277e-01 7.11625622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.791858064 meters Centerline goodness [0,1] 0.9999776331387417 Centerline is valid? [True, True] Translation: X:114.28, Y:160.75, Z:0.71 [[-5.11995153e-01 -8.58981003e-01 3.54958686e-03 1.14282671e+02] [ 8.58955485e-01 -5.12007340e-01 -6.63009390e-03 1.60749847e+02] [ 7.51253924e-03 -3.45638834e-04 9.99971721e-01 7.11522299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:160.78, Z:0.71 [[-5.16295703e-01 -8.56403876e-01 3.33889937e-03 1.14272412e+02] [ 8.56381272e-01 -5.16306375e-01 -6.23252621e-03 1.60776060e+02] [ 7.06145463e-03 -3.58455610e-04 9.99975003e-01 7.12027446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.851858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.26, Y:160.80, Z:0.71 [[-5.17924298e-01 -8.55420004e-01 3.32244276e-03 1.14260160e+02] [ 8.55397632e-01 -5.17934823e-01 -6.19758117e-03 1.60800872e+02] [ 7.02234371e-03 -3.67868203e-04 9.99975275e-01 7.12630419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:160.83, Z:0.71 [[-5.19296609e-01 -8.54588299e-01 3.14185590e-03 1.14250680e+02] [ 8.54568304e-01 -5.19305991e-01 -5.85678412e-03 1.60826554e+02] [ 6.63672376e-03 -3.56477666e-04 9.99977913e-01 7.13316301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.911858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.24, Y:160.85, Z:0.71 [[-5.22017256e-01 -8.52928648e-01 3.27185732e-03 1.14236575e+02] [ 8.52906962e-01 -5.22027363e-01 -6.09482567e-03 1.60850012e+02] [ 6.90645047e-03 -3.91014293e-04 9.99976074e-01 7.13910176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:160.87, Z:0.71 [[-5.23792875e-01 -8.51839623e-01 3.20640362e-03 1.14224081e+02] [ 8.51818802e-01 -5.23802540e-01 -5.96883957e-03 1.60874782e+02] [ 6.76401640e-03 -3.95160749e-04 9.99977046e-01 7.13658682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.971858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:160.90, Z:0.71 [[-5.26092244e-01 -8.50420920e-01 3.34821261e-03 1.14212441e+02] [ 8.50398218e-01 -5.26102723e-01 -6.22860526e-03 1.60900349e+02] [ 7.05843998e-03 -4.29506873e-04 9.99974997e-01 7.13847768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.20, Y:160.93, Z:0.71 [[-5.29423828e-01 -8.48351657e-01 3.14264240e-03 1.14200186e+02] [ 8.48331647e-01 -5.29432983e-01 -5.84239706e-03 1.60925273e+02] [ 6.62022577e-03 -4.27101219e-04 9.99977995e-01 7.14408748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.031858064 meters Centerline goodness [0,1] 0.9999556491850538 Centerline is valid? [True, True] Translation: X:114.19, Y:160.95, Z:0.71 [[-5.31976842e-01 -8.46753147e-01 3.12206511e-03 1.14190117e+02] [ 8.46733397e-01 -5.31985820e-01 -5.80013752e-03 1.60949841e+02] [ 6.57217906e-03 -4.41982045e-04 9.99978305e-01 7.14643180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:160.97, Z:0.71 [[-5.33523596e-01 -8.45779577e-01 3.07884626e-03 1.14178725e+02] [ 8.45760378e-01 -5.33532293e-01 -5.71621011e-03 1.60974093e+02] [ 6.47731767e-03 -4.45766798e-04 9.99978923e-01 7.14902579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.091858064 meters Centerline goodness [0,1] 0.9999553840319451 Centerline is valid? [True, True] Translation: X:114.17, Y:161.00, Z:0.72 [[-5.35690449e-01 -8.44408305e-01 3.21822943e-03 1.14166268e+02] [ 8.44387326e-01 -5.35699899e-01 -5.97173888e-03 1.60998757e+02] [ 6.76659109e-03 -4.81571341e-04 9.99976990e-01 7.15009274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121858064 meters Centerline goodness [0,1] 0.9998218619875748 Centerline is valid? [True, True] Translation: X:114.16, Y:161.02, Z:0.72 [[-5.39347791e-01 -8.42077129e-01 3.17317305e-03 1.14156601e+02] [ 8.42056717e-01 -5.39356892e-01 -5.88461972e-03 1.61023436e+02] [ 6.66677643e-03 -5.01864964e-04 9.99977651e-01 7.15536953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15185806399998 meters Centerline goodness [0,1] 0.9999108197890888 Centerline is valid? [True, True] Translation: X:114.14, Y:161.05, Z:0.72 [[-5.40222646e-01 -8.41516919e-01 2.96110052e-03 1.14142700e+02] [ 8.41499158e-01 -5.40230555e-01 -5.48776109e-03 1.61047544e+02] [ 6.21772078e-03 -4.72849221e-04 9.99980558e-01 7.16068303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18185806399998 meters Centerline goodness [0,1] 0.9997765512926508 Centerline is valid? [True, True] Translation: X:114.13, Y:161.07, Z:0.72 [[-5.41763545e-01 -8.40525775e-01 2.94670972e-03 1.14130960e+02] [ 8.40508193e-01 -5.41771346e-01 -5.45772865e-03 1.61073003e+02] [ 6.18380450e-03 -4.80064760e-04 9.99980765e-01 7.16463295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21185806399998 meters Centerline goodness [0,1] 0.9996863869536973 Centerline is valid? [True, True] Translation: X:114.12, Y:161.10, Z:0.72 [[-5.42088262e-01 -8.40317704e-01 2.54391149e-03 1.14117368e+02] [ 8.40304613e-01 -5.42094073e-01 -4.70890348e-03 1.61096621e+02] [ 5.33601430e-03 -4.14980748e-04 9.99985677e-01 7.17594448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24185806399998 meters Centerline goodness [0,1] 0.9997089182956047 Centerline is valid? [True, True] Translation: X:114.10, Y:161.12, Z:0.72 [[-5.42215149e-01 -8.40235917e-01 2.51717046e-03 1.14103705e+02] [ 8.40223116e-01 -5.42220837e-01 -4.65621657e-03 1.61119747e+02] [ 5.27718267e-03 -4.09686351e-04 9.99985992e-01 7.17203433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27185806399999 meters Centerline goodness [0,1] 0.99885801294252 Centerline is valid? [True, True] Translation: X:114.09, Y:161.14, Z:0.72 [[-5.42359854e-01 -8.40141449e-01 2.85209005e-03 1.14094619e+02] [ 8.40125037e-01 -5.42367156e-01 -5.27176052e-03 1.61144860e+02] [ 5.97590449e-03 -4.63079012e-04 9.99982037e-01 7.16898977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:161.17, Z:0.72 [[-5.42501995e-01 -8.40049454e-01 2.91537663e-03 1.14073911e+02] [ 8.40032328e-01 -5.42509623e-01 -5.38480988e-03 1.61165146e+02] [ 6.10512648e-03 -4.72259481e-04 9.99981252e-01 7.17759448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.331858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.06, Y:161.19, Z:0.72 [[-5.41187464e-01 -8.40898481e-01 2.42348842e-03 1.14058645e+02] [ 8.40886669e-01 -5.41192755e-01 -4.47342027e-03 1.61187945e+02] [ 5.07326668e-03 -3.83079872e-04 9.99987058e-01 7.18757981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.361858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:161.21, Z:0.72 [[-5.40511066e-01 -8.41334058e-01 2.18864112e-03 1.14044714e+02] [ 8.41324440e-01 -5.40515390e-01 -4.03730487e-03 1.61212092e+02] [ 4.57971629e-03 -3.40850694e-04 9.99989455e-01 7.18934111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.391858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.03, Y:161.24, Z:0.72 [[-5.39886768e-01 -8.41735337e-01 1.97463409e-03 1.14032718e+02] [ 8.41727520e-01 -5.39890294e-01 -3.64035713e-03 1.61237684e+02] [ 4.13030302e-03 -3.03276790e-04 9.99991424e-01 7.19318746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.01, Y:161.26, Z:0.72 [[-5.36039878e-01 -8.44190802e-01 1.77192599e-03 1.14014889e+02] [ 8.44184527e-01 -5.36042746e-01 -3.26472833e-03 1.61259327e+02] [ 3.70588170e-03 -2.54192068e-04 9.99993101e-01 7.19804850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.451858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.01, Y:161.29, Z:0.72 [[-5.34729101e-01 -8.45021362e-01 1.92014677e-03 1.14005424e+02] [ 8.45014010e-01 -5.34732481e-01 -3.53514568e-03 1.61285143e+02] [ 4.01403846e-03 -2.67794352e-04 9.99991908e-01 7.19556317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:161.31, Z:0.72 [[-5.32918045e-01 -8.46164919e-01 1.81298974e-03 1.13986722e+02] [ 8.46158379e-01 -5.32921073e-01 -3.33565257e-03 1.61306294e+02] [ 3.78869263e-03 -2.43552986e-04 9.99992793e-01 7.19726339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.511858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:161.33, Z:0.72 [[-5.29008131e-01 -8.48614544e-01 1.93716036e-03 1.13975513e+02] [ 8.48607105e-01 -5.29011623e-01 -3.56147817e-03 1.61330871e+02] [ 4.04710252e-03 -2.40162867e-04 9.99991782e-01 7.18858176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.541858064 meters Centerline goodness [0,1] 0.9999550763701707 Centerline is valid? [True, True] Translation: X:113.96, Y:161.35, Z:0.72 [[-5.27251255e-01 -8.49706478e-01 2.23955723e-03 1.13961112e+02] [ 8.49696559e-01 -5.27255944e-01 -4.11418992e-03 1.61354893e+02] [ 4.67667369e-03 -2.66267726e-04 9.99989029e-01 7.18155879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.571858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:161.38, Z:0.72 [[-5.25663136e-01 -8.50688693e-01 2.64853674e-03 1.13946817e+02] [ 8.50674854e-01 -5.25669721e-01 -4.86189753e-03 1.61378434e+02] [ 5.52821682e-03 -3.02676700e-04 9.99984673e-01 7.17378484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:161.40, Z:0.72 [[-5.22445842e-01 -8.52668753e-01 2.51776459e-03 1.13933648e+02] [ 8.52656285e-01 -5.22451841e-01 -4.61875353e-03 1.61400991e+02] [ 5.25367756e-03 -2.66260770e-04 9.99986164e-01 7.17809907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.631858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:161.43, Z:0.72 [[-5.22094672e-01 -8.52884465e-01 2.28965290e-03 1.13920645e+02] [ 8.52874169e-01 -5.22099638e-01 -4.19760239e-03 1.61425825e+02] [ 4.77549682e-03 -2.38760024e-04 9.99988569e-01 7.18153143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:161.45, Z:0.72 [[-5.22031967e-01 -8.52922784e-01 2.31291195e-03 1.13909201e+02] [ 8.52912291e-01 -5.22037036e-01 -4.23754591e-03 1.61450080e+02] [ 4.82172516e-03 -2.39423400e-04 9.99988347e-01 7.18569578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:161.47, Z:0.72 [[-5.21858578e-01 -8.53028995e-01 2.27125194e-03 1.13894678e+02] [ 8.53018891e-01 -5.21863469e-01 -4.15840907e-03 1.61473303e+02] [ 4.73252692e-03 -2.32680635e-04 9.99988774e-01 7.18949447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.88, Y:161.50, Z:0.72 [[-5.21630299e-01 -8.53168714e-01 2.23086607e-03 1.13883692e+02] [ 8.53158980e-01 -5.21635021e-01 -4.08169341e-03 1.61497747e+02] [ 4.64607099e-03 -2.25851536e-04 9.99989181e-01 7.18534943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.87, Y:161.52, Z:0.72 [[-5.21321963e-01 -8.53357705e-01 2.00948160e-03 1.13872695e+02] [ 8.53349818e-01 -5.21325797e-01 -3.67431184e-03 1.61521289e+02] [ 4.18309692e-03 -2.00708702e-04 9.99991231e-01 7.18883929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:161.54, Z:0.72 [[-5.21064140e-01 -8.53515449e-01 1.88149835e-03 1.13857254e+02] [ 8.53508545e-01 -5.21067504e-01 -3.43801258e-03 1.61543779e+02] [ 3.91478450e-03 -1.85550147e-04 9.99992320e-01 7.19163305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:161.57, Z:0.72 [[-5.20468629e-01 -8.53878729e-01 1.87688644e-03 1.13839808e+02] [ 8.53871870e-01 -5.20471982e-01 -3.42729123e-03 1.61566568e+02] [ 3.90335788e-03 -1.81177028e-04 9.99992365e-01 7.19182044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.83, Y:161.59, Z:0.72 [[-5.21274761e-01 -8.53386067e-01 2.20080783e-03 1.13828849e+02] [ 8.53376644e-01 -5.21279363e-01 -4.01613630e-03 1.61591155e+02] [ 4.57455047e-03 -2.15392488e-04 9.99989514e-01 7.18496982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.81, Y:161.61, Z:0.72 [[-5.20897532e-01 -8.53616140e-01 2.29068635e-03 1.13809486e+02] [ 8.53605944e-01 -5.20902522e-01 -4.17795616e-03 1.61612615e+02] [ 4.75959511e-03 -2.20943567e-04 9.99988649e-01 7.18113719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.80, Y:161.64, Z:0.72 [[-5.21659226e-01 -8.53150375e-01 2.46770770e-03 1.13798408e+02] [ 8.53138552e-01 -5.21665007e-01 -4.49798165e-03 1.61637629e+02] [ 5.12477149e-03 -2.41117051e-04 9.99986839e-01 7.17159211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:161.66, Z:0.72 [[-5.22919772e-01 -8.52377532e-01 2.73036038e-03 1.13784942e+02] [ 8.52363064e-01 -5.22926829e-01 -4.97385142e-03 1.61662244e+02] [ 5.66737789e-03 -2.73666907e-04 9.99983903e-01 7.16879188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96185806399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.77, Y:161.69, Z:0.72 [[-5.23763559e-01 -8.51858305e-01 3.02688712e-03 1.13771671e+02] [ 8.51840539e-01 -5.23772215e-01 -5.51023660e-03 1.61687479e+02] [ 6.27934018e-03 -3.07635969e-04 9.99980237e-01 7.16636535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99185806399998 meters Centerline goodness [0,1] 0.9999103340058283 Centerline is valid? [True, True] Translation: X:113.76, Y:161.71, Z:0.72 [[-5.24865043e-01 -8.51179936e-01 3.06649251e-03 1.13758321e+02] [ 8.51161713e-01 -5.24873905e-01 -5.57868621e-03 1.61712242e+02] [ 6.35798767e-03 -3.17976360e-04 9.99979737e-01 7.16091790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:161.74, Z:0.72 [[-5.27380772e-01 -8.49623287e-01 3.12902198e-03 1.13748267e+02] [ 8.49604311e-01 -5.27389944e-01 -5.68866980e-03 1.61737081e+02] [ 6.48344106e-03 -3.41664506e-04 9.99978924e-01 7.16737707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:161.76, Z:0.72 [[-5.27639347e-01 -8.49462724e-01 3.13068059e-03 1.13735248e+02] [ 8.49443750e-01 -5.27648524e-01 -5.68775701e-03 1.61760524e+02] [ 6.48343655e-03 -3.41747329e-04 9.99978924e-01 7.16828783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:161.79, Z:0.72 [[-5.28763098e-01 -8.48764481e-01 2.90546787e-03 1.13722805e+02] [ 8.48748150e-01 -5.28770982e-01 -5.27513916e-03 1.61785360e+02] [ 6.01367785e-03 -3.23288447e-04 9.99981865e-01 7.17612187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:161.81, Z:0.72 [[-5.30486924e-01 -8.47688757e-01 2.71936164e-03 1.13711249e+02] [ 8.47674454e-01 -5.30493802e-01 -4.93415373e-03 1.61809889e+02] [ 5.62523113e-03 -3.12370637e-04 9.99984129e-01 7.18438137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:161.83, Z:0.72 [[-5.31861098e-01 -8.46825556e-01 3.20163192e-03 1.13699108e+02] [ 8.46805743e-01 -5.31870601e-01 -5.80495950e-03 1.61834615e+02] [ 6.61864195e-03 -3.76271836e-04 9.99978026e-01 7.18526075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.171858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.69, Y:161.86, Z:0.72 [[-5.32339839e-01 -8.46523615e-01 3.47357614e-03 1.13686558e+02] [ 8.46500317e-01 -5.32351013e-01 -6.29379608e-03 1.61859591e+02] [ 7.17700879e-03 -4.10055088e-04 9.99974161e-01 7.18506451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:161.88, Z:0.72 [[-5.33985205e-01 -8.45485854e-01 3.67044856e-03 1.13675445e+02] [ 8.45459849e-01 -5.33997634e-01 -6.64611182e-03 1.61884086e+02] [ 7.57920437e-03 -4.45708498e-04 9.99971178e-01 7.18814854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.231858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:161.91, Z:0.72 [[-5.35122464e-01 -8.44766832e-01 3.59837876e-03 1.13663323e+02] [ 8.44741848e-01 -5.35134378e-01 -6.51209183e-03 1.61909033e+02] [ 7.42681536e-03 -4.45065501e-04 9.99972322e-01 7.18979330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:161.93, Z:0.72 [[-5.36418215e-01 -8.43945507e-01 3.38817730e-03 1.13651281e+02] [ 8.43923364e-01 -5.36428745e-01 -6.12838901e-03 1.61933765e+02] [ 6.98954207e-03 -4.28017511e-04 9.99975481e-01 7.19500165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.63, Y:161.95, Z:0.72 [[-5.37040140e-01 -8.43550472e-01 3.23882692e-03 1.13628148e+02] [ 8.43530256e-01 -5.37049748e-01 -5.85451380e-03 1.61953455e+02] [ 6.67798906e-03 -4.12060411e-04 9.99977617e-01 7.20277182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.63, Y:161.98, Z:0.72 [[-5.37722423e-01 -8.43115135e-01 3.38608914e-03 1.13626128e+02] [ 8.43093060e-01 -5.37732909e-01 -6.11647760e-03 1.61982899e+02] [ 6.97770640e-03 -4.34178901e-04 9.99975561e-01 7.19593811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.60, Y:162.00, Z:0.72 [[-5.38076910e-01 -8.42887192e-01 3.79734082e-03 1.13602549e+02] [ 8.42859462e-01 -5.38090089e-01 -6.85445598e-03 1.62001903e+02] [ 7.82084461e-03 -4.87599854e-04 9.99969298e-01 7.20550760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:162.03, Z:0.72 [[-5.38021062e-01 -8.42922124e-01 3.95347784e-03 1.13589524e+02] [ 8.42892106e-01 -5.38035351e-01 -7.13150984e-03 1.62027070e+02] [ 8.13841826e-03 -5.04547237e-04 9.99966755e-01 7.20785901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.58, Y:162.05, Z:0.72 [[-5.36088256e-01 -8.44152991e-01 3.88697778e-03 1.13575745e+02] [ 8.44124045e-01 -5.36102137e-01 -7.00683547e-03 1.62051342e+02] [ 7.99865822e-03 -4.75190803e-04 9.99967897e-01 7.20999961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:162.08, Z:0.72 [[-5.34865579e-01 -8.44928391e-01 3.85046947e-03 1.13563549e+02] [ 8.44900043e-01 -5.34879244e-01 -6.93634549e-03 1.62076079e+02] [ 7.92025143e-03 -4.56750627e-04 9.99968530e-01 7.21053814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:162.10, Z:0.72 [[-5.33260975e-01 -8.45942456e-01 3.75412456e-03 1.13549073e+02] [ 8.45915569e-01 -5.33274017e-01 -6.75822764e-03 1.62099395e+02] [ 7.71904877e-03 -4.28226642e-04 9.99970116e-01 7.21433234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:162.12, Z:0.72 [[-5.29075675e-01 -8.48568367e-01 3.26429160e-03 1.13531233e+02] [ 8.48548109e-01 -5.29085638e-01 -5.87326088e-03 1.62121609e+02] [ 6.71095320e-03 -3.37491002e-04 9.99977424e-01 7.21526021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.52, Y:162.15, Z:0.72 [[-5.28047551e-01 -8.49208040e-01 3.38959994e-03 1.13520285e+02] [ 8.49186232e-01 -5.28058321e-01 -6.09534549e-03 1.62146734e+02] [ 6.96612285e-03 -3.40230658e-04 9.99975678e-01 7.21950141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.51, Y:162.17, Z:0.72 [[-5.26515715e-01 -8.50159826e-01 3.07770209e-03 1.13505603e+02] [ 8.50141885e-01 -5.26524627e-01 -5.53109665e-03 1.62170278e+02] [ 6.32280211e-03 -2.95725852e-04 9.99979967e-01 7.23192105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:162.19, Z:0.72 [[-5.23963690e-01 -8.51735426e-01 2.96920239e-03 1.13494133e+02] [ 8.51718773e-01 -5.23972036e-01 -5.33272816e-03 1.62193802e+02] [ 6.09785251e-03 -2.65230505e-04 9.99981373e-01 7.23320321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:162.22, Z:0.72 [[-5.22843263e-01 -8.52423528e-01 3.00854802e-03 1.13480454e+02] [ 8.52406463e-01 -5.22851854e-01 -5.39996295e-03 1.62218288e+02] [ 6.17608038e-03 -2.58828471e-04 9.99980894e-01 7.23487595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.47, Y:162.24, Z:0.72 [[-5.21538272e-01 -8.53222174e-01 3.12291446e-03 1.13467708e+02] [ 8.53203822e-01 -5.21547558e-01 -5.60198190e-03 1.62242497e+02] [ 6.40848358e-03 -2.57165407e-04 9.99979432e-01 7.23655467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:162.26, Z:0.72 [[-5.16530142e-01 -8.56263298e-01 3.12679572e-03 1.13452586e+02] [ 8.56244977e-01 -5.16539560e-01 -5.60561635e-03 1.62264835e+02] [ 6.41499723e-03 -2.18166685e-04 9.99979400e-01 7.22880843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.44, Y:162.29, Z:0.72 [[-5.14466980e-01 -8.57503467e-01 3.39556424e-03 1.13437899e+02] [ 8.57481918e-01 -5.14478140e-01 -6.08312208e-03 1.62288733e+02] [ 6.96324185e-03 -2.17930511e-04 9.99975733e-01 7.23009092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.741858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:162.31, Z:0.72 [[-5.11856051e-01 -8.59063940e-01 3.53971990e-03 1.13422575e+02] [ 8.59040590e-01 -5.11868250e-01 -6.33722298e-03 1.62312330e+02] [ 7.25594997e-03 -2.02982861e-04 9.99973655e-01 7.22754560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.41, Y:162.33, Z:0.72 [[-5.07043409e-01 -8.61910771e-01 4.09932717e-03 1.13406577e+02] [ 8.61879590e-01 -5.07059946e-01 -7.33371427e-03 1.62334775e+02] [ 8.39961193e-03 -1.85385057e-04 9.99964705e-01 7.22096518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.801858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:162.36, Z:0.72 [[-5.04290470e-01 -8.63524553e-01 4.05801737e-03 1.13390973e+02] [ 8.63494091e-01 -5.04306773e-01 -7.25490954e-03 1.62358379e+02] [ 8.31127817e-03 -1.54507724e-04 9.99965449e-01 7.22080344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:162.38, Z:0.72 [[-5.01665630e-01 -8.65051346e-01 4.21486063e-03 1.13375076e+02] [ 8.65018579e-01 -5.01683318e-01 -7.53033589e-03 1.62381729e+02] [ 8.62865247e-03 -1.31777942e-04 9.99962764e-01 7.22124808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.861858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:162.41, Z:0.72 [[-4.99783724e-01 -8.66139182e-01 4.37562791e-03 1.13361127e+02] [ 8.66103956e-01 -4.99802865e-01 -7.81238716e-03 1.62405660e+02] [ 8.95356599e-03 -1.14755306e-04 9.99959909e-01 7.22094143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:162.43, Z:0.72 [[-4.94628794e-01 -8.69094722e-01 4.08912924e-03 1.13344106e+02] [ 8.69064095e-01 -4.94645693e-01 -7.29639699e-03 1.62428942e+02] [ 8.36393027e-03 -5.52926432e-05 9.99965020e-01 7.22958678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.921858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:162.45, Z:0.72 [[-4.93061572e-01 -8.69985601e-01 3.91673652e-03 1.13330325e+02] [ 8.69957565e-01 -4.93077127e-01 -6.98438643e-03 1.62452933e+02] [ 8.00756881e-03 -3.63379828e-05 9.99967938e-01 7.23206206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:162.48, Z:0.72 [[-4.91918822e-01 -8.70632719e-01 3.81331552e-03 1.13317358e+02] [ 8.70606200e-01 -4.91933601e-01 -6.79538060e-03 1.62476646e+02] [ 7.79217873e-03 -2.28794907e-05 9.99969640e-01 7.23373306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.981858064 meters Centerline goodness [0,1] 0.9999776151142749 Centerline is valid? [True, True] Translation: X:113.30, Y:162.50, Z:0.72 [[-4.88512871e-01 -8.72550314e-01 3.33536515e-03 1.13302813e+02] [ 8.72530098e-01 -4.88524257e-01 -5.93955948e-03 1.62498524e+02] [ 6.81197127e-03 8.65522495e-06 9.99976798e-01 7.24306603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.29, Y:162.52, Z:0.72 [[-4.86710263e-01 -8.73557497e-01 3.22807984e-03 1.13288100e+02] [ 8.73538609e-01 -4.86720967e-01 -5.74440769e-03 1.62522142e+02] [ 6.58924454e-03 2.39902004e-05 9.99978290e-01 7.24898651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.27, Y:162.55, Z:0.72 [[-4.85348906e-01 -8.74314248e-01 3.32202598e-03 1.13273922e+02] [ 8.74294291e-01 -4.85360273e-01 -5.90743804e-03 1.62545294e+02] [ 6.77733669e-03 3.72597604e-05 9.99977033e-01 7.24397418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.26, Y:162.57, Z:0.72 [[-4.84170370e-01 -8.74966922e-01 3.45504059e-03 1.13259824e+02] [ 8.74945382e-01 -4.84182695e-01 -6.13970071e-03 1.62569241e+02] [ 7.04490590e-03 5.03106440e-05 9.99975183e-01 7.24803556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:162.59, Z:0.72 [[-4.82201454e-01 -8.76052477e-01 3.71681113e-03 1.13244026e+02] [ 8.76027616e-01 -4.82215773e-01 -6.60038447e-03 1.62593022e+02] [ 7.57458812e-03 7.33142037e-05 9.99971310e-01 7.23828752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:162.62, Z:0.72 [[-4.83183060e-01 -8.75509074e-01 4.24163908e-03 1.13230529e+02] [ 8.75476720e-01 -4.83201671e-01 -7.52712815e-03 1.62617888e+02] [ 8.63963609e-03 7.64754623e-05 9.99962675e-01 7.22891380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:162.64, Z:0.72 [[-4.83220605e-01 -8.75488360e-01 4.24012268e-03 1.13216320e+02] [ 8.75456072e-01 -4.83239202e-01 -7.51928436e-03 1.62640464e+02] [ 8.63203943e-03 7.85680081e-05 9.99962740e-01 7.22957247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.191858064 meters Centerline goodness [0,1] 0.9999776146131805 Centerline is valid? [True, True] Translation: X:113.20, Y:162.67, Z:0.72 [[-4.83969987e-01 -8.75072744e-01 4.55460787e-03 1.13203467e+02] [ 8.75035523e-01 -4.83991412e-01 -8.07140122e-03 1.62665529e+02] [ 9.26745430e-03 7.91277383e-05 9.99957053e-01 7.23528004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22185806399995 meters Centerline goodness [0,1] 0.9999104945177892 Centerline is valid? [True, True] Translation: X:113.19, Y:162.69, Z:0.72 [[-4.85568551e-01 -8.74185851e-01 4.72009948e-03 1.13190980e+02] [ 8.74145891e-01 -4.85591488e-01 -8.35869794e-03 1.62689938e+02] [ 9.59909560e-03 6.73347207e-05 9.99953925e-01 7.23337958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.18, Y:162.71, Z:0.72 [[-4.86706978e-01 -8.73552500e-01 4.72739179e-03 1.13178770e+02] [ 8.73512445e-01 -4.86729933e-01 -8.36547010e-03 1.62713922e+02] [ 9.60864040e-03 5.79028913e-05 9.99953834e-01 7.24207254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28185806399995 meters Centerline goodness [0,1] 0.9999775638868322 Centerline is valid? [True, True] Translation: X:113.17, Y:162.74, Z:0.72 [[-4.87425214e-01 -8.73152501e-01 4.62282697e-03 1.13165598e+02] [ 8.73114239e-01 -4.87447133e-01 -8.17430092e-03 1.62736433e+02] [ 9.39079505e-03 5.18956724e-05 9.99955904e-01 7.24302090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.15, Y:162.76, Z:0.72 [[-4.87812622e-01 -8.72936472e-01 4.55648735e-03 1.13151587e+02] [ 8.72899345e-01 -4.87833899e-01 -8.05105937e-03 1.62759887e+02] [ 9.25087235e-03 4.99464407e-05 9.99957209e-01 7.24443809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:162.78, Z:0.72 [[-4.88965924e-01 -8.72288709e-01 4.97323271e-03 1.13139110e+02] [ 8.72244515e-01 -4.88991212e-01 -8.78065456e-03 1.62782912e+02] [ 1.00911329e-02 4.44340877e-05 9.99949082e-01 7.24118507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.371858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:162.81, Z:0.72 [[-4.89409551e-01 -8.72041195e-01 4.73755195e-03 1.13124792e+02] [ 8.72001137e-01 -4.89432479e-01 -8.35853171e-03 1.62806325e+02] [ 9.60769578e-03 4.04054276e-05 9.99953844e-01 7.24179521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40185806399995 meters Centerline goodness [0,1] 0.9999550177679817 Centerline is valid? [True, True] Translation: X:113.11, Y:162.83, Z:0.72 [[-4.90235959e-01 -8.71575812e-01 4.93027152e-03 1.13111612e+02] [ 8.71532468e-01 -4.90260749e-01 -8.69226101e-03 1.62830483e+02] [ 9.99308306e-03 3.56327904e-05 9.99950067e-01 7.24335162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:162.85, Z:0.72 [[-4.90582116e-01 -8.71382996e-01 4.56735247e-03 1.13097769e+02] [ 8.71345841e-01 -4.90603376e-01 -8.04686011e-03 1.62853872e+02] [ 9.25265561e-03 3.20979201e-05 9.99957193e-01 7.24764358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:162.88, Z:0.73 [[-4.91465078e-01 -8.70886489e-01 4.33587629e-03 1.13084630e+02] [ 8.70853034e-01 -4.91484203e-01 -7.63357596e-03 1.62876357e+02] [ 8.77899287e-03 2.42750161e-05 9.99961464e-01 7.27095614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.07, Y:162.90, Z:0.73 [[-4.91393186e-01 -8.70927605e-01 4.22426074e-03 1.13070698e+02] [ 8.70895896e-01 -4.91411342e-01 -7.43179668e-03 1.62900126e+02] [ 8.54840652e-03 2.69570925e-05 9.99963461e-01 7.27733097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.06, Y:162.92, Z:0.73 [[-4.91793014e-01 -8.70701718e-01 4.26015237e-03 1.13057241e+02] [ 8.70669506e-01 -4.91811465e-01 -7.48967631e-03 1.62924068e+02] [ 8.61646581e-03 2.58142677e-05 9.99962877e-01 7.27908492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.551858064 meters Centerline goodness [0,1] 0.9999324613341137 Centerline is valid? [True, True] Translation: X:113.04, Y:162.95, Z:0.73 [[-4.94477851e-01 -8.69176440e-01 4.89602339e-03 1.13044362e+02] [ 8.69133882e-01 -4.94502090e-01 -8.60106208e-03 1.62946540e+02] [ 9.89693431e-03 2.26511768e-06 9.99951024e-01 7.26011787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58185806399996 meters Centerline goodness [0,1] 0.9999323669319385 Centerline is valid? [True, True] Translation: X:113.03, Y:162.97, Z:0.73 [[-4.96099435e-01 -8.68251772e-01 4.92042098e-03 1.13030783e+02] [ 8.68208806e-01 -4.96123835e-01 -8.63771095e-03 1.62970612e+02] [ 9.94084597e-03 -1.32106963e-05 9.99950588e-01 7.25742646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.611858064 meters Centerline goodness [0,1] 0.9999324689357104 Centerline is valid? [True, True] Translation: X:113.02, Y:162.99, Z:0.73 [[-4.97252040e-01 -8.67591487e-01 5.04192176e-03 1.13018037e+02] [ 8.67546404e-01 -4.97277600e-01 -8.84448196e-03 1.62993358e+02] [ 1.01806320e-02 -2.38356015e-05 9.99948176e-01 7.25511524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.01, Y:163.02, Z:0.73 [[-4.99176004e-01 -8.66484750e-01 5.24354370e-03 1.13005506e+02] [ 8.66436001e-01 -4.99203541e-01 -9.19130777e-03 1.63015966e+02] [ 1.05817236e-02 -4.48852513e-05 9.99944011e-01 7.25388496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.671858064 meters Centerline goodness [0,1] 0.999864959150143 Centerline is valid? [True, True] Translation: X:112.99, Y:163.04, Z:0.73 [[-4.99651081e-01 -8.66211516e-01 5.13876511e-03 1.12991686e+02] [ 8.66164747e-01 -4.99677504e-01 -9.00132698e-03 1.63039937e+02] [ 1.03647784e-02 -4.65055786e-05 9.99946283e-01 7.26119691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70185806399996 meters Centerline goodness [0,1] 0.9997975754031623 Centerline is valid? [True, True] Translation: X:112.98, Y:163.06, Z:0.73 [[-5.00637506e-01 -8.65638841e-01 5.61120643e-03 1.12976761e+02] [ 8.65583121e-01 -5.00668947e-01 -9.82171730e-03 1.63062952e+02] [ 1.13114168e-02 -6.01544782e-05 9.99936022e-01 7.26736020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.731858064 meters Centerline goodness [0,1] 0.999662800107904 Centerline is valid? [True, True] Translation: X:112.96, Y:163.09, Z:0.73 [[-5.01070960e-01 -8.65388647e-01 5.51201562e-03 1.12962398e+02] [ 8.65334942e-01 -5.01101273e-01 -9.64115695e-03 1.63085942e+02] [ 1.11054258e-02 -6.11640538e-05 9.99938331e-01 7.26925385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76185806399997 meters Centerline goodness [0,1] 0.9997535345387735 Centerline is valid? [True, True] Translation: X:112.95, Y:163.11, Z:0.73 [[-5.01395259e-01 -8.65202004e-01 5.31848355e-03 1.12947916e+02] [ 8.65152066e-01 -5.01423462e-01 -9.29597679e-03 1.63109237e+02] [ 1.07097102e-02 -5.96616609e-05 9.99942648e-01 7.27118345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79185806399994 meters Centerline goodness [0,1] 0.9998652896273013 Centerline is valid? [True, True] Translation: X:112.93, Y:163.13, Z:0.73 [[-5.01900206e-01 -8.64910783e-01 5.05184868e-03 1.12934130e+02] [ 8.64865777e-01 -5.01925626e-01 -8.82344960e-03 1.63131130e+02] [ 1.01671490e-02 -5.93201359e-05 9.99948311e-01 7.27697028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82185806399997 meters Centerline goodness [0,1] 0.9999550652676986 Centerline is valid? [True, True] Translation: X:112.92, Y:163.15, Z:0.73 [[-5.02174658e-01 -8.64752280e-01 4.90984751e-03 1.12919704e+02] [ 8.64709823e-01 -5.02198657e-01 -8.56923677e-03 1.63154671e+02] [ 9.87598586e-03 -5.76601818e-05 9.99951230e-01 7.29021079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85185806399994 meters Centerline goodness [0,1] 0.9999328438395415 Centerline is valid? [True, True] Translation: X:112.90, Y:163.18, Z:0.73 [[-5.00073350e-01 -8.65972833e-01 4.20679325e-03 1.12902711e+02] [ 8.65941743e-01 -5.00091044e-01 -7.33795261e-03 1.63175062e+02] [ 8.45824724e-03 -2.66766642e-05 9.99964228e-01 7.29368204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88185806399997 meters Centerline goodness [0,1] 0.9999102877520354 Centerline is valid? [True, True] Translation: X:112.89, Y:163.20, Z:0.73 [[-5.00134858e-01 -8.65936386e-01 4.39309607e-03 1.12888782e+02] [ 8.65902525e-01 -5.00154151e-01 -7.65785345e-03 1.63198131e+02] [ 8.82843918e-03 -2.59664643e-05 9.99961028e-01 7.29727549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91185806399994 meters Centerline goodness [0,1] 0.9998204546984761 Centerline is valid? [True, True] Translation: X:112.88, Y:163.22, Z:0.73 [[-4.98968011e-01 -8.66603677e-01 5.38425024e-03 1.12875532e+02] [ 8.66552932e-01 -4.98997060e-01 -9.37818346e-03 1.63220518e+02] [ 1.08138933e-02 -1.36757191e-05 9.99941528e-01 7.28791226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941858064 meters Centerline goodness [0,1] 0.9998204546984761 Centerline is valid? [True, True] Translation: X:112.86, Y:163.24, Z:0.73 [[-4.99226404e-01 -8.66454832e-01 5.38712155e-03 1.12862095e+02] [ 8.66404096e-01 -4.99255469e-01 -9.37653420e-03 1.63243670e+02] [ 1.08138933e-02 -1.35892791e-05 9.99941528e-01 7.28882109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97185806399995 meters Centerline goodness [0,1] 0.9999550672867381 Centerline is valid? [True, True] Translation: X:112.85, Y:163.27, Z:0.73 [[-4.99619458e-01 -8.66227799e-01 5.45877622e-03 1.12848184e+02] [ 8.66175764e-01 -4.99649277e-01 -9.49447367e-03 1.63267422e+02] [ 1.09518506e-02 -1.53641263e-05 9.99940027e-01 7.29044752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:163.29, Z:0.73 [[-4.99859161e-01 -8.66087361e-01 5.78802480e-03 1.12833724e+02] [ 8.66028937e-01 -4.99892671e-01 -1.00597567e-02 1.63291009e+02] [ 1.16060193e-02 -1.58645620e-05 9.99932648e-01 7.28600400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.82, Y:163.31, Z:0.73 [[-4.99626133e-01 -8.66224300e-01 5.40264358e-03 1.12819200e+02] [ 8.66173476e-01 -4.99655343e-01 -9.38334726e-03 1.63313818e+02] [ 1.08275431e-02 -8.53893161e-06 9.99941380e-01 7.28015569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061858064 meters Centerline goodness [0,1] 0.999977567913143 Centerline is valid? [True, True] Translation: X:112.81, Y:163.34, Z:0.73 [[-5.00808567e-01 -8.65540593e-01 5.50093878e-03 1.12806548e+02] [ 8.65487936e-01 -5.00838777e-01 -9.54735614e-03 1.63338388e+02] [ 1.10187077e-02 -2.04015958e-05 9.99939292e-01 7.28153367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09185806399995 meters Centerline goodness [0,1] 0.99986553717897 Centerline is valid? [True, True] Translation: X:112.80, Y:163.36, Z:0.73 [[-5.03486493e-01 -8.63984040e-01 5.73845764e-03 1.12796615e+02] [ 8.63926721e-01 -5.03519191e-01 -9.95211146e-03 1.63363362e+02] [ 1.14878890e-02 -5.31467987e-05 9.99934011e-01 7.26836515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121858064 meters Centerline goodness [0,1] 0.9999551207252491 Centerline is valid? [True, True] Translation: X:112.79, Y:163.39, Z:0.73 [[-5.07442852e-01 -8.61663984e-01 6.07713748e-03 1.12786981e+02] [ 8.61599620e-01 -5.07479229e-01 -1.05322004e-02 1.63390216e+02] [ 1.21592388e-02 -1.08430475e-04 9.99926068e-01 7.27213687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15185806399995 meters Centerline goodness [0,1] 0.9999775674099332 Centerline is valid? [True, True] Translation: X:112.78, Y:163.41, Z:0.73 [[-5.10117982e-01 -8.60092048e-01 4.61655244e-03 1.12776080e+02] [ 8.60054890e-01 -5.10138860e-01 -7.99561209e-03 1.63414576e+02] [ 9.23204518e-03 -1.08217012e-04 9.99957378e-01 7.28006110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181858064 meters Centerline goodness [0,1] 0.9999774942047577 Centerline is valid? [True, True] Translation: X:112.76, Y:163.44, Z:0.73 [[-5.10923182e-01 -8.59618222e-01 3.74356222e-03 1.12763319e+02] [ 8.59593808e-01 -5.10936888e-01 -6.47930508e-03 1.63438495e+02] [ 7.48245274e-03 -9.24842633e-05 9.99972002e-01 7.29381355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21185806399995 meters Centerline goodness [0,1] 0.9999550965424338 Centerline is valid? [True, True] Translation: X:112.75, Y:163.46, Z:0.73 [[-5.11888923e-01 -8.59043177e-01 3.81457814e-03 1.12751961e+02] [ 8.59017849e-01 -5.11903126e-01 -6.59733857e-03 1.63462693e+02] [ 7.62009316e-03 -1.00313824e-04 9.99970962e-01 7.29086859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.241858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:163.49, Z:0.73 [[-5.12768585e-01 -8.58519246e-01 3.61690947e-03 1.12738248e+02] [ 8.58496495e-01 -5.12781331e-01 -6.25103036e-03 1.63486468e+02] [ 7.22131353e-03 -1.00227890e-04 9.99973921e-01 7.28798565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27185806399996 meters Centerline goodness [0,1] 0.9999774398772729 Centerline is valid? [True, True] Translation: X:112.72, Y:163.51, Z:0.73 [[-5.12263088e-01 -8.58821874e-01 3.39373644e-03 1.12724900e+02] [ 8.58801878e-01 -5.12274322e-01 -5.86119123e-03 1.63509089e+02] [ 6.77224327e-03 -8.79246904e-05 9.99977064e-01 7.28921998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.301858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:163.53, Z:0.73 [[-5.11841149e-01 -8.59072867e-01 3.52814222e-03 1.12712251e+02] [ 8.59051289e-01 -5.11853302e-01 -6.08933468e-03 1.63531628e+02] [ 7.03707344e-03 -8.59169375e-05 9.99975236e-01 7.28450724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:163.56, Z:0.73 [[-5.12363583e-01 -8.58761193e-01 3.57367021e-03 1.12698343e+02] [ 8.58739076e-01 -5.12376038e-01 -6.16401925e-03 1.63555238e+02] [ 7.12448351e-03 -8.93687339e-05 9.99974617e-01 7.27922846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.361858064 meters Centerline goodness [0,1] 0.999977474433482 Centerline is valid? [True, True] Translation: X:112.68, Y:163.58, Z:0.73 [[-5.12592572e-01 -8.58625182e-01 3.41342580e-03 1.12684393e+02] [ 8.58605028e-01 -5.12603930e-01 -5.88354883e-03 1.63578708e+02] [ 6.80149866e-03 -8.50788716e-05 9.99976866e-01 7.27328019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:163.60, Z:0.73 [[-5.13061709e-01 -8.58346272e-01 3.05938841e-03 1.12670659e+02] [ 8.58330099e-01 -5.13070825e-01 -5.26976525e-03 1.63602352e+02] [ 6.09296629e-03 -7.77496156e-05 9.99981435e-01 7.27765572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.421858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:163.63, Z:0.73 [[-5.13838036e-01 -8.57883584e-01 2.49572796e-03 1.12656780e+02] [ 8.57872829e-01 -5.13844092e-01 -4.29626207e-03 1.63627212e+02] [ 4.96810777e-03 -6.65656531e-05 9.99987657e-01 7.28159146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:163.65, Z:0.73 [[-5.13923877e-01 -8.57831342e-01 2.76344994e-03 1.12645056e+02] [ 8.57818174e-01 -5.13931302e-01 -4.75365599e-03 1.63651168e+02] [ 5.49805853e-03 -7.24797341e-05 9.99984883e-01 7.27438114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:163.67, Z:0.73 [[-5.14150812e-01 -8.57695472e-01 2.72396389e-03 1.12632791e+02] [ 8.57682694e-01 -5.14158023e-01 -4.68230459e-03 1.63674124e+02] [ 5.41653934e-03 -7.11140198e-05 9.99985328e-01 7.26900687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:163.70, Z:0.73 [[-5.14203183e-01 -8.57665129e-01 2.36927405e-03 1.12617726e+02] [ 8.57655474e-01 -5.14208637e-01 -4.07001861e-03 1.63697067e+02] [ 4.70901421e-03 -6.07956643e-05 9.99988911e-01 7.27443775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:163.72, Z:0.73 [[-5.15921929e-01 -8.56632450e-01 2.32571173e-03 1.12604550e+02] [ 8.56623149e-01 -5.15927167e-01 -3.99247642e-03 1.63722344e+02] [ 4.61998272e-03 -6.75476362e-05 9.99989326e-01 7.27113539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:163.75, Z:0.73 [[-5.16466506e-01 -8.56304597e-01 2.18735412e-03 1.12591143e+02] [ 8.56296377e-01 -5.16471134e-01 -3.75260102e-03 1.63745212e+02] [ 4.34307477e-03 -6.50693260e-05 9.99990567e-01 7.27467289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:163.77, Z:0.73 [[-5.18173194e-01 -8.55273338e-01 2.01462178e-03 1.12578983e+02] [ 8.55266366e-01 -5.18177106e-01 -3.45400149e-03 1.63769180e+02] [ 3.99804626e-03 -6.67327366e-05 9.99992006e-01 7.27758825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:163.79, Z:0.73 [[-5.19778403e-01 -8.54299743e-01 1.53675847e-03 1.12564831e+02] [ 8.54295684e-01 -5.19780672e-01 -2.63390784e-03 1.63792856e+02] [ 3.04892414e-03 -5.62022820e-05 9.99995350e-01 7.27967275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.55, Y:163.82, Z:0.73 [[-5.23131605e-01 -8.52251638e-01 6.85881545e-04 1.12552244e+02] [ 8.52250827e-01 -5.23132054e-01 -1.17578890e-03 1.63818367e+02] [ 1.36087464e-03 -3.05492193e-05 9.99999074e-01 7.28706615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:163.84, Z:0.73 [[-5.25619836e-01 -8.50719486e-01 3.79732258e-04 1.12540420e+02] [ 8.50719237e-01 -5.25619973e-01 -6.51115766e-04 1.63842204e+02] [ 7.53511729e-04 -1.91938263e-05 9.99999716e-01 7.28416767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:163.87, Z:0.73 [[-5.26442390e-01 -8.50210795e-01 1.17587492e-04 1.12525174e+02] [ 8.50210771e-01 -5.26442403e-01 -2.02876782e-04 1.63866085e+02] [ 2.34391072e-04 -6.82878548e-06 9.99999973e-01 7.29204330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.751858064 meters Centerline goodness [0,1] 0.9999550793971655 Centerline is valid? [True, True] Translation: X:112.51, Y:163.89, Z:0.73 [[-5.28845470e-01 -8.48718094e-01 2.55160597e-04 1.12511495e+02] [ 8.48717982e-01 -5.28845531e-01 -4.37788377e-04 1.63890914e+02] [ 5.06499458e-04 -1.49630125e-05 9.99999872e-01 7.29090287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78185806399995 meters Centerline goodness [0,1] 0.9999549914483752 Centerline is valid? [True, True] Translation: X:112.50, Y:163.92, Z:0.73 [[-5.31810011e-01 -8.46863523e-01 5.34997496e-04 1.12499520e+02] [ 8.46863029e-01 -5.31810279e-01 -9.14984007e-04 1.63916068e+02] [ 1.05938375e-03 -3.35280547e-05 9.99999438e-01 7.28559596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:163.94, Z:0.73 [[-5.34239097e-01 -8.45333257e-01 5.21880806e-04 1.12484725e+02] [ 8.45332786e-01 -5.34239351e-01 -8.92545797e-04 1.63940125e+02] [ 1.03330791e-03 -3.56699051e-05 9.99999466e-01 7.28102453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84185806399995 meters Centerline goodness [0,1] 0.9999326493500662 Centerline is valid? [True, True] Translation: X:112.47, Y:163.97, Z:0.73 [[-5.37913103e-01 -8.42999784e-01 9.26073994e-04 1.12474099e+02] [ 8.42998304e-01 -5.37913895e-01 -1.58143968e-03 1.63965367e+02] [ 1.83130138e-03 -6.99983204e-05 9.99998321e-01 7.27488151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.871858064 meters Centerline goodness [0,1] 0.999865032054887 Centerline is valid? [True, True] Translation: X:112.46, Y:163.99, Z:0.73 [[-5.44157934e-01 -8.38982301e-01 9.17411536e-04 1.12461190e+02] [ 8.38980845e-01 -5.44158701e-01 -1.56531116e-03 1.63989642e+02] [ 1.81248583e-03 -8.20857816e-05 9.99998354e-01 7.26428468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90185806399995 meters Centerline goodness [0,1] 0.9997982243744956 Centerline is valid? [True, True] Translation: X:112.45, Y:164.01, Z:0.73 [[-5.47046822e-01 -8.37101615e-01 8.12554912e-04 1.12449403e+02] [ 8.37100471e-01 -5.47047420e-01 -1.38625171e-03 1.64014116e+02] [ 1.60493961e-03 -7.81544919e-05 9.99998709e-01 7.26116698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.931858064 meters Centerline goodness [0,1] 0.9989234530244242 Centerline is valid? [True, True] Translation: X:112.44, Y:164.04, Z:0.73 [[-5.49869582e-01 -8.35250444e-01 3.71500819e-04 1.12440861e+02] [ 8.35250204e-01 -5.49869706e-01 -6.34397141e-04 1.64039914e+02] [ 7.34157540e-04 -3.85395555e-05 9.99999730e-01 7.26217192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96185806399995 meters Centerline goodness [0,1] 0.9989420609552965 Centerline is valid? [True, True] Translation: X:112.43, Y:164.06, Z:0.73 [[-5.55967146e-01 -8.31204139e-01 -4.59944443e-04 1.12425424e+02] [ 8.31203774e-01 -5.55967334e-01 7.81265275e-04 1.64062448e+02] [-9.05105017e-04 5.20502684e-05 9.99999589e-01 7.26476318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.991858064 meters Centerline goodness [0,1] 0.9974161948413768 Centerline is valid? [True, True] Translation: X:112.42, Y:164.09, Z:0.73 [[-5.59020453e-01 -8.29153697e-01 -5.29258993e-04 1.12417295e+02] [ 8.29153212e-01 -5.59020700e-01 8.98627515e-04 1.64088596e+02] [-1.04096706e-03 6.35143658e-05 9.99999456e-01 7.26729198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02185806399996 meters Centerline goodness [0,1] 0.998223880932575 Centerline is valid? [True, True] Translation: X:112.40, Y:164.11, Z:0.73 [[-5.60230497e-01 -8.28336024e-01 -1.10509155e-03 1.12401205e+02] [ 8.28333910e-01 -5.60231571e-01 1.87656930e-03 1.64111648e+02] [-2.17353713e-03 1.35926550e-04 9.99997629e-01 7.27784761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.051858064 meters Centerline goodness [0,1] 0.9979286277158618 Centerline is valid? [True, True] Translation: X:112.39, Y:164.14, Z:0.73 [[-5.63325856e-01 -8.26234015e-01 -1.15388802e-03 1.12389559e+02] [ 8.26231709e-01 -5.63327018e-01 1.95804156e-03 1.64136528e+02] [-2.26781684e-03 1.49636568e-04 9.99997417e-01 7.27921519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08185806399996 meters Centerline goodness [0,1] 0.9971478620194035 Centerline is valid? [True, True] Translation: X:112.38, Y:164.16, Z:0.73 [[-5.63787305e-01 -8.25919415e-01 -9.97067127e-04 1.12378942e+02] [ 8.25917696e-01 -5.63788172e-01 1.69030491e-03 1.64161284e+02] [-1.95819029e-03 1.29477066e-04 9.99998074e-01 7.27109185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.111858064 meters Centerline goodness [0,1] 0.9962811120819052 Centerline is valid? [True, True] Translation: X:112.37, Y:164.19, Z:0.73 [[-5.64184511e-01 -8.25648447e-01 -6.92471487e-04 1.12367374e+02] [ 8.25647619e-01 -5.64184929e-01 1.17250333e-03 1.64185453e+02] [-1.35875753e-03 8.97707830e-05 9.99999073e-01 7.27359329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14185806399996 meters Centerline goodness [0,1] 0.996032998241897 Centerline is valid? [True, True] Translation: X:112.36, Y:164.21, Z:0.73 [[-5.65308499e-01 -8.24878937e-01 -1.02018534e-03 1.12355066e+02] [ 8.24877140e-01 -5.65309403e-01 1.72719527e-03 1.64208967e+02] [-2.00144736e-03 1.34870594e-04 9.99997988e-01 7.27440201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.171858064 meters Centerline goodness [0,1] 0.9964967437682462 Centerline is valid? [True, True] Translation: X:112.34, Y:164.23, Z:0.73 [[-5.64369509e-01 -8.25520995e-01 -1.46393068e-03 1.12339908e+02] [ 8.25517299e-01 -5.64371376e-01 2.47783517e-03 1.64231432e+02] [-2.87170553e-03 1.89914516e-04 9.99995859e-01 7.28177276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20185806399996 meters Centerline goodness [0,1] 0.9987815059683642 Centerline is valid? [True, True] Translation: X:112.32, Y:164.25, Z:0.73 [[-5.64779201e-01 -8.25240587e-01 -1.55811732e-03 1.12322354e+02] [ 8.25236404e-01 -5.64781314e-01 2.63550663e-03 1.64253237e+02] [-3.05492258e-03 2.02664188e-04 9.99995313e-01 7.26868999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.231858064 meters Centerline goodness [0,1] 0.999058507061197 Centerline is valid? [True, True] Translation: X:112.31, Y:164.28, Z:0.73 [[-5.63790441e-01 -8.25915400e-01 -2.02264495e-03 1.12305889e+02] [ 8.25908358e-01 -5.63794010e-01 3.42013165e-03 1.64276636e+02] [-3.96509451e-03 2.57718165e-04 9.99992106e-01 7.27783323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26185806399997 meters Centerline goodness [0,1] 0.9991233788127403 Centerline is valid? [True, True] Translation: X:112.29, Y:164.30, Z:0.73 [[-5.63353556e-01 -8.26212901e-01 -2.23889596e-03 1.12291581e+02] [ 8.26204286e-01 -5.63357935e-01 3.78361434e-03 1.64300406e+02] [-4.38737078e-03 2.81727153e-04 9.99990336e-01 7.27637555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29185806399994 meters Centerline goodness [0,1] 0.9991460098433602 Centerline is valid? [True, True] Translation: X:112.28, Y:164.32, Z:0.73 [[-5.63502198e-01 -8.26111573e-01 -2.22309963e-03 1.12278738e+02] [ 8.26103090e-01 -5.63506515e-01 3.75412449e-03 1.64324561e+02] [-4.35405681e-03 2.78947928e-04 9.99990482e-01 7.28206448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32185806399997 meters Centerline goodness [0,1] 0.9993458154748477 Centerline is valid? [True, True] Translation: X:112.27, Y:164.35, Z:0.73 [[-5.61136663e-01 -8.27719217e-01 -2.55788695e-03 1.12265902e+02] [ 8.27708014e-01 -5.61142410e-01 4.31742492e-03 1.64347148e+02] [-5.00895443e-03 3.05481885e-04 9.99987408e-01 7.28556848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35185806399994 meters Centerline goodness [0,1] 0.9996615370729726 Centerline is valid? [True, True] Translation: X:112.25, Y:164.37, Z:0.73 [[-5.60101278e-01 -8.28418816e-01 -2.97053642e-03 1.12251358e+02] [ 8.28403732e-01 -5.60109048e-01 5.01116260e-03 1.64370818e+02] [-5.81516571e-03 3.45955124e-04 9.99983032e-01 7.28337296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38185806399997 meters Centerline goodness [0,1] 0.9997969543147208 Centerline is valid? [True, True] Translation: X:112.23, Y:164.39, Z:0.73 [[-5.59694729e-01 -8.28694243e-01 -2.76799482e-03 1.12233873e+02] [ 8.28681165e-01 -5.59701484e-01 4.66644622e-03 1.64392729e+02] [-5.41630793e-03 3.18000183e-04 9.99985281e-01 7.27674403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41185806399994 meters Centerline goodness [0,1] 0.9999098550920605 Centerline is valid? [True, True] Translation: X:112.22, Y:164.42, Z:0.73 [[-5.57439928e-01 -8.30211544e-01 -3.08526270e-03 1.12220257e+02] [ 8.30195342e-01 -5.57448364e-01 5.19765842e-03 1.64415482e+02] [-6.03503067e-03 3.36011618e-04 9.99981733e-01 7.28372706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441858064 meters Centerline goodness [0,1] 0.9999549133208594 Centerline is valid? [True, True] Translation: X:112.20, Y:164.44, Z:0.73 [[-5.56201108e-01 -8.31041495e-01 -3.21887612e-03 1.12203333e+02] [ 8.31023892e-01 -5.56210319e-01 5.41957170e-03 1.64437561e+02] [-6.29426108e-03 3.39408829e-04 9.99980133e-01 7.28360052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47185806399995 meters Centerline goodness [0,1] 0.9999774693583273 Centerline is valid? [True, True] Translation: X:112.19, Y:164.46, Z:0.73 [[-5.55174647e-01 -8.31728885e-01 -2.85879450e-03 1.12189277e+02] [ 8.31715026e-01 -5.55181930e-01 4.81048363e-03 1.64460880e+02] [-5.58816923e-03 2.92956206e-04 9.99984343e-01 7.27573558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501858064 meters Centerline goodness [0,1] 0.9999327263757456 Centerline is valid? [True, True] Translation: X:112.18, Y:164.49, Z:0.73 [[-5.56433881e-01 -8.30888380e-01 -2.41591158e-03 1.12177889e+02] [ 8.30878489e-01 -5.56439068e-01 4.06215469e-03 1.64485417e+02] [-4.71950471e-03 2.52991533e-04 9.99988831e-01 7.26571882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53185806399995 meters Centerline goodness [0,1] 0.9999549954995499 Centerline is valid? [True, True] Translation: X:112.16, Y:164.51, Z:0.73 [[-5.56927036e-01 -8.30558753e-01 -2.10580401e-03 1.12163389e+02] [ 8.30551247e-01 -5.56930973e-01 3.53796113e-03 1.64508232e+02] [-4.11127206e-03 2.21408058e-04 9.99991524e-01 7.26503113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561858064 meters Centerline goodness [0,1] 0.9999549985374525 Centerline is valid? [True, True] Translation: X:112.15, Y:164.53, Z:0.73 [[-5.56881951e-01 -8.30588406e-01 -2.32237500e-03 1.12148727e+02] [ 8.30579288e-01 -5.56886740e-01 3.89939206e-03 1.64531485e+02] [-4.53208968e-03 2.42584486e-04 9.99989701e-01 7.26646709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59185806399995 meters Centerline goodness [0,1] 0.9999101648475048 Centerline is valid? [True, True] Translation: X:112.14, Y:164.56, Z:0.73 [[-5.58973511e-01 -8.29183562e-01 -1.79837607e-03 1.12138402e+02] [ 8.29178094e-01 -5.58976369e-01 3.01764956e-03 1.64556348e+02] [-3.50743514e-03 1.95612124e-04 9.99993830e-01 7.26980057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621858064 meters Centerline goodness [0,1] 0.999955005624297 Centerline is valid? [True, True] Translation: X:112.12, Y:164.58, Z:0.73 [[-5.61425792e-01 -8.27525044e-01 -1.83896746e-03 1.12124567e+02] [ 8.27519324e-01 -5.61428765e-01 3.08383568e-03 1.64580656e+02] [-3.58440049e-03 2.09563784e-04 9.99993554e-01 7.26715625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65185806399995 meters Centerline goodness [0,1] 0.9998874760886688 Centerline is valid? [True, True] Translation: X:112.11, Y:164.60, Z:0.73 [[-5.64120331e-01 -8.25690049e-01 -2.04826235e-03 1.12112775e+02] [ 8.25682950e-01 -5.64123996e-01 3.43261820e-03 1.64604538e+02] [-3.98975263e-03 2.45194418e-04 9.99992011e-01 7.26585323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681858064 meters Centerline goodness [0,1] 0.9998203337300964 Centerline is valid? [True, True] Translation: X:112.10, Y:164.63, Z:0.73 [[-5.69652793e-01 -8.21883528e-01 -1.77788643e-03 1.12100879e+02] [ 8.21878166e-01 -5.69655519e-01 2.97825293e-03 1.64629667e+02] [-3.46055984e-03 2.35364064e-04 9.99993985e-01 7.25751910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71185806399995 meters Centerline goodness [0,1] 0.999032686207905 Centerline is valid? [True, True] Translation: X:112.09, Y:164.65, Z:0.73 [[-5.72239573e-01 -8.20084473e-01 -1.82433793e-03 1.12091273e+02] [ 8.20078827e-01 -5.72242426e-01 3.05349785e-03 1.64654271e+02] [-3.54808973e-03 2.51231400e-04 9.99993674e-01 7.26323951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.741858064 meters Centerline goodness [0,1] 0.9999774663121367 Centerline is valid? [True, True] Translation: X:112.07, Y:164.67, Z:0.72 [[-5.76497329e-01 -8.17097229e-01 -1.71708100e-03 1.12070097e+02] [ 8.17092221e-01 -5.76499831e-01 2.87187586e-03 1.64673603e+02] [-3.33649871e-03 2.52615233e-04 9.99994402e-01 7.24631643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77185806399996 meters Centerline goodness [0,1] 0.9882334448611142 Centerline is valid? [True, True] Translation: X:112.07, Y:164.70, Z:0.73 [[-5.81431420e-01 -8.13591948e-01 -2.37619979e-03 1.12066904e+02] [ 8.13582337e-01 -5.81436153e-01 3.97240201e-03 1.64703109e+02] [-4.61352275e-03 3.76445164e-04 9.99989287e-01 7.25741515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.801858064 meters Centerline goodness [0,1] 0.9995278246205733 Centerline is valid? [True, True] Translation: X:112.05, Y:164.72, Z:0.73 [[-5.82803777e-01 -8.12608022e-01 -2.82128305e-03 1.12045559e+02] [ 8.12594475e-01 -5.82810429e-01 4.71414647e-03 1.64722761e+02] [-5.47502642e-03 4.54863347e-04 9.99984908e-01 7.26087922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83185806399996 meters Centerline goodness [0,1] 0.9999550561797753 Centerline is valid? [True, True] Translation: X:112.03, Y:164.75, Z:0.73 [[-5.85221425e-01 -8.10870589e-01 -2.18446907e-03 1.12029949e+02] [ 8.10862468e-01 -5.85225389e-01 3.64705785e-03 1.64745650e+02] [-4.23569871e-03 3.63032406e-04 9.99990963e-01 7.25403171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.861858064 meters Centerline goodness [0,1] 0.9999550561797753 Centerline is valid? [True, True] Translation: X:112.02, Y:164.77, Z:0.73 [[-5.85467501e-01 -8.10692931e-01 -2.18560090e-03 1.12016054e+02] [ 8.10684812e-01 -5.85471468e-01 3.64637988e-03 1.64768665e+02] [-4.23570136e-03 3.63003462e-04 9.99990963e-01 7.25494439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89185806399996 meters Centerline goodness [0,1] 0.917492933734129 Centerline is valid? [True, False] Translation: X:111.94, Y:163.26, Z:0.75 [[ 5.81702045e-01 8.10288108e-01 7.11049424e-02 1.11937581e+02] [-8.12926107e-01 5.82125878e-01 1.67513454e-02 1.63260409e+02] [-2.78186110e-02 -6.75473559e-02 9.97328170e-01 7.50173738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.921858064 meters Centerline goodness [0,1] 0.9002375829298906 Centerline is valid? [False, False] Translation: X:111.88, Y:163.41, Z:0.73 [[ 5.83525288e-01 8.11816551e-01 2.12632730e-02 1.11879291e+02] [-8.11884585e-01 5.83770068e-01 -7.47847126e-03 1.63410389e+02] [-1.84840091e-02 -1.28994465e-02 9.99745941e-01 7.34406150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95185806399996 meters Centerline goodness [0,1] 0.9937355457260255 Centerline is valid? [False, True] Translation: X:111.82, Y:163.55, Z:0.72 [[ 5.84264860e-01 8.11364874e-01 -1.79336425e-02 1.11823739e+02] [-8.11471573e-01 5.83724594e-01 -2.79192495e-02 1.63548175e+02] [-1.21843902e-02 3.08648774e-02 9.99449298e-01 7.21444260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.981858064 meters Centerline goodness [0,1] 0.9999101285162219 Centerline is valid? [True, True] Translation: X:112.63, Y:163.88, Z:1.72 [[ 4.94795970e-01 -8.69007402e-01 -1.75627222e-03 1.12625217e+02] [-8.68999477e-01 -4.94798985e-01 3.72475504e-03 1.63879586e+02] [-4.10584141e-03 -3.16794140e-04 -9.99991521e-01 1.72160150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01185806399997 meters Centerline goodness [0,1] 0.9777493088800485 Centerline is valid? [True, True] Translation: X:112.68, Y:163.78, Z:1.72 [[ 5.58871637e-01 -8.29251542e-01 -2.09119330e-03 1.12681206e+02] [-8.29243615e-01 -5.58875469e-01 3.63823786e-03 1.63780558e+02] [-4.18573099e-03 -2.99199260e-04 -9.99991195e-01 1.71976193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04185806399994 meters Centerline goodness [0,1] 0.981741510026468 Centerline is valid? [True, True] Translation: X:112.73, Y:163.68, Z:1.72 [[ 6.21446295e-01 -7.83454919e-01 -1.70103114e-03 1.12731645e+02] [-7.83450119e-01 -6.21448501e-01 2.76963699e-03 1.63677974e+02] [-3.22698898e-03 -3.88507592e-04 -9.99994718e-01 1.71759480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07185806399997 meters Centerline goodness [0,1] 0.9791339113247384 Centerline is valid? [True, True] Translation: X:112.79, Y:163.58, Z:1.72 [[ 6.79355323e-01 -7.33807839e-01 -1.54942256e-03 1.12792892e+02] [-7.33804342e-01 -6.79356954e-01 2.30603604e-03 1.63580487e+02] [-2.74479832e-03 -4.29644857e-04 -9.99996141e-01 1.71573202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10185806399994 meters Centerline goodness [0,1] 0.999730778722545 Centerline is valid? [True, True] Translation: X:112.78, Y:163.57, Z:1.72 [[ 7.35216728e-01 -6.77829535e-01 -1.86673662e-03 1.12780144e+02] [-6.77825759e-01 -7.35218974e-01 2.30235790e-03 1.63566534e+02] [-2.93306637e-03 -4.27409874e-04 -9.99995607e-01 1.71596428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:163.55, Z:1.72 [[ 7.87089999e-01 -6.16835880e-01 -1.68261344e-03 1.12767471e+02] [-6.16833084e-01 -7.87091657e-01 1.91600905e-03 1.63552322e+02] [-2.50623413e-03 -4.70179920e-04 -9.99996749e-01 1.71631648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:163.54, Z:1.72 [[ 8.34648927e-01 -5.50780838e-01 -1.27979527e-03 1.12758791e+02] [-5.50779104e-01 -8.34649739e-01 1.48061642e-03 1.63543410e+02] [-1.88367594e-03 -5.30910413e-04 -9.99998085e-01 1.71586581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.191858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:163.54, Z:1.72 [[ 8.75763386e-01 -4.82739276e-01 -1.13301493e-03 1.12751091e+02] [-4.82737954e-01 -8.75763942e-01 1.25901309e-03 1.63537022e+02] [-1.60002868e-03 -5.55648255e-04 -9.99998566e-01 1.71565924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22185806399995 meters Centerline goodness [0,1] 0.9999552302285497 Centerline is valid? [True, True] Translation: X:112.74, Y:163.53, Z:1.71 [[ 9.11970209e-01 -4.10255876e-01 -6.73608495e-04 1.12743908e+02] [-4.10255182e-01 -9.11970256e-01 9.68948512e-04 1.63527516e+02] [-1.01182773e-03 -6.07300802e-04 -9.99999304e-01 1.71463041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.251858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:163.52, Z:1.71 [[ 9.42553995e-01 -3.34051648e-01 -1.20943539e-03 1.12737213e+02] [-3.34050534e-01 -9.42554598e-01 1.03500593e-03 1.63518006e+02] [-1.48570433e-03 -5.71536434e-04 -9.99998733e-01 1.71405987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28185806399995 meters Centerline goodness [0,1] 0.999933041692706 Centerline is valid? [True, True] Translation: X:112.73, Y:163.51, Z:1.71 [[ 9.66412914e-01 -2.56992699e-01 -9.12755196e-04 1.12727561e+02] [-2.56991945e-01 -9.66413157e-01 8.66632766e-04 1.63511628e+02] [-1.10481692e-03 -6.02954363e-04 -9.99999208e-01 1.71384448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.311858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:163.50, Z:1.71 [[ 9.83871741e-01 -1.78871933e-01 -1.10873754e-03 1.12719502e+02] [-1.78871108e-01 -9.83872187e-01 8.03830124e-04 1.63497587e+02] [-1.23463868e-03 -5.92544631e-04 -9.99999062e-01 1.71391254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:163.49, Z:1.71 [[ 9.95185886e-01 -9.79948820e-02 -1.43341410e-03 1.12711113e+02] [-9.79939314e-02 -9.95186752e-01 7.19202242e-04 1.63488427e+02] [-1.49699286e-03 -5.75274038e-04 -9.99998714e-01 1.71403019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.371858064 meters Centerline goodness [0,1] 0.9999552932761088 Centerline is valid? [True, True] Translation: X:112.71, Y:163.48, Z:1.71 [[ 9.99822069e-01 -1.88313344e-02 -1.10019608e-03 1.12705273e+02] [-1.88306566e-02 -9.99822493e-01 6.23182851e-04 1.63479313e+02] [-1.11173615e-03 -6.02354553e-04 -9.99999201e-01 1.71486155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:163.47, Z:1.72 [[ 9.98170716e-01 6.04228721e-02 -2.07345127e-03 1.12699734e+02] [ 6.04238457e-02 -9.98172726e-01 4.10108599e-04 1.63471349e+02] [-2.04488257e-03 -5.34644293e-04 -9.99997766e-01 1.71505918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.431858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:163.47, Z:1.72 [[ 9.90260788e-01 1.39186012e-01 -3.29018557e-03 1.12692140e+02] [ 1.39186736e-01 -9.90266152e-01 -8.95867968e-06 1.63468254e+02] [-3.25940633e-03 -4.49078763e-04 -9.99994587e-01 1.71605446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46185806399995 meters Centerline goodness [0,1] 0.9999776636140273 Centerline is valid? [True, True] Translation: X:112.69, Y:163.45, Z:1.72 [[ 9.76106815e-01 2.17270618e-01 -2.99404504e-03 1.12688558e+02] [ 2.17271050e-01 -9.76111293e-01 -1.84266681e-04 1.63454610e+02] [-2.96255691e-03 -4.70655346e-04 -9.99995501e-01 1.71545427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.491858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:163.45, Z:1.72 [[ 9.55961234e-01 2.93483053e-01 -2.41172334e-03 1.12682591e+02] [ 2.93483425e-01 -9.55964140e-01 -2.06055350e-04 1.63449378e+02] [-2.36599478e-03 -5.10819899e-04 -9.99997071e-01 1.71514357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:163.44, Z:1.71 [[ 9.30086588e-01 3.67332388e-01 -2.41989533e-03 1.12679253e+02] [ 3.67332507e-01 -9.30089598e-01 -4.11410001e-04 1.63441376e+02] [-2.40184369e-03 -5.06259293e-04 -9.99996987e-01 1.71483363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.551858064 meters Centerline goodness [0,1] 0.9999330805264331 Centerline is valid? [True, True] Translation: X:112.67, Y:163.44, Z:1.71 [[ 8.98559797e-01 4.38847643e-01 -1.74281192e-03 1.12673538e+02] [ 4.38847931e-01 -8.98561316e-01 -2.34527988e-04 1.63435884e+02] [-1.66894543e-03 -5.54091984e-04 -9.99998454e-01 1.71483996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58185806399996 meters Centerline goodness [0,1] 0.9998883754158016 Centerline is valid? [True, True] Translation: X:112.67, Y:163.43, Z:1.71 [[ 8.61988632e-01 5.06925475e-01 -1.47041521e-03 1.12668845e+02] [ 5.06925757e-01 -8.61989696e-01 -2.01773944e-04 1.63430882e+02] [-1.36976711e-03 -5.71464498e-04 -9.99998899e-01 1.71411467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.611858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:163.41, Z:1.71 [[ 8.20445650e-01 5.71723667e-01 -9.92195798e-04 1.12676472e+02] [ 5.71723989e-01 -8.20446023e-01 5.13764225e-05 1.63409361e+02] [-7.84669980e-04 -6.09413702e-04 -9.99999506e-01 1.71429131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64185806399996 meters Centerline goodness [0,1] 0.9999550187796595 Centerline is valid? [True, True] Translation: X:112.67, Y:163.40, Z:1.71 [[ 7.74990450e-01 6.31972448e-01 -7.92271786e-04 1.12672329e+02] [ 6.31972737e-01 -7.74990602e-01 1.61307238e-04 1.63401839e+02] [-5.12061459e-04 -6.25705738e-04 -9.99999673e-01 1.71303327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.671858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:163.39, Z:1.71 [[ 7.22900500e-01 6.90952140e-01 -8.34452133e-05 1.12679294e+02] [ 6.90951921e-01 -7.22900163e-01 8.92621857e-04 1.63386088e+02] [ 5.56436424e-04 -7.02933418e-04 -9.99999598e-01 1.71319810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:163.37, Z:1.71 [[ 6.66098472e-01 7.45863807e-01 8.98725789e-05 1.12684684e+02] [ 7.45863205e-01 -6.66098078e-01 1.19569171e-03 1.63373315e+02] [ 9.51687119e-04 -7.29415768e-04 -9.99999281e-01 1.71367366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.731858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:163.36, Z:1.71 [[ 6.03897471e-01 7.97062004e-01 -7.21934586e-05 1.12689237e+02] [ 7.97061579e-01 -6.03897050e-01 1.09155630e-03 1.63361150e+02] [ 8.26440636e-04 -7.16730722e-04 -9.99999402e-01 1.71427306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:163.35, Z:1.71 [[ 5.39134776e-01 8.42219279e-01 -6.15625449e-04 1.12695820e+02] [ 8.42219494e-01 -5.39134740e-01 2.36694518e-04 1.63349255e+02] [-1.32556380e-04 -6.46102000e-04 -9.99999782e-01 1.71429630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:163.34, Z:1.71 [[ 4.70923212e-01 8.82173804e-01 -8.41250660e-04 1.12699732e+02] [ 8.82173969e-01 -4.70923570e-01 -2.83838702e-04 1.63338743e+02] [-6.46559832e-04 -6.08463200e-04 -9.99999606e-01 1.71446476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:163.33, Z:1.71 [[ 4.00741356e-01 9.16190508e-01 -1.14852913e-03 1.12701396e+02] [ 9.16189760e-01 -4.00742643e-01 -1.28747546e-03 1.63329163e+02] [-1.63983740e-03 -5.36325970e-04 -9.99998512e-01 1.71461354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:163.32, Z:1.71 [[ 3.28429236e-01 9.44528219e-01 -8.25040213e-04 1.12708816e+02] [ 9.44528233e-01 -3.28429738e-01 -5.69188420e-04 1.63318653e+02] [-8.08582266e-04 -5.92335657e-04 -9.99999498e-01 1.71438483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:163.31, Z:1.72 [[ 2.57342007e-01 9.66320149e-01 -6.78800501e-04 1.12727628e+02] [ 9.66320345e-01 -2.57342140e-01 -1.15332048e-04 1.63307699e+02] [-2.86131655e-04 -6.26258954e-04 -9.99999763e-01 1.71528050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:163.30, Z:1.71 [[ 1.82571024e-01 9.83192481e-01 -6.05569250e-04 1.12736208e+02] [ 9.83192628e-01 -1.82570809e-01 3.94800738e-04 1.63298987e+02] [ 2.77605849e-04 -6.67470398e-04 -9.99999739e-01 1.71493001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:163.29, Z:1.72 [[ 1.07722923e-01 9.94180764e-01 -6.17386693e-04 1.12753229e+02] [ 9.94180614e-01 -1.07722351e-01 8.95880008e-04 1.63291129e+02] [ 8.24160325e-04 -7.10300694e-04 -9.99999408e-01 1.71517412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:163.28, Z:1.71 [[ 3.05281751e-02 9.99533644e-01 -7.24974213e-04 1.12763706e+02] [ 9.99532537e-01 -3.05269246e-02 1.67746727e-03 1.63283767e+02] [ 1.65455374e-03 -7.75845329e-04 -9.99998330e-01 1.71387896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:163.28, Z:1.71 [[-4.63384583e-02 9.98925271e-01 -1.02510797e-03 1.12774485e+02] [ 9.98921298e-01 4.63413051e-02 2.95376028e-03 1.63277144e+02] [ 2.99809062e-03 -8.87129485e-04 -9.99995112e-01 1.71207586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:163.27, Z:1.71 [[-1.24134098e-01 9.92264781e-01 -1.15359612e-03 1.12790743e+02] [ 9.92262244e-01 1.24136569e-01 2.39812924e-03 1.63272221e+02] [ 2.52278264e-03 -8.46980264e-04 -9.99996459e-01 1.71193977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:163.27, Z:1.71 [[-2.01899268e-01 9.79405304e-01 -1.39137916e-03 1.12804792e+02] [ 9.79402521e-01 2.01902229e-01 2.48817682e-03 1.63267728e+02] [ 2.71785612e-03 -8.60359177e-04 -9.99995937e-01 1.71257571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09185806399995 meters Centerline goodness [0,1] 0.9999553671055568 Centerline is valid? [True, True] Translation: X:112.82, Y:163.26, Z:1.71 [[-2.77456919e-01 9.60737348e-01 -1.18591246e-03 1.12818197e+02] [ 9.60736726e-01 2.77458388e-01 1.33634106e-03 1.63264446e+02] [ 1.61291413e-03 -7.68572586e-04 -9.99998404e-01 1.71423446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121858064 meters Centerline goodness [0,1] 0.9991506481895396 Centerline is valid? [True, True] Translation: X:112.82, Y:163.26, Z:1.71 [[-3.51790902e-01 9.36077733e-01 -1.28045855e-03 1.12822535e+02] [ 9.36077236e-01 3.51792400e-01 1.23136467e-03 1.63256910e+02] [ 1.60310863e-03 -7.65425208e-04 -9.99998422e-01 1.71253351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.84, Y:163.26, Z:1.71 [[-4.25174904e-01 9.05108896e-01 -2.04605886e-03 1.12843987e+02] [ 9.05106380e-01 4.25178934e-01 2.30544771e-03 1.63259656e+02] [ 2.95662236e-03 -8.71682420e-04 -9.99995249e-01 1.71308425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:163.26, Z:1.71 [[-4.94499231e-01 8.69175588e-01 -2.07533504e-03 1.12857127e+02] [ 8.69173864e-01 4.94502855e-01 1.92870122e-03 1.63259454e+02] [ 2.70263912e-03 -8.50085708e-04 -9.99995987e-01 1.71298105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.87, Y:163.26, Z:1.71 [[-5.61455725e-01 8.27503350e-01 -2.38206433e-03 1.12870252e+02] [ 8.27501474e-01 5.61460107e-01 1.96457806e-03 1.63261185e+02] [ 2.96312902e-03 -8.68138142e-04 -9.99995233e-01 1.71298122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.241858064 meters Centerline goodness [0,1] 0.9999776341392499 Centerline is valid? [True, True] Translation: X:112.88, Y:163.26, Z:1.71 [[-6.24654922e-01 7.80895918e-01 -2.79166643e-03 1.12881337e+02] [ 7.80893732e-01 6.24660516e-01 2.05399377e-03 1.63262158e+02] [ 3.34779914e-03 -8.96957500e-04 -9.99993994e-01 1.71208696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27185806399996 meters Centerline goodness [0,1] 0.9999553042662078 Centerline is valid? [True, True] Translation: X:112.89, Y:163.26, Z:1.71 [[-6.83029232e-01 7.30383935e-01 -3.22114457e-03 1.12890770e+02] [ 7.30381556e-01 6.83036194e-01 2.08325173e-03 1.63260974e+02] [ 3.72173192e-03 -9.29742749e-04 -9.99992642e-01 1.71168074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.301858064 meters Centerline goodness [0,1] 0.9999552922767408 Centerline is valid? [True, True] Translation: X:112.92, Y:163.28, Z:1.71 [[-7.34029065e-01 6.79106114e-01 -4.02718366e-03 1.12916229e+02] [ 6.79102329e-01 7.34039517e-01 2.45247191e-03 1.63279167e+02] [ 4.62160062e-03 -9.34684140e-04 -9.99988884e-01 1.71141561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33185806399996 meters Centerline goodness [0,1] 0.9999553332142219 Centerline is valid? [True, True] Translation: X:112.94, Y:163.30, Z:1.71 [[-7.80635005e-01 6.24972796e-01 -4.24194260e-03 1.12940569e+02] [ 6.24969633e-01 7.80645969e-01 2.19743957e-03 1.63301785e+02] [ 4.68479535e-03 -9.35687057e-04 -9.99988589e-01 1.71238576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.361858064 meters Centerline goodness [0,1] 0.9999332606616093 Centerline is valid? [True, True] Translation: X:112.96, Y:163.33, Z:1.71 [[-8.25349894e-01 5.64599171e-01 -5.03276708e-03 1.12960477e+02] [ 5.64595453e-01 8.25364668e-01 2.26694907e-03 1.63327053e+02] [ 5.43378569e-03 -9.70451238e-04 -9.99984766e-01 1.71194435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.97, Y:163.35, Z:1.71 [[-8.64086004e-01 5.03322530e-01 -4.67000280e-03 1.12974647e+02] [ 5.03320642e-01 8.64098135e-01 1.65682802e-03 1.63352956e+02] [ 4.86925958e-03 -9.18866905e-04 -9.99987723e-01 1.71212113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.421858064 meters Centerline goodness [0,1] 0.9999553770638108 Centerline is valid? [True, True] Translation: X:112.98, Y:163.38, Z:1.71 [[-8.97950529e-01 4.40078263e-01 -3.99613143e-03 1.12984560e+02] [ 4.40077927e-01 8.97959018e-01 1.01028415e-03 1.63380532e+02] [ 4.03296635e-03 -8.51424050e-04 -9.99991505e-01 1.71289345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.00, Y:163.40, Z:1.71 [[-9.27354123e-01 3.74163092e-01 -4.03870723e-03 1.13002521e+02] [ 3.74163352e-01 9.27362534e-01 7.19497754e-04 1.63401479e+02] [ 4.01455527e-03 -8.43907025e-04 -9.99991586e-01 1.71267936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.481858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.01, Y:163.43, Z:1.71 [[-9.51992336e-01 3.06083143e-01 -4.86841564e-03 1.13011023e+02] [ 3.06083809e-01 9.52004364e-01 6.25959524e-04 1.63433576e+02] [ 4.82634860e-03 -8.94234535e-04 -9.99987953e-01 1.71288873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51185806399997 meters Centerline goodness [0,1] 0.9999332725372005 Centerline is valid? [True, True] Translation: X:113.02, Y:163.46, Z:1.71 [[-9.71412044e-01 2.37334978e-01 -5.54521818e-03 1.13018304e+02] [ 2.37336506e-01 9.71427419e-01 3.90233633e-04 1.63464729e+02] [ 5.47939308e-03 -9.37005060e-04 -9.99984549e-01 1.71358630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:163.49, Z:1.71 [[-9.85785826e-01 1.67892928e-01 -6.18626065e-03 1.13028779e+02] [ 1.67895785e-01 9.85804748e-01 5.82309563e-05 1.63491263e+02] [ 6.10822169e-03 -9.81243836e-04 -9.99980863e-01 1.71289263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:163.52, Z:1.71 [[-9.95240179e-01 9.72375027e-02 -6.46946426e-03 1.13031196e+02] [ 9.72419308e-02 9.95260704e-01 -3.72712027e-04 1.63520338e+02] [ 6.40256196e-03 -1.00004118e-03 -9.99979003e-01 1.71238837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60185806399994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.06, Y:164.33, Z:0.71 [[-9.99458348e-01 -2.49584852e-02 -2.14495783e-02 1.13059113e+02] [ 2.49300348e-02 -9.99687929e-01 1.59280794e-03 1.64328623e+02] [-2.14826386e-02 1.05720646e-03 9.99768663e-01 7.09422005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63185806399997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:163.52, Z:1.71 [[-9.95841829e-01 9.09569765e-02 -5.08722051e-03 1.12919210e+02] [ 9.09604677e-02 9.95854398e-01 -4.58684670e-04 1.63521432e+02] [ 5.02441035e-03 -9.19513338e-04 -9.99986955e-01 1.71164786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66185806399994 meters Centerline goodness [0,1] 0.9998884949042172 Centerline is valid? [True, True] Translation: X:112.91, Y:163.54, Z:1.71 [[-9.99825761e-01 1.82655181e-02 -3.84940972e-03 1.12914043e+02] [ 1.82684963e-02 9.99832843e-01 -7.39942092e-04 1.63543176e+02] [ 3.83525084e-03 -8.10136093e-04 -9.99992317e-01 1.71156547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.691858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:164.36, Z:0.71 [[-9.98535096e-01 5.09283909e-02 -1.82745954e-02 1.12887095e+02] [-5.09351464e-02 -9.98701958e-01 -9.58934807e-05 1.64359244e+02] [-1.82557579e-02 8.35066187e-04 9.99833001e-01 7.06137646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:163.55, Z:1.71 [[-9.99931493e-01 1.10115551e-02 -3.96932901e-03 1.12801981e+02] [ 1.10147785e-02 9.99939023e-01 -7.91114645e-04 1.63548215e+02] [ 3.96037557e-03 -8.34781728e-04 -9.99991809e-01 1.71139100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.751858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:163.58, Z:1.71 [[-9.98156535e-01 -6.05650972e-02 -3.92446938e-03 1.12790582e+02] [-6.05613939e-02 9.98163916e-01 -1.05583219e-03 1.63575808e+02] [ 3.98121030e-03 -8.16214460e-04 -9.99991742e-01 1.71107915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:163.60, Z:1.71 [[-9.91312512e-01 -1.31478674e-01 -3.58619531e-03 1.12763645e+02] [-1.31474831e-01 9.91318672e-01 -1.28832382e-03 1.63600835e+02] [ 3.72444948e-03 -8.05637105e-04 -9.99992740e-01 1.71182861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.811858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:163.62, Z:1.71 [[-9.78995100e-01 -2.03848500e-01 -3.79242610e-03 1.12709437e+02] [-2.03843582e-01 9.79002088e-01 -1.64510379e-03 1.63616092e+02] [ 4.04814501e-03 -8.37486825e-04 -9.99991456e-01 1.71028574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:163.63, Z:1.71 [[-9.61202743e-01 -2.75814226e-01 -3.97487717e-03 1.12643262e+02] [-2.75808059e-01 9.61210577e-01 -2.03496091e-03 1.63625057e+02] [ 4.38196515e-03 -8.59706848e-04 -9.99990030e-01 1.70866179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.871858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:163.62, Z:1.71 [[-9.37470443e-01 -3.48049279e-01 -3.29674541e-03 1.12567361e+02] [-3.48043929e-01 9.37475883e-01 -2.09581383e-03 1.63622675e+02] [ 3.82006581e-03 -8.17351292e-04 -9.99992369e-01 1.70778830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:163.61, Z:1.71 [[-9.07636800e-01 -4.19739398e-01 -3.77856167e-03 1.12482140e+02] [-4.19731647e-01 9.07644261e-01 -2.69062234e-03 1.63613624e+02] [ 4.55895002e-03 -8.56125941e-04 -9.99989241e-01 1.70660833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.931858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:163.60, Z:1.71 [[-8.72675105e-01 -4.88289149e-01 -3.44492028e-03 1.12390663e+02] [-4.88281316e-01 8.72681500e-01 -2.89061280e-03 1.63601296e+02] [ 4.41777306e-03 -8.40475618e-04 -9.99989888e-01 1.70748584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96185806399995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.30, Y:163.57, Z:1.71 [[-8.30856177e-01 -5.56480044e-01 -2.82368827e-03 1.12296677e+02] [-5.56473332e-01 8.30860597e-01 -2.84611794e-03 1.63566939e+02] [ 3.92989916e-03 -7.93407455e-04 -9.99991963e-01 1.70542349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.991858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:163.52, Z:1.70 [[-7.84748979e-01 -6.19808085e-01 -2.64167976e-03 1.12203822e+02] [-6.19800879e-01 7.84753029e-01 -3.09087983e-03 1.63522624e+02] [ 3.98881850e-03 -7.88249357e-04 -9.99991734e-01 1.70272823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02185806399996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:163.47, Z:1.70 [[-7.34223106e-01 -6.78903357e-01 -2.58101043e-03 1.12106584e+02] [-6.78894950e-01 7.34227211e-01 -3.47117752e-03 1.63470155e+02] [ 4.25164216e-03 -7.96383790e-04 -9.99990645e-01 1.70145295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.051858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:163.41, Z:1.70 [[-6.78897718e-01 -7.34228348e-01 -2.57331068e-03 1.12010350e+02] [-7.34218031e-01 6.78902112e-01 -3.97556712e-03 1.63414507e+02] [ 4.66600013e-03 -8.09632347e-04 -9.99988786e-01 1.70092371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08185806399996 meters Centerline goodness [0,1] 0.99997780047063 Centerline is valid? [True, True] Translation: X:111.92, Y:163.34, Z:1.70 [[-6.18931685e-01 -7.85440190e-01 -2.69773777e-03 1.11919365e+02] [-7.85426118e-01 6.18936998e-01 -4.77544013e-03 1.63341931e+02] [ 5.42055232e-03 -8.36797500e-04 -9.99984959e-01 1.69865994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.111858064 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:163.27, Z:1.70 [[-5.55705600e-01 -8.31374260e-01 -2.85071649e-03 1.11833437e+02] [-8.31354177e-01 5.55712218e-01 -5.84487034e-03 1.63265805e+02] [ 6.44345274e-03 -8.78072116e-04 -9.99978855e-01 1.69633345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14185806399996 meters Centerline goodness [0,1] 0.9999119853895747 Centerline is valid? [True, True] Translation: X:111.76, Y:163.17, Z:1.69 [[-4.89420843e-01 -8.72043216e-01 -2.80482857e-03 1.11756519e+02] [-8.72016631e-01 4.89428021e-01 -6.87069569e-03 1.63171339e+02] [ 7.36430527e-03 -9.16804516e-04 -9.99972463e-01 1.69266447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.171858064 meters Centerline goodness [0,1] 0.9999778516057586 Centerline is valid? [True, True] Translation: X:111.68, Y:163.08, Z:1.69 [[-4.20387477e-01 -9.07340886e-01 -2.62391883e-03 1.11678251e+02] [-9.07306658e-01 4.20394577e-01 -7.93894894e-03 1.63079396e+02] [ 8.30641422e-03 -9.56735689e-04 -9.99965043e-01 1.69258415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20185806399996 meters Centerline goodness [0,1] 0.9999559121770567 Centerline is valid? [True, True] Translation: X:111.61, Y:162.98, Z:1.69 [[-3.47963173e-01 -9.37505387e-01 -2.29764245e-03 1.11610239e+02] [-9.37462409e-01 3.47969355e-01 -9.03100270e-03 1.62976282e+02] [ 9.26612284e-03 -9.88502926e-04 -9.99956580e-01 1.69061820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.231858064 meters Centerline goodness [0,1] 0.9999778858911986 Centerline is valid? [True, True] Translation: X:111.55, Y:162.87, Z:1.69 [[-2.75209389e-01 -9.61383041e-01 -1.56206113e-03 1.11551119e+02] [-9.61341023e-01 2.75212052e-01 -9.04235049e-03 1.62867190e+02] [ 9.12306046e-03 -9.86866306e-04 -9.99957897e-01 1.69019781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26185806399997 meters Centerline goodness [0,1] 0.9999336620746081 Centerline is valid? [True, True] Translation: X:111.50, Y:162.74, Z:1.69 [[-1.99556689e-01 -9.79885879e-01 -8.90114284e-04 1.11497586e+02] [-9.79841997e-01 1.99556224e-01 -9.32602210e-03 1.62743991e+02] [ 9.31606521e-03 -9.88898733e-04 -9.99956116e-01 1.68940966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29185806399994 meters Centerline goodness [0,1] 0.9999558975942138 Centerline is valid? [True, True] Translation: X:111.46, Y:162.61, Z:1.69 [[-1.24040313e-01 -9.92277177e-01 -7.50031702e-05 1.11455128e+02] [-9.92243977e-01 1.24036781e-01 -8.17114638e-03 1.62611430e+02] [ 8.11734521e-03 -9.39130112e-04 -9.99966613e-01 1.68986666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32185806399997 meters Centerline goodness [0,1] 0.999889976895148 Centerline is valid? [True, True] Translation: X:111.42, Y:162.50, Z:1.69 [[-4.85566475e-02 -9.98820275e-01 5.57107452e-04 1.11420858e+02] [-9.98789539e-01 4.85507515e-02 -7.89187154e-03 1.62499915e+02] [ 7.85551332e-03 -9.39635920e-04 -9.99968704e-01 1.69124421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35185806399994 meters Centerline goodness [0,1] 0.9999558430662575 Centerline is valid? [True, True] Translation: X:111.40, Y:162.38, Z:1.69 [[ 2.75141963e-02 -9.99620724e-01 1.17362982e-03 1.11395702e+02] [-9.99589541e-01 -2.75226755e-02 -7.95306953e-03 1.62377255e+02] [ 7.98235455e-03 -9.54325772e-04 -9.99967685e-01 1.69056690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38185806399997 meters Centerline goodness [0,1] 0.9997573458042883 Centerline is valid? [True, True] Translation: X:111.38, Y:162.27, Z:1.69 [[ 9.85644526e-02 -9.95128780e-01 1.93886867e-03 1.11381161e+02] [-9.95090154e-01 -9.85778339e-02 -8.83157286e-03 1.62273675e+02] [ 8.97968180e-03 -1.05886998e-03 -9.99959121e-01 1.69077997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41185806399994 meters Centerline goodness [0,1] 0.9999559053729303 Centerline is valid? [True, True] Translation: X:111.38, Y:162.13, Z:1.69 [[ 1.71048998e-01 -9.85258395e-01 2.85220641e-03 1.11378816e+02] [-9.85211596e-01 -1.71068873e-01 -9.67217632e-03 1.62129756e+02] [ 1.00175167e-02 -1.15561076e-03 -9.99949156e-01 1.69013064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441858064 meters Centerline goodness [0,1] 0.9999119194944179 Centerline is valid? [True, True] Translation: X:111.38, Y:162.02, Z:1.69 [[ 2.37424531e-01 -9.71398134e-01 3.90603791e-03 1.11384594e+02] [-9.71343242e-01 -2.37452978e-01 -1.04110159e-02 1.62019617e+02] [ 1.10407417e-02 -1.32227296e-03 -9.99938175e-01 1.68969535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47185806399995 meters Centerline goodness [0,1] 0.9998673212153376 Centerline is valid? [True, True] Translation: X:111.40, Y:161.89, Z:1.69 [[ 3.07352696e-01 -9.51581540e-01 5.18594120e-03 1.11402113e+02] [-9.51515765e-01 -3.07392946e-01 -1.12838821e-02 1.61889776e+02] [ 1.23316556e-02 -1.46637323e-03 -9.99922887e-01 1.68900928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501858064 meters Centerline goodness [0,1] 0.999911907855617 Centerline is valid? [True, True] Translation: X:111.45, Y:161.73, Z:1.69 [[ 3.75027253e-01 -9.26993661e-01 6.10828805e-03 1.11447506e+02] [-9.26929786e-01 -3.75073832e-01 -1.09905309e-02 1.61734902e+02] [ 1.24792115e-02 -1.54020550e-03 -9.99920945e-01 1.68681735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53185806399995 meters Centerline goodness [0,1] 0.9997575383530242 Centerline is valid? [True, True] Translation: X:111.50, Y:161.60, Z:1.69 [[ 4.37498920e-01 -8.99184010e-01 7.92533923e-03 1.11497818e+02] [-8.99104028e-01 -4.37566918e-01 -1.21300682e-02 1.61595875e+02] [ 1.43750296e-02 -1.81881271e-03 -9.99895020e-01 1.68631203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561858064 meters Centerline goodness [0,1] 0.9970697100555213 Centerline is valid? [True, True] Translation: X:111.55, Y:161.47, Z:1.68 [[ 5.01644469e-01 -8.65025819e-01 9.11913442e-03 1.11553713e+02] [-8.64946363e-01 -5.01723647e-01 -1.18815796e-02 1.61471232e+02] [ 1.48531585e-02 -1.92723345e-03 -9.99887828e-01 1.68487799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59185806399995 meters Centerline goodness [0,1] 0.994707832846571 Centerline is valid? [True, True] Translation: X:111.61, Y:161.36, Z:1.68 [[ 5.64454028e-01 -8.25397046e-01 1.05530573e-02 1.11608596e+02] [-8.25315188e-01 -5.64548958e-01 -1.18031873e-02 1.61357971e+02] [ 1.57000334e-02 -2.04724184e-03 -9.99874651e-01 1.68385263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621858064 meters Centerline goodness [0,1] 0.9794645406426391 Centerline is valid? [True, True] Translation: X:111.66, Y:161.27, Z:1.68 [[ 6.25037572e-01 -7.80504891e-01 1.18384222e-02 1.11661279e+02] [-7.80424815e-01 -6.25146059e-01 -1.13803423e-02 1.61267400e+02] [ 1.62831558e-02 -2.12585691e-03 -9.99865161e-01 1.68222287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65185806399995 meters Centerline goodness [0,1] 0.9848234542611071 Centerline is valid? [True, True] Translation: X:111.75, Y:161.15, Z:1.68 [[ 6.81993440e-01 -7.31252574e-01 1.24346758e-02 1.11748461e+02] [-7.31184090e-01 -6.82103508e-01 -1.02289155e-02 1.61150260e+02] [ 1.59616568e-02 -2.11598386e-03 -9.99870366e-01 1.68306494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681858064 meters Centerline goodness [0,1] 0.9775521465621896 Centerline is valid? [True, True] Translation: X:111.75, Y:161.15, Z:1.68 [[ 7.36877776e-01 -6.75906632e-01 1.27030884e-02 1.11750344e+02] [-6.75851885e-01 -7.36984366e-01 -8.84721571e-03 1.61152326e+02] [ 1.53418693e-02 -2.06608959e-03 -9.99880172e-01 1.68368094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71185806399995 meters Centerline goodness [0,1] 0.9828106285764983 Centerline is valid? [True, True] Translation: X:111.75, Y:161.15, Z:1.69 [[ 7.87128901e-01 -6.16643459e-01 1.33767640e-02 1.11748289e+02] [-6.16597075e-01 -7.87239823e-01 -7.84264690e-03 1.61151688e+02] [ 1.53668382e-02 -2.07489952e-03 -9.99879770e-01 1.68518011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.741858064 meters Centerline goodness [0,1] 0.8912497499611051 Centerline is valid? [True, False] Translation: X:111.35, Y:160.55, Z:0.32 [[ 9.07607086e-01 4.13499034e-01 -7.25804839e-02 1.11347608e+02] [-4.12639952e-01 9.10489149e-01 2.71621119e-02 1.60547561e+02] [ 7.73152500e-02 5.29708213e-03 9.96992624e-01 3.19209845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77185806399996 meters Centerline goodness [0,1] 0.9962432756857689 Centerline is valid? [False, True] Translation: X:111.32, Y:160.58, Z:0.31 [[ 9.08394647e-01 4.10842521e-01 -7.76375447e-02 1.11322675e+02] [-4.11302250e-01 9.11436032e-01 1.07153716e-02 1.60575628e+02] [ 7.51639860e-02 2.21987106e-02 9.96924066e-01 3.05534376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.801858064 meters Centerline goodness [0,1] 0.9944725625998935 Centerline is valid? [True, True] Translation: X:111.34, Y:160.55, Z:0.32 [[ 9.07921804e-01 4.14491010e-01 -6.22511012e-02 1.11340423e+02] [-4.12971577e-01 9.10025479e-01 3.61677269e-02 1.60545406e+02] [ 7.16412858e-02 -7.12953243e-03 9.97404981e-01 3.18890266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83185806399996 meters Centerline goodness [0,1] 0.9905637336530563 Centerline is valid? [True, True] Translation: X:111.37, Y:160.53, Z:0.32 [[ 9.07699582e-01 4.15069286e-01 -6.16356813e-02 1.11365046e+02] [-4.13579642e-01 9.09762625e-01 3.58307901e-02 1.60525676e+02] [ 7.09460996e-02 -7.03233014e-03 9.97455361e-01 3.19360943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.861858064 meters Centerline goodness [0,1] 0.9893008875147363 Centerline is valid? [True, True] Translation: X:111.39, Y:160.51, Z:0.32 [[ 9.07482003e-01 4.15785773e-01 -5.99883788e-02 1.11394008e+02] [-4.14375263e-01 9.09437137e-01 3.48889003e-02 1.60510171e+02] [ 6.90619678e-02 -6.80334887e-03 9.97589173e-01 3.22766576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89185806399996 meters Centerline goodness [0,1] 0.9848929174442371 Centerline is valid? [True, True] Translation: X:111.42, Y:160.49, Z:0.33 [[ 9.07856207e-01 4.15254399e-01 -5.79732025e-02 1.11417697e+02] [-4.13934139e-01 9.09681095e-01 3.37466090e-02 1.60491752e+02] [ 6.67505542e-02 -6.63998079e-03 9.97747600e-01 3.26394591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.921858064 meters Centerline goodness [0,1] 0.9822969486700471 Centerline is valid? [True, True] Translation: X:111.44, Y:160.48, Z:0.33 [[ 9.08797853e-01 4.13404933e-01 -5.64165167e-02 1.11443275e+02] [-4.12151259e-01 9.10523422e-01 3.28395733e-02 1.60475143e+02] [ 6.49446014e-02 -6.59239528e-03 9.97867095e-01 3.29501935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95185806399996 meters Centerline goodness [0,1] 0.9711977987840057 Centerline is valid? [True, True] Translation: X:111.47, Y:160.46, Z:0.33 [[ 9.10849440e-01 4.09185997e-01 -5.40381134e-02 1.11467237e+02] [-4.08028465e-01 9.12427098e-01 3.14573150e-02 1.60457010e+02] [ 6.21777318e-02 -6.60378926e-03 9.98043245e-01 3.32375452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.981858064 meters Centerline goodness [0,1] 0.9759449411348146 Centerline is valid? [True, True] Translation: X:111.50, Y:160.45, Z:0.33 [[ 9.11117215e-01 4.08703664e-01 -5.31670517e-02 1.11498330e+02] [-4.07582854e-01 9.12643838e-01 3.09425713e-02 1.60447058e+02] [ 6.11689244e-02 -6.52233076e-03 9.98106118e-01 3.32434915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01185806399997 meters Centerline goodness [0,1] 0.9744277261949609 Centerline is valid? [True, True] Translation: X:111.53, Y:160.43, Z:0.33 [[ 9.11170468e-01 4.08673487e-01 -5.24819788e-02 1.11527299e+02] [-4.07580423e-01 9.12657835e-01 3.05593500e-02 1.60434054e+02] [ 6.03868853e-02 -6.45415011e-03 9.98154180e-01 3.34080074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04185806399994 meters Centerline goodness [0,1] 0.9711926889031147 Centerline is valid? [True, True] Translation: X:111.56, Y:160.43, Z:0.33 [[ 9.10890465e-01 4.09471234e-01 -5.11064459e-02 1.11560147e+02] [-4.08435202e-01 9.12301651e-01 2.97722119e-02 1.60426014e+02] [ 5.88153593e-02 -6.24555237e-03 9.98249341e-01 3.33803963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07185806399997 meters Centerline goodness [0,1] 0.9663930277086955 Centerline is valid? [True, True] Translation: X:111.59, Y:160.41, Z:0.34 [[ 9.10641739e-01 4.10003678e-01 -5.12699428e-02 1.11585613e+02] [-4.08960765e-01 9.12062472e-01 2.98854565e-02 1.60408952e+02] [ 5.90145378e-02 -6.24754907e-03 9.98237573e-01 3.37439196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10185806399994 meters Centerline goodness [0,1] 0.9641648723469701 Centerline is valid? [True, True] Translation: X:111.61, Y:160.40, Z:0.34 [[ 9.10347292e-01 4.10442798e-01 -5.29576957e-02 1.11614570e+02] [-4.09329220e-01 9.11863555e-01 3.08941337e-02 1.60396220e+02] [ 6.09704673e-02 -6.44725873e-03 9.98118748e-01 3.38464683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13185806399997 meters Centerline goodness [0,1] 0.9587262599236809 Centerline is valid? [True, True] Translation: X:111.64, Y:160.38, Z:0.34 [[ 9.09682873e-01 4.11575952e-01 -5.55185257e-02 1.11643151e+02] [-4.10353758e-01 9.11350952e-01 3.23918958e-02 1.60384435e+02] [ 6.39285867e-02 -6.68411717e-03 9.97932091e-01 3.38165458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16185806399994 meters Centerline goodness [0,1] 0.9493228484054173 Centerline is valid? [True, False] Translation: X:111.65, Y:160.39, Z:0.33 [[ 9.10491616e-01 4.08920644e-01 -6.15542406e-02 1.11646101e+02] [-4.08316310e-01 9.12558898e-01 2.26726154e-02 1.60394070e+02] [ 6.54431705e-02 4.49037417e-03 9.97846195e-01 3.30979595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3983.17 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%| | 0/8773 [00:00